WO2018148878A1 - Smart robot capable of adaptively adjusting visual field, and control method therefor - Google Patents

Smart robot capable of adaptively adjusting visual field, and control method therefor Download PDF

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WO2018148878A1
WO2018148878A1 PCT/CN2017/073586 CN2017073586W WO2018148878A1 WO 2018148878 A1 WO2018148878 A1 WO 2018148878A1 CN 2017073586 W CN2017073586 W CN 2017073586W WO 2018148878 A1 WO2018148878 A1 WO 2018148878A1
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user
field
camera
module
intelligent robot
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PCT/CN2017/073586
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French (fr)
Chinese (zh)
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聂云
金岩
刘新华
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深圳市前海中康汇融信息技术有限公司
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Priority to PCT/CN2017/073586 priority Critical patent/WO2018148878A1/en
Publication of WO2018148878A1 publication Critical patent/WO2018148878A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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

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  • the invention relates to the field of robot control, and in particular to an intelligent robot with adaptive field of view and a control method thereof.
  • robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like.
  • robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
  • the intelligent robot has a single camera direction and limited field of view.
  • the present invention provides an intelligent robot for adaptive adjustment of a field of view, comprising: a communication module for communicating with a user's mobile terminal to receive user instructions, wherein the user instruction includes the current environment of the user An image navigation module, configured to use a captured image of the camera to locate a current location of the intelligent robot, and use the current environment image to locate a current location of the user; a field of view adjustment module, the camera navigation module Adjusting the field of view of the camera to a first field of view mode facing forward or a second field of view mode facing upwards, the field of view adjustment module being a mechanical axial rotation structure; and a control module for setting the field of view adjustment module Adjusting the camera field of view of the camera navigation module, performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal; and a motor module for The machine controls the signal and follows the navigation route.
  • a communication module for communicating with a user's mobile terminal to receive user instructions, wherein the user instruction includes the current environment of
  • the communication module is a Bluetooth communication module.
  • the communication module is an infrared communication module.
  • the camera navigation module includes: an image acquisition unit configured to acquire an image by using a camera; a positioning unit configured to match the acquired image and map data and perform positioning of a current location; and a map storage unit, Used to store the map data and form a map.
  • control module includes: a user instruction receiving unit, configured to receive the user instruction from the mobile terminal; and a field of view selecting unit configured to set the field of view adjustment module to display the camera
  • the camera field of view of the navigation module is adjusted to a front facing first field of view mode or an upward facing second field of view mode; a navigation processing unit for navigating according to the current position of the intelligent robot and the current position of the user Processing; an underlying motor control unit for generating the motor control signal.
  • the present invention also provides a method for controlling an intelligent robot of visual field adaptive adjustment, comprising: communicating with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and utilizing a mechanical axis Adjusting the camera field of view to a front facing first field of view mode or an upward facing second field of view mode to the rotating structure; utilizing the captured image of the camera to locate the current position of the intelligent robot, and utilizing the current environment image Positioning the current location of the user; performing navigation processing according to the current location of the intelligent robot and the current location of the user, and generating a motor control signal; and walking according to the navigation route according to the motor control signal.
  • the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
  • the step of communicating with the user's mobile terminal includes communicating using an infrared module.
  • the step of locating the current location of the smart robot with the captured image of the camera, and locating the current location of the user using the current environment image comprises: capturing an image with a camera; matching the Captured images and map data and set the current position Bits; and storing the map data and forming a map.
  • the intelligent robot with adaptive field of view provided by the invention and the control method thereof can be adaptively switched in two field modes to adapt to different usage scenarios.
  • FIG. 1 is a block diagram of an intelligent robot for field of view adaptive adjustment in accordance with an embodiment of the present invention.
  • FIG. 2 is a block diagram of the control module of Figure 1.
  • FIG. 3 is a block diagram of the camera navigation module of FIG. 1.
  • FIG. 4 is a flow chart showing a control method of an intelligent robot for visual field adaptive adjustment according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of an intelligent robot 100 for field of view adaptive adjustment in accordance with an embodiment of the present invention.
