CN104385284A - Method of implementing intelligent obstacle-surmounting - Google Patents
Method of implementing intelligent obstacle-surmounting Download PDFInfo
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- CN104385284A CN104385284A CN201410708122.6A CN201410708122A CN104385284A CN 104385284 A CN104385284 A CN 104385284A CN 201410708122 A CN201410708122 A CN 201410708122A CN 104385284 A CN104385284 A CN 104385284A
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Abstract
The invention relates to a method of implementing intelligent obstacle-surmounting. The method includes: 1, providing a service robot to implement intelligent obstacle-surmounting; 2, using the service robot comprising a telescopic mechanism, an infrared sensor, a camera, an image processor and an ARM9 master controller. The telescopic mechanism can telescope vertically. The infrared sensor is used for detecting an infrared forward distance from an obstacle ahead to the service robot. The camera arranged on the telescopic mechanism is used for shooting an image of the obstacle ahead. The image processor is used for processing the image of the obstacle. The master controller is connected with the telescopic mechanism, the infrared sensor, the camera and the image processor. A determination is made for whether or not to start the camera and the image processor on the basis of the infrared forward distance, and telescoping of the telescopic mechanism is controlled on the basis of image processing results.
Description
Technical field
The present invention relates to robot controlling field, particularly relate to a kind of method realizing intelligent obstacle detouring.
Background technology
Service robot is a younger members in family of robot, professional domain service robot and individual/home-services robot can be divided into, being of wide application of service robot, is mainly engaged in the work such as maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring.
Data show, and at present, have 48 countries in the world at least development robot, wherein 25 national involved service type robot developments.In Japan, North America and Europe, existing 7 type meter 40 left fund service type robots enter experiment and half commercial applications so far.In recent years, global service robot market keeps growth rate faster, and the aging of population in the world brings a large amount of problems, such as, for the nurse of the elderly, and the problem of medical treatment, the solution of these problems brings a large amount of financial burdens.The feature had due to service robot enables to reduce financial burden significantly, and thus service robot can by a large amount of application.
But, there is following defect in service robot of the prior art: (1) distance measurement mode is single, the range finding of preceding object thing is only carried out with a kind of distance measuring method in infrared distance measuring or ultrasonic ranging, often because the precision problem of distance-measuring equipment, cause range finding not accurate enough; (2) obstacle detouring is intelligent not; service robot often can encounter barrier in advance process; generally take in prior art stop wait instruction or only carry out obstacle detouring according to obstacle height; the former causes service robot operating efficiency low, and the latter is difficult to successfully obstacle detouring when barrier is longitudinally long.
Therefore, need a kind of method realizing intelligent obstacle detouring, the accuracy of preceding object thing range finding can be improved, the size that is horizontal, vertical and longitudinally three directions of preceding object thing can be accurately measured simultaneously, thus according to the actual conditions of preceding object thing, determine different crossing obstacle automatically modes, ensure the normal service operation of service robot.
Summary of the invention
In order to solve the problem, the invention provides a kind of method realizing intelligent obstacle detouring, transform existing service robot structure, introduce the mode of ultrasound barrier and the combination of infrared ray survey barrier, to improve preceding object thing certainty of measurement, in addition, introduce the transverse direction of image recognition technology determination preceding object thing, size that is vertical and longitudinally three directions, to determine to adopt across obstacle, the one of barrier or the wait instruction three kinds of obstacle detouring patterns of detouring, the interference that the normal work of service robot is subject to is minimum, improve service-delivery machine task efficiency and service effectiveness.
