CN106940208A - Robot target demarcates the system with oneself state monitoring function - Google Patents
Robot target demarcates the system with oneself state monitoring function Download PDFInfo
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- CN106940208A CN106940208A CN201710211381.1A CN201710211381A CN106940208A CN 106940208 A CN106940208 A CN 106940208A CN 201710211381 A CN201710211381 A CN 201710211381A CN 106940208 A CN106940208 A CN 106940208A
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Abstract
The invention provides a kind of demarcation of robot target and the system of oneself state monitoring function, it is characterised in that range measurement and image taking module, robotary data acquisition module, data transmission module, data processing and display module including object.As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and good effect：Range measurement, IMAQ, data processing and display, performance monitoring are integrated in one by the present invention, inexpensive, quick can realize that goal seeking and surrounding environment are built.The present invention is what the principle based on Fusion was realized, by experiment test, present system working stability, favorable expandability, low cost, interactive interface friendly, system working stability directly perceived, can accurately, quickly perform some goal seeking tasks in specific environment.
Description
Technical field
Target recognition system of the robot progress based on Multi-sensor Fusion is utilized the present invention relates to a kind of.
Background technology
With the development of social informatization technology, the mobile robot with independent navigation ability is extensive in industry-by-industry
Using.Robot realizes motion of the robot in circumstances not known, found according to the requirement of people during walking and exploration
Target simultaneously avoids causing the damage of robot body and the damage of equipment, and it must be capable of identify out the thing in surrounding environment
Body.
There are many methods to be applied successfully in the object identification of view-based access control model at present, such as laser ranging, ultrasonic wave,
Millimetre-wave radar, multi-source fusion and the recognition methods based on computer vision.Object recognition methods based on ultrasonic wave is big
It is used for robot obstacle-avoiding field.Classical having a wide range of applications property of ultrasonic measuring distance technology and unique advantage, but in reality
In the applied environment on border, be designed that adaptability is poor by single ultrasonic distance-measuring sensor, can only to barrier away from
From accurate measure, the other information such as position of barrier can only be obtained by fuzzy inference mostly, and its real-time, accuracy are difficult to
Ensure.In addition, ultrasonic wave the problems such as range accuracy, measurement blind area and measurement range on there are many limitations.View-based access control model
Although target identification method can realize data acquisition in a big way, accurate, sample information it is abundant while also drawing
Higher system cost is entered；Also, the extension of functional module is needed by more powerful microelectric technique and power technology
It can realize, therefore, the power consumption of robot is improved, and stream time step-down, real-time declines.
In addition, embedded robot does not have a set of visualized operation interface for working condition, existing robot
Long distance control system tends to rely on the monitor supervision platform that manufacturer of robot is provided, not only without versatility, and often valency
Lattice are expensive, the little company for being much directed to robot industry is hung back.At present for the working condition of embedded robot
Placed one's entire reliance upon analysis of the experienced robot engineering teacher to reality of work situation, and system level is not deep into, for
The CPU workload of embedded robot, detailed real-time running state are even more to know nothing, and this is for for a long time, efficiently and safely
The use of robot is unfavorable.
In order to overcome contradiction of traditional mobile robot between function and power consumption, allow robot in more complicated, evil
Steady operation in bad environment, method common at present is to separate robot moving system with sensor, processor system, is adopted
Powered with high-capacity battery or long electric wire using power network, microcomputer is in combination, realize corresponding function.This method is applied to real
The wide environment in room or field is tested, the range measurement of precision and complicated image procossing can be carried out.But the body of corresponding machine people
Bigger than normal, with high costs, the intellectually and automatically low degree of product.
The content of the invention
It is an object of the invention to provide it is a set of it is based on robot, with target distance measurement, image procossing and from
The system of body condition monitoring function, feels, low cost, purposes are wide, high precision, Function Extension are convenient with real-time, interaction
And the advantages of good stability.
In order to achieve the above object, the technical scheme is that there is provided a kind of demarcation of robot target and oneself state
The system of monitoring function, it is characterised in that range measurement and image taking module including object, robotary data are adopted
Collect module, data transmission module, data processing and display module, wherein：
Range measurement and image taking module, gather corresponding data, and the data collected are stored up by various sensors
Exist in robot；
Robotary data acquisition module, for monitoring robot information in real time, it is each that robot information includes robot
Plant the data that each sensor is collected in parameter and the range measurement and image taking module；
Data transmission module, wirelessly passes the initial data obtained by range measurement and image taking module
Transport to computer end；
Data processing and display module, receive after the data that computer end is obtained, are processed into that user wants, intuitively
Object information, and together show with the robot information that is monitored by the robotary data acquisition module on interactive interface
Show.
