CN103335652A - Dining room path navigation system and method of robot - Google Patents
Dining room path navigation system and method of robot Download PDFInfo
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- CN103335652A CN103335652A CN2013102532037A CN201310253203A CN103335652A CN 103335652 A CN103335652 A CN 103335652A CN 2013102532037 A CN2013102532037 A CN 2013102532037A CN 201310253203 A CN201310253203 A CN 201310253203A CN 103335652 A CN103335652 A CN 103335652A
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Abstract
The invention belongs to the technical field of robot path navigation and discloses a dining room path navigation system and method of a robot. The dining room path navigation system of the robot comprises a control module, a touch screen and a stepping motor, wherein the control module is connected with the touch screen and the stepping motor respectively; the touch screen is used for displaying a dinning room coordinate point, determining the dinning room coordinate point corresponding to an initial position of the robot, sequentially inputting a plurality of adjacent dinning room coordinate points from the dinning room coordinate point corresponding to the initial position of the robot, inputting staying data and sending path data and the staying data to the control module; the control module is used for generating a corresponding pulse signal according to the path data and the staying data and sending the pulse signal to the stepping motor; the stepping motor is used for driving a wheel hub of the robot according to the pulse signal so as to move the robot.
Description
Technical field
The invention belongs to the robot path field of navigation technology, particularly a kind of dining room path guiding system and air navigation aid of robot.
Background technology
Along with further developing of science and technology, Robotics begins to progress into people's the visual field, and in present robot system, usually adopt the visual servo control system to finish navigation, but for environment comparison rule and the many scenes of contact object, visual servo control system degree of stability is not high on the one hand, and visual servo is controlled cost higher on the other hand.
Summary of the invention
The objective of the invention is to propose a kind of robot path navigational system and air navigation aid.The present invention has detection of obstacles, the personage distinguishes, hinders functions such as capable prompt tone, work prompt tone and obstacle prompting
For realizing above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved.
Technical scheme one:
A kind of dining room path guiding system of robot is characterized in that, comprising: control module, touch-screen and stepper motor; Wherein, described control module connects touch-screen and stepper motor respectively;
Described touch-screen is used for showing the dining room coordinate points; Be used for according to the initial position of robot in the dining room, determine the dining room coordinate points of robot initial position correspondence; Be used for the dining room coordinate points from the robot initial position correspondence, import the adjacent dining room coordinate points of a plurality of orders successively; Be used for the input dwell data; Be used for path data and dwell data are sent to control module; Total m*n of described dining room coordinate points, m is the columns of dining room coordinate points, and n is the line number of dining room coordinate points, and m and n are the natural number greater than 1; Described path data comprises the input sequence of the dining room coordinate points that the adjacent dining room coordinate points of described a plurality of order is adjacent with a plurality of order; Described dwell data comprises the dining room coordinate points of robot dwell point position correspondence and the residence time of robot dwell point; The dining room coordinate points that described a plurality of order is adjacent comprises the dining room coordinate points of robot dwell point position correspondence;
Described control module is used for generating corresponding pulse signal according to described path data and dwell data, is used for described pulse signal is sent to stepper motor;
Described stepper motor is used for the wheel hub according to pulse signal drive machines people, makes the robot motion.
Characteristics of the present invention and further the improvement are:
The dining room path guiding system of described a kind of robot also comprises: Hall element, angular-rate sensor and acceleration transducer, and described control module connects Hall element, angular-rate sensor and acceleration transducer respectively;
Described Hall element is used for the instantaneous linear velocity in robot motion's process robot measurement, is used for the instantaneous linear velocity of robot is sent to control module; Described angular-rate sensor is used for the instantaneous angular velocity in robot motion's process robot measurement, is used for the instantaneous angular velocity of robot is sent to control module; Described acceleration transducer is used for the acceleration in robot motion's process robot measurement, is used for the acceleration of robot is sent to control module; Described control module is used for instantaneous linear velocity, instantaneous angular velocity and the acceleration according to robot, and is used for adopting boat appearance dead reckoning to obtain position and the angle of robot.
The dining room path guiding system of described a kind of robot also comprises at least two ultrasonic sensors of link control module respectively, and wherein, at least one ultrasonic sensor is positioned at the robot front portion, and at least one ultrasonic sensor is positioned at the left side of robot; Be positioned at the ultrasonic sensor of robot front portion for detection of the barrier that is positioned at robot the place ahead; Be positioned at the ultrasonic sensor in robot left side for detection of the barrier that is positioned at the robot left side.
The dining room path guiding system of described a kind of robot also comprises at least two pyroelectric sensors of link control module respectively, and whether described at least two pyroelectric sensors all have the infrared ray of human body radiation for detection of robot the place ahead.
Technical scheme two:
A kind of dining room path navigation method of robot based on the described a kind of robot path navigational system of claim 1, may further comprise the steps:
S1: in touch-screen, show the dining room coordinate points, according to the initial position of robot in the dining room, determine the dining room coordinate points of robot initial position correspondence; From the dining room coordinate points of robot initial position correspondence, successively that a plurality of orders are adjacent dining room coordinate points inputs to touch-screen; And dwell data inputed to touch-screen; Touch-screen is sent to control module with path data and dwell data; Total m*n of described dining room coordinate points, m is the columns of dining room coordinate points, and n is the line number of dining room coordinate points, and m and n are the natural number greater than 1; Described path data comprises the sequencing that dining room coordinate points that described a plurality of order is adjacent and the dining room coordinate points that a plurality of orders are adjacent input to touch-screen; Described dwell data comprises the residence time of dining room coordinate points and the robot dwell point position correspondence of robot dwell point position correspondence; The dining room coordinate points that described a plurality of order is adjacent comprises the dining room coordinate points of robot dwell point position correspondence;
S2: control module generates corresponding pulse signal according to described path data and dwell data, and described pulse signal is sent in the stepper motor;
S3: stepper motor makes the robot motion according to pulse signal drive machines people's wheel hub.Robot can stop according to dwell data.
Characteristics of the present invention and further the improvement are:
In step S3, every setting-up time, described control module adopts boat appearance dead reckoning to obtain position and the angle of robot, then position and the angle of robot is proofreaied and correct; It is as follows that described control module adopts boat appearance dead reckoning to obtain the process of the position of robot and angle: in robot motion's process, utilize the instantaneous linear velocity of Hall element robot measurement, the instantaneous linear velocity of robot is sent to control module;
In robot motion's process, utilize the instantaneous angular velocity of angular-rate sensor robot measurement, the instantaneous angular velocity of robot is sent to control module;
In robot motion's process, utilize the acceleration of acceleration transducer robot measurement, the acceleration of robot is sent to control module;
Control module is obtained instantaneous linear velocity, instantaneous angular velocity and the acceleration of robot, adopts boat appearance dead reckoning to obtain position and the angle of robot.
In step S3, in robot motion's process, when there is barrier in robot the place ahead, utilize the ultrasonic sensor that is positioned at the robot front portion to obtain the barrier distributed intelligence in robot the place ahead, the barrier distributed intelligence is sent to control module; Control module sends look-at-me, right turn signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controls robot then and finishes the operation of turning right, and controls robot then and keeps straight on;
In the process that robot keeps straight on, utilize the ultrasonic sensor that is positioned at the robot left side to obtain the barrier distributed intelligence in robot left side; When there was not barrier in the robot left side, control module sent look-at-me, left rotaring signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controlled robot then and finished operation, controlled robot then and kept straight on.
In step S3, in robot motion's process, utilize at least two Thermoelectric Infrared Sensor detection machine people the place aheads whether the infrared ray of human body radiation is arranged; When at least one Thermoelectric Infrared Sensor detects robot the place ahead and has the infrared ray of human body radiation, detected human body radiation signal is sent to control module; Control module sends look-at-me to stepper motor, and transmission is dodged voice signal to voice module; Stepper motor quits work, and voice module sends and dodges voice according to dodging voice signal; The described voice of dodging are set in advance in the voice module; When all Thermoelectric Infrared Sensor all detected infrared ray less than human body radiation, control module did not receive the human body radiation signal, and control module sends the craspedodrome signal to stepper motor, and the step motor control robot continues to keep straight on forward.
Beneficial effect of the present invention is: can preset the robot track of advancing by touch-screen, can to robot advance with position fixing process in the free routing point the rational residence time is set, suitable voice prompt services and load Item Weight can be provided, thereby finish corresponding service role, for example send water, send coffee, dish etc. brings meal.And have detection of obstacles, personage and distinguish, hinder functions such as capable prompt tone, work prompt tone and obstacle prompting.
Description of drawings
Fig. 1 is a kind of structural drawing of dining room path guiding system of robot;
Fig. 2 is the workflow diagram of second singlechip;
Fig. 3 is position and the angle synoptic diagram of robot.
Embodiment
The invention will be further described below in conjunction with accompanying drawing:
Development along with society, the lifting of human resources quality and cost, gradually the rare people that becomes would like to do in some basic servicess, so just requiring has more senior service class mechano-electronic product to replace the people to finish more general services, require the cost must not be too high simultaneously, system flexibility is good, and the system stability height has good man-machine interaction and comparatively suitable prompting and arranges etc.
Robot as civilian infrastructure service industry, its visual servo control system stability remains further to be improved, and the visual servo control system has shortcomings such as complexity height, cost height, the present invention proposes a kind of semi-intelligent path planning system based on the planning of people's secondary path, at first utilize the people at the information architecture priori map of touch-screen input, then the particular path that carries out specific map based on reckoning algorithm and path analysis algorithm travels.And rely on safety and extraneous safety that polytype sensor ensures robot system in the process of moving on the one hand, pass every information of robot on the other hand in real time back by the method for wireless transmission, aspect host computer, carry out the demonstration in path and the processing of information simultaneously in real time, the present invention further makes robot application significantly improve in the possibility of infrastructure service industry, and reliability further strengthens.
The present invention is background with the food service industry, environment with general comparison rule such as dining rooms is that target uses the zone to carry out the design of robot system, generally speaking the environment in dining room meets the following conditions: first, the seat distributes comparatively regular, general layout adopts the dot matrix layout, can represent the dining table position of the overwhelming majority and the position of important references things with rounded coordinate after the selected reference point.The second, the dining room scenario objects is comparatively fixing, and general only the need distinguishes and handle that uncertain factor is less to people and thing, only need finish bearing article, transport definite action such as article.The 3rd, be convenient to arrange comparatively clear and definite voice suggestion.
Be illustrated in figure 1 as a kind of structural drawing of dining room path guiding system of robot, in embodiments of the present invention, a kind of dining room path guiding system of robot, comprise: control module, touch-screen, stepper motor, a plurality of Thermoelectric Infrared Sensor sensors, a plurality of ultrasonic sensors, Hall element, angular-rate sensor, acceleration transducer and voice module, control module is divided into first single-chip microcomputer and second singlechip, can reduce cost, first single-chip microcomputer is connected by the RS232 serial ports with second singlechip, second singlechip connects voice module and touch-screen respectively, and first single-chip microcomputer connects stepper motor respectively, a plurality of Thermoelectric Infrared Sensor sensors, a plurality of ultrasonic sensors, Hall element, angular-rate sensor and acceleration transducer.
The embodiment of the invention also is provided with GPS chip, host computer, smoke transducer, temperature sensor and solar panel; GPS chip, smoke transducer and temperature sensor all are arranged in the robot, and solar panel connects first single-chip microcomputer, and host computer is realized information interaction by wireless channel and robot.
In the embodiment of the invention, second singlechip adopts the STC12LE5A60S2 single-chip microcomputer, touch-screen adopts TFT6448BS-5.7 bus-type LCD, TFT6448BS-5.7 bus-type LCD is the LCD (band touch-screen) that designs at the single-chip microcomputer user specially, it adopts resolution is 5.7 inches very color TFT screens of 640*480, can provide simple 8 buses at a high speed to be connected with the STC12LE5A60S2 single-chip microcomputer, support 256 looks to show.Can directly link to each other with MCS51 series monolithic, MCS96 series monolithic, MC68 single-chip microcomputer, arm processor and digital signal processing unit (DSP).In TFT6448BS-5.7 bus-type LCD, can directly import X, Y coordinate, need not calculated address.This bus-type LCD has low-power consumption, frivolous (height 8.5mm), wide temperature (30 degree are to 70 degree), adjustable brightness joint characteristics such as (can pass through 8 kinds of brightness of software adjustment).Its 20 pinouts are as follows: No. 1 pin 5V-liquid crystal display logic power 5V, No. 2 pin 5V-liquid crystal display logic power 5V, No. 3 pin D0-data bus INOUT3.3/5V, No. 4 pin A0-address wire 0IN3.3/5V, No. 5 pin D1-data bus INOUT3.3/5V, No. 6 pin A1-address wire 1IN3.3/5V, No. 7 pin D2-data bus INOUT3.3/5V, No. 8 pin CSJ-chip selection signals, low level is to screen efficient in operation IN3.3/5V, No. 9 pin D3-data bus INOUT3.3/5V, No. 10 pin GND-liquid crystal displays are 0V logically, No. 11 pin D4-data bus INOUT3.3/5V, No. 12 pin GND-liquid crystal displays are 0V logically, No. 13 pin D5-data bus INOUT3.3/5V, No. 14 pin GND-liquid crystal displays are 0V logically, No. 15 pin D6-data bus INOUT3.3/5V, No. 16 pin GND-liquid crystal displays are 0V logically, No. 17 pin D7-data bus INOUT3.3/5V, No. 18 pin RDJ-read operation signals, the effective IN3.3/5V of low level, No. 19 pin WRJ-write operation signals, the effective IN3.3/5V of low level, No. 20 pin-NC.
In the embodiment of the invention, in touch-screen, show the dining room coordinate points, in the embodiment of the invention, total 16*8 of dining room coordinate points, namely the line number of dining room coordinate points is 8, the columns of dining room coordinate points is 16; According to the initial position of robot in the dining room, determine the dining room coordinate points of robot initial position correspondence then; Suppose that robot need carry out 10 times and stop when once go the rounds, when each the stop, the diner can take off corresponding article, needs so dwell data is input in the touch-screen; Layout according to position and the dining room of 10 dwell points, dining room coordinate points from the robot initial position correspondence, successively that a plurality of orders are adjacent dining room coordinate points inputs to touch-screen (being input in the touch-screen by hand-written and felt pen), in the adjacent dining room coordinate points of above-mentioned a plurality of orders, (being the upper and lower, left and right of each dining room coordinate points) has an adjacent dining room coordinate points at least around each dining room coordinate points; Then dwell data is inputed to touch-screen (being input in the touch-screen by hand-written and felt pen); The dining room coordinate points of the position correspondence that preceding 10 data of dwell data are 10 dwell points, back 10 residence time that data are 10 dwell points, in dwell data, i data are corresponding with i+10 data; Touch-screen is sent to second singlechip with path data and dwell data.Path data comprises the sequencing that dining room coordinate points that described a plurality of order is adjacent and the dining room coordinate points that a plurality of orders are adjacent input to touch-screen.Second singlechip is processed above-mentioned path data and dwell data, and the data after the processing are sent to first single-chip microcomputer.
In the embodiment of the invention, be illustrated in figure 2 as the workflow diagram of second singlechip, after the second singlechip start, at first SPI interface, touch screen interface (interface that second singlechip is connected with touch-screen) and SCI interface are carried out initialization, utilize periodic scan method to set up two-dimensional coordinate system then, the structure correspondence in two-dimensional coordinate and dining room, the coordinate of the initial position correspondence of robot is initial point; And then touch and detect and the Serial Port Information detection, touch to detect and be used for judging whether touch-screen has data to be sent to second singlechip, if do not have, then proceed to touch and detect, if have, then the data from touch-screen are processed, the data after the processing are sent to first single-chip microcomputer by the RS232 serial ports, data after will processing simultaneously are sent to host computer by the blue teeth wireless data transfer mode, return then to proceed to touch and detect; Serial Port Information detects mainly for detection of the voice signal (comprise the start voice signal, dodge voice signal or send to voice signal) that whether has from first single-chip microcomputer, if do not have, then proceeding Serial Port Information detects, if have, then voice signal is sent to voice module, simultaneously voice signal is sent to host computer by the blue teeth wireless data transfer mode, returns then and proceed the Serial Port Information detection.
Second singlechip to the process of path data processing is: the dining room coordinate points that generates on the touch-screen always has 128, these dining room coordinate points are numbered 0 respectively, 1 ... 127(according to from left to right, mode from bottom to up numbers), input to the sequencing of touch-screen according to the adjacent dining room coordinate points of a plurality of orders, the numbering of the dining room coordinate points that a plurality of orders are adjacent is labeled as ADD_num[j], j is the integer more than or equal to 0; Second singlechip carries out the following difference operation of asking to adjacent dining room coordinate points:
N=ADD_num[j+1]-ADD_num[j], gained difference N is divided into four numerical value, is respectively: 1 ,-1,16 ,-16.Do as giving a definition according to these four differences:
If N=1, then define the right-hand rotation zone bit and add 1, the zone bit zero clearing is directly walked in definition forward, and the zone bit zero clearing is directly walked in definition backward, define initial (0-〉16) zone bit tax 1.Judge: if the right-hand rotation zone bit equals 1, then carry out earlier and turn right, directly make a move to the right again; Otherwise, directly directly make a move.
If N=-1, definition left-hand rotation zone bit adds 1, define initial (0-〉16) zone bit tax 1.Judge: if the left-hand rotation zone bit equals 1 and directly walk zone bit forward and be not equal to 0, then directly walk the zone bit zero clearing forward, carry out earlier, directly make a move left again; If the left-hand rotation zone bit equals 1 and directly walk zone bit backward and be not equal to 0, then directly walk the zone bit zero clearing backward, carry out earlier and turn right, directly make a move to the right again; If the left-hand rotation zone bit is not equal to 1, carry out directly making a move forward.
If N=16, judge: if initial (0-〉16) zone bit equals 1, directly walk zone bit forward and add 1, the zero clearing of right-hand rotation zone bit, left-hand rotation zone bit clear 0.If the right-hand rotation zone bit equals 1, then carry out earlier, directly make a move left again; Otherwise, directly directly make a move; If initial (0-〉16) zone bit is not equal to 1, directly directly make a move.
If N=-16, directly walk zone bit backward and add 1, judge: equal 1 and directly walk zone bit forward and be not equal to 0 if directly walk zone bit backward, then directly walk the zone bit zero clearing forward, carry out earlier and turn right, make a move to having directly again; Equal 1 and directly walk zone bit backward and be not equal to 0 if directly walk zone bit backward, then directly walk the zone bit zero clearing backward, carry out earlier, directly make a move left again; Be not equal to 1 if directly walk zone bit backward, carry out directly making a move forward.
In the embodiment of the invention, voice module adopts ISD1760 speech chip or ISD-4004 speech chip, ISD-4004 speech chip volume is little, adopt the CMOS technology, include the many electrical level flash storages of oscillator, anti-aliasing filter, smoothing filter, note amplifier, automatic silencing and high density display, the sectional recording playback, the power down storage time is of a specified duration, tonequality is good, easy to operate, its ISP interface and single-chip microcomputer compatibility, and record length can the longlyest reach 16 minutes, so the embodiment of the invention adopts it to build multiple access voice reminder module.The speech chip all operations must be controlled by second singlechip, and operational order can be sent into by serial communication interface (SPI interface or Microwire serial line interface).Speech chip adopts many level direct modeling amount memory technology, each sampled value directly is stored in the memory that glimmers in the sheet, can be very truly, realize voice, music, tone and effect sound more naturally, avoided general solid recording circuit because of the quantizing noise and " metallic sound " that quantize and compression causes.Its sample frequency can be 4.0kHz, 5.3kHz, 6.4kHz or 8.0kHz, and sample frequency is more low, and the recording playback time is more long, and tonequality then descends to some extent.
In embodiments of the present invention, will preset voice by recording and be stored in the flicker memory, and can under powering-off state, preserve 100 years (representative value), and can record repeatedly 100,000 times.Default voice comprise the start voice, dodge voice and send to voice, the start voice are used for the prompting robot system and start shooting, dodging voice is used for pointing out the pedestrian who is positioned at robot the place ahead to dodge, send to voice and be used for prompting article Delivered, for example, during start, second singlechip control voice module sends following start voice: " hello, and robot service system starts ... please wait a moment! "; When rpyroelectric infrared elder generation sensor detects robot the place ahead the infrared ray of human body radiation is arranged, dodge voice signal to the transmission of first single-chip microcomputer, second singlechip receive from first single-chip microcomputer dodge voice signal the time, the control voice module sends the following voice of dodging: " you are good, would you please step aside! ", after the pedestrian who waits to be positioned at robot the place ahead dodged, robot continued to move forward; When robot arrived dwell point, robot provided article to diner or other people, at this moment, first single-chip microcomputer is sent to voice signal to second singlechip, second singlechip control voice module sends the following voice of sending to: " you are good, and your article Delivered please receive! ".In embodiments of the present invention, default voice can be made amendment as required at any time.
In the embodiment of the invention, first single-chip microcomputer adopts the MC9S12XS128 single-chip microcomputer, the MC9S12XS128 single-chip microcomputer is a kind of in 16 single-chip microcomputers of the xs12 of Freescale company series, the highest access crystal oscillator frequency is 48MHz, but arrive 96MHz by phase-locked overclocking, its inner structure mainly contains the basic CAN functional block of single-chip microcomputer and partly forms, basic structure comprises: central processor unit xs12(CPU), 2 asynchronous serial communication interfaces (SCI), 2 synchronous serial communication interfaces (SPI), 8 passages input capture/output is timer relatively, 18 passage pulse width modulation module and 49 independent digit I/O interfaces (wherein 20 have external interrupt and arousal function), the Flash ROM that in single-chip microcomputer, also has 128KB, the RAM of 8KB and the EEPROM of 2KB, the CAN functional block comprises the msCAN controller of two compatible CAN2.0A/B agreements, these abundant internal resource and external interface resources can satisfy single-chip microcomputer to the processing of various data, and satisfy the transmission of CAN network data and receive requirement, two msCAN12 modules that the MC9S12XS128 single-chip microcomputer is integrated in addition can realize the gateway node function of high low speed CAN network.
The MC9S12XS128 single-chip microcomputer is as the master controller of robot, the function of bearing analyzing and processing data (from the data of second singlechip) in entire machine people navigational system, determining the robot location, carry out the coordination operation between wireless data transmission, the information processing of self-sensor device, each module of robot navigation system to host computer (PC) direction.The MC9S12XS128 single-chip microcomputer is cut apart the dwell data that the STC12LE5A60S2 single-chip microcomputer sends, and dwell data is divided into the dining room coordinate points of position correspondence of 10 dwell points and the residence time of 10 dwell points.
After the start of MC9S12XS128 single-chip microcomputer, at first carry out SCI interface, PWM(width modulation), blue tooth interface, analog-to-digital initialization, then the serial ports between MC9S12XS128 single-chip microcomputer and the STC12LE5A60S2 single-chip microcomputer is done the communication verification, if the verification failure is then returned and is carried out initialization operation again; If verification succeeds, then receive the data from the STC12LE5A60S2 single-chip microcomputer, then according to the Data Control stepper motor from the STC12LE5A60S2 single-chip microcomputer, simultaneously, start two Thermoelectric Infrared Sensor being positioned at robot head and the ultrasonic sensor that is positioned at the robot front portion, then the information control step motor that feeds back according to Thermoelectric Infrared Sensor or ultrasonic sensor.The MC9S12XS128 single-chip microcomputer can be sent to host computer by the Bluetooth wireless transmission mode with the above-mentioned information that feeds back.
In the embodiment of the invention, be provided with three ultrasonic sensors, these three ultrasonic sensors are separately positioned on front portion, left side and the right side of robot, and ultrasonic sensor adopts SRF06 ultrasonic sensor, this ultrasonic sensor stable performance, the blind area is 2cm, use voltage to be DC5V, quiescent current is less than 2mA, and Transistor-Transistor Logic level induction angle is not more than 15 degree, detection range is 2cm-450cm, and precision can reach 1mm; Its pin is described as follows: VCC-supply voltage, trig-control end, echo-receiving end, GND-ground wire.In robot motion's process, when there was barrier in the place ahead 2cm-450cm of robot, ultrasonic sensor obtained the barrier distributed intelligence in robot the place ahead, and the barrier distributed intelligence is sent to first single-chip microcomputer; First single-chip microcomputer sends look-at-me, right turn signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controls robot then and finishes the operation of turning right, and controls robot then and keeps straight on; In the process that robot keeps straight on, utilize the ultrasonic sensor that is positioned at the robot left side to obtain the barrier distributed intelligence in robot left side; When there was not barrier in the robot left side, first single-chip microcomputer sent look-at-me, left rotaring signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controlled robot then and finished operation, controlled robot then and kept straight on.
In the embodiment of the invention, the head position of robot is provided with two Thermoelectric Infrared Sensor, its principle of work is: because the ultrared wavelength of people and thing institute radiation is different, first single-chip microcomputer can be judged the identity of the barrier of meeting according to the signal that Thermoelectric Infrared Sensor sends.As long as one of them Thermoelectric Infrared Sensor detects the infrared ray of human body radiation, first single-chip microcomputer will send to second singlechip and dodge voice signal, simultaneously, first single-chip microcomputer sends look-at-me to stepper motor, stepper motor quits work, and second singlechip control voice module sends dodges voice; Dodging voice is set in advance in the voice module; After the people who is positioned at robot the place ahead leaves, all Thermoelectric Infrared Sensor all detect the infrared ray less than human body radiation, when first single-chip microcomputer does not receive the human body radiation signal, send the craspedodrome signal to stepper motor, the step motor control robot continues to keep straight on forward.
In the embodiment of the invention, every setting-up time, first single-chip microcomputer adopts boat appearance dead reckoning to obtain position and the angle of robot, then position and the angle of robot is proofreaied and correct; Boat appearance dead reckoning cost is low and do not need external environment information; Be illustrated in figure 3 as position and the angle synoptic diagram of robot, the position of first single-chip microcomputer employing boat appearance dead reckoning acquisition robot and the process of angle are as follows:
The coordinate of setting t moment robot is (x
t, y
t), angle is θ
t, can get following differential equation of motion:
In the following formula, V
tRepresent the robot instantaneous linear velocity, ω
tRepresent the instantaneous angular velocity of robot.
Make l represent the distance travelled of robot, then dl=V*dt has its substitution (1) formula
(2) formula both sides while integration has
Make Δ l represent the step-length of robot, Δ t
iTime for the cost of the i of system section step-length stroke, then have
(4) formula substitution (3) formula can be got following estimator
In the experiment, when initial, Δ l=0; Δ t
0=0, can get x
0=0; y
0=0; θ
0=0, Hall element adopts CS1018, CS1028, CS2018 etc., and 12 magnet steel evenly have been installed on two drive hubs of robot, then 12 pulses of the every operation one week input of wheel, and behind the robot setting in motion, Δ l=π D/12, D are the diameter of drive hub.
For measurement of angle, the MB245 angular-rate sensor and the acceleration transducer MMA7620 that adopt field, village company to produce finish, and angle is finally obtained by integration, and calculation procedure is as follows:
According to the dimension that obtains and angle value, recycling (5) formula, odometer produces a pulse every stroke Δ l as can be known, this pulse signal of system responses also calculates the Δ t consuming time of this section stroke, and the angular velocity that is somebody's turn to do the moment, obtain the increment of the interior vehicle coordinate of this section stroke and angle after the calculating, accumulation at last obtains the instantaneous pose (being position and the angle of robot) of robot system.
On two drive hubs of robot 12 magnet steel have been installed evenly, then 12 pulses of the every operation one week input of wheel in robot motion's process, are drawn the instantaneous linear velocity of robot by Hall element; The MB245 angular-rate sensor that angular-rate sensor adopts field, village company to produce; Acceleration transducer adopts MMA7620 three all acceleration transducers.
In the embodiment of the invention, stepper motor is as the topworks of robot power section, and its control accuracy is higher, can satisfy robot to the requirement of position control accuracy; When robot arrived dwell point, first single-chip microcomputer sent look-at-me to stepper motor, and stepper motor quits work, the robot stop motion; When there were people or other barriers in robot the place ahead, first single-chip microcomputer all sent look-at-me to stepper motor, and stepper motor quits work, the robot stop motion.In the embodiment of the invention, robot adopts the mode of two drive hub differentials to finish and turns to control.
In the embodiment of the invention, temperature sensor adopts the DS18B20 digital temperature sensor, this digital temperature sensor is the 1-wire digital temperature sensor that DALLAS company produces, advantages such as it has microminiaturization, low-power consumption, high-performance, antijamming capability is strong, connecting circuit is simple, be specially adapted to constitute the multi-spot measurement and control system, can directly temperature inversion be become serial digital signal directly to give first single-chip microcomputer and handle.When temperature surpassed preset temperature, first single-chip microcomputer sent look-at-me to stepper motor, and stepper motor quits work; After treating that temperature is lower than default temperature, first single-chip microcomputer control step motor is again started working.
In the embodiment of the invention, when smoke transducer perceives smog, send corresponding signal to the first single-chip microcomputer, first single-chip microcomputer judges that whether the concentration value of smog is greater than setting threshold, if greater than setting threshold, then send voice signal by second singlechip to voice module, voice module can send corresponding smog suggestion voice.Smoke transducer adopts the MQ-2 smoke transducer, and it has signal output deixis, can carry out two-way signal output (analog quantity output and Transistor-Transistor Logic level output), and the output useful signal is low level (signal lamp is bright during output low level, can directly connect single-chip microcomputer); Can export 0～5V voltage (smokescope more high voltage is more high) with analog quantity; To liquefied gas, rock gas, town gas, smog have sensitivity preferably; Have long serviceable life, reliable stability and respond recovery characteristics fast, can be used as the gas leakage monitor of family or factory, be suitable for detecting liquefied gas, butane, propane, methane, alcohol, hydrogen, smog etc.
In the embodiment of the invention, robot carries a GPS positioning chip, this positioning chip adopts the NMEA0813 agreement that the information that GPS receives is transmitted out in the mode of serial ports, therefore want to obtain GPS information and show in computer end (host computer), will finish the processing to the NMEA0813 agreement.The NMEA0813 agreement of this GPS positioning chip support comprises (recommendation locating information), $GPVTG(ground speed information) ， $GPGGA(locating information) the current satellite information of ， $GPGSA(), $GPGSV(visible satellite information) ， $GPGLL (geo-localisation information).Qi Zhong $GPRMC and $GPGGA have comprised main locating information.The value of each field in each packet adopts ASCII character, with ', ' as the interval.
Host computer is mainly finished following function: one, realize robot location's synchronous demonstration; Two, realize the real-time demonstration of GPS information; Three, realize functions such as the real time data of the real-time demonstration of robotary and host computer and robot is mutual.
The demonstration of the various information of robot all depends on the data interaction of host computer and robot, and therefore a simple and effective data transmission procedure is absolutely necessary.The present invention adopts wireless blue tooth to count the teach skill art at hardware aspect and finishes the mutual of data; Use the mode of serial communication that institute's data are sent to the bluetooth transmitting apparatus in the robot, by this equipment data are sent to host computer, host computer arranges by software bluetooth port is mapped to serial ports, finishes whole exchanges data by the software read and write serial port then.
By data interaction, host computer will obtain positional information and the status information of being beamed back by robot in real time.By the state present to the judgement of this information and processes and displays out position information and robot (whether run into normal, the place ahead whether have barrier, the place ahead whether people etc. is arranged), if run into the alarm of to sound unusually.
In the embodiment of the invention, can also be robot navigation system (especially first single-chip microcomputer) power supply by solar panel, for example, solar panel be connected first single-chip microcomputer, namely can be first single-chip microcomputer power supply is provided.First single-chip microcomputer provides foreign exchanges interface and the USB interface of 220V, and emergency power pack can be provided when outside work.
Generally speaking, can preset the robot track of advancing by touch-screen in the present invention, then extraneous can to robot advance with position fixing process in the free routing point tupe after the rational residence time, sensor detect customizing messages is set and suitable voice prompt services and load article arrange, thereby finish corresponding service role, for example send water, send coffee, dish etc. brings meal.In the process of go the rounds of robot, robot has detection of obstacles, the personage distinguishes, hinders functions such as capable prompt tone, work prompt tone and obstacle prompting, and among the present invention, the path arranges has sizable repeatability.The present invention also has following characteristics: one, good semi-intelligent path planning service strengthens recycling rate of waterused of the present invention, has improved transplantability of the present invention.Two, comparatively outstanding man-machine interaction can make the present invention have stronger object adaptability, and makes operation of the present invention more flexible.Thereby three, on the point of path, can the free set-point residence time finish various public services.Four, have various detection information on the path, differentiate etc. as detection of obstacles, speed detection, image identification, personage, guaranteed the path travel in the reliable and safety of robot.Five, have various safety detection functions, as fire detection, gas leakage detection and robot electric weight detection etc., can realize the safe early warning of public system and the steady operation of robot.Six, host computer can feed back state and the external information of each robot work in real time, and is processed into the program interface that is easier to accept, and makes the people obtain information easily.
That the present invention is directed to is robot navigation in the environment of general comparatively rule, carried out the new trial of dining room indoor navigation, at first to have finished with self positive dirction and initial position be the foundation of the two-dimensional coordinate system at zero point in the present invention, and generated the elementary some trench map that is applicable to most environment, and detection, quantization encoding and the interactive voice of contact screen information have been finished preferably; Secondly the present invention has finished the Code And Decode of routing information, and has finished execution and the translation of corresponding informance by the difference Matching Algorithm by the communication of the RS232 between first single-chip microcomputer, the second singlechip; At last, finished the real-time Communication for Power of counting robot and the host computer of teach skill art based on wireless blue tooth.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (8)
1. the dining room path guiding system of a robot is characterized in that, comprising: control module, touch-screen and stepper motor; Wherein, described control module connects touch-screen and stepper motor respectively;
Described touch-screen is used for showing the dining room coordinate points; Be used for according to the initial position of robot in the dining room, determine the dining room coordinate points of robot initial position correspondence; Be used for the dining room coordinate points from the robot initial position correspondence, import the adjacent dining room coordinate points of a plurality of orders successively; Be used for the input dwell data; Be used for path data and dwell data are sent to control module; Total m*n of described dining room coordinate points, m is the columns of dining room coordinate points, and n is the line number of dining room coordinate points, and m and n are the natural number greater than 1; Described path data comprises the input sequence of the dining room coordinate points that the adjacent dining room coordinate points of described a plurality of order is adjacent with a plurality of order; Described dwell data comprises the dining room coordinate points of robot dwell point position correspondence and the residence time of robot dwell point; The dining room coordinate points that described a plurality of order is adjacent comprises the dining room coordinate points of robot dwell point position correspondence;
Described control module is used for generating corresponding pulse signal according to described path data and dwell data, is used for described pulse signal is sent to stepper motor;
Described stepper motor is used for the wheel hub according to pulse signal drive machines people, makes the robot motion.
