CN105425799A - Bank self-service robot system and automatic navigation method thereof - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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Abstract
The invention discloses a bank self-service robot system and an automatic navigation method thereof. The bank self-service robot system is characterized by comprising a humanoid robot, sound equipment, a robot vision system, a decision-making system and a voice processing system, wherein the decision-making system is connected with the humanoid robot, the sound equipment, the robot vision system and the voice processing system, the humanoid robot is connected with the robot vision system, and the voice processing system interacts with audiences. By adopting the most advanced SLAM technology at home and abroad and by means of an ROS operating system, the bank self-service robot system makes a control layer of the robot into a human brain completely, the robot can automatically perform self-positioning and self-navigation according to indoor environment, the voice adopts a full-autonomous mode without manual control, and the robot is more intelligent and humanized.
Description
Technical field
The present invention relates to bank self-help service robot technical field, particularly relate to a kind of bank self-help service robot system and automatic navigation method thereof.
Background technology
At present bank self-help service robot on the market can absolutely clear the function of all for bank smart machines and using method explanation, can also answer the business relevant issues that user proposes, and lead user to arrive corresponding window transacting business.Weather can also be carried out in addition report and news propelling movement.But its most crucial technology still by backstage artificial go control, walking location, voice interface are all go manipulation by the people on backstage, intelligently obtain very large reduction.
Summary of the invention
Because the above-mentioned defect of prior art, technical matters to be solved by this invention is to provide a kind of bank self-help service robot system and automatic navigation method thereof, it adopts SLAM technology the most advanced both at home and abroad and by means of ROS operating system, completely the key-course of robot is forged into the brain of a people, autonomous goes according to indoor environment, oneself position & navigation, voice adopt full self-determination type, unartificial going controls, and makes it more intelligent, hommization.
For achieving the above object, the invention provides a kind of bank self-help service robot system, it is characterized in that: comprise anthropomorphic robot, stereo set, robotic vision system, decision system and speech processing system, described decision system is connected with anthropomorphic robot, stereo set, robotic vision system and speech processing system, described anthropomorphic robot is connected with robotic vision system, described speech processing system and spectators mutual.
Above-mentioned a kind of bank self-help service robot system, it is characterized in that: described anthropomorphic robot comprises chassis and robot shells, described chassis is provided with DC brushless motor, driving wheel, bracing strut, two layers of pillar, described bracing strut side is provided with the electric machine support for supporting DC brushless motor, described two layers of pillar are provided with two layers of back up pad, the left and right sides, described two layers of back up pad top is mounted motor driver respectively, described two layers of back up pad bottom are provided with damping spring, described two layers of back up pad upper middle position install three layers of pillar, described three layers of column upper section arrange three layers of back up pad, described three layers of back up pad top mounting robot control module, described robot control unit comprises master control board and is arranged on the insurance in master control board, relay, air switch, WIFI module, antenna, described robot shells is provided with power switch, emergency stop switch, operation touch-screen and photoelectric sensor.
Above-mentioned a kind of bank self-help service robot system, is characterized in that: described chassis is also provided with LMS laser sensor.
Above-mentioned a kind of bank self-help service robot system, is characterized in that: described robot shells front is also provided with user's touch-screen.
A kind of bank self-help service robot automatic navigation method, is characterized in that, comprise the following steps:
S1, the mileage information using photoelectric encoder and magnetic course transmitter to obtain respectively and course angle;
S2, go out the predicted position in robot K moment from the dead reckoning of K-1 moment robot;
S3, according to the position of environmental characteristic in the theoretical map of the known overall situation and the predicted position of K moment robot, calculate the predicted position of environmental characteristic in K moment robot local coordinate;
S4, in the K moment, real time scan is carried out to surrounding environment with LMS laser radar, extraction environment feature from scanning feature, obtain the actual observation position of K moment environmental characteristic in robot coordinate system;
S5, the predicted position of environmental characteristic that step S3 is obtained coordinate with the actual observation position that step S4 obtains, and utilize the position of error correction K moment robot between the two.
Above-mentioned a kind of bank self-help service robot automatic navigation method, is characterized in that, make use of the position of EKF filter algorithm correction K moment robot in described step S5, completes the motion process location based on environmental characteristic map.
The invention has the beneficial effects as follows:
The present invention adopts SLAM technology the most advanced both at home and abroad and by means of ROS operating system, completely the key-course of robot is forged into the brain of a people, autonomous goes according to indoor environment, oneself position & navigation, voice adopt full self-determination type, unartificial going controls, and makes it more intelligent, hommization.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is the structural representation of robot interior side of the present invention;
Fig. 3 is the structural representation of robot interior opposite side of the present invention;
Fig. 4 is robot controlling Slab element structural representation of the present invention;
Fig. 5 is robot of the present invention structure schematic diagram;
Fig. 6 is robot of the present invention side structure schematic diagram;
Fig. 7 is Self-Service machine robot system self-navigation workflow diagram of the present invention.
Embodiment
As shown in Figure 1, a kind of bank self-help service robot system, it is characterized in that: comprise anthropomorphic robot 1, stereo set 2, robotic vision system 3, decision system 4 and speech processing system 5, described decision system 4 is connected with anthropomorphic robot 1, stereo set 2, robotic vision system 3 and speech processing system 5, described anthropomorphic robot 1 is connected with robotic vision system 3, and described speech processing system 5 is mutual with spectators.
As shown in figures 2-6, described anthropomorphic robot 1 comprises chassis 11 and robot shells, described chassis 11 is provided with DC brushless motor 14, driving wheel 16, bracing strut 19, two layers of pillar 110, described bracing strut 19 side is provided with the electric machine support 17 for supporting DC brushless motor 14, described two layers of pillar 110 are provided with two layers of back up pad 12, the left and right sides, described two layers of back up pad 12 top is mounted motor driver 15 respectively, described two layers of back up pad 12 bottom are provided with damping spring 18, described two layers of back up pad 12 upper middle position install three layers of pillar 111, described three layers of pillar 111 top arrange three layers of back up pad 13, described three layers of back up pad 13 top mounting robot control module, the insurance 113 that described robot control unit comprises master control board 116 and is arranged in master control board 116, relay 114, air switch 115, WIFI module 123, antenna 124, described robot shells is provided with power switch 119, emergency stop switch 120, operation touch-screen 121 and photoelectric sensor 122.
In the present embodiment, described chassis 11 is also provided with LMS laser sensor 112.
In the present embodiment, described robot shells front is also provided with user's touch-screen 125.
As shown in Figure 7, a kind of bank self-help service robot automatic navigation method, is characterized in that, comprise the following steps:
S1, the mileage information using photoelectric encoder and magnetic course transmitter to obtain respectively and course angle;
S2, go out the predicted position in robot K moment from the dead reckoning of K-1 moment robot;
S3, according to the position of environmental characteristic in the theoretical map of the known overall situation and the predicted position of K moment robot, calculate the predicted position of environmental characteristic in K moment robot local coordinate;
S4, in the K moment, real time scan is carried out to surrounding environment with LMS laser radar, extraction environment feature from scanning feature, obtain the actual observation position of K moment environmental characteristic in robot coordinate system;
S5, the predicted position of environmental characteristic that step S3 is obtained coordinate with the actual observation position that step S4 obtains, and utilize the position of error correction K moment robot between the two.
In the present embodiment, in described step S5, make use of the position of EKF filter algorithm correction K moment robot, complete the motion process location based on environmental characteristic map.
It is of the present invention that to realize principle as follows:
In automatic speech is interactive, as shown in Figure 1, after the voice signal that spectators send, gathered by voice system and process and can obtain voice special efficacy, the phonetic order recognized is input to decision system by analyzing speech instruction simultaneously, can carries out the every-day language with spectators, the vision system of computing machine is as a pick-up unit, the coordinate of Real-time Obtaining mobile robot and pose feedback signal, until complete this time interactive.
For robot, press power switch 119, robot just can open LMS laser sensor 112 automatically in the route migration of hall Rigen according to setting, when the camera of robot has scanned people, what just can be very friendly say " one welcome; may I ask and can help you "? now, guest can be asked for help by the touch-screen 125 before manipulation robot or can directly and robot talk with, ask for help in the mode of voice interface.After guest gets help, robot photoelectric sensor 122 below can be had a touch with and allow robot continue as next bit guest service.When robot is inapplicable time, can press emergency stop switch 120, robot power-off, quits work.
In self-navigation, by independently location and map building are applied to the navigational system of all region covering autonomous mobile robot, from the feature of all region covering autonomous working robot, analyze on all region covering autonomous mobile robot, apply location and map building simultaneously feasibility and validity.Application photoelectric encoder---boat bit arithmetic is carried out in magnetic course transmitter combination, completes the estimation to robot location, re-uses LMS laser radar as the feature being not useable in perceived distance sensor acquisition environment locating to revise the error of dead reckoning.Design respective algorithms extracts characteristic curve, component specification map from a series of measurement points of LMS laser radar; Application data relevance theory realizes the coupling of environmental characteristic in fore-and-aft survey; Complete finally by kalman filtering and locate with the motion process of environmental characteristic map.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technician in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (6)
1. a bank self-help service robot system, it is characterized in that: comprise anthropomorphic robot (1), stereo set (2), robotic vision system (3), decision system (4) and speech processing system (5), described decision system (4) is connected with anthropomorphic robot (1), stereo set (2), robotic vision system (3) and speech processing system (5), described anthropomorphic robot (1) is connected with robotic vision system (3), and described speech processing system (5) is mutual with spectators.
