CN105856263A - Robot with intelligent follow-up function - Google Patents
Robot with intelligent follow-up function Download PDFInfo
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- CN105856263A CN105856263A CN201610473863.XA CN201610473863A CN105856263A CN 105856263 A CN105856263 A CN 105856263A CN 201610473863 A CN201610473863 A CN 201610473863A CN 105856263 A CN105856263 A CN 105856263A
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- module
- robot
- mobile robot
- camera module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention provides a robot with intelligent follow-up function, comprising a display screen module, a camera module, a drive module, an ultrasonic ranging module and a mobile robot; the display screen module, the camera module, the drive module and the ultrasonic ranging module are arranged respectively on the ARM development board; the ARM development board is mounted on the mobile robot; the display screen module and the camera module are mounted at a head of the mobile robot and used to recognize a target object. The ultrasonic ranging module is mounted right below the camera module and the display screen. The robot has the advantages that the robot is scientific and reasonable in design, humanized and low in cost; the robot can turn 2360 degrees and follow up by searching for a target; the robot may be used in intelligent follow-up for walking function products such as household accompanying products, intelligent trolley cases, intelligent baby carriers and intelligent seats; the robot using ultrasonic ranging technology is insusceptible to external signals and is high in measuring precision.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of robot following objective function with intelligence.
Background technology
At present, development along with electronics technology, the application that intelligence follows function is more and more extensive, as intelligence based on GPS location technology follows luggage case, human detection tracing and monitoring device based on Panasonic's infrared ray matrix sensors A MG8831, anti-theft monitor based on HC-SR501 human body infrared induction apparatus, based on ultrasonic ranging principle follows trolley toy etc..Although but there are these technology, still suffer from problems with: due to the accuracy limitations of GPS location technology, following distance based on secondary technology requires distant, and even position that not deviation causes follows loss problem.Cost based on infrared ray matrix sensors A MG8831 is the highest, and HC-SR501 human body infrared induction apparatus is immature due to technology, and accuracy and sensitivity is the lowest, often reports by mistake.And ultrasonic ranging can only be followed by straight line range finding straight line, it is impossible to the turning realizing specific objective is followed.
Summary of the invention
It is an object of the invention to provide the mobile robot of a kind of band set-up function carrying multiple module, target is carried out intelligence follow by image recognition technology and ultrasonic measuring distance technology thus realization.
For reaching above-mentioned purpose, a kind of robot following function with intelligence provided by the present invention, including display panel module, camera module, driving module, ultrasonic distance measuring module, mobile robot.
Described display panel module, camera module, driving module, ultrasonic distance measuring module are respectively disposed on ARM development board.
Described ARM development board is arranged on mobile robot.
Described camera module is arranged on mobile robot head, is used for identifying target object.
Described ultrasonic distance measuring module is arranged on the underface of camera module.
Described mobile robot makes mobile robot move by modular belt galvanic electricity machine.
With ultrasound probe on described ultrasonic distance measuring module.
Described ultrasound probe is for detecting the distance between mobile robot and target object.
The technical problem to be solved is the present situation for prior art, solves the deficiency of the interactive robot of tradition.The benefit of the present invention: 1, design science rationally, hommization, low cost；2, robot can pass through target homing, carries out 360o curve and follows；3, may be used for that family accompanies and attends to, the intelligence of the band traveling functional product such as Intelligent luggage carrier, Intelligent baby carriage, Intelligent seat is followed；4, using ultrasonic measuring distance technology, do not disturbed by outer signals, certainty of measurement is high.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings, by the detailed description of the invention of the present invention is described in detail, technical scheme and other beneficial effect will be made apparent.
In accompanying drawing,
Fig. 1 is present configuration module diagram；
Fig. 2 is work flow template schematic diagram of the present invention；
Drawing reference numeral
1, ARM development board；2, mobile robot；3, camera module；4, ultrasonic distance measuring module；5, module is driven；6, display panel module.
Detailed description of the invention
By further illustrating the technological means and effect thereof that the present invention taked, it is described in detail below in conjunction with the preferred embodiments of the present invention and accompanying drawing thereof.
Refering to Fig. 1 and 2, the present invention provides a kind of robot following function with intelligence, including display panel module 6, camera module 3, drives module 5, ultrasonic distance measuring module 4, mobile robot 2.
Described display panel module 6, camera module 3, driving module 5, ultrasonic distance measuring module 4 are respectively disposed on ARM development board 1.
Described ARM development board 2 is arranged on mobile robot 2.
Described camera module 3 is arranged on mobile robot 2 head, is used for identifying target object.
Described ultrasonic distance measuring module 4 is arranged on the underface of camera module 3.
Described mobile robot 2 makes to move with the mobile robot 2 of roller by driving module 5 drive motor.
With ultrasound probe on described ultrasonic distance measuring module 4.
