CN104765366A - Service robot achieving intelligent obstacle surmounting - Google Patents
Service robot achieving intelligent obstacle surmounting Download PDFInfo
- Publication number
- CN104765366A CN104765366A CN201510159527.3A CN201510159527A CN104765366A CN 104765366 A CN104765366 A CN 104765366A CN 201510159527 A CN201510159527 A CN 201510159527A CN 104765366 A CN104765366 A CN 104765366A
- Authority
- CN
- China
- Prior art keywords
- threshold value
- service robot
- infrared ray
- obstacle
- vertical dimension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention relates to a service robot achieving intelligent obstacle surmounting. The service robot comprises a telescopic mechanism, an infrared sensor, a camera, an image processor and a main controller of an ARM 9 type. The telescopic mechanism is telescopic in the vertical direction, the infrared sensor is used for detecting the infrared ray forward distance between a front obstacle and the service robot, the camera is located on the telescopic mechanism and used for shooting images of the front obstacle, the image processor is used for processing the images of the obstacle, and the main controller is connected with the telescopic mechanism, the infrared sensor, the camera and the image processor and used for determining whether to start the camera and the image processor or not based on the infrared ray forward distance and controlling the telescopic actions of the telescopic mechanism based on an image processing result. By means of the service robot, the accuracy of robot distance measurement can be improved, different avoiding modes can be determined according to sizes of the front obstacle in the three directions, and the operation reliability of the service robot is improved.
Description
The divisional application that the present invention is application number is 2014107073997, the applying date is on November 27th, 2014, denomination of invention is the patent of " service robot realizing intelligent obstacle detouring ".
Technical field
The present invention relates to robot controlling field, particularly relate to a kind of service robot 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 work efficiency low, and the latter is difficult to successfully obstacle detouring when barrier is longitudinally long.
Therefore, need the service robot of the intelligent obstacle detouring of a kind of realization newly, 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 service robot 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 measuring accuracy, 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 service robot realizing intelligent obstacle detouring, 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, speed reduction unit, 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, storer, 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 ultrasound wave arithmetical unit, described ultrasonic transmitter is for launching ultrasound wave, described ultrasonic receiver is for receiving the ultrasound wave reflected through preceding object thing, described ultrasound wave arithmetical unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasound wave launch and accept mistiming 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 arithmetical 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 arithmetical unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the mistiming of infrared signal launch and accept and the velocity of propagation 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 storer, the pixel identification of gray-scale value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subimage, described dimension calculating unit is connected with described obstacle recognition unit, to calculate the lateral dimension of preceding object thing in described obstacle target subimage based on described obstacle target subimage, vertical dimension and longitudinal size, described master controller and described telescopic mechanism, described driving mechanism, described storer, 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 alerting 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 alerting signal.
More specifically, in the service robot of the intelligent obstacle detouring of described realization, described Wireless Telecom Equipment also for receiving the steering order of the mobile terminal wireless transmission of user, 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.
Embodiment
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, storer 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, storer 9, user input device 10 and power-supply unit 11, video camera 7 is connected with image processor 8, storer 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, speed reduction unit, 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 arithmetical 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 arithmetical unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the mistiming of infrared signal launch and accept and the velocity of propagation 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 ultrasound wave arithmetical unit, described ultrasonic transmitter is for launching ultrasound wave, described ultrasonic receiver is for receiving the ultrasound wave reflected through preceding object thing, described ultrasound wave arithmetical unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasound wave launch and accept mistiming 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 storer 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 storer 9, the pixel identification of gray-scale value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subimage.
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 subimage, vertical dimension and longitudinal size based on described obstacle target subimage.
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 alerting 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 alerting signal.
Wherein, described Wireless Telecom Equipment 6 can also be used for the steering order 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 topworks, drive unit, pick-up unit and control system and complicated machinery etc.
Topworks, i.e. robot body, its arm generally adopts space open chain linkage assembly, 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 travel unit (for mobile robot) etc.
Drive unit, be the mechanism ordering about topworks's motion, the command signal sent according to control system, makes robot carry out action by means of dynamical element.He input be electric signal, 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.