According to an aspect of the present invention, provide a kind of method realizing intelligent obstacle detouring, the method comprises: 1) provide a kind of service robot realizing intelligent obstacle detouring, and 2) use this service robot, described service robot comprises telescopic mechanism, infrared ray sensor, video camera, the master controller of image processor and ARM 9 model, described telescopic mechanism is scalable at vertical direction, described infrared ray sensor is for detecting the infrared ray forward direction distance of preceding object thing apart from described service robot, described position for video camera is on described telescopic mechanism, for taking the obstructions chart picture in front, described image processor is connected with described video camera, for carrying out image procossing to described obstructions chart picture, described master controller and described telescopic mechanism, described infrared ray sensor, described video camera is connected respectively with described image processor, determine whether start described video camera and described image processor based on described infrared ray forward direction distance, and the expanding-contracting action of described telescopic mechanism is controlled based on processing result image.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described service robot also comprises, driving mechanism, for driving described service robot, comprise DC Brushless Motor, decelerator, motor driver, two power wheels and two universal wheels, described two universal wheels are two front-wheels, and described two power wheels are two trailing wheels, user input device, according to the operation of user, receive the predetermined forward direction distance threshold of user's input, predetermined altitude threshold value, vertical dimension threshold value, longitudinal size threshold value, lateral dimension threshold value, barrier upper limit gray threshold and barrier lower limit gray threshold, described barrier upper limit gray threshold and described barrier lower limit gray threshold are used for the obstacle target in image to be separated with image background, memory, be connected with described user input device, to receive and to store described predetermined forward direction distance threshold, described predetermined altitude threshold value, described vertical dimension threshold value, described longitudinal size threshold value, described lateral dimension threshold value, described barrier upper limit gray threshold and described barrier lower limit gray threshold, ultrasonic sensor, be positioned at the dead ahead of described service robot, comprise ultrasonic transmitter, ultrasonic receiver and ultrasonic wave arithmetic unit, described ultrasonic transmitter is for launching ultrasonic wave, described ultrasonic receiver is for receiving the ultrasonic wave reflected through preceding object thing, described ultrasonic wave arithmetic unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasonic wave launch and accept time difference and propagation speed of ultrasonic waves, calculate the ultrasonic obstacle thing distance of preceding object thing apart from described service robot, described telescopic mechanism receives the stroke of described master controller transmission to carry out the expanding-contracting action of vertical direction, and sends flexible end signal after described stroke having been detected, described infrared ray sensor is positioned at the dead ahead of described service robot, also comprise infrared light emitting diode, infrared receiver diode and infrared ray arithmetic unit, described infrared light emitting diode launches infrared signal, when running into preceding object thing at forward direction, infrared signal is reflected and is received by described infrared receiver diode, described infrared ray arithmetic unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the time difference of infrared signal launch and accept and the spread speed of infrared signal, calculate the infrared ray forward direction distance of distance preceding object thing, described image processor comprises wavelet filtering unit, gray processing processing unit, obstacle recognition unit and dimension calculating unit, described wavelet filtering unit is connected with described video camera to receive described obstructions chart picture, based on Wavelets Filtering Algorithm, filtering process is performed with output filtering image to described obstructions chart picture, described gray processing processing unit connects described wavelet filtering unit to carry out gray processing process to described filtering image, output gray level image, described obstacle recognition unit is connected respectively with described gray processing processing unit and described memory, the pixel identification of gray value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subgraph, described dimension calculating unit is connected with described obstacle recognition unit, to calculate the lateral dimension of preceding object thing in described obstacle target subgraph based on described obstacle target subgraph, vertical dimension and longitudinal size, described master controller and described telescopic mechanism, described driving mechanism, described memory, described ultrasonic sensor, described infrared ray sensor, described video camera is connected respectively with described image processor, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received does not match, send range finding rub-out signal, control described driving mechanism to stop driving described service robot, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received matches and infrared ray forward direction distance is less than or equal to described predetermined forward direction distance threshold, start described video camera and described image processor, when described vertical dimension is less than described predetermined altitude threshold value, directly enter intelligent obstacle detouring pattern, when described vertical dimension is more than or equal to described predetermined altitude threshold value, close described video camera and described image processor, the stroke of the vertical direction of described telescopic mechanism is controlled based on described vertical dimension, until after receiving the flexible end signal that described telescopic mechanism sends, start described video camera and described image processor, enter intelligent obstacle detouring pattern, Wireless Telecom Equipment, is connected with described master controller, for range finding rub-out signal or barrier alarm signal are sent to the mobile terminal of user by mobile communications network, wherein, in the intelligent obstacle detouring pattern of described master controller, described master controller is when the vertical dimension received is less than or equal to described vertical dimension threshold value and longitudinal size is less than or equal to described longitudinal size threshold value, enter machine override mode, the vertical dimension received be less than or equal to described vertical dimension threshold value and longitudinal size be greater than described longitudinal size threshold value and lateral dimension is less than or equal to described lateral dimension threshold value time, or when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is less than or equal to described lateral dimension threshold value time, enter machine and walk around pattern, when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is greater than described lateral dimension threshold value time, send barrier alarm signal.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described Wireless Telecom Equipment also for receive user mobile terminal wireless transmission control instruction, with by driving mechanism described in described main controller controls to the driving of described service robot.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described Wireless Telecom Equipment sets up two-way wireless communication link by the mobile terminal of mobile communications network and described user.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described mobile communications network is the one in GPRS mobile communications network, 3G mobile communications network and 4G mobile communications network.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, also comprise, chargeable lithium cell, for described service robot provides power supply, and be connected with described master controller with under described main controller controls for described service robot provides power saving management.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described service-delivery machine people is the one repaired a machine in people, transportation robot, cleaning robot, security robot, rescue robot and monitoring robot.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the service robot of the intelligent obstacle detouring of realization illustrated according to an embodiment of the present invention.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the service robot of the intelligent obstacle detouring of realization of the present invention is described in detail.
