CN101954191B - Intelligent entertainment mobile robot - Google Patents
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- CN101954191B CN101954191B CN 201010262195 CN201010262195A CN101954191B CN 101954191 B CN101954191 B CN 101954191B CN 201010262195 CN201010262195 CN 201010262195 CN 201010262195 A CN201010262195 A CN 201010262195A CN 101954191 B CN101954191 B CN 101954191B
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Abstract
The invention discloses an intelligent entertainment mobile robot. Two guide wheels are arranged on two sides of the front part of a frame; two driving wheels are arranged on two sides of the rear part of the frame; and the wheels are driven by a driving motor with a speed reducer. The intelligent entertainment mobile robot also comprises a power module for providing electric power for the whole machine, a monitoring module, a man-machine interaction module, a communication module, a master control module and a motion control module. The intelligent entertainment mobile robot is positioned and controlled by a method of combining a photopotential pose sensor and an infrared label-based mobile vision positioning mode, solves the problems that the conventional recreation facility has low intelligent level, single equipment function and low security coefficient, and also solves the problems of low robot loading capacity, high manufacturing cost and difficult commercial popularization in the conventional mobile robot research technology.
Description
Technical field
The present invention relates to the service robot field, relate in particular to a kind of Intelligent entertainment mobile robot.
Background technology
World wide, manufacturing the developing rapidly of recreation facility starts from the 1950's, and a significant product is the Disneyland of the U.S.; Yet, until before the eighties in 20th century, the modern recreation facility of China still almost is blank.Along with further going deep into of reform and opening-up and improving constantly of living standards of the people, people are also increasing to the demand of the activity of travelling, and under these circumstances, the design of domestic recreation facility, production are arisen at the historic moment; According to incompletely statistics, the kind of the big-and-middle-sized recreation facility that puts into production now has more than 100, comprises rotation, slides, ground, the various ways such as aerial, indoor, outdoor, fixing, mobile.
Yet, but there is the problem that much has generality in current recreation facility: at first, the intelligent level of equipment is low, and its research is only limited to plant machinery structure and appearance design aspect, does not consider to improve by automatic control technology and mobile robot technology the level of intelligence of equipment; Secondly, take the ground moving recreation facility as example, major part all needs visitor's manual operation, and automatization level is low, and safety coefficient is not high.
Publication number is the patent " machine animal amusement equipment " of CN2348888, designs the equipment that a cover profile is similar to the machine tiger, and the visitor controls its motion by manual station.The shortcoming of this technical scheme is: this equipment only can be finished simple manually control, has the problem that causes potential safety hazard because of maloperation, especially for children visitor; Functions of the equipments are single, and extensibility is not strong; Equipment room is difficult to be integrated into a large system with convenient management without contact; Interactivity is inadequate between equipment and the visitor.
Intelligent entertainment mobile robot has also solved some the intrinsic problems in present mobile robot's research field well as the application of Robotics on recreation facility.Publication number be CN1586826's " intelligent mobile robot ", represented present quite a few mobile robot's achievement in research.
This technical scheme shortcoming is: the technology that adopts the photopic vision sensor to add encoder realizes the robot location, encoder is difficult to overcome the problems such as wearing and tearing of error, wheel slip and the long-time running of mechanical erection, and visible images exists also that the data amount of calculation is large, camera produces angular deflection in long-time running and causes the problem such as error; The robot driving force is limited, and bearing capacity is not strong, is difficult to manned; In order to improve the environmental monitoring precision, common way is to pile up sensor, and a large amount of heat transfer agents is merged, and this has greatly improved the robot cost, is difficult to business promotion.
Summary of the invention
The purpose of this invention is to provide a kind of Intelligent entertainment mobile robot, solve on the one hand the problems such as existing recreation facility intelligent level is low, functions of the equipments are single, safety coefficient is low; Thereby solve on the other hand poor, the high problems such as business promotion that are difficult to of cost of robot load capacity in present mobile robot's investigative technique.
The objective of the invention is to be achieved through the following technical solutions:
A kind of Intelligent entertainment mobile robot, comprise: vehicle frame, be installed on respectively two directive wheels of vehicle frame front part sides, be installed on respectively two driving wheels of both sides, vehicle frame rear portion, the drive motors with decelerator that is connected respectively with two driving wheels, for complete machine provides the power module of electric power, also comprise:
Monitoring modular is connected with main control module, is used for monitoring of environmental information, and described environmental information is sent to main control module;
Human-computer interaction module links to each other with main control module, is used for carrying out between user and robot mutual;
Communication module links to each other with main control module, is used between robot and the robot, establish a communications link between robot and the host computer;
Main control module is connected with monitoring modular, human-computer interaction module, communication module, motion-control module, is used for receiving also analysis environments information, management human-machine interactive information, management of wireless communications, calculating motion control information;
Motion-control module is connected with main control module and drive motors, is used for receiving the motion control signal of main control module and the autonomous that the drive motors rotation realizes robot.
