CN106647815A - Intelligent following robot based on multi-sensor information fusion and control method thereof - Google Patents
Intelligent following robot based on multi-sensor information fusion and control method thereof Download PDFInfo
- Publication number
- CN106647815A CN106647815A CN201710049131.2A CN201710049131A CN106647815A CN 106647815 A CN106647815 A CN 106647815A CN 201710049131 A CN201710049131 A CN 201710049131A CN 106647815 A CN106647815 A CN 106647815A
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- Prior art keywords
- robot
- module
- sensor
- owner
- human body
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention relates to the field of intelligent robots and more particularly to an intelligent following robot based on multi-sensor information fusion and a control method thereof. The intelligent following robot comprises a robot body and a human body carrying module and is characterized in that the robot body comprises a robot master control unit and a distance measuring sensor; the human body carrying module comprises a carrying-end master control unit, a navigation module, and communication module; the navigation module is integrated with a gyroscope, an accelerometer and a geomagnetic field sensor; the robot body receives human body carrying end attitude data transmitted via Bluetooth, fuses the human body carrying end attitude data with the Sensor information, and sends a control command to a driver; and the driver controls a driving wheel to go forward, go backward or turns. The intelligent following robot realizes the intelligent following and solves right-angle turning in narrow space.
Description
Technical field
The invention belongs to field in intelligent robotics, and in particular to a kind of intelligence based on multi-sensor information fusion is with random
Device people and control method.
Background technology
With the progress of science and technology, various high-performance sensors, processor are widely used in mobile robot field,
It is set to be increasingly becoming the comprehensive intelligent body for integrating environment sensing, dynamic decision and Behavior- Based control.
Many scenes during work, life, amusement, all have the situation that certain carrier follows human motion,
The logistics trolley in the perambulator on luggage case, square, supermarket shopping car, golf course dolly and industrial production such as airport
Deng, if the robot that a kind of intelligence under many scenes is followed can be developed, the both hands for liberating mankind are possible to, make the life of the mankind
Produce, live and entertain more easily, enable the mankind to enjoy the facility that intelligence follows robot to bring.
AGV dollies in products storage circulation system, are equipped with electricity and magnetically or optically wait homing guidance device, can be along the road of setting
Line is travelled.Israel " intelligence robot " company realizes that luggage case follows owner to transport using camera sensing device and driving means
It is dynamic.
Existing intelligence follows technology to be tracked using GPS location or vision, but the two all has certain disadvantage
End.As GPS location is only applicable to outdoor scene, and civilian precision is not high；And vision tracks affected by environment larger, accuracy of identification
It is not high, and limited by line-of-sight propagation, it is impossible to solve the problems, such as the right-angled bend of small space.Conventional AGV is little for products storage circulation system
Car can only be travelled according to route, and intelligence degree is not high.
The content of the invention
In order to overcome drawbacks described above, the invention provides the intelligence for realizing robot follows and solves the straight of small space
Angle turn problems, robot and control are followed based on the intelligence of multi-sensor information fusion suitable for indoor and outdoor many scenes
Method.
To achieve these goals, the technical solution adopted in the present invention is：It is a kind of based on multi-sensor information fusion
Intelligence follows robot, including robot body and human body to carry module, it is characterised in that：Described robot body includes machine
Device people's main control unit, distance measuring sensor, described human body carries module to be included carrying end main control unit, navigation module, communication mould
Block, navigation module is integrated with gyroscope, accelerometer and geomagnetic field sensors, and robot body receives the human body of Bluetooth transmission
End attitude data is carried, merges distance measuring sensor information, control instruction is sent into driver, before driver control driving wheel
Enter, retreat and turn to.
A kind of intelligence based on multi-sensor information fusion follows robot, it is characterised in that including robot body and
Human body carries module, it is characterised in that：Described robot body includes robot main control unit, distance measuring sensor, communication mould
Block, described human body carries module to be included carrying end main control unit, communication module, and in robot body some communication moulds are provided with
Block, human body carries module and is provided with some communication modules, and by robot body and human body the signal strength that module is received is carried
The distance of signaling point and receiving point is determined, and then determines Azimuth ＆ Range of the people relative to robot, by robot body
Main control unit control robot of robot course.
Described communication module is bluetooth module, WIFI module, ZigBee module, RFID module or infrared sensor.Institute
The distance measuring sensor stated is sonac, infrared sensor or laser sensor.
A kind of intelligence based on multi-sensor information fusion follows the control method of robot, the people carried with owner
Body carry module for tracking target, using magnetic field sensor, gyroscope, acceleration transducer, distance measuring sensor information fusion,
Determine the relative position of owner and robot body, with communication module robot main control unit is transferred to, by driver control
Motor processed is rotated, so as to realize that intelligent robot follows owner to advance, turns and retrogressing.
Control method, makes robotic end control unit, driver, motor, distance measuring sensor in running order, and makes top
Spiral shell instrument is started working with communication module；The distance of owner and robot body is detected by distance measuring sensor, navigation module is integrated
Gyroscope, accelerometer and geomagnetic field sensors, are resolved and Kalman using high performance microprocessor and advanced dynamics
Dynamic filter algorithm, can realize that quickly obtaining human body carries module real time kinematics attitude, real by communication module real-time Transmission
When feed back to main control unit.When robot and owner's distance are more than 1 meter, robot follows advance, and is furnished with level Four governor
System, to realize guaranteeing that robot is effectively followed according to owner's gait of march；When robot is away from 1 meter of owner, halt, if
Angle is constant, then robot remains stationary；When robot is less than 0.5 meter away from owner, robot falls back traveling；Robot passes through
Sonac detects obstacle and has sudden-stop function.
Or, signal strength measure signaling point and the receiving point that module is received is carried by robot body and human body
Distance, and then Azimuth ＆ Range of the people relative to robot is determined, by the robot main control unit control machine of robot body
Device people's course.
Relative to prior art, beneficial effects of the present invention are：The present invention is based on the intelligence of multi-sensor information fusion
Robot is followed, is one and is integrated environment sensing, programmed decision-making, the integrated system of automatic running function, it is intensively transported
With computer technology, sensing technology, information technology, the communication technology, navigation and automatic control technology etc..
Intelligence follows the device that robot is carried with owner to track target, using magnetic field sensor, gyroscope, plus
Velocity sensor gathers direction and angle information, is transmitted to robot body by bluetooth transceiver module, and is aided with ultrasound
Away from module, motor drive module, the intelligence for realizing robot is followed.
It is indoor and outdoor that intelligence follows robot to be suitable for dining room, airport, supermarket, recreation ground, park, seabeach, shopping mall etc.
Various environment, are truly realized both hands, the eyes for liberating mankind, and exempt mankind's manipulation work, have a wide range of applications, considerable Jing
Ji benefit and larger social effectiveness.
Description of the drawings
Fig. 1 is that human body carries module composition schematic diagram；
Fig. 2 is the composition schematic diagram of robot body；
Wherein, 1 end power switch, 2 lithium batteries, 3 carrying end main control units, 4 navigation modules, 5 bluetooth modules, 6 robots are carried
Main control unit, 7 sonacs, 8 drivers, 9 motors, 10 power switches, 11 robot body power supplys, 12 driving wheels, 130,000
To wheel.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with specific embodiment.
The present invention is to follow robot based on the intelligence of multi-sensor information fusion, the device carried with owner be with
Track target, using magnetic field sensor, gyroscope, acceleration transducer, ultrasonic module information fusion, determine owner and robot
Relative position, with BLE technologies, be transferred to main control module, rotated by driver control motor, so as to realize robot intelligence
Owner can be followed to advance, turned and the function of retreating.
Human body carries module composition such as Fig. 1：
Powered to carry end main control unit 1, navigation module 4, bluetooth module 5 by lithium battery 2；The integrated gyroscope of navigation module, plus
Speedometer, geomagnetic field sensors, are resolved and Kalman's dynamic filter algorithm using high-performance microprocessor and advanced dynamics,
By data by Bluetooth transmission to robot main control unit 6.
Robot body composition such as Fig. 2：
Robot body receives the human body of Bluetooth transmission and carries end attitude data, merges the information that sonac 7 is detected,
Control instruction is sent into driver 8, is advanced by driver control driving wheel 12, retreated and is turned to.Meanwhile, robot has anxious
Stop and barrier avoiding function.Robot body is additionally provided with universal wheel 13, robot body power supply 11, power switch 10.
To realize that robot follows owner to advance automatically, robot body power supply 11 need to be first opened, make robot master control list
Unit 6, driver, motor 9, sonac is in running order, then opens human body and carry end power switch 1, make gyroscope with
Bluetooth is started working.The distance of owner and robot body is detected by sonac, gyroscope detects owner and machine
The angular relationship of human body, by bluetooth real-time Transmission, Real-time Feedback is to main control unit.When robot and owner's distance are more than 1
Meter Shi, robot follows advance, and is furnished with level Four speed governing mechanism, with realize according to owner's gait of march guarantee robot effectively with
With；When robot is away from 1 meter of owner, halt, if angle is constant, robot remains stationary；When robot is away from owner
During less than 0.5 meter, robot falls back traveling.Robot detects obstacle and has sudden-stop function by sonac.
The present invention is realized using the fusion of the much informations such as gyroscope, accelerometer, geomagnetic field sensors, sonac
The intelligence of indoor and outdoor many scenes is followed.
The present invention use gyroscope, accelerometer and geomagnetic field sensors, will not be limited by indoor and outdoor, better than GPS with
Track.
The present invention is not affected compared with camera sensing device by extraneous light, and applicable dark or brightness constantly become
The scene of change.
The present invention is not limited by line-of-sight propagation, has certain superiority than camera sensing device, and data volume, data are passed
Defeated speed and data processing complexity aspect are substantially better than the tracking mode of camera sensing device.
The present invention uses BLE technologies, has taken into account low energy consumption and has been wirelessly transferred.
Present invention uses the multiple sensors such as gyroscope, accelerometer, earth magnetism, ultrasound, realize multiple sensors letter
The fusion of breath, has reached preferable tracking effect.
The present invention realizes that jerk is not limited only to sonac with avoidance, and other can realize the sensing mode of wireless distance finding
Such as infrared distance measurement, laser ranging mode are in this patent protection domain；It is wirelessly transferred and be not only only limited to BLE technologies, other
Such as WIFI, ZigBee, RFID, infrared wireless transmission method are in this patent protection domain.
RSSI technologies can also be used, in robot body 3 BLE modules are placed, human body carries end and places 1 BLE mould
Block, by the signal strength for receiving the distance of signaling point and receiving point is determined, and then determines orientation of the people relative to robot
With distance, robot course is controlled by the main control unit of robot body.
BLE：Bluetooth Low Energy, bluetooth low energy consumption technologies.
ZigBee：ZigBee is the low-power consumption LAN protocol based on IEEE802.15.4 standards, is a kind of short distance, low
The wireless communication technology of power consumption.
RFID：Radio Frequency Identification, radio RF recognition technology.
RSSI：Received Signal Strength Indication, the signal strength signal intensity of reception is indicated, by receiving
The signal strength for arriving determines the distance of signaling point and receiving point, and then carries out a kind of positioning skill of location Calculation according to corresponding data
Art.
The invention is not limited in any way for above-described embodiment, all to be obtained by the way of equivalent or equivalent transformation
Technical scheme, all fall within protection scope of the present invention.
Claims (8)
1. a kind of intelligence based on multi-sensor information fusion follows robot, including robot body and human body to carry module,
It is characterized in that：Described robot body includes robot main control unit, distance measuring sensor, and described human body carries module bag
Carrying end main control unit, navigation module, communication module are included, navigation module is integrated with gyroscope, accelerometer and earth magnetic field sensing
Device, robot body receives the human body of Bluetooth transmission and carries end attitude data, merges distance measuring sensor information, by control instruction
Driver is sent to, is advanced by driver control driving wheel, retreated and is turned to.
2. a kind of intelligence based on multi-sensor information fusion follows robot, it is characterised in that including robot body and people
Body carries module, it is characterised in that：Described robot body includes robot main control unit, distance measuring sensor, communication module,
Described human body carries module to be included carrying end main control unit, communication module, and in robot body some communication modules, people are provided with
Body carries module and is provided with some communication modules, and by robot body and human body the signal strength measure letter that module is received is carried
The distance of number point and receiving point, and then Azimuth ＆ Range of the people relative to robot is determined, by the robot of robot body
Main control unit control robot course.
3. a kind of intelligence based on multi-sensor information fusion according to claim 1 and 2 follows robot, and its feature exists
In described communication module is bluetooth module, WIFI module, ZigBee module, RFID module or infrared sensor.
4. a kind of intelligence based on multi-sensor information fusion according to claim 1 and 2 follows robot, and its feature exists
In described distance measuring sensor is sonac, infrared sensor or laser sensor.