2. the dining room path guiding system of a kind of robot as claimed in claim 1, it is characterized in that, also comprise: Hall element, angular-rate sensor and acceleration transducer, described control module connects Hall element, angular-rate sensor and acceleration transducer respectively;
Described Hall element is used for the instantaneous linear velocity in robot motion's process robot measurement, is used for the instantaneous linear velocity of robot is sent to control module; Described angular-rate sensor is used for the instantaneous angular velocity in robot motion's process robot measurement, is used for the instantaneous angular velocity of robot is sent to control module; Described acceleration transducer is used for the acceleration in robot motion's process robot measurement, is used for the acceleration of robot is sent to control module; Described control module is used for instantaneous linear velocity, instantaneous angular velocity and the acceleration according to robot, and is used for adopting boat appearance dead reckoning to obtain position and the angle of robot.
3. the dining room path guiding system of a kind of robot as claimed in claim 1, it is characterized in that, also comprise at least two ultrasonic sensors of link control module respectively, wherein, at least one ultrasonic sensor is positioned at the robot front portion, and at least one ultrasonic sensor is positioned at the left side of robot; Be positioned at the ultrasonic sensor of robot front portion for detection of the barrier that is positioned at robot the place ahead; Be positioned at the ultrasonic sensor in robot left side for detection of the barrier that is positioned at the robot left side.
4. the dining room path guiding system of a kind of robot as claimed in claim 1, it is characterized in that, also comprise at least two pyroelectric sensors of link control module respectively, whether described at least two pyroelectric sensors all have the infrared ray of human body radiation for detection of robot the place ahead.
5. the dining room path navigation method of a robot based on the described a kind of robot path navigational system of claim 1, is characterized in that, may further comprise the steps:
S1: in touch-screen, show the dining room coordinate points, according to the initial position of robot in the dining room, determine the dining room coordinate points of robot initial position correspondence; From the dining room coordinate points of robot initial position correspondence, successively that a plurality of orders are adjacent dining room coordinate points inputs to touch-screen; And dwell data inputed to touch-screen; Touch-screen is sent to control module with path data and dwell data; Total m*n of described dining room coordinate points, m is the columns of dining room coordinate points, and n is the line number of dining room coordinate points, and m and n are the natural number greater than 1; Described path data comprises the dining room coordinate points that described a plurality of order is adjacent, and the dining room coordinate points that a plurality of orders are adjacent inputs to the sequencing of touch-screen; Described dwell data comprises the dining room coordinate points of robot dwell point position correspondence and the residence time of robot dwell point; The dining room coordinate points that described a plurality of order is adjacent comprises the dining room coordinate points of robot dwell point position correspondence;
S2: control module generates corresponding pulse signal according to described path data and dwell data, and described pulse signal is sent in the stepper motor;
S3: stepper motor makes the robot motion according to pulse signal drive machines people's wheel hub.
6. a kind of robot path air navigation aid as claimed in claim 5 is characterized in that,
In step S3, every setting-up time, described control module adopts boat appearance dead reckoning to obtain position and the angle of robot, then position and the angle of robot is proofreaied and correct; It is as follows that described control module adopts boat appearance dead reckoning to obtain the process of the position of robot and angle: in robot motion's process, utilize the instantaneous linear velocity of Hall element robot measurement, the instantaneous linear velocity of robot is sent to control module;
In robot motion's process, utilize the instantaneous angular velocity of angular-rate sensor robot measurement, the instantaneous angular velocity of robot is sent to control module;
In robot motion's process, utilize the acceleration of acceleration transducer robot measurement, the acceleration of robot is sent to control module;
Control module is obtained instantaneous linear velocity, instantaneous angular velocity and the acceleration of robot, adopts boat appearance dead reckoning to obtain position and the angle of robot.
7. a kind of robot path air navigation aid as claimed in claim 5, it is characterized in that, in step S3, in robot motion's process, when there is barrier in robot the place ahead, the ultrasonic sensor that utilization is positioned at the robot front portion obtains the barrier distributed intelligence in robot the place ahead, and the barrier distributed intelligence is sent to control module; Control module sends look-at-me, right turn signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controls robot then and finishes the operation of turning right, and controls robot then and keeps straight on;
In the process that robot keeps straight on, utilize the ultrasonic sensor that is positioned at the robot left side to obtain the barrier distributed intelligence in robot left side; When there was not barrier in the robot left side, control module sent look-at-me, left rotaring signal and craspedodrome signal to stepper motor successively, and stepper motor at first quits work, and controlled robot then and finished operation, controlled robot then and kept straight on.
8. a kind of robot path air navigation aid as claimed in claim 3 is characterized in that, in step S3, in robot motion's process, utilizes at least two Thermoelectric Infrared Sensor detection machine people the place aheads whether the infrared ray of human body radiation is arranged; When at least one Thermoelectric Infrared Sensor detects robot the place ahead and has the infrared ray of human body radiation, detected human body radiation signal is sent to control module; Control module sends look-at-me to stepper motor, and transmission is dodged voice signal to voice module; Stepper motor quits work, and voice module sends and dodges voice according to dodging voice signal; The described voice of dodging are set in advance in the voice module; When all Thermoelectric Infrared Sensor all detected infrared ray less than human body radiation, control module did not receive the human body radiation signal, and control module sends the craspedodrome signal to stepper motor, and the step motor control robot continues to keep straight on forward.
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