Pick-up unit, is motion and the working condition of real-time measuring robots, feeds back to control system as required, after comparing, adjust topworks with set information, to ensure that the action of robot meets predetermined requirement.Sensor as pick-up unit 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 robotization, 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 servocontrol 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 matters 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 (1)
1. realize a service robot for intelligent obstacle detouring, it is characterized in that, described service robot can comprise:
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,
Described service robot also comprises:
Driving mechanism, for driving described service robot, comprise DC Brushless Motor, speed reduction unit, 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;
Storer, 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 ultrasound wave arithmetical unit, described ultrasonic transmitter is for launching ultrasound wave, described ultrasonic receiver is for receiving the ultrasound wave reflected through preceding object thing, described ultrasound wave arithmetical unit is connected respectively with described ultrasonic transmitter and described ultrasonic receiver, for based on ultrasound wave launch and accept mistiming 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 arithmetical 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 arithmetical unit is connected respectively with described infrared light emitting diode and infrared receiver diode, based on the mistiming of infrared signal launch and accept and the velocity of propagation 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 storer, the pixel identification of gray-scale value in described gray level image between described barrier upper limit gray threshold and described barrier lower limit gray threshold is formed obstacle target subimage, described dimension calculating unit is connected with described obstacle recognition unit, to calculate the lateral dimension of preceding object thing in described obstacle target subimage based on described obstacle target subimage, vertical dimension and longitudinal size,
Described master controller and described telescopic mechanism, described driving mechanism, described storer, 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 alerting 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 alerting signal,
Described Wireless Telecom Equipment also for receiving the steering order of the mobile terminal wireless transmission of user, with by driving mechanism described in described main controller controls to the driving of described service robot,
Described mobile communications network is the one in GPRS mobile communications network, 3G mobile communications network and 4G mobile communications network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510159527.3A CN104765366B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510159527.3A CN104765366B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
| CN201410707399.7A CN104503450B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410707399.7A Division CN104503450B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104765366A true CN104765366A (en) | 2015-07-08 |
| CN104765366B CN104765366B (en) | 2017-03-01 |
Family
ID=52944854
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510159527.3A Expired - Fee Related CN104765366B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
| CN201510166102.5A Active CN104765367B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
| CN201410707399.7A Expired - Fee Related CN104503450B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510166102.5A Active CN104765367B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
| CN201410707399.7A Expired - Fee Related CN104503450B (en) | 2014-11-27 | 2014-11-27 | Realize the service robot of intelligent obstacle detouring |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN104765366B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068537A (en) * | 2015-08-14 | 2015-11-18 | 国网天津市电力公司 | Controller for insulator washing robot |
| CN107397630A (en) * | 2017-07-13 | 2017-11-28 | 胡景鲁 | A kind of road analysis and intelligent mode of progression |
| CN107432789A (en) * | 2017-07-20 | 2017-12-05 | 赵家琦 | Booster type stretcher |
| CN107432794A (en) * | 2017-07-13 | 2017-12-05 | 刘纪君 | A kind of Intelligent Recognition and the method driven safely |
| CN107432793A (en) * | 2017-07-13 | 2017-12-05 | 刘纪君 | Safety-type Two-wheeled wheelchair |
| CN107875472A (en) * | 2017-07-06 | 2018-04-06 | 杜昭钦 | The application method of multifunctional children transfusion chair |
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
| CN113179392A (en) * | 2021-04-25 | 2021-07-27 | 广东电网有限责任公司中山供电局 | Inspection robot |