  • the visual field adaptively adjusted intelligent robot 100 can include a communication module 102 for communicating with a user's mobile terminal to receive user instructions, wherein the user instructions include the user's current environmental image (eg, , a ceiling image containing multiple location feature points).
  • the communication module can be a Bluetooth communication module.
  • the communication module can be an infrared communication module.
  • the visual field adaptively adjusted intelligent robot 100 may further include a camera navigation module 110 for The current position of the intelligent robot 100 is located using the captured image of the camera, and the current location of the user is located using the current environmental image.
  • the field of view adaptively adjusted intelligent robot 100 may further include a field of view adjustment module 108 that adjusts the camera field of view of the camera navigation module 110 to a front facing first field of view mode or an upward facing second field of view mode, the view
  • the field adjustment module 108 is a mechanical axially rotating structure.
  • the field of view adaptively adjusted intelligent robot 100 may further include a control module 106 for setting the field of view adjustment module 108 to adjust the camera field of view of the camera navigation module 110 (eg, facing forward or facing upward), Navigation processing is performed according to the current position of the intelligent robot and the current position of the user, and a motor control signal is generated.
  • a control module 106 for setting the field of view adjustment module 108 to adjust the camera field of view of the camera navigation module 110 (eg, facing forward or facing upward), Navigation processing is performed according to the current position of the intelligent robot and the current position of the user, and a motor control signal is generated.
  • the field of view adaptively adjusted intelligent robot 100 may further include a motor module 104 for walking in accordance with the navigation route in accordance with the motor control signal.
  • the control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a navigation processing unit 204 for determining a current location of the smart robot and The current position of the user is used for navigation processing; the bottom motor control unit 206 is configured to generate the motor control signal; and the field of view selection unit 208 is configured to set the field of view adjustment module to the camera navigation module The camera field of view is adjusted to a front facing first field of view mode or an upward facing second field of view mode.
  • FIG. 3 is a block diagram of the camera navigation module 110 of FIG.
  • the camera navigation module 110 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the acquired image and map data and perform positioning of a current location;
  • the map storage unit 306 is configured to store the map data and form a map.
  • FIG. 4 is a flow chart of a method 400 of controlling an intelligent robot for field of view adaptive adjustment in accordance with an embodiment of the present invention.
  • control method 400 of the visual field adaptively adjusted intelligent robot may include the following steps. Step:
  • Step 410 Communicate with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and adjusting a camera field of view to a front-facing first field of view mode by using a mechanical axial rotation structure Or the second field of view mode facing up.
  • the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
  • the step 410 of communicating with a user's mobile terminal can include communicating using an infrared module.
  • Step 420 Locating the current position of the intelligent robot by using the captured image of the camera, and using the current environment image to locate the current location of the user.
  • step 420 can include: capturing an image with a camera; matching the acquired image with map data and performing positioning of a current location; and storing the map data and forming a map,
  • Step 430 Perform navigation processing according to the current location of the intelligent robot and the current location of the user, and generate a motor control signal.
  • Step 440 Follow the navigation route according to the motor control signal.
  • the intelligent field of view field adaptive adjustment provided by the present invention and the control method thereof can be adaptively switched in two field of view modes to adapt to different usage scenarios.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

A smart robot (100) capable of adaptively adjusting a visual field comprises: a communication module (102), used for communicating with a mobile terminal of a user, and receiving an instruction of the user; a camera navigation module (110), used for locating the current position of the smart robot (100) by using images collected a camera, and for locating the current position of the user by using current environment images; a visual field adjustment module (108), for adjusting a camera visual field of the camera navigation module (110) into a first visual field mode facing to the front or a second visual field mode facing to the top; a control module (106), used for performing navigation processing according to the current position of the smart robot and the current position of the user, and generates a motor control signal; and a motor module (104), used for walking according to the motor control signal and a navigation route. Also provided is a control method for the smart robot capable of adaptively adjusting a visual field. By means of the smart robot and a control method therefor, adaptive switching can be performed in a navigation mode of two visual fields, so as to adapt to different use scenarios.