Ultrasound probe is for detecting the distance between mobile robot 2 and target object.
Use ultrasonic distance measuring module 4, closely can arrive 2cm, remote up to 4m, precision reaches 0.3cm, the distance of measurement dead ahead shelter that can be reliable and stable, set after following spacing before being used by user, machine can be braked according to current dead ahead shelter distance and advance or retreat, it is achieved tandem follows function.Owing to being not required to position by GPS, indoor and outdoor can realize, and certainty of measurement high stable is reliable, is conducive to closely following.
Simultaneously, camera module 3, employ image trace technology, can identify, follow the tracks of the specified object that user sets, when the target followed the tracks of is when moving to the border of photographic head visual range, it is then platform by ARM development board, robotically-driven module is realized the most to the left by braking mobile robot or turns right dynamic, object is kept to be positioned at camera module monitored picture middle, i.e. photographic head and the dead ahead of ultrasound probe, which ensure that the distance that ultrasonic distance measuring module 4 is surveyed is the distance between object and machine.Camera image tracking technique, it is achieved follow the tracks of specific objective by driving module to realize left and right turning function.
The present invention combines camera image tracking technique and ultrasonic measuring distance technology carrys out reasonable realization intelligence and follows function.In real work, first user sets following distance on machine, follow speed, and after following target, start intelligence and follow function, when target occurs in camera module monitored picture, system can automatically catch and position target, according to target position, module drive mobile robot pivot turn is driven to make target be maintained in the middle of camera module monitored picture, i.e. machine ultrasonic distance detection probe dead ahead, after alignment object, start ultrasonic ranging function, according to surveyed distance controlling machine forward-reverse, keep object and machine distance interval at set following distance, the intelligence that is achieved in front and back turning follows function.
The above, for the person of ordinary skill of the art, can conceive according to technical scheme and technology and make other various corresponding changes and deformation, and all these change and deformation all should belong to the protection domain of the claims in the present invention.
Claims (4)
1. the robot following function with intelligence, it is characterised in that include display panel module, camera module, driving module, ultrasonic distance measuring module, mobile robot；
Described display panel module, camera module, driving module, ultrasonic distance measuring module are respectively disposed on ARM development board；
Described ARM development board is arranged on mobile robot；
Described display panel module and camera module are arranged on mobile robot head, are used for identifying target object；
Described ultrasonic distance measuring module is arranged on the underface of camera module and display panel module.
A kind of robot following function with intelligence, is further characterized in that, described mobile robot makes mobile robot move by modular belt galvanic electricity machine.
A kind of robot following function with intelligence, is further characterized in that, with ultrasound probe on described ultrasonic distance measuring module.
A kind of robot following function with intelligence, is further characterized in that, described ultrasound probe is for detecting the distance between mobile robot and target object.
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| CN201610473863.XA CN105856263A (en) | 2016-06-24 | 2016-06-24 | Robot with intelligent follow-up function |
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| CN201610473863.XA CN105856263A (en) | 2016-06-24 | 2016-06-24 | Robot with intelligent follow-up function |
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| CN105856263A true CN105856263A (en) | 2016-08-17 |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405500A (en) * | 2016-10-09 | 2017-02-15 | 北京光年无限科技有限公司 | Intelligent robot following method and following system and emission device for following |
| CN106393109A (en) * | 2016-10-21 | 2017-02-15 | 苏州大成电子科技有限公司 | Step following walking robot and automatic walking method thereof |
| CN106426170A (en) * | 2016-11-01 | 2017-02-22 | 安徽爱依特科技有限公司 | Following moving algorithm of following moving photographing robot |
| CN106483957A (en) * | 2016-10-09 | 2017-03-08 | 乐视控股（北京）有限公司 | The method and apparatus that control perambulator follows target object |