| CN113547517A (en) * | 2020-04-24 | 2021-10-26 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270525B (en) * | 2015-09-28 | 2018-02-02 | 小米科技有限责任公司 | The control method and device of two-wheeled balance car |
| CN105223952B (en) * | 2015-09-28 | 2019-03-29 | 小米科技有限责任公司 | The control method and device of balance car |
| 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 |
| CN105539655B (en) * | 2015-12-07 | 2018-06-19 | 小米科技有限责任公司 | Reminding method and device |
| CN107550650A (en) * | 2017-07-07 | 2018-01-09 | 宋秀梅 | The application method of cervical traction type stretcher |
| CN108789430B (en) * | 2017-08-17 | 2021-10-01 | 烟台华腾技术有限公司 | Walking mechanism of intelligence robot of sweeping floor |
| CN107796403A (en) * | 2017-10-24 | 2018-03-13 | 深圳市沃特沃德股份有限公司 | Moving method, device and the robot of robot |
| CN108007464B (en) * | 2017-12-04 | 2021-03-16 | 国网智能科技股份有限公司 | Autonomous navigation method and system for line patrol robot of high-voltage transmission line |
| CN108283466A (en) * | 2017-12-27 | 2018-07-17 | 信利光电股份有限公司 | The obstacle height detection device and method and crossover device and method of a kind of sweeping robot |
| CN108209746A (en) * | 2017-12-27 | 2018-06-29 | 信利光电股份有限公司 | The obstacle height detection device and method and crossover device and method of a kind of sweeping robot |
| CN111766877B (en) * | 2018-06-27 | 2021-08-31 | 北京航空航天大学 | Robot |
| CN110936370A (en) * | 2018-09-25 | 2020-03-31 | 格力电器（武汉）有限公司 | Cleaning robot control method and device |
| CN114587189B (en) * | 2021-08-17 | 2024-04-05 | 北京石头创新科技有限公司 | Cleaning robot, control method and device thereof, electronic equipment and storage medium |
| CN114468894A (en) * | 2022-01-30 | 2022-05-13 | 苏州简单有为科技有限公司 | Control method and system of sweeping robot and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10117341A (en) * | 1996-10-11 | 1998-05-06 | Yazaki Corp | Vehicle periphery monitoring device, obstacle detecting method to be used for the same and medium storing obstacle detection program to be used for the same |
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| JP2010097360A (en) * | 2008-10-15 | 2010-04-30 | Ihi Corp | Autonomous mobile robot device, operation auxiliary device for moving object, method of controlling the autonomous mobile robot device and operation auxiliary method for the moving object |
| CN101763119A (en) * | 2009-12-16 | 2010-06-30 | 东南大学 | Obstacle avoidance aiding method based on teleoperation mobile robot |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| CN203012510U (en) * | 2013-01-07 | 2013-06-19 | 西北农林科技大学 | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion |
| CN103465908A (en) * | 2013-09-13 | 2013-12-25 | 广汽吉奥汽车有限公司 | Method, device and vehicle for road surface detection |
| CN103584980A (en) * | 2013-07-12 | 2014-02-19 | 宁波大红鹰学院 | Blind-person guiding rod |
| CN103744110A (en) * | 2014-01-24 | 2014-04-23 | 哈尔滨工业大学 | Ultrasonic and single-eye vision sensor combined barrier recognition device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070087759A (en) * | 2005-10-27 | 2007-08-29 | 엘지전자 주식회사 | Moving control device and method of roving robot |
| JP5205366B2 (en) * | 2009-12-25 | 2013-06-05 | 本田技研工業株式会社 | Movable area extraction apparatus, movable area extraction system, movable area extraction method, and program |
| CN102114635A (en) * | 2009-12-31 | 2011-07-06 | 武汉大学 | Intelligent controller of inspection robot |
| CN101774170B (en) * | 2010-01-29 | 2012-11-21 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
| CN201905823U (en) * | 2010-12-31 | 2011-07-27 | 桂林电子科技大学 | Monocular household cleaning robot |
| US20120215380A1 (en) * | 2011-02-23 | 2012-08-23 | Microsoft Corporation | Semi-autonomous robot that supports multiple modes of navigation |
| CN102489838B (en) * | 2011-12-15 | 2013-06-19 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| CN103019245A (en) * | 2013-01-07 | 2013-04-03 | 西北农林科技大学 | Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion |
| CN204241962U (en) * | 2014-11-27 | 2015-04-01 | 无锡北斗星通信息科技有限公司 | Realize the service robot of intelligent obstacle detouring |
-
2014
- 2014-11-27 CN CN201510159527.3A patent/CN104765366B/en not_active Expired - Fee Related
- 2014-11-27 CN CN201510166102.5A patent/CN104765367B/en active Active
- 2014-11-27 CN CN201410707399.7A patent/CN104503450B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10117341A (en) * | 1996-10-11 | 1998-05-06 | Yazaki Corp | Vehicle periphery monitoring device, obstacle detecting method to be used for the same and medium storing obstacle detection program to be used for the same |
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| JP2010097360A (en) * | 2008-10-15 | 2010-04-30 | Ihi Corp | Autonomous mobile robot device, operation auxiliary device for moving object, method of controlling the autonomous mobile robot device and operation auxiliary method for the moving object |