Robot (Robot), refers to the installations of the work of automatically performing.He both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.The task of robot assists or replace the work of human work, such as production industry, building industry, or the work of danger.
Robot is divided into two large classes, i.e. industrial robot and specialized robot.So-called industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Specialized robot be then except industrial robot, serve the various sophisticated machine people of the mankind for nonmanufacturing industry, comprising: service robot, underwater robot, amusement robot, military robot, agricultural robot, robotize machine etc.
Being of wide application of service robot, is mainly engaged in the work such as maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring.International robot combined meeting arranges through collection for many years, give the definition that service robot one is preliminary: service robot is a kind of robot of half autonomous or full utonomous working, he can complete the services of human health of intending, but does not comprise manufacturing-oriented equipment.Here, we also list the robot that some other people of pressing close to live in wherein.
Service robot of the prior art needs too much artificial interference, such as long-range transmission instruction or on-the-spot send instruction, just can complete service robot by various barrier, carry out various service, automatization level is not high.
The service robot of the intelligent obstacle detouring of realization of the present invention, compared by two kinds of different range measurement, to obtain preceding object thing distance more accurately, simultaneously, by the various sizes of image recognition technology determination preceding object thing, and self adaptation takes suitable obstacle detouring scheme, reduce manual operation, improve the automaticity of service robot.
Fig. 1 is the block diagram of the service robot of the intelligent obstacle detouring of realization illustrated according to an embodiment of the present invention, and described service robot comprises: ARM9 master controller 1, telescopic mechanism 2, driving mechanism 3, infrared ray sensor 4, ultrasonic sensor 5, Wireless Telecom Equipment 6, video camera 7, image processor 8, memory 9, user input device 10 and power supply unit 11.ARM9 master controller 1 is connected respectively with telescopic mechanism 2, driving mechanism 3, infrared ray sensor 4, ultrasonic sensor 5, Wireless Telecom Equipment 6, video camera 7, image processor 8, memory 9, user input device 10 and power supply unit 11, video camera 7 is connected with image processor 8, memory 9 is connected with user input device 10, power supply unit 11 adopts chargeable lithium cell, for described service robot provides power supply.
Described telescopic mechanism 2 is scalable at vertical direction, described infrared ray sensor 4 is for detecting the infrared ray forward direction distance of preceding object thing apart from described service robot, described video camera 7 is positioned on described telescopic mechanism 2, for taking the obstructions chart picture in front, described image processor 8 is for carrying out image procossing to described obstructions chart picture, described master controller 1 determines whether start described video camera 7 and described image processor 8 based on described infrared ray forward direction distance, and controls the expanding-contracting action of described telescopic mechanism 2 based on processing result image.
Then, continue to be further detailed the concrete structure of the service robot of the intelligent obstacle detouring of realization of the present invention.
In described service robot, described telescopic mechanism 2 receives the stroke of described master controller 1 transmission to carry out the expanding-contracting action of vertical direction, and sends flexible end signal after described stroke having been detected.
Described driving mechanism 3, for driving described service robot, driving mechanism 3 comprises DC Brushless Motor, decelerator, motor driver, two power wheels and two universal wheels, and described two universal wheels are two front-wheels, and described two power wheels are two trailing wheels.
Described infrared ray sensor 4 is positioned at the dead ahead of described service robot, also comprise infrared light emitting diode, infrared receiver diode and infrared ray arithmetic unit, described infrared light emitting diode launches infrared signal, when running into preceding object thing at forward direction, infrared signal is reflected and is received by described infrared receiver diode, described infrared ray arithmetic unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the time difference of infrared signal launch and accept and the spread speed of infrared signal, calculate the infrared ray forward direction distance of distance preceding object thing.
