CN103926925B - Improved VFH algorithm-based positioning and obstacle avoidance method and robot - Google Patents
Improved VFH algorithm-based positioning and obstacle avoidance method and robot Download PDFInfo
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Abstract
The invention provides an improved VFH algorithm-based positioning and obstacle avoidance method and robot. According to the improved VFH algorithm-based positioning and obstacle avoidance method and robot, on the basis of an improved vector field histogram method and a scan matching algorithm, environmental information is acquired by the adoption of a laser range-finder sensor, and the pose error brought by speedometer is amended by the adoption of the polar coordinate scan matching algorithm. After robot positioning is finished, environmental information is rasterized, an obstacle is expanded according to the relationship between the robot and the obstacle and considering the sensing uncertainty of a movable robot and the real size of the robot, an original polar coordinate histogram is built, the free walking area and the obstacle avoidance area are acquired, a binary polar coordinate histogram is acquired through the definition of two threshold values, a shielding polar coordinate histogram is built through estimating the movement trail of the movable robot, and finally, the cost function is introduced to determine the best movement direction of the robot so as to solve the problem of shielding route planning of the movable robot in a home environment.
Description
Technical field
The application relates to intelligent robot independent navigation field, and the ground being specifically related to robot creates and simultaneously positioning field, particularly relates to a kind of location of the VFH algorithm based on improving and barrier-avoiding method and robot.
Background technology
Intelligent robot, such as, sweeping robot, robot are applied in family life more and more widely, and robot will realize moving flexibly, efficiently, intelligently, need to have independent navigation ability.Map building (Map Building), location (Location) and path planning (Path Planning) are three key elements of independent navigation.The present invention relates generally to map building and simultaneously positioning field.Wherein, map building is the relation of interdependence with location, and lacking environmental map then cannot the position of accurate calibration robot, and initial position is uncertain, then the map created lacks datum mark.Just because of this, under circumstances not known, the location of robot and map building realize in the mode of simultaneous localization and mapping, namely mobile robot is along with the exploration to environment, progressively expands the range of the map that self stores, and real-time positional information is demarcated in the new map created.This technology is generally referred to as to locate simultaneously and generates with map (SLAM, Simultaneous localization and Mapping).At present, the SLAM technology of comparatively conventional intelligent robot realizes comprising the large class of FastSLAM and vSLAM (visual SLAM) two.Wherein, FastSLAM system generally uses laser range finder or sonar to realize, and vSLAM then uses vision sensor to realize.FastSLAM is owing to employing the sensor such as laser, sonar, and the environmental information special to some, as line segment, turning etc. can not identify its Special Significance, therefore needs the accuracy being improved location by innovatory algorithm.
Mobile Intelligent Robot location technology comparatively common at present, mainly according to the environmental information of priori, in conjunction with current robot location's information and sensor input information, determines the process of robot pose exactly.Mainly comprise relative positioning and absolute fix, absolute fix mainly adopts navigation beacon, active or passive mark, map match or Satellite Navigation Technique (GPS) to position, and positioning precision is higher, but cost is higher for domestic robot; Relative positioning is the current location being determined robot by robot measurement relative to the Distance geometry direction of initial position, and usually also referred to as dead reckoning, conventional sensor comprises mileage and takes into account inertial navigation system, such as rate gyro unit, accelerometer etc.The advantage of dead reckoning is the pose of robot is that oneself calculates out, do not need the perception information of environment to external world, shortcoming is that drift error can be accumulated in time, and we know the increase that any little error all can be unlimited through accumulation, therefore needs to consider error correction.
