CN107571263B - It is a kind of with the robot for picking up fishing function that looks for something - Google Patents
It is a kind of with the robot for picking up fishing function that looks for something Download PDFInfo
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Abstract
The present invention relates to a kind of with the robot for picking up fishing function that looks for something, comprising: image-capturing apparatus and positioning element；Image-capturing apparatus and positioning element are connect with microprocessor；Image-capturing apparatus is used to obtain the image information of item to get product；Positioning element is used for the position of real-time monitoring robot body；Microprocessor is provided with picture recognition module and sample memory module；Picture recognition module is connect with sample memory module；Microprocessor has learning state and state of looking for something.This can accurately identify article with the robot for picking up fishing function that looks for something, and the article consolidation of dislocation can be returned in situ, broadening application category.
Description
Technical field
It is the present invention relates to technical field of intelligent equipment, in particular to a kind of with the robot for picking up fishing function that looks for something.
Background technique
With the made rapid progress of Chinese society economy, the level of people's lives is also being continuously improved, most direct to embody just
It is that resident's per-capita housing is bigger, while the furniture of home interior is more towards quantity, volume is big and the side of design fineness
To fast development；The number of items stacked in family also shows the increase of geometric progression amount.After the installation is completed due to furniture, think
To carry out movement to it again is a very thing taxed one's mind and strength, and underneath pieces of furniture is chronically at dark state, this
If situation has led to that small article is fallen to underneath pieces of furniture accidentally, wanting to be drawn off will be extremely difficult.
The development of intelligence science and technology, produces various types of robot equipment, wherein some family to work indoors
Start to be used with robot, this domestic robot can help resident to arrange putting on article, keep indoor neat and tidy, mitigate
Family workload.
Domestic robot in the prior art, which does not have also, returns function in situ for the article consolidation of mobile dislocation, using model
It encloses relatively narrow.
Summary of the invention
The present invention provides a kind of with the robot for picking up fishing function that looks for something, and solves or part solves in the prior art
Domestic robot, which does not have also, returns function in situ for the article consolidation of mobile dislocation, and the relatively narrow technical problem of application range is real
Article is showed to accurately identify, the article consolidation of dislocation can have been gone back to original position, widen the technical effect of application category.
Provided by the invention a kind of with the robot for picking up fishing function that looks for something, the robot includes: robot body, machine
Tool arm, idler wheel, microprocessor, power supply, steering engine, motor driver, idler wheel motor and mechanical arm motor；The idler wheel is arranged in institute
State the bottom of robot body；Roller motion described in the idler wheel motor driven；The mechanical arm is arranged in the robot sheet
On body, for gripping article；Manipulator motion described in the mechanical arm motor driven；The power supply connects the micro process
Device；The microprocessor is connect with the steering engine and the motor driver；Robot body described in the servo driving turns to；
The motor driver drives the idler wheel motor and the mechanical arm motor movement；
It is described to pick up the robot of fishing function with looking for something further include: image-capturing apparatus and positioning element；Described image is caught
It catches equipment and the positioning element is connect with the microprocessor；
Described image captures the image information that equipment is used to obtain item to get product；
Position of the positioning element for robot body described in real-time monitoring；
The microprocessor is provided with picture recognition module and sample memory module；Described image identification module and the sample
The connection of this memory module；The microprocessor has learning state and state of looking for something；
When the microprocessor is in the learning state, the positioning element determines the initial setting of the item to get product
Position simultaneously generates sample position information；Described image captures equipment and obtains the item to get product under the conditions of different light intensities
Multiple sample image information of different angle；The microprocessor believes the sample position information and multiple sample images
Breath mark is at a sample information group；The corresponding sample information group of each described item to get product；The microprocessor
The corresponding sample information group of all item to get product is stored in the sample memory module；
When the microprocessor it is described look for something state when, described image capture equipment persistently obtain the item to get product
Real-time image information is simultaneously sent to the microprocessor；Described image identification module obtains the real-time image information and the sample
The sample image information in all sample information groups that this memory module is sent；Described image identification module will be described
Real-time image information is compared with all sample image information, identical with the real-time image information described to determine
Sample image information then determines the sample information group where the sample image information, so that it is determined that the item to get
The sample position information of product；The microprocessor controls the fixed item to get product of mechanical arm crawl, at this point, described
Positioning element detects the position of the item to get product and generates real-time position information；The microprocessor receives the real time position
Information, and movement routine will be generated after the real-time position information and sample position information comparison；The microprocessor control
The idler wheel motor operation is made to drive the robot body and the item to get product mobile according to the movement routine, until
Reach the setting position.
