CN108196548A - A kind of robot controller based on Arduino language and path following algorithm - Google Patents
A kind of robot controller based on Arduino language and path following algorithm Download PDFInfo
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- CN108196548A CN108196548A CN201810016525.2A CN201810016525A CN108196548A CN 108196548 A CN108196548 A CN 108196548A CN 201810016525 A CN201810016525 A CN 201810016525A CN 108196548 A CN108196548 A CN 108196548A
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- 230000004888 barrier function Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 5
- 230000001953 sensory effect Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 abstract description 4
- 238000007726 management method Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 3
- 208000010877 cognitive disease Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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, 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Acoustics & Sound (AREA)
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- Manipulator (AREA)
Abstract
The invention belongs to field of intelligent control technology, disclose a kind of robot controller based on Arduino language and path following algorithm, and the robot controller based on Arduino language and path following algorithm includes：Robot master controller model includes：Motor driving brake module, wireless communication module, know block barrier module, touch interactive module, Chinese language interactive module, Path Recognition planning module, power management module, robot course changing control module, transmission system, robot power source.
Description
Technical field
The invention belongs to field of intelligent control technology more particularly to one kind to be based on Arduino language and path following algorithm
Robot controller.
Background technology
Multi-sensor information fusion is bad, navigates accurate not high with positioning, the complexity of environment makes path planning more difficult.
In conclusion problem of the existing technology is：Multi-sensor information fusion is bad, navigation and positioning it is accurate not
Height, the complexity of environment make path planning more difficult.
Invention content
In view of the problems of the existing technology, the present invention provides one kind to be based on Arduino language and path following algorithm
Robot controller.
The invention is realized in this way the robot controller based on Arduino language and path following algorithm includes：Control
Unit processed, detection and haptic unit, housing construction, transmission system, robot power source.
Further, the detection includes with haptic unit
For the human body locating module of the positioning of existing visual sensory and sensor positioning；
It is connected with human body locating module, for identifying target, identifies the visual unit of most of barriers；
It is connected with human body locating module, for the active path planning and obstacle avoidance module of active path planning；
It is connected with human body locating module, for completing the robot ambulation module advanced with rotating function.
Further, described control unit is STM32 and microcontroller, electronic device or IC chip.
Further, the detection and haptic unit are photosensitive sensors, ultrasonic sensor, touch sensor, temperature pass
Sensor, direction sensor, sound transducer.
Motor driving brake module controls the driving of motor and braking by master controller, and wireless communication module is responsible for
People and the interactive information of robot are known and block that barrier module is responsible for identification to barrier and how decision covers out barrier, touch
Interactive module is responsible for by screen touch to exchange information, language interactive module exchange of speech information, Path Recognition planning module
By the route that the information of collection carrys out decision and planning is advanced, power management module is responsible for the power supply progress to entire robot system
Control, robot course changing control module are responsible for programme path turning, and each component of transmission system coordinating robot orderly works.
Advantages of the present invention and good effect are：Robot center control based on Arduino language and path following algorithm
Device processed controls each function module orderly to be worked.
Description of the drawings
Fig. 1 is the robot controller knot provided in an embodiment of the present invention based on Arduino language and path following algorithm
Structure schematic diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, provided in an embodiment of the present invention controlled based on Arduino language and the robot of path following algorithm
Device the invention is realized in this way, a kind of robot master controller based on Arduino language and path following algorithm is described
Robot master controller model based on Arduino language and path following algorithm includes：It is motor driving brake module, wireless
Communication module, knowledge block barrier module, touch interactive module, language interactive module, Path Recognition planning module, power management mould
Block, robot course changing control module, transmission system, robot power source.
The detection includes with haptic unit
For the human body locating module of the positioning of existing visual sensory and sensor positioning；
It is connected with human body locating module, for identifying target, identifies the visual unit of most of barriers；
It is connected with human body locating module, for the active path planning and obstacle avoidance module of active path planning；
It is connected with human body locating module, for completing the robot ambulation module advanced with rotating function.
There are two steps for the course of work of detection and haptic unit：First know target which, after can and then target exploitation with
It is moved with algorithm.In the course motion followed, it is also necessary to handle avoiding barrier, so just there is cognitive disorders, hide obstacle.
This note needs four technology modules：Human body locating module, cognitive disorders object module, path planning and before hiding obstacle, robot
Movement and rotating module afterwards.The achievable scheme of each module is just parsed below.
