CN107346111A - A kind of intelligent robot system based on Multi-sensor Fusion - Google Patents
A kind of intelligent robot system based on Multi-sensor Fusion Download PDFInfo
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- CN107346111A CN107346111A CN201710379598.3A CN201710379598A CN107346111A CN 107346111 A CN107346111 A CN 107346111A CN 201710379598 A CN201710379598 A CN 201710379598A CN 107346111 A CN107346111 A CN 107346111A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
This application provides a kind of intelligent robot system based on Multi-sensor Fusion, it includes, intelligent barrier avoiding module, Automatic Track Finding module, map reconstruction module, mechanical arm handling module, described intelligent robot system is also including the control module for controlling described intelligent barrier avoiding module and described Automatic Track Finding module, the minipc for controlling described map reconstruction module and mechanical arm handling module, the remote control for wirelessly manipulating described control module, and described control module is with the minipc by being wirelessly attached.Intelligent robot system described herein merges various functions in robot system, has accomplished preferable coordination for common sensor and radar, the combination of the first-class module of shooting, can realize each module cooperative work, finally realize intelligent control.
Description
Technical field
The present invention relates to a kind of intelligent robot system based on Multi-sensor Fusion.
Background technology
At present, the constantly improve with intelligent robot system and development, the fusion addition of sensor are one and necessarily become
Gesture, among feature-rich sensor is added into intelligence system, the bigger effect of system can be played, is realized more complicated
Function.Present many intelligent robot systems have all incorporated sensor, but the fusion use between sensor and overall performance
Improvement it is also to be strengthened.Therefore, it can be integrated and be improved in the fusion of sensor and Function.In theory,
The feasibility of this idea is stronger, and the deep development of sensor assembly needs to carry out the function of whole robot system with merging
Consider.
Nowadays rapidly, technology is also increasingly perfect for intelligence machine man-based development, but robot variation control with it is more
Sample function but need further to improve.Traditional robot is often simply absorbed in the realization of a certain function, intelligence machine
The function of people is often fixed or conjugation is inadequate, as avoidance robot may be made very perfect in avoidance, but not
The function of the higher levels such as map reconstruct, remote interface control can be realized by seeming, and the conjugation between function is inadequate, so as to
Cause the degree of difficulty enhancing in control.Or it is the existing defects in intellectuality, robot motion excessively mechanization, and can not do
To after autonomous judgement and autonomous operation, such as camera visual identity well, autonomous control mechanical arm carries out positioning crawl
Function, this just improves the intellectuality of robot, rather than " compulsory exercise " in the program that places one's entire reliance upon is run, this
And one of present technical deficiency.And the multifunction of robot undoubtedly has very with intelligent for systematic function lifting
Big effect.In addition, the co-ordination between sensor is also particularly significant, it is necessary to further strengthen the collaboration work between sensor
Make, make robot function it is more diversified with it is intelligent.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide a kind of intelligent robot based on Multi-sensor Fusion
System.
This application provides a kind of intelligent robot system based on Multi-sensor Fusion, it includes, intelligent barrier avoiding module,
Automatic Track Finding module, map reconstruction module, mechanical arm handling module, described intelligent robot system also include being used to control institute
The intelligent barrier avoiding module and the control module of described Automatic Track Finding module stated, for controlling described map reconstruction module and machine
The minipc of tool arm handling module, the remote control for wirelessly manipulating described control module, described control module with it is described
Minipc wireless connections.
Preferably, described intelligent barrier avoiding module includes the ultrasonic wave module and use for ranging being arranged in robot
In the servos control module that the described ultrasonic wave module of control rotates, described control module is additionally operable to work as described ultrasonic wave mould
When block detects front obstacle, control machine people is out of service and retreats, while it is super to control described servos control module
Sound wave module carries out swing ranging, and then control machine people moves to the larger side in space.
Preferably, described intelligent barrier avoiding module includes two the first infrared ray sensors installed in robot front end,
Described control module is additionally operable to when one of them the first infrared ray sensor detects and has barrier in setpoint distance, control
Robot processed is rotated to the opposing party, and described control module is additionally operable to when two the first infrared ray sensors detect barrier
When, control machine people brake, retreat, until leaving the region of barrier.
Preferably, described remote control is wirelessly connected to described control module, described remote control by infrared module
Control signal to described control module, described control module for sending robot motion direction is additionally operable to described in reception
The control signal of the direction of motion that sends of remote control and control machine people's direction of motion, described remote control be additionally operable to send mould
To described control module, described control module is additionally operable to receive the pattern switching that described remote control is sent formula switching signal
Signal and control machine people's switch mode.