Description

视场自适应调节的智能机器人及其控制方法Intelligent robot with adaptive adjustment of field of view and control method thereof 技术领域Technical field
本发明涉及机器人控制领域，并且特别涉及一种视场自适应调节的智能机器人及其控制方法。The invention relates to the field of robot control, and in particular to an intelligent robot with adaptive field of view and a control method thereof.
背景技术Background technique
当今，智能机器人越来越普及。随着机器人的小型化和低成本化，也逐渐进入普通用户的家庭生活中。例如，根据机器人的功能，通常可分为清扫机器人、擦窗机器人、服务机器人、看护机器人等。然而，机器人可能缺少与用户之间的有效互动。例如，机器人无法及时准确回到用户身边。另外，智能机器人的摄像头方向单一，视野有限。Today, smart robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like. However, robots may lack effective interaction with users. For example, the robot cannot get back to the user in time. In addition, the intelligent robot has a single camera direction and limited field of view.
因此，需要一种改进的智能机器人及其控制方法。Therefore, there is a need for an improved intelligent robot and its control method.
发明内容Summary of the invention
为实现本目的，本发明提供一种视场自适应调节的智能机器人，包括：通信模块，用于与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像；摄像头导航模块，用于利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；视场调节模块，将所述摄像头导航模块的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式，所述视场调节模块为机械轴向旋转结构；控制模块，用于设置所述视场调节模块以调节所述摄像头导航模块的所述摄像头视场，根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号；以及电机模块，用于根据所述电 机控制信号而按照导航路线行走。To achieve the object, the present invention provides an intelligent robot for adaptive adjustment of a field of view, comprising: a communication module for communicating with a user's mobile terminal to receive user instructions, wherein the user instruction includes the current environment of the user An image navigation module, configured to use a captured image of the camera to locate a current location of the intelligent robot, and use the current environment image to locate a current location of the user; a field of view adjustment module, the camera navigation module Adjusting the field of view of the camera to a first field of view mode facing forward or a second field of view mode facing upwards, the field of view adjustment module being a mechanical axial rotation structure; and a control module for setting the field of view adjustment module Adjusting the camera field of view of the camera navigation module, performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal; and a motor module for The machine controls the signal and follows the navigation route.
在一个实施例中，所述通信模块为蓝牙通信模块。In one embodiment, the communication module is a Bluetooth communication module.
在一个实施例中，所述通信模块为红外通信模块。In one embodiment, the communication module is an infrared communication module.
在一个实施例中，所述摄像头导航模块包括：图像采集单元，用于利用摄像头采集图像；定位单元，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及地图存储单元，用于存储所述地图数据并且形成地图。In one embodiment, the camera navigation module includes: an image acquisition unit configured to acquire an image by using a camera; a positioning unit configured to match the acquired image and map data and perform positioning of a current location; and a map storage unit, Used to store the map data and form a map.
在一个实施例中，所述控制模块包括：用户指令接收单元，用于接收来自所述移动终端的所述用户指令；视场选择单元，用于设置所述视场调节模块来将所述摄像头导航模块的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式；导航处理单元，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；底层电机控制单元，用于产生所述电机控制信号。In one embodiment, the control module includes: a user instruction receiving unit, configured to receive the user instruction from the mobile terminal; and a field of view selecting unit configured to set the field of view adjustment module to display the camera The camera field of view of the navigation module is adjusted to a front facing first field of view mode or an upward facing second field of view mode; a navigation processing unit for navigating according to the current position of the intelligent robot and the current position of the user Processing; an underlying motor control unit for generating the motor control signal.
本发明还提供一种视场自适应调节的智能机器人的控制方法，包括：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像，并且利用机械轴向旋转结构将摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式；利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号；以及根据所述电机控制信号而按照导航路线行走。The present invention also provides a method for controlling an intelligent robot of visual field adaptive adjustment, comprising: communicating with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and utilizing a mechanical axis Adjusting the camera field of view to a front facing first field of view mode or an upward facing second field of view mode to the rotating structure; utilizing the captured image of the camera to locate the current position of the intelligent robot, and utilizing the current environment image Positioning the current location of the user; performing navigation processing according to the current location of the intelligent robot and the current location of the user, and generating a motor control signal; and walking according to the navigation route according to the motor control signal.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用蓝牙模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
在一个实施例中，所述与用户的移动终端进行通信的步骤包括：利用红外模块进行通信。In one embodiment, the step of communicating with the user's mobile terminal includes communicating using an infrared module.
在一个实施例中，所述利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置的步骤包括：利用摄像头采集图像；匹配所述采集的图像与地图数据并且进行当前位置的定 位；以及存储所述地图数据并且形成地图。In one embodiment, the step of locating the current location of the smart robot with the captured image of the camera, and locating the current location of the user using the current environment image comprises: capturing an image with a camera; matching the Captured images and map data and set the current position Bits; and storing the map data and forming a map.
本发明所提供的视场自适应调节的智能机器人及其控制方法能够在两个视场模式下自适应切换，从而适应不同使用场景。The intelligent robot with adaptive field of view provided by the invention and the control method thereof can be adaptively switched in two field modes to adapt to different usage scenarios.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1所示是根据本发明实施例的视场自适应调节的智能机器人的框图。1 is a block diagram of an intelligent robot for field of view adaptive adjustment in accordance with an embodiment of the present invention.
图2所示是图1中的控制模块的框图。Figure 2 is a block diagram of the control module of Figure 1.
图3所示是图1中的摄像头导航模块的框图。FIG. 3 is a block diagram of the camera navigation module of FIG. 1.
图4所示是根据本发明实施例的视场自适应调节的智能机器人的控制方法的流程图。4 is a flow chart showing a control method of an intelligent robot for visual field adaptive adjustment according to an embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
图1所示是根据本发明实施例的视场自适应调节的智能机器人100的框图。1 is a block diagram of an intelligent robot 100 for field of view adaptive adjustment in accordance with an embodiment of the present invention.
如图1所示，视场自适应调节的智能机器人100可包括通信模块102，用于与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像(例如，包含多个位置特征点的天花板图像)。在一个实施例中，所述通信模块可以是蓝牙通信模块。在另一个实施例中，所述通信模块可以是红外通信模块。As shown in FIG. 1, the visual field adaptively adjusted intelligent robot 100 can include a communication module 102 for communicating with a user's mobile terminal to receive user instructions, wherein the user instructions include the user's current environmental image (eg, , a ceiling image containing multiple location feature points). In one embodiment, the communication module can be a Bluetooth communication module. In another embodiment, the communication module can be an infrared communication module.
视场自适应调节的智能机器人100还可以包括摄像头导航模块110，用于 利用摄像头的采集图像来定位所述智能机器人100的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置。The visual field adaptively adjusted intelligent robot 100 may further include a camera navigation module 110 for The current position of the intelligent robot 100 is located using the captured image of the camera, and the current location of the user is located using the current environmental image.
视场自适应调节的智能机器人100还可以包括视场调节模块108，将摄像头导航模块110的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式，所述视场调节模块108为机械轴向旋转结构。The field of view adaptively adjusted intelligent robot 100 may further include a field of view adjustment module 108 that adjusts the camera field of view of the camera navigation module 110 to a front facing first field of view mode or an upward facing second field of view mode, the view The field adjustment module 108 is a mechanical axially rotating structure.
视场自适应调节的智能机器人100还可以包括控制模块106，用于设置所述视场调节模块108以调节所述摄像头导航模块110的所述摄像头视场(例如，面向前方或面向上方)，根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号。The field of view adaptively adjusted intelligent robot 100 may further include a control module 106 for setting the field of view adjustment module 108 to adjust the camera field of view of the camera navigation module 110 (eg, facing forward or facing upward), Navigation processing is performed according to the current position of the intelligent robot and the current position of the user, and a motor control signal is generated.
视场自适应调节的智能机器人100还可以包括电机模块104，用于根据所述电机控制信号而按照导航路线行走。The field of view adaptively adjusted intelligent robot 100 may further include a motor module 104 for walking in accordance with the navigation route in accordance with the motor control signal.
图2所示是图1中的控制模块106的框图。在一个实施例中，所述控制模块106可包括：用户指令接收单元202，用于接收来自所述移动终端的所述用户指令；导航处理单元204，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；底层电机控制单元206，用于产生所述电机控制信号；以及视场选择单元208，用于设置所述视场调节模块来将所述摄像头导航模块的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式。2 is a block diagram of the control module 106 of FIG. In one embodiment, the control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a navigation processing unit 204 for determining a current location of the smart robot and The current position of the user is used for navigation processing; the bottom motor control unit 206 is configured to generate the motor control signal; and the field of view selection unit 208 is configured to set the field of view adjustment module to the camera navigation module The camera field of view is adjusted to a front facing first field of view mode or an upward facing second field of view mode.
图3所示是图1中的摄像头导航模块110的框图。3 is a block diagram of the camera navigation module 110 of FIG.
在一个实施例中，所述摄像头导航模块110可包括：图像采集单元302，用于利用摄像头采集图像；定位单元304，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及地图存储单元306，用于存储所述地图数据并且形成地图。In an embodiment, the camera navigation module 110 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the acquired image and map data and perform positioning of a current location; The map storage unit 306 is configured to store the map data and form a map.
图4所示是根据本发明实施例的视场自适应调节的智能机器人的控制方法400的流程图。4 is a flow chart of a method 400 of controlling an intelligent robot for field of view adaptive adjustment in accordance with an embodiment of the present invention.
如图4所示，视场自适应调节的智能机器人的控制方法400可包括以下步 骤：As shown in FIG. 4, the control method 400 of the visual field adaptively adjusted intelligent robot may include the following steps. Step:
步骤410：与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像，并且利用机械轴向旋转结构将摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式。Step 410: Communicate with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and adjusting a camera field of view to a front-facing first field of view mode by using a mechanical axial rotation structure Or the second field of view mode facing up.
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利用蓝牙模块进行通信。In one embodiment, the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
在一个实施例中，所述与用户的移动终端进行通信的步骤410可包括：利用红外模块进行通信。In one embodiment, the step 410 of communicating with a user's mobile terminal can include communicating using an infrared module.
步骤420：利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置。Step 420: Locating the current position of the intelligent robot by using the captured image of the camera, and using the current environment image to locate the current location of the user.
在一个实施例中，步骤420可包括：利用摄像头采集图像；匹配所述采集的图像与地图数据并且进行当前位置的定位；以及存储所述地图数据并且形成地图，In one embodiment, step 420 can include: capturing an image with a camera; matching the acquired image with map data and performing positioning of a current location; and storing the map data and forming a map,
步骤430：根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号。Step 430: Perform navigation processing according to the current location of the intelligent robot and the current location of the user, and generate a motor control signal.
步骤440：根据所述电机控制信号而按照导航路线行走。Step 440: Follow the navigation route according to the motor control signal.
有利地，本发明所提供的视场自适应调节的智能机器人及其控制方法能够在两个视场模式下自适应切换，从而适应不同使用场景。Advantageously, the intelligent field of view field adaptive adjustment provided by the present invention and the control method thereof can be adaptively switched in two field of view modes to adapt to different usage scenarios.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims (9)

  1. 一种视场自适应调节的智能机器人，包括：An intelligent robot with adaptive field of view, including:
    通信模块，用于与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像；a communication module, configured to communicate with a user's mobile terminal, to receive a user instruction, wherein the user instruction includes a current environment image of the user;
    摄像头导航模块，用于利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；a camera navigation module, configured to use a captured image of the camera to locate a current location of the intelligent robot, and use the current environment image to locate a current location of the user;
    视场调节模块，将所述摄像头导航模块的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式，所述视场调节模块为机械轴向旋转结构；a field of view adjustment module, the camera field of view of the camera navigation module is adjusted to a front facing first field of view mode or an upward facing second field of view mode, the field of view adjustment module is a mechanical axial rotation structure;
    控制模块，用于设置所述视场调节模块以调节所述摄像头导航模块的所述摄像头视场，根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号；以及a control module, configured to set the field of view adjustment module to adjust the camera field of view of the camera navigation module, perform navigation processing according to the current position of the intelligent robot and the current position of the user, and generate motor control Signal;
    电机模块，用于根据所述电机控制信号而按照导航路线行走。And a motor module for walking according to the navigation route according to the motor control signal.