Human body locating module.It is divided into various ways, the sensor such as visual sensory positioning and sensor positioning and is located following
Under some cases：1. the x.y of target, z coordinate can be obtained；2. 360 degree of rotational positionings 3. position targets by barrier influenced compared with
It is small.And the situation of visual sensory positioning is as follows：1. x.y.z coordinates can not only be obtained, moreover it is possible to object be obtained relative to the three of camera
Tie up deflection angle.More rich decision information can be obtained.2. visual unit can not only be used for identifying target, can also be used to identify
Most of barriers.After recognizing human body, in next step generally just will recognize that how cognitive disorders.The identification of barrier, it is common
Technology has depth camera identification, ultrasonic ranging, infrared distance measurement.The advantages of depth camera and infrared distance measurement is cheap, speed
Degree is fast, but None- identified glass and black object.Ultrasonic ranging can serve as supplementing.3. active path planning and avoidance mould
Block, active path planning are equivalent to the brain of robot.Where you know target, it is also known that how step, it is also necessary to have one
A commander's maincenter, which is exactly master controller to complete task.This work is piece of cake feelings for people.But
But it is not so simple thing for robot.In general, you need to build a two-dimentional space map (certainly, if
It is more preferable to build three dimensional spatial map effect), and by map rasterizing, become to pass through or the lattice of impassabitity.Auxiliary is with road
The algorithm of diameter planning, follows target.Certainly, you to follow effect requirements than if relatively low, write several simple rules and
It is achievable.4. robot ambulation module mainly completes to advance and rotating function.
Motor driving brake module controls the driving of motor and braking by master controller, and wireless communication module is responsible for
People and the interactive information of robot are known and block that barrier module is responsible for identification to barrier and how decision covers out barrier, touch
Interactive module is responsible for by screen touch to exchange information, language interactive module exchange of speech information, Path Recognition planning module
By the route that the information of collection carrys out decision and planning is advanced, power management module is responsible for the power supply progress to entire robot system
Control, robot course changing control module are responsible for programme path turning, and each component of transmission system coordinating robot orderly works.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of robot controller based on Arduino language and path following algorithm, which is characterized in that described to be based on
Arduino language and the robot controller of path following algorithm include：Control unit, detection and haptic unit, housing construction,
The power source of transmission system, robot.
2. the robot controller based on Arduino language and path following algorithm, feature exist as described in claim 1
In the detection includes with haptic unit
For the human body locating module of the positioning of existing visual sensory and sensor positioning；
It is connected with human body locating module, for identifying target, identifies the visual unit of most of barriers；
It is connected with human body locating module, for the active path planning and obstacle avoidance module of active path planning；
It is connected with human body locating module, for completing the robot ambulation module advanced with rotating function.
3. the robot controller based on Arduino language and path following algorithm, feature exist as described in claim 1
In described control unit is STM32 and microcontroller, electronic device or IC chip.
4. the robot controller based on Arduino language and path following algorithm, feature exist as described in claim 1
In the detection is photosensitive sensors, ultrasonic sensor, touch sensor, temperature sensor, direction sensing with haptic unit
Device, sound transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016525.2A CN108196548A (en) | 2018-01-08 | 2018-01-08 | A kind of robot controller based on Arduino language and path following algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016525.2A CN108196548A (en) | 2018-01-08 | 2018-01-08 | A kind of robot controller based on Arduino language and path following algorithm |
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| Publication Number | Publication Date |
|---|---|
| CN108196548A true CN108196548A (en) | 2018-06-22 |
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| CN201810016525.2A Pending CN108196548A (en) | 2018-01-08 | 2018-01-08 | A kind of robot controller based on Arduino language and path following algorithm |
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Citations (7)
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|---|---|---|---|---|
| CN102411368A (en) * | 2011-07-22 | 2012-04-11 | 北京大学 | Active vision human face tracking method and tracking system of robot |
| WO2012103525A2 (en) * | 2011-01-28 | 2012-08-02 | Intouch Technologies, Inc. | Interfacing with a mobile telepresence robot |
| CN106155065A (en) * | 2016-09-28 | 2016-11-23 | 上海仙知机器人科技有限公司 | A kind of robot follower method and the equipment followed for robot |
| CN106681330A (en) * | 2017-01-25 | 2017-05-17 | 北京航空航天大学 | Robot navigation method and device based on multi-sensor data fusion |
| CN106774325A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | Robot is followed based on ultrasonic wave, bluetooth and vision |
| CN106774326A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of shopping guide robot and its shopping guide method |
| CN106779857A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of purchase method of remote control robot |
-
2018
- 2018-01-08 CN CN201810016525.2A patent/CN108196548A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012103525A2 (en) * | 2011-01-28 | 2012-08-02 | Intouch Technologies, Inc. | Interfacing with a mobile telepresence robot |
| CN102411368A (en) * | 2011-07-22 | 2012-04-11 | 北京大学 | Active vision human face tracking method and tracking system of robot |
| CN106155065A (en) * | 2016-09-28 | 2016-11-23 | 上海仙知机器人科技有限公司 | A kind of robot follower method and the equipment followed for robot |
| CN106774325A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | Robot is followed based on ultrasonic wave, bluetooth and vision |
| CN106774326A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of shopping guide robot and its shopping guide method |
| CN106779857A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of purchase method of remote control robot |
| CN106681330A (en) * | 2017-01-25 | 2017-05-17 | 北京航空航天大学 | Robot navigation method and device based on multi-sensor data fusion |
Non-Patent Citations (1)
| Title |
|---|
| 徐振平: "《普通高等教育"十三五"规划教材 机器人控制技术基础 基于Arduino的四旋翼飞行器设计与实现》", 30 April 2017, 国防工业出版社 * |
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Application publication date: 20180622 |
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| RJ01 | Rejection of invention patent application after publication |