Monitoring modular comprises:
Relative positioning device take the photoelectricity Position and attitude sensor as core, photoelectricity pose installation of sensors link to each other with described main control module in the described vehicle frame left and right sides, adopt the dead reckoning method to determine in real time the robot pose;
Absolute fix device take moving-vision platform and infrared tags as core, vision sensor vertically is installed on the described vehicle frame, link to each other with described main control module, infrared tags is affixed on the ceiling of place, determines the absolute pose of robot by the infrared tags image that photographs;
Optoelectronic switch is installed on before and after the described vehicle frame, links to each other with described main control module, is used for the detection of described vehicle frame periphery barrier, realizes that robot promptly keeps in obscurity.
Human-computer interaction module comprises: attitude and face identification system, speech recognition system, microphone, loudspeaker, manual station, touch-screen and signal lamp.
In attitude and the face identification system, system captures video data by the camera of special outfit, adopts that motion tracking, people's face detect, AAM scheduling algorithm analysis and understand user's action, transfers at last main control module and makes corresponding identification and control.
In the speech recognition system, the pre-defined some voice command words of system are such as " advance, retreat, turn left, turn right " etc., after the user sends voice command, Mike catches user's voice messaging, by filtering, frequency-domain analysis, adopts HMM to realize the identification of voice.This function is infinite, can expand order word and command statement.
In the application of touch-screen, the user can mark at screen the route map of given shape, and control moves by the route that marks.Main control module reads the trace information on the screen, in conjunction with kinematic constraint condition, track is carried out level and smooth and rational optimization process, simulates the travel track of an optimum, then drives the chassis and moves by given trace.
Communication module comprises: wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol robotary information, PC control instruction are encoded, realize between robot and the robot, communicating by letter between robot and the host computer, in addition, communication module also comprises some common interfaces, such as I/O expansion interface, USB interface, RJ45 interface etc., realize the expansion of systemic-function.
The motion control arithmetic that main control module adopts traditional PID control to combine with Based Intelligent Control calculates and exports control signal to motion-control module, realizes robot autonomous movement with drive motors.
The method that this Intelligent entertainment mobile robot adopts the photoelectricity Position and attitude sensor to combine with moving-vision locate mode based on infrared tags has following outstanding advantages:
On the one hand, the more traditional photoelectric encoder of photoelectricity Position and attitude sensor detects pose and compares, can overcome the different and impact that brings of mechanical erection error, the wearing and tearing of code-disc driven pulley, wheel-slip, wheel aeration quantity, the photoelectricity Position and attitude sensor that simultaneously the present invention adopts carries out appropriate reconstruction according to optical mouse can be realized, cost performance is high;
On the other hand, adopt moving-vision but not on ceiling the static vision mode of hanging cam, consider that mainly the recreation ground place is larger, if adopt static vision, need arrange that then more camera and image pick-up card could cover whole place, and moving-vision cost in this respect is less;
At last, by putting up that infrared tags is taken infrared image but not visible images to position, because the latter is subjected to interference that surround lighting changes greatly, adopt simultaneously special infrared tags, making the image that photographs is some discrete bright spots with certain feature, and the data volume that image is processed greatly reduces.
Description of drawings
The below is described in further detail the present invention with embodiment with reference to the accompanying drawings.
Fig. 1 is the schematic appearance of the described a kind of Intelligent entertainment mobile robot of the embodiment of the invention;
Among the figure: 1, directive wheel; 2, driving wheel; 3, touch-screen; 4, signal lamp; 5, loudspeaker; 6, manual station zone; 7, microphone and communication interface zone; 81, wireless serial module; 131, photoelectricity Position and attitude sensor; 132, vision sensor; 133, optoelectronic switch; 9, power supply; 10, vehicle frame; 11, control box;
Fig. 2 is the structure principle chart of the described a kind of Intelligent entertainment mobile robot of the embodiment of the invention.
