CN109375614A - A kind of locating and tracking system based on robot - Google Patents
A kind of locating and tracking system based on robot Download PDFInfo
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- CN109375614A CN109375614A CN201810994207.3A CN201810994207A CN109375614A CN 109375614 A CN109375614 A CN 109375614A CN 201810994207 A CN201810994207 A CN 201810994207A CN 109375614 A CN109375614 A CN 109375614A
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- 238000013473 artificial intelligence Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000003550 marker Substances 0.000 claims description 12
- 238000013480 data collection Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
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- 238000006243 chemical reaction Methods 0.000 claims description 2
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- 238000005259 measurement Methods 0.000 description 2
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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Abstract
The invention discloses a kind of locating and tracking systems based on robot, including operating system, central processing unit, main control unit, memory module, display module and touch display screen, the main control unit includes extraneous sension unit, motion control unit and artificial intelligence unit, the operating system is used to issue operational order to central processing unit, and touch display screen regulates and controls operating system by display module and central processing unit, the touch display screen is used to receive the information of central processing unit and memory module transmission, and the received information real-time display of institute is come out, the main control unit is for receiving extraneous sension unit, the information of motion control unit and artificial intelligence unit's transmission, and received information is transmitted to central processing unit.The locating and tracking system based on robot can control, real-tune TT & C according to the service condition number of ways of user, and security performance is high, being capable of accurate locating and tracking.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of locating and tracking system based on robot.
Background technique
Robot (Robot) is the automatic installations for executing work, mainly by mechanical body, memory or program function and
The composition such as core part.It can not only receive mankind commander, but also can run the program of preparatory layout, can also be according to artificial
The principle program action that intellectual technology is formulated.Its task is to assist or replace the work of the mankind, such as production industry, construction industry,
Or dangerous work.Robot is advanced integral traffic control opinion, mechano-electronic, computer, material and bionic product.Including
Housework type, program-controlled type, digital-control type, searches and rescues several major class such as class, flatbed and study control type at manipulation type.Currently, robot is in work
Equalization has important use in the fields such as industry, medicine, agricultural or even military affairs.
With the rapid development of computer technology, sensor-based network technology and artificial intelligence, so that robot is by widely
It applies in industry monitoring and automation field, such as equal in space flight and aviation, medical treatment auxiliary, smart home and danger souding
Work robot is needed to complete specific task.Therefore, Work robot first has to perceive locating for itself in the task of execution
Position and the relative position between other actuators and peripheral obstacle, in addition in multi-robot Cooperation it is robot autonomous
Location technology can be moved to corresponding position according to the functional requirement of setting for Work robot as key technology with best route
Offer technical support is provided, but current robot can not real-time monitoring locating and tracking information, and remotely robot is determined
Position tracking operation.
Summary of the invention
The purpose of the present invention is to provide a kind of locating and tracking systems based on robot, to solve in above-mentioned background technique
The problem of proposition.
Realize above-mentioned purpose technical solution be: a kind of locating and tracking system based on robot, including operating system, in
Central processor, main control unit, memory module, display module and touch display screen；
The main control unit includes extraneous sension unit, motion control unit and artificial intelligence unit；
The operating system is used to issue central processing unit operational order, and touch display screen passes through display module in
Central processor regulates and controls operating system；
The touch display screen is used to receive the information of central processing unit and memory module transmission, and by the received letter of institute
Breath real-time display comes out；
The main control unit is used to receive the letter of extraneous sension unit, motion control unit and artificial intelligence unit's transmission
Breath, and received information is transmitted to central processing unit, the central processing unit is fed back to after being handled received information
Operating system；
External world's sension unit is for receiving what first pressure sensor, second pressure sensor and video camera were transmitted
Information, and received information is transmitted to main control unit；
The motion control unit is for receiving tracking module, mapping module, locating module and path planning module transmission
Information, and by received information conveyance to main control unit；
The artificial intelligence unit includes exchange of speech unit；
The exchange of speech unit is used to receive the information of playing module, wireless communication module and microphone module transmission,
Received information is transmitted to artificial intelligence unit by the exchange of speech unit, and the artificial intelligence unit transmits the information of receipts
To main control unit.
Preferably, the central processing unit includes data signal processor, data collection station and bluetooth module；
The central processing unit be used for receive operating system, main control unit and display module transmission information, it is described in
Central processor achieves received information conveyance to memory module.
