CN110543177A - Robot for walking baby automatically and method for walking baby automatically - Google Patents
Robot for walking baby automatically and method for walking baby automatically Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 claims description 21
- 238000013507 mapping Methods 0.000 claims description 17
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- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
the invention discloses an automatic baby walking robot and an automatic baby walking method, wherein the automatic baby walking robot comprises a hand push handle, a vertical connecting rod, a child seat, a child handrail and a moving base, wherein the vertical connecting rod is matched and connected with the hand push handle; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base; the lower part of the vertical connecting rod is installed at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment. The automatic walking doll method searches a path which tracks a guardian and is far away from an obstacle in real time according to image information acquired by a camera, controls the mobile base to move according to the path searched in real time, and then corrects the path by utilizing a point cloud data set inserted in real time.
Description
Technical Field
the invention relates to the technical field of trolleys, in particular to an autonomous walking robot and an automatic walking method.
Background
The baby carriage is a tool carriage designed for providing convenience for outdoor activities of children, and has various types, and the baby carriage is a favorite walking vehicle for babies, and is a necessary product for mothers to take the babies to shop on the street and go out. Modern stroller manufacturers have introduced various styles of strollers, such as folding, portable, flexible, and shock resistant, to take into account the varied needs of parents and babies.
In every family with children, the child stroller has become a good helper for young parents to nurture children, but adults cannot keep a good look at the children all the time, and children are not enough in self-protection due to their age, so that children's safety is threatened if an unknown person attempts to take away the stroller or the child when the adult leaves the stroller. If other unknown accidents occur, the baby carriage falls down or slides, and the life of the child can be threatened. In addition, the parent and child carts are also easily crowded and lost by people in a crowded place.
Therefore, it is necessary to develop a stroller that can detect the position of the parent in time and return to itself when the parent and the stroller are lost. However, in the process that the unmanned aerial vehicle carries the child stroller to the position of the external device by using the connecting device, a large amount of accurate data needs to be collected and processed within a strict time limit, otherwise the position determination is uncertain more and more along with the time, the error is called drift (drift), and the faster the flight speed of the unmanned aerial vehicle is, the larger the drift value is. Therefore, the technical scheme disclosed by the Chinese invention patent CN107215376B puts higher requirements on hardware and software, and the cost is greatly increased.
Disclosure of Invention
Aiming at the technical problems, the invention provides an autonomous walking baby robot which comprises a hand push handle, a vertical connecting rod, a child seat and a child handrail, wherein the vertical connecting rod is matched and connected with the hand push handle; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base; the lower part of the vertical connecting rod is arranged at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment; wherein, remove the integrated visual positioning of base and build the drawing module to there is the cable to be connected with first camera and second camera. Compared with the prior art, this technical scheme pulls the functional module integration to the children's shallow of children's handcart with unmanned aerial vehicle to utilize the camera cooperation visual positioning of the different position on the robot of independently strolling baby and build the drawing module and accomplish location navigation work, trail the guardian according to the image information that the camera was gathered with the realization mobile base and do not walk the robot of independently strolling baby accessible. Reducing the nursing cost of parents.
Further, robot of independently sauntering baby still includes drive wheel and the universal wheel of setting in children's seat below, and the left and right sides at the removal base is installed to the drive wheel, and the front end at the removal base is installed through rotatable support to the universal wheel. And the robot for walking the baby automatically is supported to freely turn.
Furthermore, two protective belts are led out from the same position of the vertical connecting rod respectively and are used for fixing the child on the child seat through cross-type locking on two sides of the child seat. The safety of the child in the moving process of the robot for walking the child automatically is ensured.
Further, the viewing angle center line of the second camera and the viewing angle center line of the first camera form an angle of 60 degrees. The applicability of the robot for walking the baby automatically to track the sensing visual angle of the guardian in real time is enhanced.