Preferably, the range measurement and image taking module include ultrasonic sensor, infrared sensor, visual sensing
Device, wherein：
Ultrasonic sensor is used to measure target range, and infrared sensor is used for the blind area to ultrasonic proximity sensor
Additional survey, ultrasonic sensor and infrared sensor are evenly distributed on the side of robot, by the difference of measured value come pre-
Estimate target number, distance and general orientation；
Vision sensor, for the environmental information immediately ahead of shooting, vision sensor is located at robot front.
Preferably, the information that the data processing and display module shows including robot speed, acceleration, object away from
From, battery service condition, cpu load degree, meanwhile, also show the object shape orientation obtained by image procossing, pass through
Object size that the vision sensor calibration is obtained, target is obtained by merging the data of a variety of multiple sensors specifically believe
Breath and its nearby environmental information.
Preferably, the robot various parameters include speed, position and object distance, battery service condition, CPU
Loading level.
Preferably, the data transmission module includes Wi-Fi communication modules, and setting up network by Wi-Fi communication modules connects
Connect agreement and data transfer.
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitated
Really：Range measurement, IMAQ, data processing and display, performance monitoring are integrated in one by the present invention, can be inexpensive, quick
Realize that goal seeking and surrounding environment are built.The present invention is what the principle based on Fusion was realized, by experiment
Test, present system working stability, favorable expandability, low cost, interactive interface friendly, system working stability directly perceived, specific
Some goal seeking tasks can accurately, be quickly performed in environment.
Brief description of the drawings
Fig. 1 is structured flowchart of the invention；
Fig. 2 is range measurement in the present invention and the structural representation of image taking module；
Fig. 3 is the interaction schematic diagram of robot, local window machines and Linux virtual machines；
Fig. 4 is to obtain unknown object around and machine using robotic ultrasound wave sensor and infrared sensor collective effect
The schematic diagram of the distance in the human world；
Fig. 5 is robot motion model.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention lectured has been read, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
The system that embodiments of the present invention are related to a set of robot target searching and condition monitoring, system includes object
Measurement is with robotary data acquisition module, robotary data acquisition module, data transmission module, data processing with showing
Show module；Object measurement is used for the acquisition of initial data with robotary data acquisition module, such as target range and
Shape, recorder people's parameter, to obtain robot running status, calculate robot motion's state；The data transmission module
By wifi or bluetooth, the data of each sensor are sent to computer end using ICP/IP protocol or SSH agreements；The data
Processing and display module, the movement locus of robot is extrapolated by speed, gyroscope information for obtaining in real time etc., is utilized
The original image that the processing of the mathematical tools such as matlab is obtained, obtains robot and the shape of object, face is photographed in motion process
The characters such as color, the size of object is calculated with reference to the demarcation of vision sensor, is counted all information and is obtained sought target and found
General environmental information in journey.
Fig. 1 is the structured flowchart of a set of robot target thing identifying system based on Multi-sensor Fusion of the present invention.By Fig. 1
It can be seen that, system includes range measurement and image taking module, robotary data acquisition module, the data transfer mould of object
Block, data processing and display module.
As shown in figure 1, multiple embedded robot team formation motions, collaboration detection is carried out in different directions to unknown object,
And by obtained information Store；Zabbix monitoring is respectively mounted in robot, local window machines and Linux virtual machines soft
Part, the movable information of supervisory-controlled robot itself, and the data that sensor is obtained are sent to window machines, utilize local machine
After processing data, result is delivered into Linux virtual machines and shown in front end.
As shown in Fig. 2 range measurement and image taking module, it is main using ultrasonic sensor robot measurement with it is unknown
Distance between object, due to ultrasonic sensor exist " blind area ", so by the use of infrared sensor robot measurement nearby as
Compensation；It is interrupted the image shot immediately ahead of robot motion using vision sensor.The data such as distance, image that sensor is obtained
It is stored in robot memory.
As shown in figure 3, zabbix monitoring softwares are respectively mounted in robot, local window machines and Linux virtual machines,
Wifi patterns based on local router, log on robot operating system, by machine using secureCRT by SSH agreements
People's operation code completes the data transfer in robot memory；It is virtual in robot, local Windows machines and Linux
Monitored item is set in machine, the information Store that robot sensor is obtained is in the database of Linux virtual machines, and in front end
Display.
As shown in figure 4, obtaining unknown object around using robotic ultrasound wave sensor and infrared sensor collective effect
With the distance in the machine human world.Robot gathers sensor using cmos image, with high sensitivity, low noise, spectral response model
The advantages of enclosing wide, output image quick and good dynamic property, can be photographed under the irregular motion state of robot compared with
For clearly image.Image procossing is broadly divided into：Image gray processing and binaryzation, filtering, rim detection and color-match etc. four
Individual part.First, gray processing processing is carried out to image, background and barrier is eliminated due to certainly using single scale Retinex algorithm
The shade that right illumination is formed, the contrast on reduction shade road surface and non-shadow road surface strengthens image；Entered using the scan line seed law
Row area filling, edge, i.e. contour of object, row information of going forward side by side record are extracted using Canny rim detections；Finally to image object
Position utilizes color characteristic matching method, looks for whether to match with color of object.