Preferably, the bluetooth module is used to receive the information of intelligent terminal transmission, and the intelligent terminal includes computer, hand
Received information is transmitted to data signal processor by data collection station by machine etc., the bluetooth module；
The signal processor is used to receive the information of analog-digital converter and data collection station transmission.
Preferably, the analog-digital converter connection magnetometer and inertial sensor；
The analog-digital converter is used to receive the information of magnetometer and inertial sensor transmission, and the analog-digital converter will be from
Magnetometer and the received information of inertial sensor are transmitted to data signal processor.
Preferably, extraneous sension unit includes first pressure sensor, second pressure sensor and video camera；
The video camera includes marker recognition module, Image Acquisition mark module；
Described image acquisition mark module is for acquiring information and carrying out the information conveyance of acquisition to marker recognition module
Processing, the marker recognition module will analyze treated information conveyance to video camera, by video camera by information conveyance to outer
Boundary's sension unit.
Preferably, the motion control unit includes tracking module, mapping module, locating module and path planning module；
The locating module passes through extraneous sension unit and acquires location information, and the locating module is by the location information of acquisition
Motion control unit is fed back to, location information is transmitted to mapping module, path planning respectively by the motion control unit
Module and tracking module.
Preferably, the exchange of speech unit includes playing module, wireless communication module and microphone module；
The microphone module includes speech reception module, speech recognition module and semantic processes module；
The speech reception module receives extraneous voice messaging, and the speech reception module is defeated by received voice messaging
It send to speech recognition module and is analyzed and processed, the speech recognition module will analyze that treated that voice messaging is delivered to semanteme
Processing module.
Preferably, the central processing unit is connected with alarm module, and the alarm module includes alarming horn, and the report
Alert module is connect by bluetooth module with intelligent terminal, and the data that the touch display screen is shown can be passed by central processing unit
It is defeated on intelligent terminal, and intelligent terminal can control the adjusting of central processing unit.
The beneficial effects of the present invention are: being somebody's turn to do the locating and tracking system based on robot, user can pass through touch display screen
Operating system is regulated and controled or intelligent terminal operation system is remotely controlled, intelligent terminal is computer, mobile phone and display number
One of decoding apparatus setting, number of ways control, to microphone module connection speech reception module, speech recognition module and language
Adopted processing module increases the ability that robot receives external information, is easy to use, and first pressure sensor is mounted on a robot left side
Batter bottom, second pressure sensor are mounted on the right side of robot on sole, and installation settings is convenient, and convenient for later period maintenance and dimension
Shield, robot staggeredly walk, and a pressure pulse signal can all be received and count by not having a foot to land extraneous sension unit, improve
The accuracy of data, extraneous sension unit connect the data signal processor being arranged in central processing unit by main control unit,
Data signal processor is recorded twice the time used that the time interval between pulse is a step, and video camera is extraneous for typing
Environment picture, camera are mounted in front of robot, and Image Acquisition mark module and marker recognition module are to one framing of video camera
Number image carries out processing and obtains velocity amplitude, is multiplied using speed with every step time and obtains the travel distance of every step, distance is multiplied by survey
The step number obtained obtains total travel distance, receives satellite positioning information by intelligent terminal using bluetooth module, bluetooth module is machine
Device people provides an initial position, under the premise of known current initial position, by the mobile distance of measurement and direction, calculates
The position of subsequent time, improves the accuracy of locating and tracking, and intelligent terminal is convenient for real-time detection locating and tracking information.It should be based on machine
The locating and tracking system of device people can control, real-tune TT & C according to the service condition number of ways of user, and security performance is high, energy
Enough accurate locating and trackings.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Fig. 2 is central processing unit structural block diagram of the invention；
Fig. 3 is extraneous sension unit structural block diagram of the invention；
Fig. 4 is motion control unit structural block diagram of the invention.