An automatic sliding doll method based on the robot for walking a doll automatically comprises the following steps: pre-storing images of guardians and children, including facial image information of the guardians and the children; a second camera is called to collect a child activity point cloud data set and a guardian activity point cloud data set on the child seat, and an independent landmark and a child safety monitoring area based on the child are established in a map established by the mobile base integrated visual positioning and mapping module; in the child safety monitoring area, the distance between the mobile base and the mobile equipment of the guardian in the constructed map does not exceed a preset monitoring distance; a first camera is called to collect an obstacle point cloud data set on the peripheral side of the advancing direction of the mobile base, and a road sign of an obstacle is established in a map established by a visual positioning and mapping module integrated with the mobile base; searching out a path which tracks the guardian and is far away from the barrier in real time according to the road sign of the barrier and the child safety monitoring area, controlling the mobile base to move according to the path searched out in real time, and then correcting the path by utilizing the point cloud data set inserted in real time. Compared with the unmanned aerial vehicle positioning in the prior art, the method for visual positioning and instant map construction improves the precision of the automatic walking baby, ensures that the robot walking the baby automatically tracks the guardian in real time, and has higher accuracy in self return.
Further, the moving point cloud dataset is encoded from the acquired image data within the elevation coverage of the second camera. The speed of image processing is improved.
Further, the obstacle point cloud data set is formed by encoding image information within a range of 360 degrees captured by the first camera. The speed of image processing is improved.
further, the method for performing path correction by using the point cloud data set inserted in real time comprises the following steps: and performing similarity calculation on a subsequent point cloud data set inserted in real time and a pre-stored landmark image, converting the calculated similarity into an actual distance and an actual angle deviation, and controlling the robot walking doll automatically to shift in the reverse direction and rotate in the reverse direction according to the actual distance and the actual angle deviation so as to correct the path shift. This technical scheme adopts the mode that the passive form was avoidd, and the low power dissipation can not disturb other people.
Further, the method also comprises the step of correcting the independent landmarks of the children in the map constructed by the visual positioning and mapping module according to the calculated actual distance and angle deviation. The effectiveness of real-time map construction is improved.
Further, the automatic baby walking method further comprises a manual baby walking mode, and in the mode, a guardian of a child can also use the hand push handle to push the robot for walking the baby autonomously. And the practicability of the robot for walking the baby automatically is enhanced.
Drawings
Fig. 1 is a schematic structural view of an autonomous doll walking robot according to an embodiment of the present invention.
Fig. 2 is a flowchart of an automatic sliding doll method based on the robot for automatically sliding a doll according to the embodiment of the present invention.
Fig. 3 is a flowchart of a method for detecting a surrounding human body according to an embodiment of the present invention.
fig. 4 is a flowchart of a method for detecting an environmental condition around a moving path according to an embodiment of the present invention.
Reference numerals:
101. A vertical connecting rod with a camera 1011; 102. pushing the handle by hand; 103. a drive wheel; 104. a child seat; 105. a child armrest with a camera 1051; 106. a universal wheel; 107. and moving the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention provides an autonomous walking baby robot, which comprises a hand push handle 102, a vertical connecting rod 101, a child seat 104, a child handrail 105 and a mobile base 107, wherein the vertical connecting rod 101 is matched and connected with the hand push handle 102; the child seat 104 is mounted above the mobile base 107, and the child seat 104 and the mobile base 107 are a combined body of plastic and metal of the entire vehicle. The middle position of the child armrest 105 is horizontal, such design can enable both hands of a child to hold the child armrest 105 well and grasp the balance force of the child armrest, the lower portion of the child armrest 105 is mounted on the moving base 107 through a first fixing bracket (not shown in the figure), the first fixing bracket is also accommodated and assembled with a first camera 1051 and fixed through a hand nut screwing device (not marked in the figure), the view angle of the first camera 1051 covers the peripheral side of the advancing direction of the moving base 107, and the depression angle of the first camera 1051 can be used for detecting obstacles or the track of pedestrians on the peripheral side in the advancing direction of the moving base 107. The lower part of vertical connecting rod 101 passes through the second fixed bolster and installs the rear end at children's seat 104, the middle part of vertical connecting rod 101 is provided with second camera 1011, second camera 1011 set up the height and be greater than the height of riding the children at children's seat 104, it is fixed also through hand screw nut screwing device (not sign in the picture), children's seat 104 and peripheral environment are covered to second camera 1011's visual angle, can acquire the moving image of the children of sitting on children's seat 104 at least, and second camera 1011's elevation angle covers guardian or pedestrian's face image that the robot of independently walking a child was accompanied. Nut screwing device twists nut, position circle and lead screw including the main hand, the lead screw passes assembly screw on position circle, the camera in proper order and twists the nut spiro union with the main hand, and its shape all has certain tapering, can effectually prevent that the camera from rocking back and forth at the fixed bolster, can be firmly fasten these both together. In addition, a visual positioning and mapping module is integrated inside the mobile base 107 and is in cable connection with the first camera 1051 and the second camera 1052, a chip for navigation positioning and instant map construction and a peripheral circuit module are built in the visual positioning and mapping module, and are used for acquiring images of the first camera 1051 and the second camera 1052, performing image processing on the images, and extracting a two-dimensional or three-dimensional point cloud data set in the processed images to complete map construction. Compared with the chinese invention patent CN107215376B, in this embodiment, the functional module of the unmanned aerial vehicle towing child stroller is integrated on the child stroller, and the positioning and navigation work is completed by using the cameras in different directions on the robot for walking a baby autonomously in cooperation with the visual positioning and mapping module, so as to realize that the mobile base towing the robot for walking a baby autonomously in accordance with the image information acquired by the cameras can track the guardian without obstacle. The cost of parents for purchasing the child handcart is reduced.
As shown in fig. 1, the robot for walking the baby autonomously further comprises a driving wheel 103 and a universal wheel 106 which are arranged below a child seat 104, the driving wheel 103 is arranged on the left side and the right side of a movable base 107, the wheel track of the driving wheel on the left side and the wheel track of the driving wheel on the right side of the movable base 107 are widened, the overturning prevention is facilitated, the safety factor and the stability of a vehicle body are increased scientifically, the distance between the widened rear wheels is as long as 55cm, and the rollover angle is prevented safely as high as 15 degrees. The mobile base 107 comprises a driving motor, and is used for driving the driving wheel 103 to drive the robot walking outside the baby to move autonomously according to a preset path; universal wheel 106 is installed at the front end of removal base 107 through rotatable support (not shown in the figure), supports autonomic child robot freely turns to, and 360 degrees universal wheel 106 helps autonomic child robot easily pass through low barrier, and the manipulation is nimble, is applicable to multiple road surface.
as shown in fig. 1, two protection belts (not shown) are respectively led out from the same position of the vertical connecting rod 101, and the two protection belts are used for fixing a child on the child seat 104 by cross-latching on two sides of the child seat 104. The safety of children in the moving process of the robot for walking the baby automatically is guaranteed, and particularly the children riding on the child seat 104 are prevented from falling off in the braking process of the driving wheel 103.
Still need trail the guardian in real time at automatic child process of sauntering, need autonomic child robot of sauntering removes along reliable navigation route through constructing the map in real time, guarantee children's safety, let the guardian more relieved, so, the environment image that the angle of elevation of second camera 1011 was absorb and the environment image of 360 within ranges that first camera 1051 was absorbed, the code is a cloud data set, remap to in the grid that visual positioning and drawing module set up, these grids contain and occupy, idle, unknown three kinds of states, whether there is the object in order to express this check.