In prior art, various probing into is carried out to correlation technique, but mainly concentrate on the subsystem in each special field.Such as, application for a patent for invention CN103455034A discloses a kind of based on the histogrammic obstacle-avoiding route planning method of minimum distance vector field, robot Current Scan scope is divided into n sector by the method, carrys out planing method based on the histogrammic barrier path of keeping away of minimum distance vector field; Application for a patent for invention CN102541057A discloses a kind of moving robot obstacle avoiding method based on laser range finder, by laser intelligence is divided into groups, select barrier point in each group, barrier point is mapped in robot coordinate system, strategy of speed control is adopted to provide robot linear velocity and angular speed, this invention effectively can keep away barrier in circumstances not known, function admirable, practical, is particularly suitable for practical application; Application for a patent for invention CN103439972A discloses the method for planning path for mobile robot under a kind of DYNAMIC COMPLEX environment, Grid Method is utilized to obtain grating map, the distribution of obstacles figure that Grid Method represents is converted into the tax power adjacency matrix of figure, adopt ant group algorithm to carry out global path planning to environment, and use the trap problem in room for manoeuvre rule processing environment; Application for a patent for invention CN101943916A discloses a kind of Obstacle Avoidance based on Kalman filter prediction, occur when sensing system has detected new barrier, kalman filter models is set up according to observation data, observation data and classical linear dynamic system expectation maximization Model Distinguish algorithm is utilized to carry out identification and correction to parameter, upgrade numerical map, carry out the path re-planning locally of a new round for path planner; Application for a patent for invention CN103092204A discloses a kind of Robotic Dynamic paths planning method of mixing, the method can be applied in environmental information part known and there is unknown dynamic and static state barrier simultaneously when, obtain global path by a kind of genetic algorithm as Global Planning, then carry out sector planning with the Artificial Potential Field Method improved.
Said method all effectively improves the accuracy of robot navigation location, but still there is various problem.On this basis, the present invention proposes a kind of location and barrier-avoiding method of the VFH algorithm based on improving and adopt the method to position and keep away the robot of barrier.Utilize airborne laser range finder sensor to obtain environmental information based on the vector field histogram method improved and scan matching method, utilize the position and attitude error that polar coordinate scanner matching algorithm brings to revise odometer.After completing robot localization, by environmental information rasterizing, according to the relation between robot and barrier, consider the sensing uncertainty of mobile robot and the actual size of robot, barrier is expanded, set up initial polar coordinates histogram, gain freedom walking district and Bi Zhang district, binary polar coordinates histogram is obtained by defining two threshold values, by estimating the movement locus of mobile robot, set up one and block polar coordinates histogram, finally introduce cost function and determine that the obstacle-avoiding route planning problem of mobile robot under home environment is solved in the optimal movement direction of robot.
Summary of the invention
The object of this invention is to provide a kind of location and barrier-avoiding method of the VFH algorithm based on improving and adopt the method to position and keep away the robot of barrier.Utilize airborne laser range finder sensor to obtain environmental information based on the vector field histogram method improved and scan matching method, utilize the position and attitude error that polar coordinate scanner matching algorithm brings to revise odometer.After completing robot localization, by environmental information rasterizing, according to the relation between robot and barrier, consider the sensing uncertainty of mobile robot and the actual size of robot, barrier is expanded, set up initial polar coordinates histogram, gain freedom walking district and Bi Zhang district, binary polar coordinates histogram is obtained by defining two threshold values, by estimating the movement locus of mobile robot, set up one and block polar coordinates histogram, finally introduce cost function and determine that the obstacle-avoiding route planning problem of mobile robot under home environment is solved in the optimal movement direction of robot.
The invention discloses a kind of location and barrier-avoiding method of the VFH algorithm based on improving, it is characterized in that, comprise the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and positions robot;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the weight that point in each grid is different;
Active window subregion, carries out subregion by active window to the grid after vectorization;
Calculate and obtain minimum distance vector polar coordinates histogram;
Set up Bi Zhang district and district of freely walking;
If there is district of freely walking, then control selected directions motion backward.
The invention also discloses a kind of robot positioned based on said method, described robot comprises a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems, described kernel control module controls each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal that obtains controls motor driven systems, with the movement of control.