Preferably, described pick up the robot of fishing function with looking for something further include:
Light sensor is connect with the microprocessor；Light intensity number is generated after the fibre optical sensor detection light intensity
Value；
LED light supplement lamp is connect with the microprocessor；The LED light supplement lamp is in normally off；
Wherein, after the microprocessor receives the light intensity numerical value, the light intensity numerical value and setting light intensity value are carried out pair
Than；When the light intensity numerical value is less than the setting value, the microprocessor controls the unlatching of the LED light supplement lamp.
Preferably, described pick up the robot of fishing function with looking for something further include:
Ultrasonic range finder sensor, for detecting the distance between the robot body and barrier；
The ultrasonic range finder sensor is connect with the microprocessor；
When the robot body and the item to get product mobile according to the movement routine, the supersonic sounding sensing
Device continues to monitor the distance between barrier in the robot body and the movement routine and generates real-time range numerical value；
After the microprocessor receives the real-time range numerical value, the real-time range numerical value is compared with set distance value；When
When the real-time range numerical value is less than the set distance value, the microprocessor controls the robot body and gets around the barrier
Hinder object mobile.
Preferably, described pick up the robot of fishing function with looking for something further include:
LCD display is connect with the microprocessor；
The LCD display is for showing the sample image information and the real-time image information.
Preferably, it is camera that described image, which captures equipment,；
The microprocessor is arm processor；
Described image identification module is SVM support vector machines；
The positioning element is GPS positioning module.
One or more technical solutions provided herein, have at least the following technical effects or advantages:
Image-capturing apparatus and positioning element are added on the basis of Conventional robotic due to using；Image-capturing apparatus
And positioning element is connect with microprocessor；Image-capturing apparatus is used to obtain the image information of item to get product；Positioning element is used for
The position of real-time monitoring robot body；Microprocessor is provided with picture recognition module and sample memory module；Image recognition mould
Block is connect with sample memory module；Microprocessor has learning state and state of looking for something；In learning state, positioning element is determined
The sample position information of item to get product；Multiple sample image information of image-capturing apparatus acquisition item to get product；Microprocessor will
The corresponding sample information group of all item to get product is stored in sample memory module；When looking for something state, image-capturing apparatus is held
The continuous real-time image information for obtaining item to get product, picture recognition module carry out real-time image information and all sample image information
Comparison, determines the sample position information of item to get product；Microprocessor controls mechanical arm and grabs fixed item to get product, and by real-time position
Movement routine is generated after confidence breath and the comparison of sample position information；Microprocessor controls idler wheel motor operation to drive robot sheet
Body and item to get product are mobile according to movement routine, until reaching the setting position.In this way, efficiently solving family in the prior art
Do not have also with robot and function in situ is returned into the article consolidation of mobile dislocation, the relatively narrow technical problem of application range is realized
Article accurately identifies, and can return the article consolidation of dislocation in situ, widen the technical effect of application category.
Detailed description of the invention
Fig. 1 picks up the working principle diagram of the robot of fishing function with looking for something to be provided by the invention.
Specific embodiment
The embodiment of the present application provide it is a kind of with the robot for picking up fishing function that looks for something, solve or part solve it is existing
Domestic robot, which does not have also, in technology returns function in situ for the article consolidation of mobile dislocation, and the relatively narrow technology of application range is asked
Topic, by adding image-capturing apparatus and positioning element on the basis of Conventional robotic；Image-capturing apparatus and positioning element
It is connect with microprocessor；Image-capturing apparatus is used to obtain the image information of item to get product；Positioning element is used for real-time monitoring machine
The position of device human body；Microprocessor is provided with picture recognition module and sample memory module；Picture recognition module is deposited with sample
Store up module connection；Microprocessor has learning state and state of looking for something；It realizes article to accurately identify, the article of dislocation can be returned
Whole time original position, widens the technical effect of application category.