Among the figure: 2, driving wheel; 3, touch-screen; 4, signal lamp; 5, loudspeaker; 6, manual station; 7, microphone; 8, communication module; 81, wireless serial module; 82, I the common interfaces such as O, USB, RJ45; 13, monitoring modular; 131, photoelectricity Position and attitude sensor; 132, vision sensor; 133, optoelectronic switch; 14, human-computer interaction module; 15, main control module; 16, motion-control module; 17, attitude and face detection system; 18, speech recognition system; 19, host computer.
The specific embodiment
A kind of Intelligent entertainment mobile robot, comprise: vehicle frame 10, be installed on respectively two directive wheels 1 of vehicle frame 10 front part sides, be installed on respectively two driving wheels 2 of both sides, vehicle frame 10 rear portion, for complete machine provides the power supply 9 of electric power, power supply 9 is preferably battery pack, is installed in the cavity at vehicle frame 10 rear portions, provide the 24V dc source to system, can guarantee for a long time continuous operation of robot.Be designed with power line, brake cable fault monitoring circuit and battery flowmeter charge circle in the power circuit, by the signal lamp 4 on the panel of control box 11, can find easily power line and brake cable fault, and the monitoring battery electric quantity.
Robot also comprises:
Monitoring modular 13, be connected with main control module 15, be used for monitoring of environmental information, and environmental information sent to main control module 15, monitoring modular comprises relative positioning device take photoelectricity Position and attitude sensor 131 as core, the obstacle detecting device take vision sensor 132 and infrared tags as the absolute fix device of core, take optoelectronic switch 133 as core.
Photoelectricity Position and attitude sensor 131 is installed on vehicle frame 10 chassis, and each side one, and the certain height in maintenance and ground.Photoelectricity Position and attitude sensor 131 is transformed on the optical mouse basis and is obtained, illuminate ground by luminescent device, camera photographs ground image in the sensor, and pass to the internal proprietary picture processing chip, image processor is determined pose change amount by the frame-to-frame differences that calculates adjacent two width of cloth images, and data are passed to main control module 15, main control module 15 adopts the method for dead reckonings to calculate the robot real-time pose.
The method that adopts photoelectricity Position and attitude sensor 131 to combine with moving-vision locate mode based on infrared tags has following outstanding advantages:
On the one hand, photoelectricity Position and attitude sensor 131 more traditional photoelectric encoders detect pose and compare, can overcome the different and impact that brings of mechanical erection error, the wearing and tearing of code-disc driven pulley, wheel-slip, wheel aeration quantity, the photoelectricity Position and attitude sensor that simultaneously the present invention adopts carries out appropriate reconstruction according to optical mouse can be realized, cost performance is high;
On the other hand, adopt moving-vision but not on ceiling the static vision mode of hanging cam, consider that mainly the recreation ground place is excessive, if adopt static vision, need arrange that then more camera and image pick-up card could cover whole place, and moving-vision cost in this respect is less;
At last, by putting up that infrared tags is taken infrared image but not visible images to position, because the latter is subjected to interference that surround lighting changes greatly, adopt simultaneously special infrared tags, making the image that photographs is some discrete bright spots with certain feature, and the data volume that image is processed greatly reduces.
Some optoelectronic switches 133 are installed on the vehicle frame rear and front end, link to each other with main control module 15, are used for the detection of vehicle frame periphery barrier, and it detects distance is 50-100cm.Robot is in operation when detecting barrier, will be according to the predefined regular independent searching optimum that the keeps in obscurity path that keeps in obscurity, and advance to get around smoothly barrier by this optimal path.
In addition, according to different application, also can some mechanical limit switches be installed in the car body appropriate location, realize by functions such as wall correction poses.All the sensors all arranges corresponding mechanical protection mechanism, and its signal is received on the control box interface board by lead-in wire.
Human-computer interaction module 14 links to each other with main control module 15, is used for carrying out between user and robot mutual.Human-computer interaction module comprises: attitude and face identification system 17, speech recognition system 18, microphone 7, loudspeaker 5, manual station 6, touch-screen 3 and signal lamp 4.
Human-computer interaction module 14 is equipped with camera, to finish attitude and face identification functions.System captures video data by camera, adopts that motion tracking, people's face detect, AAM scheduling algorithm analysis and understand user's action, transfers at last main control module 15 and makes corresponding identification and control.
For the processing of voice messaging, the pre-defined some voice command words of system are such as " advance, retreat, turn left, turn right " etc., after the user sends voice command, microphone 7 is caught user's voice messaging, by filtering, frequency-domain analysis, adopts HMM to realize the identification of voice.This function is infinite, can expand order word and command statement.
The status information that loudspeaker 5 and signal lamp 4 are informed robot at any time is such as status informations such as electric quantity of power supply, circuit connection faults.When the user switches to manual operation mode, can come control by manual station 6, realize robot start and stop, the control of advancing, retreat, turn left, turn right, shifting gears.Touch-screen 3 also allows the user to mark the route map of given shape at screen except offering user-friendly interactive interface, and control moves by the route that marks.Main control module 15 reads the trace information on the screen, in conjunction with kinematic constraint condition, track is carried out level and smooth and rational optimization process, simulates an optimum travel track, and then drive motors moves by given trace.
Communication module 8 links to each other with main control module 15, comprise wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol robotary information, PC control instruction are encoded, realize between robot and the robot, communicating by letter between robot and the host computer.In addition, communication module also comprises some common interfaces, such as I/O expansion interface, USB interface, RJ45 interface etc., realizes the expansion of systemic-function.
Motion-control module 16 is connected with main control module 15 and driving wheel 2, is used for receiving the motion control signal of main control module 15 and carrying out power amplification, rotates with drive motors.Because robot has manned heavy load requirement, this module adopts the discrete device take IRF3205 as core to build H bridge motor-drive circuit, and maximum current can reach 30A.
If Intelligent entertainment mobile robot of the present invention is used for recreation ground, the visitor can exchange with robot by multiple man-machine interactive means, such as attitude, voice, touch-screen, manual station etc., experiences to obtain sufficient participation.Robot is full autokinetic movement both, also can be subjected to visitor's manual operation; But both line walking motions, also not line walking freely-movable; Both can advance by default track, also can be mutual with the visitor, by visitor's interactive voice, arbitrarily travel track is determined in line on touch-screen; Both can finish separately the performance task, but also Multi computer cooperation is finished complex task, keep rank such as simulation crossroad access operation, multirobot and advance etc.The robot functions such as warning of can finishing promptly and keep in obscurity, topple are to improve the security performance of equipment.The recreation ground staff manages, safeguards equipment and system by upper management software, can make things convenient for, effectively whole system be managed.
Claims (4)
1. Intelligent entertainment mobile robot, comprise: vehicle frame, be installed on respectively two directive wheels of described vehicle frame front part sides, be installed on respectively two driving wheels of both sides, described vehicle frame rear portion, the drive motors with decelerator that is connected respectively with two described driving wheels, for complete machine provides the power module of electric power, it is characterized in that, also comprise:
Monitoring modular is connected with main control module, is used for monitoring of environmental information, and described environmental information is sent to described main control module;
Human-computer interaction module links to each other with described main control module, is used for carrying out between user and robot mutual;
Communication module links to each other with described main control module, is used between robot and the robot, establish a communications link between robot and the host computer;
Motion-control module is connected with described main control module and drive motors, is used for receiving the motion control signal of main control module and the autonomous that the drive motors rotation realizes robot;
Main control module is connected with described monitoring modular, described human-computer interaction module, described communication module, described motion-control module, is used for receiving also analysis environments information, management human-machine interactive information, management of wireless communications, calculating motion control information;
Described monitoring modular comprises:
Relative positioning device take the photoelectricity Position and attitude sensor as core, photoelectricity pose installation of sensors link to each other with described main control module in the described vehicle frame left and right sides, adopt the dead reckoning method to determine in real time the robot pose;
Absolute fix device take moving-vision platform and infrared tags as core, vision sensor vertically is installed on the described vehicle frame, link to each other with described main control module, infrared tags is affixed on the ceiling of place, determines the absolute pose of robot by the infrared tags image that photographs;
Optoelectronic switch is installed on before and after the described vehicle frame, links to each other with described main control module, is used for the detection of described vehicle frame periphery barrier, realizes that robot promptly keeps in obscurity.
2. Intelligent entertainment mobile robot according to claim 1 is characterized in that, described human-computer interaction module comprises: attitude and face identification system, speech recognition system, microphone, loudspeaker, manual station, touch-screen and signal lamp.
3. Intelligent entertainment mobile robot according to claim 1, it is characterized in that, described communication module comprises: wireless serial R-T unit and control circuit thereof, according to wireless serial communication protocol robotary information, PC control instruction are encoded, realize between robot and the robot, communicating by letter between robot and the host computer, in addition, communication module also comprises some common interfaces, this interface comprises I/O expansion interface, USB interface, RJ45 interface at least, realizes the expansion of systemic-function.
4. Intelligent entertainment mobile robot according to claim 1, it is characterized in that, the motion control arithmetic that main control module adopts traditional PID control to combine with Based Intelligent Control calculates and exports control signal to motion-control module, realizes robot autonomous movement with drive motors.
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