Accompanying drawing explanation
Fig. 1 is the composition structure chart of robot of the present invention;
Fig. 2 is the block diagram based on improving the histogrammic obstacle-avoiding route planning module of vector field of the present invention;
Fig. 3 obstacle of the present invention expands schematic diagram;
Fig. 4 is the Bi Zhang of foundation district of the present invention and district's schematic diagram of freely walking
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with detailed description of the invention also with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
As shown in Figure 1, the present invention relates generally to the intelligent robot in home environment, and described robot has environment sensing, the autonomous mobile robot of simultaneous localization and mapping, obstacle-avoiding route planning.Comprise a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems.Described sensory perceptual system accepts audio frequency and/or the vision signal of the input of extraneous number of ways, and other can the signal of perception ambient conditions and locating information.These signals or information come from laser ranging module, and can from one or more modules of the modules such as environment sensing module, voice acquisition module, video acquisition module, ultrasonic distance measuring module, odometer information module.As required, detection of obstacles module, obstacle-avoiding route planning module etc. can also be provided with.By obtaining the one or more following information that perceives in the environment of average family, thus the visual information of perception surrounding environment, obstacle around track route detected.
Intelligent robot is realized with extraneous mutual by man-machine interactive system and/or radio receiving transmitting module.
Man-machine interactive system, as the term suggests carry out alternately for extraneous with robot, thisly can be arranged alternately according to the actual requirements, and the such as duty of Artificial Control robot, path, arranges corresponding parameter, pattern etc.Described parameter can be time parameter, frequency parameter, speed parameter etc., and described pattern comprises follow the mode, patrol pattern and abnormal behaviour tupe.Man-machine interactive system can also by being arranged on the duty of display screen in robot or signal lamp instruction robot.
Intelligent robot can also be accepted from mobile terminal by radio receiving transmitting module, the signal of such as smart mobile phone, thus realizes man-machine interaction.Described man-machine interactive system and/or radio receiving transmitting module are all connected with kernel control module.
Described kernel control module controls each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal that obtains controls motor driven systems, with the movement of control.
Wherein said motor driven systems comprises chassis controller, motor driver, and battery module, recharging functional module, wheel etc. needed for moving are housed.Wherein, described wheel is 2 driving wheels and 1 universal wheel.Kernel control module sends control command by serial ports to chassis controller, controls motor driver and carries out corresponding actions, and process obstacle signal.
The application only gives a kind of embodiment of motor driven systems, but those skilled in the art should know, and anyly drives by motor the mode realizing robot movement, is all apparent for the application.
The structure of two-wheel drive disclosed in the present application wheel and a universal wheel can make robot can realize no-radius to turn to, the various motor functions such as forward-reverse left-right rotation.Airborne laser range finder is a part of laser ranging locating module, and airborne laser range finder utilizes laser technology to carry out the sensor measured, and can realize contactless telemeasurement, and speed is fast, and precision is high, and range is large, and anti-light, electrical interference ability is strong,
The host computer that the airborne laser range finder data of Real-time Collection are transferred to robot interior is processed.According to obtained airborne laser range finder data, adopt the location of the VFH algorithm based on improving disclosed in this invention and keep away barrier technique perception surrounding environment, complete the autonomous location of robot, enable robot independent navigation complete the function of more auxiliary human lives in home environment.
As shown in Figure 2, the location of VFH algorithm based on improving of the present invention and barrier-avoiding method comprise the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and positions robot;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the weight that point in each grid is different;
Active window subregion, carries out subregion by active window to the grid after vectorization;
Calculate and obtain minimum distance vector polar coordinates histogram;
Set up Bi Zhang district and district of freely walking;
If there is candidate regions, then control selected directions motion backward.
Described location is the scan matching localization method of the service robot based on airborne laser range finder, and its main flow comprises the following steps:
Pre-treatment step, carries out pretreatment by current scan-data, filters noise spot;
Pre-matching step, carries out pre-matching by current scan-data and the scan-data that prestores, and the estimation matching value between current scan-data and the data set of scan-data prestored is provided by odometer;
Select step, concentrate from each scan-data and choose several match points;
The coupling step of point, mates the point that the data centralization of current scan-data is selected with the point that the data centralization of the scan-data prestored is selected, forms some corresponding points pair;
Weighting step, is assigned to each corresponding points to a weight;
Reject step, the point being concentrated by scan-data those cannot see from current robot position is rejected, and eliminates lattice point by predefined threshold value;
Error metrics calculation procedure: the quadratic sum of the minimum range the point adopting the point concentrated from a scan-data to gather to another scanning calculates as error metrics, and is mated by scan matching algorithm.