Preferably, described Automatic Track Finding module includes being arranged in robot and can send the two of infrared ray down
Individual second infrared ray sensor, described control module are additionally operable to according to inspection of the second described infrared sensor to operation ground
Geodesic structure, the running orbit of control machine people.
Preferably, described robot system also includes for Telnet minipc and is able to access that minipc operation
The pc at interface, wireless connection between described pc and minipc, described pc are additionally operable to send to minipc by operation interface
Instruction.
Preferably, bluetooth or wifi wireless connections, described control mould are passed through between described minipc and control module
Block is additionally operable to receive the data that minipc is sent, and sends data to described minipc.
Preferably, described remote control is used to send a command to described control module and sends described control module
Instruction is to minipc, to control map reconstruction module and mechanical arm handling module.
Preferably, described map reconstruction module includes range laser radar, and described range laser radar is used in machine
Device people enters row distance and angular surveying and carries out sending information to minipc during moving, described minipc is additionally operable to
The data gathered to described range laser radar are screened and handled, and draw out map.
Preferably, described mechanical arm handling module includes the camera and mechanical arm being arranged in robot, described
The mechanical arm described in image control that minipc is additionally operable to be transmitted according to camera carries out positioning crawl.
By such scheme, the present invention at least has advantages below：
A kind of intelligent robot system based on Multi-sensor Fusion described herein, include intelligent barrier avoiding module,
Automatic Track Finding module, map reconstruction module, mechanical arm handling module, various functions are merged in a robot system, for normal
See that preferable coordination has also been accomplished in sensor and radar, the combination of the first-class module of shooting, can cooperate, realize intelligence control
System.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is that a kind of control structure of intelligent robot system based on Multi-sensor Fusion described herein is illustrated
Figure；
Fig. 2 is the plane coordinate system of the physical model structure of the constructing plan of environmental map；
Fig. 3 a and Fig. 3 b are Bresenham Line generating algorithm schematic diagrames；
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1, a kind of intelligent robot system based on Multi-sensor Fusion described in a preferred embodiment of the present invention,
Including intelligent barrier avoiding module, Automatic Track Finding module, map reconstruction module, mechanical arm handling module, described intelligent robot system
It is control module that system also includes being used to control described intelligent barrier avoiding module and described Automatic Track Finding module, described for controlling
Map reconstruction module and mechanical arm handling module minipc, the remote control for wirelessly manipulating described control module, institute
The control module stated and the minipc wireless connections.
Described intelligent barrier avoiding module include be arranged on robot on for the ultrasonic wave module of ranging and for controlling
The servos control module that described ultrasonic wave module rotates, described control module are additionally operable to when described ultrasonic wave module detects
During to front obstacle, control machine people is out of service and retreats, while described servos control module is controlled ultrasonic wave mould
Block carries out swing ranging, and then control machine people moves to the larger side in space.
Described intelligent barrier avoiding module includes two the first infrared ray sensors installed in robot front end, described control
Molding block is additionally operable to when one of them the first infrared ray sensor detects and has barrier in setpoint distance, control machine people
Rotated to the opposing party, described control module is additionally operable to when two the first infrared ray sensors detect barrier, is controlled
Robot brakes, and retreats, until leaving the region of barrier.
Described remote control is wirelessly connected to described control module by infrared module, and described remote control is used to send
To described control module, described control module is additionally operable to receive described remote control the control signal in robot motion direction
The control signal and control machine people's direction of motion of the direction of motion sent, described remote control are additionally operable to sending mode switching letter
Number to described control module, described control module is additionally operable to receive the mode switching signal that described remote control is sent and control
Robot switch mode processed.
Described Automatic Track Finding module includes being arranged in robot and can sending infrared ray down two second
Infrared ray sensor, described control module are additionally operable to the detection knot to operation ground according to the second described infrared sensor
Structure, the running orbit of control machine people.
Described robot system also includes for Telnet minipc and is able to access that minipc operation interface
Pc, wireless connection between described pc and minipc, described pc are additionally operable to send to minipc by operation interface and instructed.
It is additionally operable to receive by bluetooth or wifi wireless connections, described control module between described minipc and control module
The data that minipc is sent, and send data to described minipc.Described remote control is used to send a command to described control
Molding block simultaneously makes described control module send a command to minipc, to control map reconstruction module and mechanical arm handling module.
Described operation interface carries out drafting design by Processing softwares, compatible with Arduino, it is possible to achieve control machine
People normally advances motion, the shooting function such as acquisition system, while introduces mouse and two sets of control systems of keyboard, optimal control.Machine
Before device people motion, camera can be opened, then understands real real-time pictures on interface again, is easy to perceive the ring residing for robot
Border.