| CN106548637A (en) * | 2017-01-03 | 2017-03-29 | 宁波诠航机械科技有限公司 | Traffic congestion alarming device and alarming method for power |
| CN106681326A (en) * | 2017-01-04 | 2017-05-17 | 京东方科技集团股份有限公司 | Seat, method of controlling seat movement, and motion control system for seat |
| CN106843280A (en) * | 2017-02-17 | 2017-06-13 | 深圳市踏路科技有限公司 | A kind of intelligent robot system for tracking |
| CN107168379A (en) * | 2017-06-07 | 2017-09-15 | 深圳市鑫益嘉科技股份有限公司 | A kind of dynamic tracing device and method for tracing |
| CN107272744A (en) * | 2017-05-27 | 2017-10-20 | 芜湖星途机器人科技有限公司 | The robot active system for tracking being engaged with the number of taking machine |
| CN107316961A (en) * | 2017-07-12 | 2017-11-03 | 惠州拓邦电气技术有限公司 | A kind of intelligent battery equipment |
| CN107870326A (en) * | 2017-10-13 | 2018-04-03 | 深圳天珑无线科技有限公司 | A kind of communication terminal and its distance-finding method and the device with store function |
| CN107962570A (en) * | 2017-11-29 | 2018-04-27 | 芜湖星途机器人科技有限公司 | Automatically control the robot with human body distance |
| CN108228739A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | Ground drawing generating method, device and the automatic working system of automatic working system |
| CN109164831A (en) * | 2018-08-13 | 2019-01-08 | 广东工业大学 | A kind of intelligent-tracking trolley |
| WO2019149274A1 (en) * | 2018-02-02 | 2019-08-08 | 冯春魁 | Movable machine and control system thereof |
| WO2019154403A1 (en) * | 2018-02-09 | 2019-08-15 | 冯春魁 | Movable machine, control system, accessory, and control method |
| CN110362091A (en) * | 2019-08-05 | 2019-10-22 | 广东交通职业技术学院 | A kind of robot follows kinescope method, device and robot |
| CN111580432A (en) * | 2020-05-13 | 2020-08-25 | 仲恺农业工程学院 | Security robot system based on STM32 |
| CN112401568A (en) * | 2020-11-18 | 2021-02-26 | 安徽理工大学 | Baby walking learning device and using method |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405500A (en) * | 2016-10-09 | 2017-02-15 | 北京光年无限科技有限公司 | Intelligent robot following method and following system and emission device for following |
| CN106483957A (en) * | 2016-10-09 | 2017-03-08 | 乐视控股（北京）有限公司 | The method and apparatus that control perambulator follows target object |
| CN106405500B (en) * | 2016-10-09 | 2019-04-26 | 北京光年无限科技有限公司 | Intelligent robot follower method, system for tracking and the emitter for following |
| CN106393109A (en) * | 2016-10-21 | 2017-02-15 | 苏州大成电子科技有限公司 | Step following walking robot and automatic walking method thereof |
| CN106426170A (en) * | 2016-11-01 | 2017-02-22 | 安徽爱依特科技有限公司 | Following moving algorithm of following moving photographing robot |
| CN108228739A (en) * | 2016-12-15 | 2018-06-29 | 苏州宝时得电动工具有限公司 | Ground drawing generating method, device and the automatic working system of automatic working system |
| US11442448B2 (en) | 2016-12-15 | 2022-09-13 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device, method for providing alarm about positioning fault in same, self-moving device, and automatic working system |
| CN106548637A (en) * | 2017-01-03 | 2017-03-29 | 宁波诠航机械科技有限公司 | Traffic congestion alarming device and alarming method for power |
| CN106681326A (en) * | 2017-01-04 | 2017-05-17 | 京东方科技集团股份有限公司 | Seat, method of controlling seat movement, and motion control system for seat |
| CN106843280A (en) * | 2017-02-17 | 2017-06-13 | 深圳市踏路科技有限公司 | A kind of intelligent robot system for tracking |
| CN106843280B (en) * | 2017-02-17 | 2021-03-16 | 深圳市卓兴半导体科技有限公司 | Intelligent robot following system |
| CN107272744A (en) * | 2017-05-27 | 2017-10-20 | 芜湖星途机器人科技有限公司 | The robot active system for tracking being engaged with the number of taking machine |
| CN107168379A (en) * | 2017-06-07 | 2017-09-15 | 深圳市鑫益嘉科技股份有限公司 | A kind of dynamic tracing device and method for tracing |
| CN107316961A (en) * | 2017-07-12 | 2017-11-03 | 惠州拓邦电气技术有限公司 | A kind of intelligent battery equipment |
| CN107870326A (en) * | 2017-10-13 | 2018-04-03 | 深圳天珑无线科技有限公司 | A kind of communication terminal and its distance-finding method and the device with store function |
| CN107962570A (en) * | 2017-11-29 | 2018-04-27 | 芜湖星途机器人科技有限公司 | Automatically control the robot with human body distance |
| WO2019149274A1 (en) * | 2018-02-02 | 2019-08-08 | 冯春魁 | Movable machine and control system thereof |
| WO2019154403A1 (en) * | 2018-02-09 | 2019-08-15 | 冯春魁 | Movable machine, control system, accessory, and control method |
| CN109164831A (en) * | 2018-08-13 | 2019-01-08 | 广东工业大学 | A kind of intelligent-tracking trolley |
| CN110362091A (en) * | 2019-08-05 | 2019-10-22 | 广东交通职业技术学院 | A kind of robot follows kinescope method, device and robot |
| CN111580432A (en) * | 2020-05-13 | 2020-08-25 | 仲恺农业工程学院 | Security robot system based on STM32 |
| CN112401568A (en) * | 2020-11-18 | 2021-02-26 | 安徽理工大学 | Baby walking learning device and using method |
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Application publication date: 20160817 |