Determine coordinate step: judge the position residing for robot according to the result of scan matching algorithm.
Location and the barrier-avoiding method of the VFH algorithm based on improving of the present invention are on the basis of the above-mentioned scan matching location algorithm based on airborne laser range finder, propose a kind of improvement vector field histogramming algorithm based on SLAM, hinder and path planning problem with solving mobile robot's keeping away in intensive complex environment.VFH algorithm, is that the working environment of robot is decomposed into a series of grid cell with two value informations, has an accumulating value in each rectangular grid, and represent the confidence level that there is barrier herein, high aggregate-value represents to there is the with a high credibility of barrier.The environment this is because sensor is constantly sampled fast, the result that the grid that there is barrier is constantly detected.The selection of grid size directly affects the performance of control algolithm.Grid selects little, and environment resolution ratio is just high, but anti-interference is just more weak, and environmental information memory space is large, makes speed of decision slow; It is large that grid selects, and anti-interference is just stronger, but environment resolution ratio declines, and finds the reduced capability in path in intensive obstacle environment.In addition, choosing of grid size is also relevant with the performance of sensor, if the precision of sensor is high and reaction speed fast, grid is eligible less.Representing ambient is carried out with the grid of two dimension in VFH algorithm.The working space of robot is divided into some continuous print two-dimensional grid series.A probable value (CV value) is comprised in each grid.This probable value embodies the confidence level that there is barrier in this grid, and CV (Certainty Value) value is higher, and represent that the possibility that there is barrier is herein larger, thus, sensor has uncertainty.
The present invention adopts the scan matching algorithm based on laser ranging data to complete the simultaneous localization and mapping problem of robot any time, and adopts DUAL PROBLEMS OF VECTOR MAPPING method effectively to reduce the amount of calculation setting up environment grating map; According to the relation in robot and environmental map between barrier, consider the sensing uncertainty of mobile robot and the actual size of robot, barrier is expanded, set up obstacle point set, obstacle boundaries collection is defined by the fusion of adjacent barrier, and set up initial distance vector polar coordinates histogram with this, gain freedom walking district and Bi Zhang district; The threshold function table become during by defining one obtains binary polar coordinates histogram; By estimating the movement locus of mobile robot, setting up one and blocking polar coordinates histogram, the kinematics of robot and kinetic effect are blocked; Select best direction of motion angle according to blocking polar coordinates histogram and cost function, avoiding obstacles, drives towards impact point, so that its independent navigation under doors structure environment.
As shown in Figure 3, robot of the present invention at any time to external world the sensing range of environment be all limited, and depend on the effective range of sensor used.Define a certain moment robot can the maximum magnitude of perception be active window, it is actually with machine people for the center of circle, airborne laser range finder survey the border circular areas that scope is radius.Adopt DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map this vector magnitude concrete to be determined by following formula:
m
i,j＝(c
i,j *)
2(a-bd
i,j)
And the relative position of grid and robot central point (VCP) is depended in its direction:
Wherein: a, b are normal numbers;
C
i,j *the CV value of grid (i, j) in active window
D
i,jthis grid is to the distance value of robot central point (VCP)
X
0; y
0the absolute location coordinates of robot central point (VCP) this moment.
X
i; y
jthe absolute location coordinates of this grid
(2) active window subregion
If select angular resolution α, then the interval obtained after subregion sum n=360/ α.For any interval k, (k=0,1,2 ..., n-1), there is k=int (β
i,j/ α).Its obstacle density h
kcan be drawn by following formula:
α=5 in this research.