Since the information of the image captured by the elevation angle of the second camera 1011 and the image captured by the first camera 1051 in the 360 ° range is very rich, the difficulty of detecting the loop back in this embodiment is reduced. Therefore, the child's active point cloud dataset is encoded from the acquired image data within the elevation coverage of the second camera. The speed of image processing is improved. The obstacle point cloud data set is formed by encoding image information within a range of 360 degrees shot by the first camera. The speed of image processing is improved. Preferably, the viewing angle center line of the second camera and the viewing angle center line of the first camera form an angle of 60 degrees, so that the elevation angle of the second camera and the depression angle of the first camera are effectively covered, and the applicability of the autonomous walking doll robot for tracking the sensing viewing angle of the guardian in real time is enhanced.
the embodiment also provides an automatic sliding method based on the robot walking baby autonomously, and as shown in fig. 2, the automatic sliding method includes:
And step S1, pre-storing the image of the guardian and the image of the child, wherein the image information of the guardian and the image information of the child comprise face image information and body posture image information of the child.
Step S2, invoking the second camera 1011 to acquire a motion point cloud data set of the child on the child seat and a motion point cloud data set of the guardian, which are acquired image data within the elevation coverage range of the second camera 1011, and mapping the data to a map constructed by the visual positioning and mapping module integrated with the mobile base 107, so as to establish an independent landmark and a child safety monitoring area based on the child, where the motion point cloud data set in this embodiment is formed by encoding image pixels acquired by the second camera 1011, so that the robot walking outside the child can track the pose of the guardian conveniently. The automatic baby walking method is used for controlling the distance between the mobile base and the mobile equipment of the guardian in a constructed map to be not more than a preset monitoring distance, a child safety monitoring area covers an area range with the mobile base as a center and the preset monitoring distance as a radius, the real-time tracking of the guardian by the mobile base is facilitated, in addition, the child safety monitoring area is within a receiving and sending range allowed by a communication signal between the mobile base and the mobile equipment of the guardian, and the mobile equipment of the guardian can be a wireless remote control device of the robot walking the baby autonomously, so that real-time communication can be realized.
Step S3, invoking the first camera 1051 to collect the obstacle point cloud data set around the advancing direction of the mobile base 107, and establishing a road sign of the obstacle in the map constructed by the visual positioning and mapping module integrated with the mobile base 107; the landmarks of these obstacles may be geometric features such as corners for localization extracted from the obstacle point cloud data set by the visual localization and mapping module.
It should be noted that the aforementioned independent landmarks based on children, the road signs based on obstacles, and the child safety monitoring area only form a sparse map, which is sufficient if only used for positioning, but it is also necessary to track the guardian in real time during the automatic walking process, and the robot walking autonomously needs to move along a reliable navigation path, so as to ensure the safety of children, and to make the guardian more relieved, therefore, the environmental image taken by the elevation angle of the second camera 1011 and the environmental image taken by the first camera 1051 within a 360 ° range are encoded into a point cloud data set and then mapped into the grids constructed by the visual positioning and mapping module, and the grids contain three states of occupied state, idle state, and unknown state to express whether there is an object in the grid, so that the visual positioning and mapping module constructs a dense map based on the grids.
In the foregoing step, the moving point cloud data set is encoded from the image data collected within the elevation angle coverage of the second camera. The speed of image processing is improved. The obstacle point cloud data set is formed by encoding image information within a range of 360 degrees shot by the first camera. The speed of image processing is improved. Preferably, the viewing angle center line of the second camera and the viewing angle center line of the first camera form an angle of 60 degrees, so that the elevation angle of the second camera and the depression angle of the first camera are effectively covered, and the applicability of the autonomous walking doll robot for tracking the sensing viewing angle of the guardian in real time is enhanced.