Described ultrasonic sensor 5, be positioned at the dead ahead of described service robot, comprise ultrasonic transmitter, ultrasonic receiver and ultrasonic wave arithmetic unit, described ultrasonic transmitter is for launching ultrasonic wave, described ultrasonic receiver is for receiving the ultrasonic wave reflected through preceding object thing, described ultrasonic wave arithmetic unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasonic wave launch and accept time difference and propagation speed of ultrasonic waves, calculate the ultrasonic obstacle thing distance of preceding object thing apart from described service robot.
Described user input device 10, for the operation according to user, receive the predetermined forward direction distance threshold of user's input, predetermined altitude threshold value, vertical dimension threshold value, longitudinal size threshold value, lateral dimension threshold value, barrier upper limit gray threshold and barrier lower limit gray threshold, described barrier upper limit gray threshold and described barrier lower limit gray threshold are used for the obstacle target in image to be separated with image background.
Described memory 9, be connected with described user input device 10, to receive and to store described predetermined forward direction distance threshold, described predetermined altitude threshold value, described vertical dimension threshold value, described longitudinal size threshold value, described lateral dimension threshold value, described barrier upper limit gray threshold and described barrier lower limit gray threshold.
Described image processor 8 comprises wavelet filtering unit, gray processing processing unit, obstacle recognition unit and dimension calculating unit, described wavelet filtering unit is connected to receive described obstructions chart picture with described video camera 7, based on Wavelets Filtering Algorithm, filtering process is performed with output filtering image to described obstructions chart picture, described gray processing processing unit connects described wavelet filtering unit to carry out gray processing process to described filtering image, output gray level image, described obstacle recognition unit is connected respectively with described gray processing processing unit and described memory 9, the pixel identification of gray value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subgraph.
In described image processor 8, described dimension calculating unit is connected with described obstacle recognition unit, to calculate the lateral dimension of preceding object thing in described obstacle target subgraph, vertical dimension and longitudinal size based on described obstacle target subgraph.
Described master controller 1 performs following control, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received does not match, send range finding rub-out signal, control described driving mechanism 3 to stop driving described service robot, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received matches and infrared ray forward direction distance is less than or equal to described predetermined forward direction distance threshold, start described video camera 7 and described image processor 8, when described vertical dimension is less than described predetermined altitude threshold value, directly enter intelligent obstacle detouring pattern, when described vertical dimension is more than or equal to described predetermined altitude threshold value, close described video camera 7 and described image processor 8, the stroke of the vertical direction of described telescopic mechanism 2 is controlled based on described vertical dimension, until after receiving the flexible end signal that described telescopic mechanism 2 sends, start described video camera 7 and described image processor 9, enter intelligent obstacle detouring pattern.
Described service robot also comprises, Wireless Telecom Equipment 6, is connected with described master controller 1, for range finding rub-out signal or barrier alarm signal are sent to the mobile terminal of user by mobile communications network.
Wherein, in the intelligent obstacle detouring pattern of described master controller 1, described master controller 1 is when the vertical dimension received is less than or equal to described vertical dimension threshold value and longitudinal size is less than or equal to described longitudinal size threshold value, enter machine override mode, the vertical dimension received be less than or equal to described vertical dimension threshold value and longitudinal size be greater than described longitudinal size threshold value and lateral dimension is less than or equal to described lateral dimension threshold value time, or when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is less than or equal to described lateral dimension threshold value time, enter machine and walk around pattern, when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is greater than described lateral dimension threshold value time, send barrier alarm signal.
Wherein, described Wireless Telecom Equipment 6 can also be used for the control instruction of the mobile terminal wireless transmission receiving user, to control described driving mechanism 3 to the driving of described service robot by described master controller 1, described Wireless Telecom Equipment 6 can be selected to set up two-way wireless communication link by the mobile terminal of mobile communications network and described user, described mobile communications network can be GPRS mobile communications network, one in 3G mobile communications network and 4G mobile communications network, and described chargeable lithium cell provides power supply for described service robot, and be connected with described master controller 1 with under controlling at described master controller 1 for described service robot provides power saving management, described service robot can be the people that repairs a machine, transportation robot, cleaning robot, security robot, rescue robot and the one of guarding in robot.
In addition, Wavelets Filtering Algorithm is a kind of algorithm based on wavelet analysis, and wavelet analysis is a kind of emerging branch of mathematics, and he is the combination of functional, Fourier analysis, harmonic analysis, numerical analysis; In application, particularly in signal transacting, image procossing, speech processes and numerous nonlinear science field, he is considered to the another effective Time-Frequency Analysis Method after Fourier analyzes.Compared with wavelet transformation converts with Fourier, it is the local conversion of a time and frequency domain, thus can information extraction from signal effectively, by calculation functions such as flexible and translations, multiscale analysis is carried out to function or signal, solve Fourier and convert indeterminable many difficult problems.
In addition, robot, refers to the system be generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
Executing agency, i.e. robot body, its arm generally adopts space open chain linkage, and kinematic pair (revolute pair or moving sets) wherein is often called joint, and joint number is the number of degrees of freedom, of robot usually.According to the difference of joint configuration and coordinates of motion form, robot actuating mechanism can be divided into the types such as Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula.For the consideration personalized, often the relevant portion of robot body is called pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc.
Drive unit, be the mechanism ordering about executing agency's motion, the command signal sent according to control system, makes robot carry out action by means of dynamical element.He input be the signal of telecommunication, output be line, angular displacement.The drive unit mainly power-jdriven gear that robot uses, as stepper motor, servomotor etc., also has in addition and adopts hydraulic pressure, the drive unit such as pneumatic.
Checkout gear, is motion and the working condition of real-time measuring robots, feeds back to control system as required, after comparing, adjust executing agency with set information, to ensure that the action of robot meets predetermined requirement.Sensor as checkout gear roughly can be divided into two classes: a class is internal information sensor, for the internal state of measuring robots each several part, as the position, speed, acceleration etc. in each joint, and measured information is delivered to controller as feedback signal, form closed-loop control.One class is external information sensor, for obtaining the information of the aspect such as manipulating object and external environment of associated machine people, with the change making the action of robot can adapt to extraneous circumstance, make it to reach higher level automation, robot is even made to have certain " sensation ", to intelligent development, such as the external sensor such as vision, sound sensation provides target, working environment for information about, utilize the backfeed loop that these information structures one are large, thus will greatly improve the operating accuracy of robot.
Control system, one is centerized fusion, and namely whole controls of robot are completed by a microcomputer.Another kind is that dispersion (level) formula controls, namely multiple stage microcomputer is adopted to share the control of robot, as when adopting upper and lower two-level microcomputer jointly to complete the control of robot, main frame is usually used in the management of responsible system, communication, kinematics and dynamics calculation, and sends command information to subordinate's microcomputer; As subordinate from machine, each joint is a corresponding CPU respectively, carries out interpolation operation and SERVO CONTROL process, realizes given motion, and to main frame feedback information.According to the difference that job task requires, point position control, continuous path can be divided into again to control for the control mode of robot and power (moment) controls.
Adopt the service robot of the intelligent obstacle detouring of realization of the present invention, the technical problem that distance measurement mode for existing service robot is single, obstacle detouring efficiency is lower, in conjunction with utilizing ultrasonic technology and infrared technology to improve the precision of objects ahead range finding, simultaneously, more fully more dimension informations of acquired disturbance thing, based on the position of dimension information adjustment image capture device, the basis of dimension information accurately adopts different obstacle detouring scheme adaptively, realize the intelligent obstacle detouring of service robot, reduce manual intervention.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (7)
1. realize a method for intelligent obstacle detouring, the method comprises:
1) a kind of service robot realizing intelligent obstacle detouring is provided; And
2) this service robot is used,
It is characterized in that, described service robot comprises telescopic mechanism, infrared ray sensor, video camera, the master controller of image processor and ARM 9 model, described telescopic mechanism is scalable at vertical direction, described infrared ray sensor is for detecting the infrared ray forward direction distance of preceding object thing apart from described service robot, described position for video camera is on described telescopic mechanism, for taking the obstructions chart picture in front, described image processor is connected with described video camera, for carrying out image procossing to described obstructions chart picture, described master controller and described telescopic mechanism, described infrared ray sensor, described video camera is connected respectively with described image processor, determine whether start described video camera and described image processor based on described infrared ray forward direction distance, and the expanding-contracting action of described telescopic mechanism is controlled based on processing result image.
2. the method for claim 1, is characterized in that, described service robot also comprises:
Driving mechanism, for driving described service robot, comprise DC Brushless Motor, decelerator, motor driver, two power wheels and two universal wheels, described two universal wheels are two front-wheels, and described two power wheels are two trailing wheels;
User input device, according to the operation of user, receive the predetermined forward direction distance threshold of user's input, predetermined altitude threshold value, vertical dimension threshold value, longitudinal size threshold value, lateral dimension threshold value, barrier upper limit gray threshold and barrier lower limit gray threshold, described barrier upper limit gray threshold and described barrier lower limit gray threshold are used for the obstacle target in image to be separated with image background;
Memory, be connected with described user input device, to receive and to store described predetermined forward direction distance threshold, described predetermined altitude threshold value, described vertical dimension threshold value, described longitudinal size threshold value, described lateral dimension threshold value, described barrier upper limit gray threshold and described barrier lower limit gray threshold;
Ultrasonic sensor, be positioned at the dead ahead of described service robot, comprise ultrasonic transmitter, ultrasonic receiver and ultrasonic wave arithmetic unit, described ultrasonic transmitter is for launching ultrasonic wave, described ultrasonic receiver is for receiving the ultrasonic wave reflected through preceding object thing, described ultrasonic wave arithmetic unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasonic wave launch and accept time difference and propagation speed of ultrasonic waves, calculate the ultrasonic obstacle thing distance of preceding object thing apart from described service robot;
Described telescopic mechanism receives the stroke of described master controller transmission to carry out the expanding-contracting action of vertical direction, and sends flexible end signal after described stroke having been detected;
Described infrared ray sensor is positioned at the dead ahead of described service robot, also comprise infrared light emitting diode, infrared receiver diode and infrared ray arithmetic unit, described infrared light emitting diode launches infrared signal, when running into preceding object thing at forward direction, infrared signal is reflected and is received by described infrared receiver diode, described infrared ray arithmetic unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the time difference of infrared signal launch and accept and the spread speed of infrared signal, calculate the infrared ray forward direction distance of distance preceding object thing,
Described image processor comprises wavelet filtering unit, gray processing processing unit, obstacle recognition unit and dimension calculating unit, described wavelet filtering unit is connected with described video camera to receive described obstructions chart picture, based on Wavelets Filtering Algorithm, filtering process is performed with output filtering image to described obstructions chart picture, described gray processing processing unit connects described wavelet filtering unit to carry out gray processing process to described filtering image, output gray level image, described obstacle recognition unit is connected respectively with described gray processing processing unit and described memory, the pixel identification of gray value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subgraph, described dimension calculating unit is connected with described obstacle recognition unit, to calculate the lateral dimension of preceding object thing in described obstacle target subgraph based on described obstacle target subgraph, vertical dimension and longitudinal size,
Described master controller and described telescopic mechanism, described driving mechanism, described memory, described ultrasonic sensor, described infrared ray sensor, described video camera is connected respectively with described image processor, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received does not match, send range finding rub-out signal, control described driving mechanism to stop driving described service robot, when the ultrasonic obstacle thing Distance geometry infrared ray forward direction distance received matches and infrared ray forward direction distance is less than or equal to described predetermined forward direction distance threshold, start described video camera and described image processor, when described vertical dimension is less than described predetermined altitude threshold value, directly enter intelligent obstacle detouring pattern, when described vertical dimension is more than or equal to described predetermined altitude threshold value, close described video camera and described image processor, the stroke of the vertical direction of described telescopic mechanism is controlled based on described vertical dimension, until after receiving the flexible end signal that described telescopic mechanism sends, start described video camera and described image processor, enter intelligent obstacle detouring pattern,
Wireless Telecom Equipment, is connected with described master controller, for range finding rub-out signal or barrier alarm signal are sent to the mobile terminal of user by mobile communications network;
Wherein, in the intelligent obstacle detouring pattern of described master controller, described master controller is when the vertical dimension received is less than or equal to described vertical dimension threshold value and longitudinal size is less than or equal to described longitudinal size threshold value, enter machine override mode, the vertical dimension received be less than or equal to described vertical dimension threshold value and longitudinal size be greater than described longitudinal size threshold value and lateral dimension is less than or equal to described lateral dimension threshold value time, or when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is less than or equal to described lateral dimension threshold value time, enter machine and walk around pattern, when the vertical dimension received is greater than described vertical dimension threshold value and the lateral dimension received is greater than described lateral dimension threshold value time, send barrier alarm signal.
3. method as claimed in claim 2, is characterized in that:
Described Wireless Telecom Equipment also for receive user mobile terminal wireless transmission control instruction, with by driving mechanism described in described main controller controls to the driving of described service robot.
4. method as claimed in claim 2, is characterized in that:
Described Wireless Telecom Equipment sets up two-way wireless communication link by the mobile terminal of mobile communications network and described user.
5. method as claimed in claim 4, is characterized in that:
Described mobile communications network is the one in GPRS mobile communications network, 3G mobile communications network and 4G mobile communications network.
6. method as claimed in claim 2, it is characterized in that, described service robot also comprises:
Chargeable lithium cell, for described service robot provides power supply, and be connected with described master controller with under described main controller controls for described service robot provides power saving management.
7. method as claimed in claim 2, is characterized in that:
Described service-delivery machine people is the one repaired a machine in people, transportation robot, cleaning robot, security robot, rescue robot and monitoring robot.
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| CN201510158368.5A CN104898662B (en) | 2014-11-27 | 2014-11-27 | Service robot for realizing intelligent obstacle crossing |
| CN201510159311.7A CN104808664B (en) | 2014-11-27 | 2014-11-27 | A kind of method realizing intelligent obstacle detouring |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
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| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
| CN105362048A (en) * | 2015-10-15 | 2016-03-02 | 广东欧珀移动通信有限公司 | Mobile equipment and barrier information prompting method and device based on mobile equipment |
| CN105362048B (en) * | 2015-10-15 | 2018-01-19 | 广东欧珀移动通信有限公司 | Obstacle information reminding method, device and mobile device based on mobile device |
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| US11008081B2 (en) | 2016-02-18 | 2021-05-18 | Powervision Tech Inc. | Underwater drone with capacity of fishing, rapidly moving and wireless remote control |
| US10661867B2 (en) | 2016-02-18 | 2020-05-26 | Powervision Tech Inc. | Underwater drone with capacity of fishing, rapidly moving and wireless remote control |
| CN106240774A (en) * | 2016-06-21 | 2016-12-21 | 北京臻迪机器人有限公司 | A kind of unmanned boat and system |
| CN106240774B (en) * | 2016-06-21 | 2020-02-07 | 北京臻迪科技股份有限公司 | Unmanned ship and system |
| CN106093953A (en) * | 2016-07-27 | 2016-11-09 | 石家庄学院 | Road barricade detector |
| CN106142050B (en) * | 2016-09-08 | 2018-10-16 | 肇庆市小凡人科技有限公司 | A kind of mobile robot that wheel difference of height is adaptive |
| CN106142050A (en) * | 2016-09-08 | 2016-11-23 | 肇庆市小凡人科技有限公司 | A kind of adaptive mobile robot of wheel difference of height |
| CN106383518A (en) * | 2016-09-29 | 2017-02-08 | 国网重庆市电力公司电力科学研究院 | Multi-sensor tunnel robot obstacle avoidance control system and method |
| CN108227691A (en) * | 2016-12-22 | 2018-06-29 | 深圳光启合众科技有限公司 | Control method, system and the device and robot of robot |
| CN107471188A (en) * | 2017-08-17 | 2017-12-15 | 董欣月 | A kind of walking mechanism of Intelligent robot for sweeping floor |
| CN108170144A (en) * | 2017-12-27 | 2018-06-15 | 北斗七星（重庆）物联网技术有限公司 | A kind of control system and security robot applied to security robot |
| CN108266799A (en) * | 2018-01-25 | 2018-07-10 | 芜湖应天光电科技有限责任公司 | A kind of obstacle avoidance system of indoor air cleaner |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN108563229A (en) * | 2018-05-04 | 2018-09-21 | 安徽三弟电子科技有限责任公司 | A kind of robot regulator control system of escaping danger based on sensor monitoring |
| CN108873900A (en) * | 2018-06-27 | 2018-11-23 | 北京航空航天大学 | Method, system and the robot to clear the jumps when a kind of robot ambulation |
| CN108873900B (en) * | 2018-06-27 | 2020-11-20 | 北京航空航天大学 | Method for crossing obstacle when robot walks |
| CN111407192A (en) * | 2020-03-20 | 2020-07-14 | 珠海市一微半导体有限公司 | Work control method and system of cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104808664A (en) | 2015-07-29 |
| CN104808664B (en) | 2015-11-18 |
| CN104898662B (en) | 2017-04-26 |
| CN104898662A (en) | 2015-09-09 |
| CN104385284B (en) | 2015-12-09 |
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