In figure: 1 operating system, 2 central processing units, 3 main control units, 4 memory modules, 5 display modules, 6 touch display
Screen, 7 extraneous sension units, 8 motion control units, 9 artificial intelligence units, 10 exchange of speech modules, 11 playing modules, 12 are wirelessly
Communication module, 13 microphone modules, 14 data signal processors, 15 data collection stations, 16 bluetooth modules, 17 magnetometers, 18
Analog-digital converter, 19 inertial sensors, 20 intelligent terminals, 21 first pressure sensors, 22 second pressure sensors, 23 camera shootings
Machine, 24 marker recognition modules, 25 Image Acquisition mark modules, 26 tracking modules, 27 mapping modules, 28 locating modules, 29 paths
Planning module.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
The present invention provides a kind of locating and tracking system based on robot as shown in Figs 1-4, including operating system 1,
Central processing unit 2, main control unit 3, memory module 4, display module 5 and touch display screen 6；
The main control unit 3 includes extraneous sension unit 7, motion control unit 8 and artificial intelligence unit 9；
The operating system 1 is used to issue central processing unit 2 operational order, and touch display screen 6 passes through display module 5
Operating system 1 is regulated and controled with central processing unit 2；
The information that the touch display screen 6 is used to receive central processing unit 2 and memory module 4 is transmitted, and will be received
Information real-time display come out；
The main control unit 3 is transmitted for receiving extraneous sension unit 7, motion control unit 8 and artificial intelligence unit 9
Information, and received information is transmitted to central processing unit 2, after the central processing unit 2 is handled received information
Feed back to operating system 1；
External world's sension unit 7 is for receiving first pressure sensor 21, second pressure sensor 22 and video camera 23
The information transmitted, and received information is transmitted to main control unit 3；
The motion control unit 8 is for receiving tracking module 26, mapping module 27, locating module 28 and path planning mould
The information that block 29 transmits, and by received information conveyance to main control unit 3；
The artificial intelligence unit 9 includes exchange of speech unit 10；
The exchange of speech unit 10 is transmitted for receiving playing module 11, wireless communication module 12 and microphone module 13
Information, received information is transmitted to artificial intelligence unit 9 by the exchange of speech unit 10, and the artificial intelligence unit 9 will
The information of receipts is transmitted to main control unit 3.
Specifically, the central processing unit 2 includes data signal processor 14, data collection station 15 and bluetooth module
16；
The central processing unit 2 is used to receive the information that operating system 1, main control unit 3 and display module 5 transmit, institute
Central processing unit 2 is stated to achieve received information conveyance to memory module 4.
Specifically, the bluetooth module 16 is used to receive the information of the transmission of intelligent terminal 20, the intelligent terminal 20 includes
Received information is transmitted to data signal processor by data collection station 15 by computer, mobile phone etc., the bluetooth module 16
14；
The signal processor 14 is used to receive the information that analog-digital converter 18 and data collection station 15 transmit.
Specifically, the analog-digital converter 18 connects magnetometer 17 and inertial sensor 19；
The analog-digital converter 18 is used to receive the information that magnetometer 17 and inertial sensor 19 transmit, the analog-to-digital conversion
Device 18 will be transmitted to data signal processor 14 from magnetometer 17 and the received information of inertial sensor 19.
Specifically, extraneous sension unit 7 includes first pressure sensor 21, second pressure sensor 22 and video camera 23；
First pressure sensor 21 is mounted on sole on the left of robot, and second pressure sensor 22 is mounted on the right side of robot
On sole, robot staggeredly walks, and a pressure pulse signal can all be received and count by not having a foot to land extraneous sension unit 7
Number, extraneous sension unit 7 connect the data signal processor 14 being arranged in central processing unit 2, data letter by main control unit 3
Number processor 14 is recorded twice the time used that the time interval between pulse is a step；
The video camera 23 includes marker recognition module 24, Image Acquisition mark module 25；
Described image acquisition mark module 25 is for acquiring information and by the information conveyance of acquisition to marker recognition module 24
Handled, the marker recognition module 24 will analysis treated information conveyance to video camera 23, will be believed by video camera 23
Breath is delivered to extraneous sension unit 7, and video camera 23 increases accuracy when robot localization.
Specifically, the motion control unit 8 includes tracking module 26, mapping module 27, locating module 28 and path rule
Draw module 29；
The locating module 28 passes through extraneous sension unit 7 and acquires location information, and the locating module 28 determines acquisition
Position information feeds back to motion control unit 8, and location information is transmitted to mapping module respectively by the motion control unit 8
27, path planning module 29 and tracking module 26 improve the standard of the positioning and tracking of robot convenient for being robot planning route
True property.