Described map reconstruction module includes range laser radar, and described range laser radar is used in robot motion
During enter row distance and angular surveying and carry out sending information to minipc, described minipc is additionally operable to described
The data that are gathered of range laser radar screened and handled, and draw out map.Concrete scheme is：1. will by serial ports
Range laser radar is directly connected to miniPC USB interface, the program of radar gathered data is run at PC ends, for laser thunder
It is acquired, while is saved on nimiPC with angle signal up to the distance put back to；2. the screening scheme of returned data.Return
Data be mainly made up of two parts, including the data of intelligent carriage and the data of range laser radar.Intelligent carriage
Data mainly include the reading and system time of the laser encoder of two wheel motors.Range laser radar return data be
System time, laser return range information and this apart from corresponding angle.The system returned first according to two groups of data
Time, two groups of data are merged, and data format is changed to for the form type required for map reconstruction.Secondly, Laser Measuring
First run, run followed by intelligent carriage, therefore, the data for range laser radar are, it is necessary to will be unnecessary away from radar
Part remove.Finally according to the performance indications of radar, it will be 0 less than the data rewriting of minimum detectable distance, will exceed most
The data rewriting of big detectable distance is a larger definite value, facilitates the data processing in later stage.
The reconstruction of map is exactly that the data after gathering and handle before pass through tinyslam algorithms, further processing
So as to obtain the cartographic information of two dimension.Algorithm part is broadly divided into three parts, physical model structure, particle filter, straight line
Generation.
Physical model structure is mainly the conversion of coordinate system, i.e., by fixed coordinate system, the moving coordinate system and thunder of dolly
The coordinate system reached this three combination, as shown in Figure 2.If R is the radius of two driving wheels, D is wheelspan, and N is the total number of teeth of encoder, n1
It is the number of teeth that revolver encoder turns over, n2 is the number of teeth that right wheel encoder turns over.Sampled cycle T moment, the angle that dolly turns over
It is L around the arc length that center turns over to spend for Δ θ, dolly.
Particle filter algorithm comes from Monte Carlo thought, i.e., the frequency that occurs with certain event refers to the probability of the event.
During particle filter, X (t) is handled what is obtained indeed through the state to a large amount of particles.Particle filter is divided into
Five stages.With a large amount of particle simulation X (t), particle is uniformly distributed in space.Forecast period：According to state transition equation, often
One particle obtains a prediction particle.Prediction particle is evaluated, closer to the particle of time of day, its weight is got over
Greatly.Particle is screened according to particle weights, in screening process, should a large amount of great particle of right of retention, have again one small
The small particle of fractional weight.
As shown in figure 3, straight line gernertion uses Bresenham Line generating algorithms.Due to showing that the picture element of straight line can only
Round numerical coordinates, it can be assumed that i-th of pixel point coordinates is (X on straight linei Yi), it is Points on Straight Line (Xi Yi) it is optimal
Approximation, and Xi=Xi is (assuming that m<1), as shown in drawings.So, the possible position of next picture element is (X on straight linei+1
Yi) or (Xi+1 Yi+1).Straight line y=m (xi+ 1)+b is for (Xi+1 Yi) and (Xi+1 Yi+ 1) distance is d1 and d2.Wherein,
△ d=d1-d2=2m (xi+1)-zyi+2b-1.When this value is timing, d1>D2, illustrate that mathematical point is from (X on straight linei+1 Yi+1)
Pixel is nearer, and next picture element should take (Xi+1 Yi+1).When this value is bears, d1<D2, illustrate on straight line mathematical point from
(Xi+1 Yi) pixel is nearer, then next picture element should take (Xi+1 Yi).When this value is zero, illustrate on straight line mathematical point from
The distance of upper and lower two picture elements is equal, takes which point all right, it is assumed that algorithm regulation takes (X in this casei+1 Yi+ 1) conduct
Next picture element.
Because this uses telemetry, measurement error can accumulate, the accuracy of dimension sensing point can with the accumulation of time and
Decline, for this problem, we are solved using the method for backhaul method and weighted value.In the trace direction first of calculation position
Individual point possesses highest weights 1, and last point possesses the weights 0 of minimum.Direction after the coordinate of end position is learnt
When calculating path, last point possesses highest weights 1, and first point possesses the weights 0 of minimum.With reference to grid
Figure, the weights that the weights of each grid are equal to fall the sensing point of the forward and reverse on the grid are added.Take every row weights most
High point is as sensing point.Thus detectable point combines straight line gernertion method and mapped.
Described mechanical arm handling module includes the camera and mechanical arm being arranged in robot, and described minipc is also
Positioning crawl is carried out for the mechanical arm according to the image control that camera transmits.Specifically, by camera and mechanical arm
It is combined, using Opencv algorithm, carries out circular shuttering identification positioning with reference to get a bird's eye view conversion and Hough transformation, then send
Instruct to mechanical arm, move to relevant position and carry out crawl demonstration.Concrete scheme is as follows：1. camera is connected on computer,
Then the real image on experimental operation table is gathered, is operated at nimiPC ends, the image of collection is carried out getting a bird's eye view conversion, will
Side view switchs to top view, while utilizes Hough transformation, finds out the position of round target.2. determine for robotic arm manipulation platform
Mark, it can so be considered as and target has been placed on fixed coordinate system.Then the position of target is defined as coordinate, controlled
Mechanical arm is positioned and captured.
A kind of intelligent robot system based on Multi-sensor Fusion described herein, include intelligent barrier avoiding module,
Automatic Track Finding module, map reconstruction module, mechanical arm handling module, various functions are merged in a robot system, for normal
See that preferable coordination has also been accomplished in sensor and radar, the combination of the first-class module of shooting, can cooperate, realize intelligence control
System.
Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill
For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and
Modification, these improvement and modification also should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. intelligent robot system based on Multi-sensor Fusion, it is characterised in that：It includes, intelligent barrier avoiding module, from Dynamic track module, map reconstruction module, mechanical arm handling module, described intelligent robot system also include described for controlling Intelligent barrier avoiding module and described Automatic Track Finding module control module, for controlling described map reconstruction module and machinery The minipc of arm handling module, the remote control for wirelessly manipulating described control module, described control module with it is described Minipc is by being wirelessly attached.
- A kind of 2. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Intelligent barrier avoiding module include be arranged on robot on for the ultrasonic wave module of ranging and for controlling described ultrasonic wave The servos control module that module rotates, described control module are additionally operable to when described ultrasonic wave module detects front obstacle When, control machine people is out of service and retreats, while makes described servos control module control ultrasonic wave module to carry out swing survey Away from then control machine people moves to the larger direction of clear space.
- A kind of 3. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Intelligent barrier avoiding module include two the first infrared ray sensors installed in robot front end, described control module is additionally operable to When one of them first infrared ray sensor, which detects, has barrier in setpoint distance, control machine people turns to the opposing party Dynamic, described control module is additionally operable to when two the first infrared ray sensors detect barrier, control machine people brake, Retreat, until leaving the region of barrier.
- A kind of 4. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Remote control described control module is wirelessly connected to by infrared module, described remote control is used to send robot motion side To control signal to described control module, described control module is additionally operable to receive the motion side that described remote control is sent To control signal and control machine people's direction of motion, described remote control is additionally operable to sending mode switching signal to described control Molding block, described control module are additionally operable to receive the mode switching signal that described remote control is sent and control machine people switching Pattern.
- A kind of 5. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Automatic Track Finding module include being arranged in robot and two the second infrared sensors that infrared ray can be sent down, institute The control module stated is additionally operable to detect the black lines for running ground according to the second described infrared sensor, control machine Device people moves according to desired trajectory.
- A kind of 6. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Robot system include for Telnet minipc and be able to access that the pc of minipc operation interface, described pc with By being wirelessly attached between minipc, described pc is additionally operable to send out to minipc by the human-computer interaction interface of autonomous Design Instruction, control machine people motion are sent, and passes through camera observer robot movement environment and state.
- A kind of 7. intelligent robot system based on Multi-sensor Fusion according to claim 6, it is characterised in that：It is described Minipc and control module between by bluetooth or wifi wireless connections, described control module be additionally operable to receive minipc hair The data gone out, and data are sent to described minipc, realize the deep control of robot.
- A kind of 8. intelligent robot system based on Multi-sensor Fusion according to claim 7, it is characterised in that：It is described Remote control be used to send a command to described control module and described control module is sent a command to minipc, with control Realize the function of map reconstruction module and mechanical arm handling module.
- A kind of 9. intelligent robot system based on Multi-sensor Fusion according to claim 1, it is characterised in that：It is described Map reconstruction module include range laser radar, described range laser radar is used to carry out during robot motion Distance and angular surveying simultaneously are carried out sending information to minipc, and described minipc is additionally operable to described range laser radar The data gathered are screened and handled, and draw out environmental map.
- A kind of 10. intelligent robot system based on Multi-sensor Fusion according to claim 6, it is characterised in that：Institute The mechanical arm handling module stated includes the camera and mechanical arm being arranged in robot, and described minipc is additionally operable to basis and taken the photograph Mechanical arm as described in the image control that head transmits carries out positioning crawl.
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| CN114442613A (en) * | 2021-12-30 | 2022-05-06 | 上海智远弘业智能技术股份有限公司 | Remote controller, control method thereof and intelligent carrying robot |
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Application publication date: 20171114 |