Due to the discreteness of CV value, the too rare loose of obstacle density may be caused.Therefore will to its smoothing process:
(3) direction of motion θ is determined
Given a certain threshold tau, obstacle density, lower than the region of this value, is called " candidate regions ".When there being continuous S
maxwhen individual candidate regions exists, them are claimed to be " broad valley "; Otherwise be referred to as " arrow path ".A district leftmost in these continuous candidate regions is designated as k
l, a rightmost district is designated as k
r, then the direction of motion can be drawn by lower formula:
Take into full account the impact of size dimension on arithmetic result of robot.Grid is being amplified r
r, r
rdepend on the size of robot.In order to strengthen the security that robot runs further, also robot and obstacle can be kept the beeline d do not collided
stake into account.So in fact it be exaggerated r for grid to be studied arbitrarily
r+s, r
r+s=r
r+ d
s.
In order to the motion of dynamic analysis robot, camber line when straight line when becoming the direction of motion constant its decomposing trajectories and direction change.This camber line depends on the radius of gyration of robot, and closely related with the speed of robot, speed is faster, and its radius of turn is larger.As shown in Figure 4, suppose that robot is r to turning radius during anticlockwise
left, turning radius during right-hand rotation is r
right.A, B are two obstacle grids.A, B are expanded as stated above, assuming that A has overlapping the intersection with the left steering circle of robot, all regions that so A and left steering circle cover are considered to Bi Zhang district (blocked); B with turn to circle without crossover phenomenon so only have the region himself covered to be Bi Zhang district.In the condition shown in figure 4, robot will turn right.
By two extreme angles can be obtained to comparing of above-mentioned condition, be distributed in the robot left and right sides.Be designated as respectively
and
define simultaneously
represent the reverse of robot current kinetic direction.Initial time makes
for grid C any in active window
i,jif, the β when its CV value meets CV < τ
i,jbe positioned at
time on the right side of left side, θ, order
if β
i,jto be positioned on the left of θ,
during right side, order
like this, according to
and
the block diagram of another form can be obtained
(masked polar histogram).This bar chart understands the feasible direction of robot under present speed.If
and
represent that this region is feasible; In other situations,
represent infeasible in this region.
Under normal circumstances, we can obtain some meeting
combination.For each combination, remember that its right boundary is respectively: k
land k
r.If k
land k
rbetween contain S
maxwith last interval (S
maxfor constant, in this experiment, get 10), then claim this region for " wide area "; Otherwise be referred to as " narrow ".Narrow only provides a candidate direction
after being converted into angle be
and wide area can provide three candidate direction: c
r, c
land c
t.
In addition, as target direction k
tmeet k
t∈ [c
r, c
l] time have c
t=k
t, conversion is angled
for selecting most suitable direction of motion c, set up following cost function:
Δ (c
1, c
2)=min{c
1-c
2||, c
1-c
2-n||, c
1-c
2+ n|}, is used to calculating two interval c
1and c
2the function of absolute angle difference.Such as Δ (c, k
t) what represent is declinate between candidate direction and target direction, its value is larger, departs from target far away during robot motion, and the cost arriving destination is also higher.
what represent is differential seat angle between candidate direction and robot direct of travel, and this value is larger, and robot turns to change larger.Δ (c, k
n, i-1) what represent is that angle between current candidate direction and previous selected direction change, be worth larger, wheel steering changes greatly, and moving, it is larger to shake.
So balance coefficient μ
1, μ
2and μ
3selection most important, they directly determine the superiority of algorithm.Generally should meet: μ
1> μ
2+ μ
3.In the present embodiment, μ
1=5, μ
2=μ
3=2.