Referring to attached drawing 1, provided by the invention a kind of with the robot for picking up fishing function that looks for something, robot includes: robot
Ontology, mechanical arm, idler wheel, microprocessor, power supply, steering engine, motor driver, idler wheel motor and mechanical arm motor；Idler wheel setting
In the bottom of robot body；Idler wheel motor driven roller motion；Mechanical arm is arranged on robot body, for gripping
Article；The movement of mechanical arm motor drive machinery arm；Power supply connects microprocessor；Microprocessor and steering engine and motor driver connect
It connects；Servo driving robot body turns to；Motor driver drives idler wheel motor and mechanical arm motor movement.
With the robot for picking up fishing function that looks for something further include: image-capturing apparatus and positioning element；Image-capturing apparatus and
Positioning element is connect with microprocessor；Image-capturing apparatus is used to obtain the image information of item to get product；Positioning element is for real
When monitoring robot ontology position；Microprocessor is provided with picture recognition module and sample memory module；Picture recognition module
It is connect with sample memory module；Microprocessor has learning state and state of looking for something.
When microprocessor is in learning state, positioning element determines the initial, set position of item to get product and generates sample bit
Confidence breath；Image-capturing apparatus obtains multiple sample images letter of the different angle of item to get product under the conditions of different light intensities
Breath；Microprocessor is by sample position information and multiple sample image message identifications at a sample information group；Each item to get
Product correspond to a sample information group；The corresponding sample information group of all item to get product is stored in sample memory module by microprocessor
In.
When microprocessor is when looking for something state, the real-time image information that image-capturing apparatus persistently obtains item to get product is concurrent
It is sent to microprocessor；In all sample information groups that picture recognition module obtains real-time image information and sample memory module is sent
Sample image information；Picture recognition module compares real-time image information and all sample image information, with determine with
The identical sample image information of real-time image information then determines the sample information group where sample image information, so that it is determined that
The sample position information of item to get product；Microprocessor controls mechanical arm and grabs fixed item to get product, at this point, positioning element detection to
It takes the position of article and generates real-time position information；Microprocessor receives real-time position information, and by real-time position information and sample
Movement routine is generated after the comparison of this location information；Microprocessor controls idler wheel motor operation to drive robot body and item to get
Product are mobile according to movement routine, until reaching setting position.
Further, have to look for something and pick up the robot of fishing function further include: light sensor and LED light supplement lamp, light pass
Sensor is connect with microprocessor；Fibre optical sensor generates light intensity numerical value after detecting light intensity；LED light supplement lamp and microprocessor connect
It connects；LED light supplement lamp is in normally off；Wherein, microprocessor receive light intensity numerical value after, by light intensity numerical value and setting light intensity value into
Row comparison；When light intensity numerical value is less than setting value, microprocessor controls the unlatching of LED light supplement lamp.
Further, have to look for something and pick up the robot of fishing function further include: ultrasonic range finder sensor, for detecting robot
The distance between ontology and barrier；Ultrasonic range finder sensor is connect with microprocessor；When robot body and item to get product are pressed
When mobile according to movement routine, ultrasonic range finder sensor continue to monitor between the barrier on robot body and movement routine away from
From and generate real-time range numerical value；After microprocessor receives real-time range numerical value, by real-time range numerical value and set distance value into
Row comparison；When real-time range numerical value is less than set distance value, microprocessor controls robot body and gets around barrier movement.
Further, have to look for something and pick up the robot of fishing function further include: LCD display is connect with microprocessor；LCD
Display screen is for showing sample image information and real-time image information.
Wherein, image-capturing apparatus is camera；Microprocessor is arm processor；Picture recognition module be SVM support to
Amount machine；Positioning element is GPS positioning module, and as an alternative, positioning element can also be that wireless signal strength senses
Device.
Be described in detail below by specific embodiment it is provided by the present application have look for something and pick up the knot of the robot of fishing function
Structure feature and working principle:
Image-capturing apparatus is camera；Microprocessor is arm processor；Picture recognition module is SVM support vector machines；
Positioning element is GPS positioning module.ARM series microprocessor has extensive versatility；Target is realized using SVM algorithm
It practises and identifies, to guarantee to operate normally in the lower embedded system of performance.Under learning state, it can learn automatically
The object for needing to identify, and by it in storage inside；Under the state of looking for something, the target call that can be proposed according to user, automatically
Corresponding target is found, and is picked up.
Under learning state, arm processor shoots image of the object under different angle and light by camera module,
And SVM support vector machines is passed to using these images as training sample, SVM support vector machines completes to subject image
After habit, the automatic identification to sample just can be realized.GPS positioning module first determines the initial, set position of all item to get product simultaneously
Generate sample position information；Meanwhile arm processor by sample position information and multiple sample image message identifications at a sample
Information group；Each item to get product corresponds to a sample information group, finally deposits the corresponding sample information group of all item to get product
Storage is in sample memory module.
Under the state of looking for something, user selects the item to get product for needing to find by operating buttons first, and arm processor can root
According to the operation of user, the sample image information that successively sample memory module stores on LCD display, once correctly scheme in real time
As information is displayed on the screen, the item to get product for currently needing to find then are can be confirmed in user, and SVM support vector machines is at this time
Recognition mode state；Look for something robot start carry out object identification and pickup.At this point, idler wheel can be in the control of arm processor
Under, it is moved and is rotated by the zone of action mobile robot ontology of idler wheel motor and motor driver, in the process, taken the photograph
As head is persistently shot, and sends the real-time image information taken to SVM support vector machines and identify, ARM processing
Device can open in due course LED light supplement lamp according to optical sensor information；During robot body is mobile, arm processor is real-time
The real-time range numerical value that ultrasonic range finder sensor is sent is acquired, with arriving possible barrier to avoid collision.Once it was found that needing
The object of crawl, robot body will be close to item to get body, and block target object using hook-shaped mechanical arm, and outward
Dragging.
This has control of the robot for picking up fishing function that looks for something by ARM microprocessor realization to system, in addition will identification
Accuracy rate is high and the SVM algorithm of embedded system is suitble to be introduced into system, improves system performance, expands using model
It encloses.
One or more technical solutions provided herein, have at least the following technical effects or advantages:
Image-capturing apparatus and positioning element are added on the basis of Conventional robotic due to using；Image-capturing apparatus
And positioning element is connect with microprocessor；Image-capturing apparatus is used to obtain the image information of item to get product；Positioning element is used for
The position of real-time monitoring robot body；Microprocessor is provided with picture recognition module and sample memory module；Image recognition mould
Block is connect with sample memory module；Microprocessor has learning state and state of looking for something；In learning state, positioning element is determined
The sample position information of item to get product；Multiple sample image information of image-capturing apparatus acquisition item to get product；Microprocessor will
The corresponding sample information group of all item to get product is stored in sample memory module；When looking for something state, image-capturing apparatus is held
The continuous real-time image information for obtaining item to get product, picture recognition module carry out real-time image information and all sample image information
Comparison, determines the sample position information of item to get product；Microprocessor controls mechanical arm and grabs fixed item to get product, and by real-time position
Movement routine is generated after confidence breath and the comparison of sample position information；Microprocessor controls idler wheel motor operation to drive robot sheet
Body and item to get product are mobile according to movement routine, until reaching the setting position.In this way, efficiently solving family in the prior art
Do not have also with robot and function in situ is returned into the article consolidation of mobile dislocation, the relatively narrow technical problem of application range is realized
Article accurately identifies, and can return the article consolidation of dislocation in situ, widen the technical effect of application category.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (5)
1. a kind of with the robot for picking up fishing function that looks for something, the robot includes: robot body, mechanical arm, idler wheel, Wei Chu
Manage device, power supply, steering engine, motor driver, idler wheel motor and mechanical arm motor；The robot body is arranged in the idler wheel
Bottom；Roller motion described in the idler wheel motor driven；The mechanical arm is arranged on the robot body, solid for clamping
Earnest product；Manipulator motion described in the mechanical arm motor driven；The power supply connects the microprocessor；The microprocessor
It is connect with the steering engine and the motor driver；Robot body described in the servo driving turns to；The motor driver
Drive the idler wheel motor and the mechanical arm motor movement；It is characterized in that,
It is described to pick up the robot of fishing function with looking for something further include: image-capturing apparatus and positioning element；Described image capture is set
The standby and described positioning element is connect with the microprocessor；
Described image captures the image information that equipment is used to obtain item to get product；
Position of the positioning element for robot body described in real-time monitoring；
The microprocessor is provided with picture recognition module and sample memory module；Described image identification module is deposited with the sample
Store up module connection；The microprocessor has learning state and state of looking for something；
When the microprocessor is in the learning state, the positioning element determines the initial, set position of the item to get product
And generate sample position information；Described image captures the difference that equipment obtains the item to get product under the conditions of different light intensities
Multiple sample image information of angle；The microprocessor is by the sample position information and multiple sample image information marks
Know into a sample information group；The corresponding sample information group of each described item to get product；The microprocessor is by institute
There is the corresponding sample information group of the item to get product to be stored in the sample memory module；
When the microprocessor it is described look for something state when, described image capture equipment persistently obtain the real-time of the item to get product
Image information is simultaneously sent to the microprocessor；Described image identification module obtains the real-time image information and the sample is deposited
Store up the sample image information in all sample information groups that module is sent；Described image identification module will be described real-time
Image information is compared with all sample image information, to determine the sample identical with the real-time image information
Image information then determines the sample information group where the sample image information, so that it is determined that the item to get product
The sample position information；The microprocessor controls the fixed item to get product of mechanical arm crawl, at this point, the positioning
Component detects the position of the item to get product and generates real-time position information；The microprocessor receives the real time position letter
Breath, and movement routine will be generated after the real-time position information and sample position information comparison；The microprocessor control
The idler wheel motor operation is to drive the robot body and the item to get product mobile according to the movement routine, until arriving
Up to the setting position.
2. as described in claim 1 pick up the robot of fishing function with looking for something, which is characterized in that described to pick up fishing function with looking for something
The robot of energy further include:
Fibre optical sensor is connect with the microprocessor；Light intensity numerical value is generated after the fibre optical sensor detection light intensity；
LED light supplement lamp is connect with the microprocessor；The LED light supplement lamp is in normally off；
Wherein, after the microprocessor receives the light intensity numerical value, the light intensity numerical value and setting light intensity value are compared；When
When the light intensity numerical value is less than the setting light intensity value, the microprocessor controls the unlatching of the LED light supplement lamp.
3. as described in claim 1 pick up the robot of fishing function with looking for something, which is characterized in that described to pick up fishing function with looking for something
The robot of energy further include:
Ultrasonic range finder sensor, for detecting the distance between the robot body and barrier；
The ultrasonic range finder sensor is connect with the microprocessor；
When the robot body and the item to get product mobile according to the movement routine, the ultrasonic range finder sensor is held
The distance between barrier on the continuous monitoring robot body and the movement routine simultaneously generates real-time range numerical value；It is described
After microprocessor receives the real-time range numerical value, the real-time range numerical value is compared with set distance value；When described
When real-time range numerical value is less than the set distance value, the microprocessor controls the robot body and gets around the barrier
It is mobile.
4. as described in claim 1 pick up the robot of fishing function with looking for something, which is characterized in that described to pick up fishing function with looking for something
The robot of energy further include:
LCD display is connect with the microprocessor；
The LCD display is for showing the sample image information and the real-time image information.
5. as described in claim 1 pick up the robot of fishing function with looking for something, which is characterized in that
It is camera that described image, which captures equipment,；
The microprocessor is arm processor；
Described image identification module is SVM support vector machines；
The positioning element is GPS positioning module.
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| CN201710591182.8A CN107571263B (en) | 2017-07-19 | 2017-07-19 | It is a kind of with the robot for picking up fishing function that looks for something |
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| CN107571263B true CN107571263B (en) | 2019-07-23 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110744544B (en) * | 2019-10-31 | 2021-03-02 | 昆山市工研院智能制造技术有限公司 | Service robot vision grabbing method and service robot |
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| CN107571263A (en) | 2018-01-12 |
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