Specifically, the exchange of speech unit 10 includes playing module 11, wireless communication module 12 and microphone module 13；
The microphone module 13 includes speech reception module, speech recognition module and semantic processes module；
The speech reception module receives extraneous voice messaging, and the speech reception module is defeated by received voice messaging
It send to speech recognition module and is analyzed and processed, the speech recognition module will analyze that treated that voice messaging is delivered to semanteme
Processing module increases the ability that robot receives external information, is easy to use.
Specifically, the central processing unit 2 is connected with alarm module, the alarm module includes alarming horn, and described
Alarm module is connect by bluetooth module 16 with intelligent terminal 20, and the data that the touch display screen 6 is shown can pass through center
Processor 2 is transferred on intelligent terminal 20, and intelligent terminal 20 can control the adjusting of central processing unit 2.
Specifically, being somebody's turn to do the locating and tracking system based on robot, in implementation process, touch display screen 6 passes through aobvious first
Show that module 5 and central processing unit 2 regulate and control operating system 1, operating system 1 issues operational order to central processing unit 2, in
Received instruction is distributed to main control unit 3 by central processor 2, and received instruction is distributed to outer by main control unit 3 respectively again
Boundary's sension unit 7, motion control unit 8 and artificial intelligence unit 9, artificial intelligence unit 9 are connected with microphone module 13, Mike
Wind module 13 connects speech reception module, speech recognition module and semantic processes module, increases robot and receives external information
Received voice messaging is fed back to artificial intelligence unit 9 again by ability, robot, and artificial intelligence unit 9 passes through main control unit 3
It is delivered to central processing unit 2 to be uniformly processed, feeds back to main control unit 3 for voice messaging and be delivered to motion control unit 8,
For motion control unit 8 to make corresponding instruction action with mobile robot, extraneous sension unit 7 receives first pressure sensor
21, the information that second pressure sensor 22 and video camera 23 transmit, first pressure sensor 21 are mounted on sole on the left of robot,
Second pressure sensor 22 is mounted on the right side of robot on sole, and robot staggeredly walks, and does not have an extraneous perception of foot landing single
Member 7 can all receive a pressure pulse signal and count, and extraneous sension unit 7 connects central processing unit 2 by main control unit 3
The data signal processor 14 of middle setting, data signal processor 14 are recorded twice the time interval between pulse as the institute of a step
Time, video camera 23 are used for typing external environment picture, and camera is mounted in front of robot, Image Acquisition mark module
25 and marker recognition module 24 to the certain frame number image of video camera carry out processing obtain velocity amplitude, utilize speed and every step time phase
The travel distance of multiplied every step out, distance obtain total travel distance multiplied by the step number measured, pass through intelligence using locating module 28
Terminal 20 receives satellite positioning information, and locating module 28 provides an initial position for robot, in known current initial position
Under the premise of, by the mobile distance of measurement and direction, calculates the position of subsequent time, improve the accuracy of locating and tracking, intelligence
Energy terminal 20 is convenient for real-time detection locating and tracking information.
Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution also should belong to scope of the invention, should be limited by each claim.
Claims (8)
1. a kind of locating and tracking system based on robot, which is characterized in that including operating system (1), central processing unit (2),
Main control unit (3), memory module (4), display module (5) and touch display screen (6)；
The main control unit (3) includes extraneous sension unit (7), motion control unit (8) and artificial intelligence unit (9)；
The operating system (1) is used to issue central processing unit (2) operational order, and touch display screen (6) passes through display mould
Block (5) and central processing unit (2) regulate and control operating system (1)；
The touch display screen (6) is used to receive the information of central processing unit (2) and memory module (4) transmission, and will be connect
The information real-time display of receipts comes out；
The main control unit (3) is for receiving extraneous sension unit (7), motion control unit (8) and artificial intelligence unit (9)
The information of transmission, and received information is transmitted to central processing unit (2), the central processing unit (2) by received information into
Operating system (1) is fed back to after row processing；
External world's sension unit (7) is for receiving first pressure sensor (21), second pressure sensor (22) and video camera
(23) information transmitted, and received information is transmitted to main control unit (3)；
The motion control unit (8) is for receiving tracking module (26), mapping module (27), locating module (28) and path rule
The information of module (29) transmission is drawn, and by received information conveyance to main control unit (3)；
The artificial intelligence unit (9) includes exchange of speech unit (10)；
The exchange of speech unit (10) is for receiving playing module (11), wireless communication module (12) and microphone module (13)
Received information is transmitted to artificial intelligence unit (9), the artificial intelligence by the information of transmission, the exchange of speech unit (10)
The information of receipts is transmitted to main control unit (3) by unit (9).
2. a kind of locating and tracking system based on robot according to claim 1, which is characterized in that the central processing
Device (2) includes data signal processor (14), data collection station (15) and bluetooth module (16)；
The central processing unit (2) is used to receive the letter of operating system (1), main control unit (3) and display module (5) transmission
Breath, the central processing unit (2) achieve received information conveyance to memory module (4).
3. a kind of locating and tracking system based on robot according to claim 2, which is characterized in that the bluetooth module
(16) for receiving the information of intelligent terminal (20) transmission, the intelligent terminal (20) includes computer, mobile phone, the bluetooth module
(16) received information is transmitted to data signal processor (14) by data collection station (15)；
The signal processor (14) is used to receive the information of analog-digital converter (18) and data collection station (15) transmission.
4. a kind of locating and tracking system based on robot according to claim 3, which is characterized in that the analog-to-digital conversion
Device (18) connects magnetometer (17) and inertial sensor (19)；
The analog-digital converter (18) is used to receive the information of magnetometer (17) and inertial sensor (19) transmission, and the modulus turns
Parallel operation (18) will be transmitted to data signal processor (14) from magnetometer (17) and inertial sensor (19) received information.
5. a kind of locating and tracking system based on robot according to claim 1, which is characterized in that extraneous sension unit
It (7) include first pressure sensor (21), second pressure sensor (22) and video camera (23)；
The video camera (23) includes marker recognition module (24), Image Acquisition mark module (25)；
Described image acquisition mark module (25) is for acquiring information and by the information conveyance of acquisition to marker recognition module (24)
It is handled, the marker recognition module (24) will analyze treated information conveyance to video camera (23), pass through video camera
(23) by information conveyance to extraneous sension unit (7).
6. a kind of locating and tracking system based on robot according to claim 1, which is characterized in that the motion control
Unit (8) includes tracking module (26), mapping module (27), locating module (28) and path planning module (29)；
The locating module (28) passes through extraneous sension unit (7) and acquires location information, and the locating module (28) is by acquisition
Location information feeds back to motion control unit (8), and location information is transmitted to map respectively by the motion control unit (8)
Module (27), path planning module (29) and tracking module (26).
7. a kind of locating and tracking system based on robot according to claim 1, which is characterized in that the exchange of speech
Unit (10) includes playing module (11), wireless communication module (12) and microphone module (13)；
The microphone module (13) includes speech reception module, speech recognition module and semantic processes module；
The speech reception module receives extraneous voice messaging, and received voice messaging is delivered to by the speech reception module
Speech recognition module is analyzed and processed, and the speech recognition module will analyze that treated that voice messaging is delivered to semantic processes
Module.
8. a kind of locating and tracking system based on robot according to claim 1, which is characterized in that the central processing
Device (2) is connected with alarm module, and the alarm module includes alarming horn, and the alarm module by bluetooth module (16) with
The data of intelligent terminal (20) connection, touch display screen (6) display can be transferred to intelligent end by central processing unit (2)
It holds on (20), and intelligent terminal (20) can control the adjusting of central processing unit (2).
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| CN201810994207.3A CN109375614A (en) | 2018-08-29 | 2018-08-29 | A kind of locating and tracking system based on robot |
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| CN112783154A (en) * | 2020-12-24 | 2021-05-11 | 中国航空工业集团公司西安航空计算技术研究所 | Multi-intelligent task processing method and system |
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| CN207172091U (en) * | 2017-09-08 | 2018-04-03 | 南京阿凡达机器人科技有限公司 | A kind of Study of Intelligent Robot Control system |
| CN108172303A (en) * | 2017-11-27 | 2018-06-15 | 崔海龙 | A kind of intelligent health service robot |
| CN108406798A (en) * | 2018-03-15 | 2018-08-17 | 西安工业大学 | A kind of man-machine interactive system of Service Robots |
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| CN111899454A (en) * | 2020-08-31 | 2020-11-06 | 熊新明 | Fire early warning system based on unmanned aerial vehicle |
| CN112783154A (en) * | 2020-12-24 | 2021-05-11 | 中国航空工业集团公司西安航空计算技术研究所 | Multi-intelligent task processing method and system |
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Application publication date: 20190222 |