The present invention obtains the environmental information around robot operating path by the airborne laser range finder be arranged on before home-services robot, user's parallactic angle matched rule eliminates the search problem of corresponding points, make to calculate translation complexity and reduce to O (n), and under the help of the embedded odometer data of service robot, the current pose of robot is estimated, carry out global coherency ground map generalization simultaneously, complete the simultaneous localization and mapping (SLAM) of home-services robot.After home-services robot solves its SLAM problem, further the working environment of robot is decomposed into a series of grid cell, consider the uncertainty of sensor measurement and the size of robot, the each barrier grid point detected is expanded, then according to the relation in machine human and environment between barrier, set up initial polar coordinates histogram, gaining freedom, it is interval to walk district and keep away barrier, binary polar coordinates histogram is obtained by defining two threshold values, consider the kinematic and dynamic constraints of robot, binary polar coordinates histogram basis is set up and blocks polar coordinates histogram, last basis blocks polar coordinates histogram and cost function selects best direction of motion angle, avoiding obstacles, drive towards impact point, so that it is independent navigation under doors structure environment.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (10)
1., based on location and the barrier-avoiding method of the VFH algorithm improved, it is characterized in that, comprise the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and positions robot;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the weight that point in each grid is different;
Active window subregion, carries out subregion by active window to the grid after vectorization;
Calculate and obtain minimum distance vector polar coordinates histogram;
Set up Bi Zhang district and district of freely walking;
If there is candidate regions, then then control selected directions motion, define two threshold values and obtain binary polar coordinates histogram, and polar coordinates histogram is blocked in foundation on binary polar coordinates histogram basis, last basis blocks polar coordinates histogram and cost function selects best direction of motion angle, avoiding obstacles, drives towards impact point.
2. the method for claim 1, is characterized in that, described positioning robot comprises the following steps:
1) pre-treatment step, carries out pretreatment by current scan-data, filters noise spot;
2) pre-matching step, carries out pre-matching by current scan-data and the scan-data that prestores, and the estimation matching value between current scan-data and the data set of scan-data prestored is provided by odometer;
3) select step, concentrate from each scan-data and choose several match points;
4) the coupling step put, mates the point that the data centralization of current scan-data is selected with the point that the data centralization of the scan-data prestored is selected, forms some corresponding points pair;
5) weighting step, is assigned to each corresponding points to a weight;
6) reject step, the point being concentrated by scan-data those cannot see from current robot position is rejected, and eliminates lattice point by predefined threshold value;
7) error metrics calculation procedure: the quadratic sum of the minimum range the point adopting the point concentrated from a scan-data to gather to another scanning calculates as error metrics, and is mated by scan matching algorithm;
8) coordinate step is determined: judge the position residing for robot according to the result of scan matching algorithm.
3. the method for claim 1, is characterized in that, the weighting of described grid obstacle mainly comprises:
Comprise a probable value in each grid, described probable value is embodied in the confidence level that there is barrier in this grid, and confidence value is higher, represents that the possibility that there is barrier is herein larger.
4. the method for claim 1, it is characterized in that, described active window subregion is according to the relation in robot and environmental map between barrier, based on the actual size of robot, barrier is expanded, set up obstacle point set, define obstacle boundaries collection by the fusion of adjacent barrier.
5. the robot adopting method described in claim 1 to position, described robot comprises a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems, described kernel control module controls each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal that obtains controls motor driven systems, with the movement of control.
6. robot according to claim 5, it is characterized in that, described robot also comprises laser ranging module, and environment sensing module, voice acquisition module, video acquisition module, ultrasonic distance measuring module, one or more modules in odometer information module; Sensory perceptual system receives the signal of described one or more module.
7. robot according to claim 6, is characterized in that, described robot as required, can also be provided with detection of obstacles module, obstacle-avoiding route planning module.
8. robot according to claim 5, is characterized in that, described robot arranges mode of operation by man-machine interactive system, and described pattern comprises follow the mode, patrol pattern and abnormal behaviour tupe.
9. robot according to claim 5, is characterized in that, intelligent robot by the signal of radio receiving transmitting module acceptance from mobile terminal, thus can realize man-machine interaction.
10. robot according to claim 5, is characterized in that, wherein said motor driven systems comprises chassis controller, motor driver, and battery module, recharging functional module, wheel needed for moving are housed; Wherein, described wheel is 2 driving wheels and 1 universal wheel, and kernel control module sends control command by serial ports to chassis controller, controls motor driver and carries out corresponding actions, and process obstacle signal.
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