Robot motion model such as Fig. 5, robot motion only considers the motion of two dimensional surface, and the domatic fortune at inclination angle is not considered
It is dynamic, i.e., the movement of unmanned vehicle Z-direction is not considered, therefore the posture information q of unmanned vehicle includes the position and orientation of two dimensional surface.
Q=[x y]T
In formula, x and y be robot in the position of two-dimensional coordinate system, be the angle in robot direction and x-axis positive direction, if
X-axis positive direction is oriented with robot initial.
The linear velocity of robot is v, then direction of principal axis linear velocity of the unmanned vehicle in two-dimensional coordinate systemWith direction of principal axis linear velocity
For：
Gyroscope in robot can measure three data X, Y, Z：Represent robot in YZ, XZ, X/Y plane respectively
Angular acceleration, it is possible to use angular acceleration, which is integrated, obtains angular velocity omega, integrates obtain angle, θ again.Finally, using above-mentioned
The data of acquisition, derive the movement locus of robot, and combine the object information arrived of image procossing, then mark object with
The relative position of robot.
The data acquisition and processing of this example also need to realize by corresponding program code, i.e. write robot first
Motion control correlative code, make its can steady uniform motion, obstacle can be avoided again and reduces barrier to robot motion's shape
The influence of state；Then zabbix monitoring is installed in robot embedded system, local window systems and Linux virtual machines soft
Part, sets monitored item, writes monitoring and file transmits script, and in front end display data；Then, used in local system
Matlab scripts handle original image, and result is put into monitored object；Finally each sensor is obtained to carry out information fusion
Obtain object.
Claims (5)
1. a kind of robot target demarcation and the system of oneself state monitoring function, it is characterised in that the distance including object
Measurement and image taking module, robotary data acquisition module, data transmission module, data processing and display module, its
In：
Range measurement and image taking module, gather corresponding data, and the data storage collected is existed by various sensors
In robot；
Robotary data acquisition module, for monitoring robot information in real time, robot information includes each seed ginseng of robot
Number and the data that each sensor is collected in the range measurement and image taking module；
Data transmission module, wirelessly by the original data transmissions obtained by range measurement and image taking module extremely
Computer end；
Data processing and display module, receive after the data that computer end is obtained, are processed into user wants, intuitively target
Thing information, and together shown with the robot information that is monitored by the robotary data acquisition module on interactive interface.
2. a kind of robot target demarcation as claimed in claim 1 and the system of oneself state monitoring function, it is characterised in that
The range measurement and image taking module include ultrasonic sensor, infrared sensor, vision sensor, wherein：
Ultrasonic sensor is used to measure target range, and infrared sensor is used to supplement the blind area of ultrasonic proximity sensor
Measurement, ultrasonic sensor and infrared sensor are evenly distributed on the side of robot, and mesh is estimated by the difference of measured value
Mark number, distance and general orientation；
Vision sensor, for the environmental information immediately ahead of shooting, vision sensor is located at robot front.
3. a kind of robot target demarcation as claimed in claim 2 and the system of oneself state monitoring function, it is characterised in that
The information that the data processing is shown with display module uses feelings including robot speed, acceleration, object distance, battery
Condition, cpu load degree, meanwhile, also show the object shape orientation obtained by image procossing, by the vision sensor
Object size obtained by calibrating, by merging the data of a variety of multiple sensors obtain target specifying information and its neighbouring environment
Information.
4. a kind of robot target demarcation as claimed in claim 1 and the system of oneself state monitoring function, it is characterised in that
The robot various parameters include speed, position and object distance, battery service condition, cpu load degree.
5. a kind of robot target demarcation as claimed in claim 1 and the system of oneself state monitoring function, it is characterised in that
The data transmission module includes Wi-Fi communication modules, sets up network connection protocol by Wi-Fi communication modules and data are passed
It is defeated.
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| CN201710211381.1A CN106940208A (en) | 2017-03-31 | 2017-03-31 | Robot target demarcates the system with oneself state monitoring function |
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| CN109167902A (en) * | 2018-10-31 | 2019-01-08 | 中国矿业大学(北京) | A kind of video camera with the angle detection function |
| CN109828580A (en) * | 2019-02-27 | 2019-05-31 | 华南理工大学 | A kind of Mobile Robot Formation's tracking and controlling method based on separate type ultrasonic wave |
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Application publication date: 20170711 |
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