2. a kind of bank self-help service robot system as claimed in claim 1, it is characterized in that: described anthropomorphic robot (1) comprises chassis (11) and robot shells, described chassis (11) is provided with DC brushless motor (14), driving wheel (16), bracing strut (19), two layers of pillar (110), described bracing strut (19) side is provided with the electric machine support (17) for supporting DC brushless motor (14), described two layers of pillar (110) are provided with two layers of back up pad (12), described two layers of back up pad (12) left and right sides, top mounted motor driver (15) respectively, described two layers of back up pad (12) bottom are provided with damping spring (18), described two layers of back up pad (12) upper middle position install three layers of pillar (111), described three layers of pillar (111) top arrange three layers of back up pad (13), described three layers of back up pad (13) top mounting robot control module, described robot control unit comprises master control board (116) and is arranged on the insurance (113) in master control board (116), relay (114), air switch (115), WIFI module (123), antenna (124), described robot shells is provided with power switch (119), emergency stop switch (120), operation touch-screen (121) and photoelectric sensor (122).
3. a kind of bank self-help service robot system as claimed in claim 2, is characterized in that: described chassis (11) are also provided with LMS laser sensor (112).
4. a kind of bank self-help service robot system as claimed in claim 2, is characterized in that: described robot shells front is also provided with user's touch-screen (125).
5. a bank self-help service robot automatic navigation method, is characterized in that, comprises the following steps:
S1, the mileage information using photoelectric encoder and magnetic course transmitter to obtain respectively and course angle;
S2, go out the predicted position in robot K moment from the dead reckoning of K-1 moment robot;
S3, according to the position of environmental characteristic in the theoretical map of the known overall situation and the predicted position of K moment robot, calculate the predicted position of environmental characteristic in K moment robot local coordinate;
S4, in the K moment, real time scan is carried out to surrounding environment with LMS laser radar, extraction environment feature from scanning feature, obtain the actual observation position of K moment environmental characteristic in robot coordinate system;
S5, the predicted position of environmental characteristic that step S3 is obtained coordinate with the actual observation position that step S4 obtains, and utilize the position of error correction K moment robot between the two.
6. a kind of bank self-help service robot automatic navigation method as claimed in claim 5, it is characterized in that, make use of the position of EKF filter algorithm correction K moment robot in described step S5, complete the motion process location based on environmental characteristic map.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842230A (en) * | 2017-01-13 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | Mobile Robotics Navigation method and system |
| CN106826842A (en) * | 2016-11-23 | 2017-06-13 | 河池学院 | A kind of Self-Service machine people's system |
| CN106970630A (en) * | 2017-05-23 | 2017-07-21 | 上海棠棣信息科技股份有限公司 | A kind of robot actively provides method and device, the robot of service |
| CN107146619A (en) * | 2017-07-17 | 2017-09-08 | 西南科技大学 | A kind of intelligent sound interacts robot |
| CN107160408A (en) * | 2017-06-20 | 2017-09-15 | 天津市青创空间科技企业孵化器有限公司 | A kind of Multifunctional self-service robot system |
| CN109671120A (en) * | 2018-11-08 | 2019-04-23 | 南京华捷艾米软件科技有限公司 | A kind of monocular SLAM initial method and system based on wheel type encoder |
| CN110209957A (en) * | 2019-06-06 | 2019-09-06 | 北京猎户星空科技有限公司 | Explanation method, apparatus, equipment and storage medium based on intelligent robot |
| CN110413720A (en) * | 2019-06-28 | 2019-11-05 | 贾志强 | A method of banking is guided by map inquiry |
| CN112207795A (en) * | 2020-10-27 | 2021-01-12 | 江苏财经职业技术学院 | Financial bank institution intelligent service robot |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
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| CN109671120A (en) * | 2018-11-08 | 2019-04-23 | 南京华捷艾米软件科技有限公司 | A kind of monocular SLAM initial method and system based on wheel type encoder |
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| CN110413720A (en) * | 2019-06-28 | 2019-11-05 | 贾志强 | A method of banking is guided by map inquiry |
| CN112207795A (en) * | 2020-10-27 | 2021-01-12 | 江苏财经职业技术学院 | Financial bank institution intelligent service robot |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
| CN113075931B (en) * | 2021-03-30 | 2022-04-08 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
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Address after: 215300 Suzhou province high tech Zone, Kunshan City, Feng Yuan Road, No. 232, robot Industrial Park Applicant after: Suzhou pangolin robot Limited by Share Ltd Address before: 215300 Suzhou province high tech Zone, Kunshan City, Feng Yuan Road, No. 232, robot Industrial Park Applicant before: KUNSHAN PANGOLIN ROBOTER CO., LTD. |
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