5. a kind of intelligence based on multi-sensor information fusion described in claim 1 follows the control method of robot, with master
The human body that people carries with carries module to track target, is passed using magnetic field sensor, gyroscope, acceleration transducer, range finding
The information fusion of sensor, determines the relative position of owner and robot body, and with communication module robot master control list is transferred to
Unit, is rotated by driver control motor, so as to realize that intelligent robot follows owner to advance, turns and retrogressing.
6. a kind of intelligence based on multi-sensor information fusion according to claim 5 follows the control method of robot,
Make robotic end control unit, driver, motor, distance measuring sensor in running order, and gyroscope is opened with communication module
Beginning work；The distance of owner and robot body is detected by distance measuring sensor, gyroscope detects owner and robot body
Angular relationship, by communication module real-time Transmission, Real-time Feedback is to main control unit.
7. when robot and owner's distance are more than 1 meter, robot follows advance, and is furnished with level Four speed governing mechanism, to realize root
Guarantee that robot is effectively followed according to owner's gait of march；When robot is away from 1 meter of owner, halt, if angle is constant,
Robot remains stationary；When robot is less than 0.5 meter away from owner, robot falls back traveling；Robot passes through sonac
Detection obstacle simultaneously has sudden-stop function.
8. a kind of intelligence based on multi-sensor information fusion described in claim 7 follows the control method of robot, passes through
The signal strength that robot body and human body carrying module are received determines the distance of signaling point and receiving point, and then determines people's phase
For the Azimuth ＆ Range of robot, robot course is controlled by the robot main control unit of robot body.
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| CN201710049131.2A CN106647815A (en) | 2017-01-23 | 2017-01-23 | Intelligent following robot based on multi-sensor information fusion and control method thereof |
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Cited By (9)
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| CN107116555A (en) * | 2017-05-27 | 2017-09-01 | 芜湖星途机器人科技有限公司 | Robot guiding movement system based on wireless ZIGBEE indoor positioning |
| CN108279691A (en) * | 2018-04-08 | 2018-07-13 | 河南科技学院 | It can be manned from motion tracking shopping cart and its automatic tracking method |
| CN108733080A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of state switching method and device |
| CN108801275A (en) * | 2018-06-11 | 2018-11-13 | 杭州晶智能科技有限公司 | Indoor mobile robot fingerprint map method for building up based on wireless network and Geomagnetic signal |
| CN109032121A (en) * | 2017-06-09 | 2018-12-18 | 先进机器人有限公司 | Motive objects tracing system |
| CN110032213A (en) * | 2019-04-11 | 2019-07-19 | 深圳市踏路科技有限公司 | Robot system for tracking and robot follower method |
| CN110673652A (en) * | 2019-09-17 | 2020-01-10 | 芜湖宏景电子股份有限公司 | Self-tracking system based on accelerometer gyroscope sensor and infrared sensing |
| CN111311161A (en) * | 2020-03-21 | 2020-06-19 | 范泽维 | Efficient tail end distribution method applying automatic following robot and Internet of things system |
| CN111759592A (en) * | 2020-07-22 | 2020-10-13 | 广州狸园科技有限公司 | AGV intelligence protection dolly |
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| CN107116555A (en) * | 2017-05-27 | 2017-09-01 | 芜湖星途机器人科技有限公司 | Robot guiding movement system based on wireless ZIGBEE indoor positioning |
| CN109032121A (en) * | 2017-06-09 | 2018-12-18 | 先进机器人有限公司 | Motive objects tracing system |
| CN108733080A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of state switching method and device |
| CN108279691A (en) * | 2018-04-08 | 2018-07-13 | 河南科技学院 | It can be manned from motion tracking shopping cart and its automatic tracking method |
| CN108801275A (en) * | 2018-06-11 | 2018-11-13 | 杭州晶智能科技有限公司 | Indoor mobile robot fingerprint map method for building up based on wireless network and Geomagnetic signal |
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| CN110673652A (en) * | 2019-09-17 | 2020-01-10 | 芜湖宏景电子股份有限公司 | Self-tracking system based on accelerometer gyroscope sensor and infrared sensing |
| CN111311161A (en) * | 2020-03-21 | 2020-06-19 | 范泽维 | Efficient tail end distribution method applying automatic following robot and Internet of things system |
| CN111759592A (en) * | 2020-07-22 | 2020-10-13 | 广州狸园科技有限公司 | AGV intelligence protection dolly |
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