| CN101763119A (en) * | 2009-12-16 | 2010-06-30 | 东南大学 | Obstacle avoidance aiding method based on teleoperation mobile robot |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| CN203012510U (en) * | 2013-01-07 | 2013-06-19 | 西北农林科技大学 | Mountainous region agricultural robot obstacle-avoiding system based on multi-sensor information fusion |
| CN103584980A (en) * | 2013-07-12 | 2014-02-19 | 宁波大红鹰学院 | Blind-person guiding rod |
| CN103465908A (en) * | 2013-09-13 | 2013-12-25 | 广汽吉奥汽车有限公司 | Method, device and vehicle for road surface detection |
| CN103744110A (en) * | 2014-01-24 | 2014-04-23 | 哈尔滨工业大学 | Ultrasonic and single-eye vision sensor combined barrier recognition device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068537A (en) * | 2015-08-14 | 2015-11-18 | 国网天津市电力公司 | Controller for insulator washing robot |
| CN107875472A (en) * | 2017-07-06 | 2018-04-06 | 杜昭钦 | The application method of multifunctional children transfusion chair |
| CN107397630A (en) * | 2017-07-13 | 2017-11-28 | 胡景鲁 | A kind of road analysis and intelligent mode of progression |
| CN107432794A (en) * | 2017-07-13 | 2017-12-05 | 刘纪君 | A kind of Intelligent Recognition and the method driven safely |
| CN107432793A (en) * | 2017-07-13 | 2017-12-05 | 刘纪君 | Safety-type Two-wheeled wheelchair |
| CN107432789A (en) * | 2017-07-20 | 2017-12-05 | 赵家琦 | Booster type stretcher |
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
| CN113547517A (en) * | 2020-04-24 | 2021-10-26 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
| CN113547517B (en) * | 2020-04-24 | 2022-08-02 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
| CN113179392A (en) * | 2021-04-25 | 2021-07-27 | 广东电网有限责任公司中山供电局 | Inspection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104765367B (en) | 2015-12-02 |
| CN104503450A (en) | 2015-04-08 |
| CN104765366B (en) | 2017-03-01 |
| CN104765367A (en) | 2015-07-08 |
| CN104503450B (en) | 2016-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104765367B (en) | Realize the service robot of intelligent obstacle detouring | |
| CN104808664B (en) | A kind of method realizing intelligent obstacle detouring | |
| CN112728293B (en) | Intelligent pipeline detection robot and control method thereof | |
| US9821457B1 (en) | Adaptive robotic interface apparatus and methods | |
| US10913151B1 (en) | Object hand-over between robot and actor | |
| CN111906784A (en) | Pharyngeal swab double-arm sampling robot based on machine vision guidance and sampling method | |
| CN111055281A (en) | ROS-based autonomous mobile grabbing system and method | |
| CN111267083A (en) | Mechanical arm autonomous carrying system based on combination of monocular and binocular cameras | |
| US11648678B2 (en) | Systems, devices, articles, and methods for calibration of rangefinders and robots | |
| CN109828580B (en) | Mobile robot formation tracking control method based on separated ultrasonic waves | |
| US11633852B2 (en) | Computing device, machine learning method, and storage medium | |
| CN202677195U (en) | Navigation control system based on vision and ultrasonic waves | |
| CN204241962U (en) | Realize the service robot of intelligent obstacle detouring | |
| CN110844402A (en) | Garbage bin system is summoned to intelligence | |
| CN112318507A (en) | Robot intelligent control system based on SLAM technology | |
| KR20160116445A (en) | Intelligent tools errands robot | |
| CN111002349A (en) | Robot following steering method and robot system adopting same | |
| CN110539315A (en) | Construction robot based on virtual reality control | |
| Liu et al. | A new method for mobile robot arm blind grasping using ultrasonic sensors and Artificial Neural Networks | |
| CN207448487U (en) | A kind of exploration robot | |
| CN112077841B (en) | Multi-joint linkage method and system for manipulator precision of elevator robot arm | |
| Wang et al. | Object Grabbing of Robotic Arm Based on OpenMV Module Positioning | |
| CN206724968U (en) | Search and rescue robot arm auxiliary positions simultaneously and constructing environment map system | |
| Abdo et al. | Obstacle Avoidance Robot Using Convolutional Neural Network | |
| CN108089582A (en) | A kind of centralized-control type motion of multi-robots control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ai Shufeng Inventor before: The inventor has waived the right to be mentioned |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170119 Address after: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park source Street No. 998 Applicant after: Zhejiang University of Media and Communications Address before: 225009 Weiyang Road, Jiangsu, China, No. 18, No. Applicant before: Zhu Ailian |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170301 Termination date: 20181127 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |