CN105563493A - Height and direction adaptive service robot and adaptive method - Google Patents
Height and direction adaptive service robot and adaptive method Download PDFInfo
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- CN105563493A CN105563493A CN201610064758.0A CN201610064758A CN105563493A CN 105563493 A CN105563493 A CN 105563493A CN 201610064758 A CN201610064758 A CN 201610064758A CN 105563493 A CN105563493 A CN 105563493A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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Abstract
The invention discloses a height and direction adaptive service robot and an adaptive method. The adaptive method comprises an adaptive interactive body direction sensing method, an adaptive interactive body position sensing method and a height adaptive method; and a sensing unit, a processor unit and a movement unit are combined, and the robot can adaptively sense the direction, position and height of an interactive body when interacting with a person or an environment, and is adaptively adjusted correspondingly. Adaptive active height adjustment of the robot can be realized, the number of users of the robot is increased effectively, and interaction comfort is improved; the circumstance that in the original low-grade interaction mode, the interactive body needs to adapt to the robot and find the robot is changed; and by an interface which communicates with a server, interactive processing service of the robot can be dynamically adjusted to the server, requirements on performance of the processor unit of the robot can be reduced effectively, and service function features of the robot are enriched.
Description
Technical field
The present invention relates to the adaptive service robot of a kind of altitude azimuth and adaptive method.
Background technology
Along with the development in epoch, the progress of science and technology, service robot has started the life entering people.Multi-sensor Fusion, intelligence degree is high, and the service robot that interactivity is strong becomes the trend of future development.Height-adjustable vision robot such as described in Chinese utility model patent " CN204505234U ", and the rescue robot utilizing microphone array sound to locate described in Chinese utility model patent CN201510581167.6.
Carry out, in mutual process, there is such problem people and robot at present: there is some difference because of all kinds of mutual person's height, if when carrying out interaction with highly fixing robot, height mismatch problem will be there is, produce discomfort when exchanging.Thus greatly reduce robot to the adaptability of mutual person, reduce use crowd.Though the robot of existing adjustment height exists, mostly be Passive Control, robot does not possess the function of independently carrying out highly adjustment according to self multi-sensor information.
Secondly, in exchange and interdynamic process, if when mutual person there are differences with robot orientation, position, mainly at present behave close to mode initiatively close to robot, just can closely link up alternately, while can not with mutual person, be strolling along the chatting.Such interactive mode, shows the problem points such as current robot exists interactivity difference, and intelligent level is low.
In addition, the location technology of existing robot and interactive person, carries out orientation recognition by means of only sound, as under the more noisy environment of personnel, and the problems such as it is low that such method exists position success rate, and antijamming capability is weak, and the scope of application is little.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art part, what the object of the present invention is to provide a kind of Multi-sensor Fusion can adaptive interaction person height, identifies mutual person orientation, position, close, follow mutual person, is convenient to mutual service robot of linking up.
For achieving the above object, the present invention takes following technical scheme to realize:
The adaptive service robot of a kind of altitude azimuth, comprises robot chassis, is arranged on the robot lift's body on robot chassis, and is arranged on the robot head at robot lift's body top; Described service robot also comprises robot motion's unit, sensing unit, wireless communication unit and distributed processors unit; Described distributed processors unit comprises master control system processor, sensory perceptual system processor and motion and drives processor, described robot motion's unit drives processor to be electrically connected with described moving, described sensing unit is electrically connected with described sensory perceptual system processor, and described wireless communication unit is electrically connected with described master control system processor.
Further, described robot motion's unit comprises the bottom moving cell being arranged on robot chassis, is arranged on the lift in height unit in robot lift's body, is arranged on the end rotation unit of robot head and head pitching unit.
Further, described lift in height unit, comprise vertical lifting function and rotation and lifting function, robot lift's body two ends are rotationally connected with robot chassis and robot head respectively, are realized the pitching of head by the angle between control lifting fuselage and robot head.
Further, described sensing unit comprise be arranged on top, robot chassis anticollision sensing unit, be arranged on robot lift's perpendicular type array Distance-sensing unit with it and perpendicular type array sound bearing perception unit, the head annular sound bearing perception unit being arranged on robot head and image acquisition units; Described image acquisition units comprises depth camera on head pitching unit or general camera, and the panorama camera at robot head top.
Further, described wireless communication unit is connected with server communication; And/or described service robot also comprises GPS locating module, can the continuous position information of Real-time Obtaining relevance mobile device.
Further, comprise the method in self adaptation perception interactive person orientation, self adaptation perception interactive person position method, height adaptive method; Combined by sensing unit, processor unit, moving cell, robot with when people or environmental interaction can the orientation of self adaptation perception interactive person, position, highly, and correspondingly make self-adaptative adjustment.
Further, the method in self adaptation perception interactive person orientation comprises the steps: that head annular sound bearing perception unit is sent to sensory perceptual system processor by collecting the sound source information of interactive environment at the end, sensory perceptual system processor notice image acquisition units, with end rotation unit, bobbin movement unit is combined, to this orientation Real-time Collection wide-angle view data, by Human detection algorithm, utilize background differential mode, extract the view data having pure background, secondly the sample image data will gathered, with human body type, the standard form of face contour mates, in conjunction with capturing the characteristic point of human body type with face, carry out Algorithm Analysis, thus rapidly and efficiently identify the humanoid of interactive environment or face, by locus angle computing, analyze the azimuth information of mutual person and robot, identify the azimuth information of suitable mutual person, finally, this azimuth information is sent to motion and drives processor to calculate azimuth information between mutual person and robot by sensory perceptual system processor, corresponding pose adjustment information is sent to robot motion's unit, carries out corresponding action adjustment after driving processor to learn azimuth information by motion.
Further, self adaptation perception interactive person position method following steps: get mutual person and robot depth distance information and humanoid key feature information by image acquisition and processing method, utilize head annular sound bearing perception unit to gather sound source information simultaneously, auxiliary judgment orientation, after driving processor to analyze by motion, control moving cell does corresponding actions adjustment.
Further, height adaptive method comprises the steps: that robot lift is equipped with perpendicular type array Distance-sensing unit with it, by analyzing the difference of each some level sensor image data, adjusts the height of lifting fuselage; Or robot lift is equipped with perpendicular type array sound bearing perception unit with it, by analyzing the sound source information difference that difference position collects, adjust lift height degree; Or head pitching unit and robot lift's body combine driving under, image acquisition units gets a face formula or cubes elementary area information, this information is delivered to sensory perceptual system processor unit Treatment Analysis, set up spatial model, by analyzing data difference in coordinate, humanoid features etc., adjustment lifting structure is to proper height
Beneficial effect of the present invention:
(1) the present invention can realize the adaptive active Height Adjustment of robot, effectively expands the use crowd of robot, promotes mutual comfortableness; Change the mutual person of original needs and adapt to robot, find the rudimentary interactive mode of robot;
(2) robot is in mutual person orientation, location recognition technology, resource limited in interactive environment is all used, adopt the mode of ambient image information, depth information, the mutual fusion treatment of acoustic information system, relative to the existing processing method only using wherein a kind of mode, have the advantages such as treatment effeciency is high, accuracy rate is high, stability is strong;
(3) robot has the interface with server communication, robot interactive process business can be adjusted to server dynamically, can effectively reduce robot processor unit performance requirement, enrich robot service's functional characteristics;
(4) at present GPS is contained in robot interior main machine people independent navigation, the present invention mainly utilizes GPS communication module, robot location is associated with the position of the mobile terminal that is associated is organic, allow robot can be autonomous to range information between the two, positional informations etc. are analyzed, thus according to relevant informations such as distance, movement tendencies, perform corresponding service.
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 the structural representation of the adaptive service robot of altitude azimuth of the present invention;
Fig. 2 is the schematic diagram of the adaptive service robot show internal structure of altitude azimuth of the present invention;
Fig. 3 is the circuit structure block diagram of the adaptive service robot of altitude azimuth of the present invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
See Fig. 1 to Fig. 3, the adaptive service robot of a kind of altitude azimuth of the present embodiment, comprises robot motion's unit, sensing unit, wireless communication unit and distributed processors unit.
Moving cell comprises: robot lifting unit, bottom moving cell, end rotation unit, head pitching unit.
Sensing unit comprises: the perpendicular type array Distance-sensing unit of robot anticollision sensing unit, lift in height cell mesh, the perpendicular type sound bearing perception unit of lift in height cell mesh, head annular sound bearing perception unit, image acquisition units.Depth camera unit or general camera on head luffing mechanism, robot head top panorama camera unit.
Wireless communication unit comprises: the wireless communication units such as WiFi, GPS (Big Dipper), bluetooth and radio frequency.
Distributed processors unit, is mainly motion and drives processor unit, master control system processor unit, sensory perceptual system processor unit.
Of the present invention for describing in detail, the present embodiment specifically comprise robot chassis 1, be arranged on the One On The Chassis robot lift's body 2 of robot, and be arranged on the robot head 3 at robot lift's body 2 top; Described service robot also comprises robot motion's unit, sensing unit, wireless communication unit and distributed processors unit; Described distributed processors unit comprises master control system processor, sensory perceptual system processor and motion and drives processor, described robot motion's unit drives processor to be electrically connected with described moving, described sensing unit is electrically connected with described sensory perceptual system processor, and described wireless communication unit is electrically connected with described master control system processor.
Described robot motion's unit comprises the bottom moving cell 4 being arranged on robot chassis, is arranged on the lift in height unit in robot lift's body 2, is arranged on the end rotation unit of robot head 3 and head pitching unit.
Bottom moving cell 4 drives processor to be connected with motion, receives the data that motion drives processor to send, and critical data all kinds of in motion process is fed back to motion simultaneously and drives processor to carry out analyzing and processing.Bottom moving cell 4 comprises two or more driving wheel or crawler type motion, can adopt self-balancing type or non-self-balancing type control mode, realize the movement in multiple orientation.Such as adopt the omnibearing movable control mode based on Mecanum wheel technology, can realize moving ahead, traversing, diagonal, the motion mode such as rotation and combination thereof; Another kind is that two driving wheels add at least one universal wheel, and arrive assigned address by two driving wheel driven machine people, driving wheel is driven by motor, and two motors all drive processor unit to be connected with motion.
Lift in height unit, comprises vertical lifting function, preferred screw rod transmission; Also comprise rotation and lifting function, robot lift's body 2 two ends are rotationally connected with robot chassis 1 and robot head 3 respectively, are realized the pitching of head by the angle between control lifting fuselage 2 and robot head 3.
End rotation unit drives processor to be connected with head pitching unit with motion, has rotation, pitching powered actuation mechanism.
Described sensing unit comprises the anticollision sensing unit 5 and dropproof sensing unit that are arranged on top, robot chassis 1, be arranged on the perpendicular type array Distance-sensing unit 6 on robot lift's body 2 and perpendicular type array sound bearing perception unit 8, be arranged on head annular sound bearing perception unit 9 and the image acquisition units 7 of robot head 3.Described image acquisition units comprises depth camera on head pitching unit or general camera, and the panorama camera at robot head top.By rotation, the elevating movement of head certain angle, the working range of image acquisition units effectively can be increased.
Described service robot has the ability in the orientation of self adaptation perception interactive person, is combined by sensing unit, processor unit, moving cell, robot with can the orientation of self adaptation perception interactive person when people or environmental interaction.Specific implementation is as follows: head annular sound bearing perception unit can be array Mike sensing unit 9, preferred annular array, more than 4 Mikes, install machinery head part, horizontal positioned, array Mike sensing unit will gather the sound source information of residing interactive environment, be sent to sensory perceptual system processor, sensory perceptual system processor notice image acquisition units 7, humanoid related information analysis is carried out to this orientation, checking, can the azimuth information learning mutual person of efficiently and accurately, specific implementation is as follows: by image acquisition units and end rotation unit, bobbin movement unit is combined, can Real-time Collection wide-angle view data, by Human detection algorithm, utilize background differential mode, extract the view data having pure background, secondly the sample image data will gathered, with human body type, the standard form of face contour mates, in conjunction with capturing the characteristic point of human body type with face, carry out Algorithm Analysis, thus rapidly and efficiently identify the humanoid of interactive environment or face, by locus angle computing, analyze the azimuth information of mutual person and robot, identify the azimuth information of suitable mutual person.Finally, this azimuth information is sent to motion and drives processor to calculate azimuth information between mutual person and robot by sensory perceptual system processor, corresponding pose adjustment information is sent to robot motion's unit, carries out corresponding action adjustment after driving processor to learn azimuth information by motion.
Direction feeling perception method also can determine the orientation of mutual person separately through the sound source information of array Mike sensing unit collection or separately through the image information that image acquisition units 7 gathers, the combination of the preferred two kinds of methods of present embodiment.
Described service robot has the ability of the position of self adaptation perception interactive person, and machine person to person, in suitable space, exists certain distance, needs location aware; After orientation action executing completes, robot is combined by sensing unit, processor unit, moving cell, and when with robot interactive, robot can self adaptation perception interactive person position.Concrete implementation method is: pass through image acquisition and processing method, general camera can be adopted to add matrix form Distance-sensing method, depth camera maybe can be adopted to gather image, preferred depth camera gets mutual person and robot depth distance information and humanoid key feature information, array Mike sensing unit can be utilized to gather sound source information simultaneously, auxiliary judgment orientation, after driving processor to analyze by motion, control moving cell does corresponding actions adjustment.
While robot motion's unit carries out corresponding actions adjustment, sensing unit, in conjunction with distributed processors unit, adjusts to the movement posture information performed in real time, thus realizes robot and be movable to mutual person's correct position, follow.
Described service robot has the function of height adaptive, when namely robot and mutual person carry out mutual, can according to mutual person's oneself height, and make adaptive Height Adjustment, method of adjustment can be:
1, the method for perpendicular type array range sensor perception: robot lift's body 2 is equipped with perpendicular type array Distance-sensing unit 6, by analyzing the difference of each some level sensor image data, adjusts the height of lifting fuselage;
2, perpendicular type array sound localization method: robot lift's body 2 is equipped with perpendicular type array sound bearing perception unit 8, by analyzing the sound source information difference that difference position collects, adjusts lift height degree;
3, image co-registration depth information localization method: head pitching unit and robot lift's body 2 combine driving under, image acquisition units can get a face formula (general camera) or cubes image (depth camera/general camera fusion distance sensing) unit information, this information is delivered to sensory perceptual system processor unit Treatment Analysis, set up spatial model, by analyzing data difference in coordinate, humanoid features etc., adjustment lifting structure is to proper height.
The adaptive mode of robot is not limited only to above-mentioned 3 kinds, when environment is comparatively complicated, above-mentioned three kinds of methods can merges, improves adaptive efficiency and accuracy.Preferred version is that image acquisition units and perpendicular type array range sensor merge.
Lift in height unit is connected with sensing unit, processor unit, by sensing unit, multiple sensor Real-time Collection sensing data, is transferred to processor unit and carries out analyzing and processing, the control information analyzed is sent to lifting unit by processor unit, carries out actual adjustment.In the process of Height Adjustment, sensor unit and processor unit carry out self-adapting data analysis in real time, thus make Height Adjustment to a rational position
Described wireless communication unit comprises the communications such as WiFi, GPS, big-dipper satellite, bluetooth and radio frequency.Robot is connected to server by wireless communication unit, thus partial data process business is placed on server by robot, facilitates algorithm optimization, lifting, large data collection and analysis, and robot service upgrades, enriches function, Long-distance Control etc.
This robot also has GPS locating module, can Real-time Obtaining robot present position information.If relevance mobile device exists and obtains positional information equipment, in conjunction with network communication module, robot can the continuous position information of this relevance mobile device of Real-time Obtaining, robot then can calculate and the range information of this relevance mobile device, motion track information, movement tendency information etc., thus robot can realize corresponding service process, as inquired mutual person position, certain movement tendency of mutual person is reminded certainly by robot, as being about to the trend of getting home etc.
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 technical staff 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 (10)
1. the adaptive service robot of altitude azimuth, is characterized in that: comprise robot chassis, is arranged on the robot lift's body on robot chassis, and is arranged on the robot head at robot lift's body top; Described service robot also comprises robot motion's unit, sensing unit, wireless communication unit and distributed processors unit; Described distributed processors unit comprises master control system processor, sensory perceptual system processor and motion and drives processor, described robot motion's unit drives processor to be electrically connected with described moving, described sensing unit is electrically connected with described sensory perceptual system processor, and described wireless communication unit is electrically connected with described master control system processor.
2. the adaptive service robot of altitude azimuth according to claim 1, it is characterized in that: described robot motion's unit comprises the bottom moving cell being arranged on robot chassis, be arranged on the lift in height unit in robot lift's body, be arranged on the end rotation unit of robot head and head pitching unit.
3. the adaptive service robot of altitude azimuth according to claim 2, it is characterized in that: described lift in height unit, comprise vertical lifting function and rotation and lifting function, robot lift's body two ends are rotationally connected with robot chassis and robot head respectively, are realized the pitching of head by the angle between control lifting fuselage and robot head.
4. the adaptive service robot of the altitude azimuth according to any one of claims 1 to 3, is characterized in that: described sensing unit comprise be arranged on top, robot chassis anticollision sensing unit, be arranged on robot lift's perpendicular type array Distance-sensing unit with it and perpendicular type array sound bearing perception unit, the head annular sound bearing perception unit being arranged on robot head and image acquisition units.
5. the adaptive service robot of altitude azimuth according to claim 4, is characterized in that: described image acquisition units comprises depth camera on head pitching unit or general camera, and the panorama camera at robot head top.
6. the adaptive service robot of altitude azimuth according to claim 4, is characterized in that: described wireless communication unit is connected with server communication; And/or described service robot also comprises GPS locating module, can the continuous position information of Real-time Obtaining relevance mobile device.
7. be applied to a service robot altitude azimuth adaptive approach for the adaptive service robot of altitude azimuth as described in any one of claim 1 to 6, it is characterized in that: comprise the method in self adaptation perception interactive person orientation, self adaptation perception interactive person position method, height adaptive method; Combined by sensing unit, processor unit, moving cell, robot with when people or environmental interaction can the orientation of self adaptation perception interactive person, position, highly, and correspondingly make self-adaptative adjustment.
8. service robot altitude azimuth adaptive approach according to claim 6, it is characterized in that: the method in self adaptation perception interactive person orientation comprises the steps: that head annular sound bearing perception unit is sent to sensory perceptual system processor by collecting the sound source information of interactive environment at the end, sensory perceptual system processor notice image acquisition units, with end rotation unit, bobbin movement unit is combined, to this orientation Real-time Collection wide-angle view data, by Human detection algorithm, utilize background differential mode, extract the view data having pure background, secondly the sample image data will gathered, with human body type, the standard form of face contour mates, in conjunction with capturing the characteristic point of human body type with face, carry out Algorithm Analysis, thus rapidly and efficiently identify the humanoid of interactive environment or face, by locus angle computing, analyze the azimuth information of mutual person and robot, identify the azimuth information of suitable mutual person, finally, this azimuth information is sent to motion and drives processor to calculate azimuth information between mutual person and robot by sensory perceptual system processor, corresponding pose adjustment information is sent to robot motion's unit, carries out corresponding action adjustment after driving processor to learn azimuth information by motion.
9. service robot altitude azimuth adaptive approach according to claim 7, it is characterized in that: self adaptation perception interactive person position method following steps: get mutual person and robot depth distance information and humanoid key feature information by image acquisition and processing method, utilize head annular sound bearing perception unit to gather sound source information simultaneously, auxiliary judgment orientation, after driving processor to analyze by motion, control moving cell does corresponding actions adjustment.
10. service robot altitude azimuth adaptive approach according to claim 7, it is characterized in that: height adaptive method comprises the steps: that robot lift is equipped with perpendicular type array Distance-sensing unit with it, by analyzing the difference of each some level sensor image data, adjust the height of lifting fuselage; Or robot lift is equipped with perpendicular type array sound bearing perception unit with it, by analyzing the sound source information difference that difference position collects, adjust lift height degree; Or head pitching unit and robot lift's body combine driving under, image acquisition units gets a face formula or cubes elementary area information, this information is delivered to sensory perceptual system processor unit Treatment Analysis, set up spatial model, by analyzing data difference in coordinate, humanoid features etc., adjustment lifting structure is to proper height.
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