Step S4, constructing a grid map environment between the robot walking a baby and the guardian according to the road signs of the obstacles and the safety monitoring area based on children, when searching a certain spatial position of the guardian, the map can give information whether the position can pass or not, thereby searching a path which tracks the guardian and is far away from the obstacles in real time, then controlling the mobile base 107 to move according to the path searched in real time, and then using the point cloud data set inserted in real time to correct the path, and it is worth noting that the point cloud data set inserted in real time subsequently can be used for judging the similarity between images to complete loop detection to correct the path deviation, when the loop detection uses the algorithm of the similarity of two similar images, the problem that the position estimation drifts along with time is solved, the road signs of the current position are corrected, the position estimation value is pulled back to the actual position, the accumulated error can be significantly reduced. Since the information of the image captured by the elevation angle of the second camera 1011 and the image captured by the first camera 1051 in the 360 ° range is very rich, the difficulty of detecting the loop back in this embodiment is reduced. The method comprises the steps of firstly, acquiring a point cloud data set, then, calculating similarity between the point cloud data set and a road sign image, wherein the similarity calculation is carried out on the point cloud data set inserted in real time subsequently through the point cloud data set and the road sign image stored in advance, then, the calculated similarity is converted into actual distance and angle deviation, and then, the robot walking in the self-propelled doll robot is controlled to shift in the reverse direction and rotate in the reverse direction according to the actual distance and angle deviation so as to correct path shift. This technical scheme adopts the mode that the passive form was avoidd, and the low power dissipation can not disturb other people.
It should be noted that, step S4 further includes controlling, according to the actual distance and the actual angular deviation obtained through calculation, the robot walking a baby to make an offset in the opposite direction and a rotation in the opposite direction, so that the map constructed by the visual positioning and mapping module corrects the independent landmark of the child, and the effectiveness of constructing the map in real time is improved.
Compared with the positioning of the unmanned aerial vehicle in the prior art, the method for visually positioning and immediately constructing the map, particularly the dense map constructed in the step S3 and the loop detection optimization performed in the step S4, overcome the problems of large drift value and large design cost of the unmanned aerial vehicle in the prior art, improve the precision of the automatic sliding baby, ensure that the robot for automatically walking the baby tracks the guardian in real time, and have higher accuracy in automatically returning the robot for automatically walking the baby.
It is worth noting that although the robot for automatically walking a baby supports autonomous movement, the robot for automatically walking a baby can also be divided into the automatic baby walking mode and the manual baby walking mode, and in the manual baby walking mode, a guardian of a child can also push the robot for automatically walking a baby by using the hand push handle 102 and still push the robot for automatically walking a baby by hand. And the practicability of the robot for walking the baby automatically is enhanced.
As an embodiment, according to image information of a pre-stored body posture of a child, when detecting that a gravity center position of the child is away from a child seat by a preset safety distance, positioning current position information in real time, and sending reminding information to a mobile device of a guardian; this embodiment calls second camera 1011 and gathers children's on the children's seat activity point cloud data set, detects children and is in children's seat 104 predetermines safe distance internalization, and this embodiment uses this to predetermine safe distance and can mark children in the map that visual localization and drawing module structure establish as the radius and be in independently walk the monitoring range on the baby robot, regard as children's safe activity region, confine to children's seat 104's peripheral region, so predetermine safe distance and set up to 10 cm. In the embodiment, the movement area of the child on the seat is planned, so that the movement of the child to the dangerous area beside the robot walking the child is initially prevented. Specifically, when the child is not fixed on the child seat by the protective belt, the child leaves the child seat and moves beyond the child safety activity area, the current position information of the gravity center of the child is located by being collected and detected by the second camera 1011, and the reminding information is sent to the mobile device of the guardian in real time; or when the child falls off the child seat to exceed the child safety activity area, positioning the current position information of the gravity center of the child, and sending reminding information to the mobile device of the guardian in real time.
As an example, as shown in fig. 3, a flowchart of a method for detecting a surrounding human body is provided, and the method as an implementation manner of the foregoing step S4 specifically includes the following steps:
S301, calling a second camera 1011 to acquire image information of the peripheral environment of the child seat 104, and then entering step S302; step S302, judging whether a human body appears in the preset safety distance of the child according to the image detection result of the step S301, if so, entering the step S303, otherwise, returning to the step S301 to continuously shoot the images around and detecting whether other human bodies exist around the child according to the shot images. And step S303, analyzing whether the face image shot by the second camera is matched with a pre-stored face image of the guardian, judging whether the face image is matched by calculating the similarity of key points of the image, if so, returning to the step S301 to continuously shoot the images around, detecting whether other human bodies exist around the child according to the shot images, and otherwise, entering the step S304. Step S304, the mobile base sends position request information to the guardian' S mobile device, and then step S305 is carried out. Step S305, according to the response position information received by the robot walking the baby autonomously, tag information is made in the constructed grid map environment between the robot walking the baby autonomously and the guardian, and then a path which tracks the guardian and is far away from the obstacle is searched.
In the present embodiment, the preset safe distance is set to 10cm to 40cm, in the present embodiment, 26 cm; the matching means that after the shot face image is compared with a face image stored in advance, whether the similarity reaches more than 90% is analyzed. Specifically, the second camera 1011 at the middle part of vertical connecting rod 101 is utilized to shoot the image around children and judge whether other human bodies exist in the 26 centimetre scope of children according to the shot image, if detect other human bodies after, compare the facial image that shoots with the guardian face image information of prestoring, whether the similarity between the analysis both reaches more than 90%, if do not reach more than 90%, the robot of independently walking a walk baby continues to advance to guardian position along the route of planning in advance, and the removal base sends position request information to guardian's mobile device, prevents that children on the robot of independently walking a baby walk away, realizes that children follow guardian's function in real time.
As an example, as shown in fig. 4, a flowchart of a method for detecting an environmental condition around a moving path, which is an implementation manner of the foregoing step S4, specifically includes the following steps:
Step S401, shooting an environment image of the advancing direction of the mobile base by using the first camera, and then entering step S402.
Step S402, according to an image point cloud data set obtained by encoding an environment image collected by the first camera, fitting a plane formed by point cloud blocks by using a RANSAC plane fitting method, traversing the fitted plane line by line, calculating the difference between the fitting height of the nth line in the fitted plane and the fitting height of the (n-1) th line in the fitted plane, if the height difference is greater than a preset threshold value, judging that the robot walking outside a baby moves to a step edge, and then entering step S404, otherwise, carrying out step S403.
and S403, controlling the robot for walking the baby autonomously to keep moving forward, analyzing whether an obstacle is close to the robot for walking the baby autonomously in the child safety monitoring area or not according to the acquired image information, if so, entering S405, and otherwise, returning to S401. Since the path correction needs to be performed by using the point cloud data set inserted in real time in step S4, in the process of analyzing the child safety monitoring area, scenes of different scales are taken into consideration in step S406, so that the scale drift phenomenon is reduced, and the phenomenon that the moving direction of an obstacle moving close to the robot walking out of the child is uncertain is avoided. The detection range is limited in the child safety monitoring area because only pedestrians or automobiles around the robot walking out of the child will affect the safety of the child; and moving obstacles (pedestrians or automobiles) outside the child safety monitoring area do not need to be considered, so that excessive calculation amount is avoided. It is noted that the coverage of the child safety monitoring area of the present embodiment includes the child safety activity area of the previous embodiment.
Step S404, controlling the robot to move back, and in this embodiment, controlling the robot to move back until the image point cloud data set collected by the first camera in real time does not have gradient change, because the gray scale map corresponding to the dense map constructed by the visual positioning and mapping module in this embodiment has an obvious gradient in the step edge region.
Step S405, controlling the robot to avoid an obstacle, in this embodiment, moving in the opposite direction of the current forward direction in the child safety activity area to get away from the obstacle.
Alarm information is then sent to the guardian's mobile device. Because autonomic child robot of sauntering removes along the route of tracking guardian and keeping away from the barrier, so this embodiment can be through installing speaker on the robot of independently sauntering sends the alarm sound of certain decibel, warns when dodging the pedestrian, prevents that the pedestrian from playing the cell-phone and not noticing and bump over at the low head robot of sauntering. The aforementioned guardian is understood to be an immediate relative of the aforementioned child. The embodiment utilizes the image information of the first camera to avoid the obstacle on the automatic forward path of the robot walking the child autonomously, so that the robot walking the child autonomously is prevented from colliding with the fixed and moving obstacle to disturb children or disturb pedestrians.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An autonomous baby walking robot comprises a hand push handle, a vertical connecting rod matched and connected with the hand push handle, a child seat and a child handrail, and is characterized by further comprising a moving base, wherein the child seat is installed above the moving base; the lower part of the child armrest is arranged on the movable base through a first fixed support, and the first fixed support is also accommodated and assembled with a first camera, so that the visual angle of the first camera covers the peripheral side of the advancing direction of the movable base;
The lower part of the vertical connecting rod is arranged at the rear end of the child seat through a second fixing support, and a second camera is arranged in the middle of the vertical connecting rod, so that the visual angle of the second camera covers the child seat and the peripheral environment;
Wherein, remove the integrated visual positioning of base and build the drawing module to there is the cable to be connected with first camera and second camera.
2. The robot for walking baby autonomously as recited in claim 1, further comprising a driving wheel and a universal wheel disposed under the child seat, wherein the driving wheel is disposed on the left and right sides of the movable base, and the universal wheel is disposed at the front end of the movable base through a rotatable bracket.
3. The robot for walking a baby autonomously as recited in claim 1, wherein two protective belts are respectively led out from the vertical connecting rod at the same position, and the two protective belts are used for fixing the child on the child seat through cross-type locking at two sides of the child seat.
4. the robot of claim 1, wherein the viewing angle centerline of the second camera is at an angle of 60 degrees to the viewing angle centerline of the first camera.
5. An automatic sliding doll method based on an autonomous walking doll robot according to any claim 1 to 4, characterized in that it comprises:
Pre-storing images of a guardian and images of children, including face image information;
A second camera is called to collect a child activity point cloud data set and a guardian activity point cloud data set on the child seat, and an independent landmark and a child safety monitoring area based on the child are established in a map established by the mobile base integrated visual positioning and mapping module; in the child safety monitoring area, the distance between the mobile base and the guardian in the constructed map does not exceed a preset monitoring distance;
A first camera is called to collect an obstacle point cloud data set on the peripheral side of the advancing direction of the mobile base, and a road sign of an obstacle is established in a map established by a visual positioning and mapping module integrated with the mobile base;
Searching out a path which tracks the guardian and is far away from the barrier in real time according to the road sign of the barrier and the child safety monitoring area, controlling the mobile base to move according to the path searched out in real time, and then correcting the path by utilizing the point cloud data set inserted in real time.
6. the automated walking doll method of claim 5 wherein the moving point cloud data set is encoded from the captured image data within the elevation coverage of the second camera.
7. The automatic walking doll method according to claim 5, wherein said obstacle point cloud data set is encoded from image information captured by said first camera over a 360 ° range.
8. The automatic walking doll method according to claim 5, wherein the method for performing the path correction by using the point cloud data set inserted in real time comprises: and performing similarity calculation on a subsequent point cloud data set inserted in real time and a pre-stored landmark image, converting the calculated similarity into an actual distance and an actual angle deviation, and controlling the robot walking doll automatically to shift in the reverse direction and rotate in the reverse direction according to the actual distance and the actual angle deviation so as to correct the path shift.
9. The automatic walking doll method according to claim 8 further including revising said child's individual landmarks in a map constructed by said visual positioning and mapping module based on said calculated actual distance and angular deviations.
10. The automatic walking doll method according to claim 5, further comprising a manual walking doll mode, wherein the guardian of the child can also use the hand push handle to push the autonomous walking doll robot.
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