  2. 如权利要求1所述的智能机器人，其特征在于，所述通信模块为蓝牙通信模块。The intelligent robot of claim 1 wherein said communication module is a Bluetooth communication module.
  3. 如权利要求1所述的智能机器人，其特征在于，所述通信模块为红外通信模块。The intelligent robot of claim 1 wherein said communication module is an infrared communication module.
  4. 如权利要求1所述的智能机器人，其特征在于，所述摄像头导航模块包括：The intelligent robot according to claim 1, wherein the camera navigation module comprises:
    图像采集单元，用于利用摄像头采集图像；An image acquisition unit for acquiring an image by using a camera;
    定位单元，用于匹配所述采集的图像与地图数据并且进行当前位置的定位；以及a positioning unit configured to match the acquired image and map data and perform positioning of a current location;
    地图存储单元，用于存储所述地图数据并且形成地图。 A map storage unit for storing the map data and forming a map.
  5. 如权利要求1所述的智能机器人，其特征在于，所述控制模块包括：The intelligent robot of claim 1 wherein said control module comprises:
    用户指令接收单元，用于接收来自所述移动终端的所述用户指令；a user instruction receiving unit, configured to receive the user instruction from the mobile terminal;
    视场选择单元，用于设置所述视场调节模块来将所述摄像头导航模块的摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式；a field of view selection unit, configured to set the field of view adjustment module to adjust a camera field of view of the camera navigation module to a front facing first field of view mode or an upward facing second field of view mode;
    导航处理单元，用于根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理；a navigation processing unit, configured to perform navigation processing according to a current location of the intelligent robot and a current location of the user;
    底层电机控制单元，用于产生所述电机控制信号。An underlying motor control unit for generating the motor control signal.
  6. 一种视场自适应调节的智能机器人的控制方法，包括：A method for controlling an intelligent robot with adaptive field of view includes:
    与用户的移动终端进行通信，接收用户指令，其中所述用户指令包括所述用户的当前环境图像，并且利用机械轴向旋转结构将摄像头视场调节成面向前方的第一视场模式或面向上方的第二视场模式；Communicating with a user's mobile terminal, receiving user instructions, wherein the user instructions include the user's current environmental image, and utilizing a mechanical axial rotation structure to adjust the camera field of view to a front facing first field of view mode or upward Second field of view mode;
    利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图像来定位所述用户的当前位置；Using a captured image of the camera to locate a current location of the intelligent robot, and utilizing the current environment image to locate a current location of the user;
    根据所述智能机器人的当前位置和所述用户的当前位置来进行导航处理，并且产生电机控制信号；以及Performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal;
    根据所述电机控制信号而按照导航路线行走。Walking according to the navigation route according to the motor control signal.
  7. 如权利要求6所述的智能机器人的控制方法，其特征在于，所述与用户的移动终端进行通信的步骤包括：利用蓝牙模块进行通信。The control method of the intelligent robot according to claim 6, wherein the step of communicating with the user's mobile terminal comprises: communicating using the Bluetooth module.
  8. 如权利要求6所述的智能机器人的控制方法，其特征在于，所述与用户的移动终端进行通信的步骤包括：利用红外模块进行通信。The control method of the intelligent robot according to claim 6, wherein the step of communicating with the user's mobile terminal comprises: communicating using the infrared module.
  9. 如权利要求6所述的智能机器人的控制方法，其特征在于，所述利用摄像头的采集图像来定位所述智能机器人的当前位置，以及利用所述当前环境图 像来定位所述用户的当前位置的步骤包括：The control method of the intelligent robot according to claim 6, wherein the utilizing the captured image of the camera to locate the current position of the intelligent robot and utilizing the current environment map The steps to locate the current location of the user include:
    利用摄像头采集图像；Using the camera to capture images;
    匹配所述采集的图像与地图数据并且进行当前位置的定位；以及Matching the acquired image with map data and performing local location positioning;
    存储所述地图数据并且形成地图。 The map data is stored and a map is formed.
PCT/CN2017/073586 2017-02-15 2017-02-15 Smart robot capable of adaptively adjusting visual field, and control method therefor WO2018148878A1 (en)

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