CN105865471A - Robot navigation method and navigation robot - Google Patents
Robot navigation method and navigation robot Download PDFInfo
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- CN105865471A CN105865471A CN201610203026.5A CN201610203026A CN105865471A CN 105865471 A CN105865471 A CN 105865471A CN 201610203026 A CN201610203026 A CN 201610203026A CN 105865471 A CN105865471 A CN 105865471A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a robot navigation method and a navigation robot. The method comprises: when the robot movement is detected, collecting real-time image on a preset position; processing the collected image to obtain a path image in the image; comparing the path image obtained by processing the image to a preset path map to obtain an instantaneous position of the robot; based on the instantaneous position, a destination of the robot and the path map, generating a mobile path of the robot moving to the destination, and controlling the robot to move according to the generated mobile path. The present invention uses the image processing technology to control the robot to move according to a preset path, so that the robot navigation is more precise.
Description
Technical field
The invention belongs to robot control field, particularly relate to method and the navigation instrument of a kind of robot navigation
People.
Background technology
Along with the fast development of shifting modern science and technology, occur in that function and act on different robot, giving and use
The life at family brings great convenience, has goed deep into user's life.
Wherein, the robot of some has been provided with the function of self-navigation.But, existing navigation
There is certain defect, such as dining room meal delivery robot and AGV (Automatic Guided in robot
Vehicle, automatic guide vehicle) dolly must rely on and be attached to magnetic stripe on the ground and navigate, magnetic lineation magnetic,
Easily adsorbing contaminant, is attached on family's ceramic tile be more easily damaged, is not suitable in family's indoor navigation.Based on UWB
The indoor positioning technologies robot of (Ultra Wideband, ultra broadband) is easily subject to wall and intercepts, and
Expensive.
Summary of the invention
The technical problem to be solved is to provide method and the navigation instrument of a kind of robot navigation
People, by image processing techniques, controls robot and moves by default mobile route.
The present invention is achieved in that a kind of method of robot navigation, described method include: when detecting
When robot moves, Real-time Collection is arranged at the image of preset position；At the described image that will collect
Reason, obtains the path profile in described image；Path profile in the described image obtained after processing is with preset
Path map compares, and obtains the instantaneous position of described robot；According to described instantaneous position, described machine
The destination of people and described path map, generate described robot and move to the mobile route of described destination；
Control described robot to move by the described mobile route generated.
Further, described according to described instantaneous position, the destination of described robot and described path ground
Figure, also includes before generating the mobile route that described robot moves to described destination:
Receive the move of the destination information comprising described robot of user setup, and obtain described mesh
Ground information, to obtain the destination that described robot moves.
Further, the described robot of described control is moved by the described mobile route generated and includes:
By adjusting the speed of described robot left and right wheels, control described robot by the described mobile road generated
Footpath is moved.
Further, the described robot of described control is moved by the described mobile route generated and includes:
Control described robot to move by the described mobile route generated, have when detecting in described mobile route
During barrier, avoiding obstacles, continues the described mobile route by generating and moves.
Further, described method also includes:
Receive the entrance alert mode instruction of user setup, and enter alert mode；
When the object of activity being detected, alert.
Present invention also offers a kind of navigating robot, described robot includes: image capture module, is used for
When detecting that robot moves, Real-time Collection is arranged at the image of preset position；Image processing module, uses
In being processed by the described image collected, obtain the path profile in described image；Comparison module, is used for
Path profile in the described image obtained after processing compares with preset path map, obtains described machine
The instantaneous position of people；Generation module, for according to described instantaneous position, the destination of described robot and
Described path map, generates described robot and moves to the mobile route of described destination；
Control module, is moved by the described mobile route generated for controlling described robot.
Further, described robot also includes:
Receiver module, for receiving the move of the destination information comprising described robot of user setup,
And obtain described destination information, to obtain the destination that described robot moves.
Further, described control module specifically for:
By adjusting the speed of described robot left and right wheels, control described robot and move by the described mobile route generated
Dynamic.
Further, described control module specifically for: control described robot by generate described mobile road
Footpath is moved, when detect described mobile route has barrier time, avoiding obstacles, continue by generate institute
State mobile route to move.
Further, described robot also includes:
First alarm module, for receiving the entrance alert mode instruction of user setup, and enters alert mode；
Second alarm module, for when the object of activity being detected, alerting.
The present invention compared with prior art, has the beneficial effects that: provide a kind of robot navigation method and
Navigating robot, is obtained the instantaneous position of robot, thus generates the shifting of robot by image processing techniques
Dynamic path also controls robot and moves by this path, makes the navigation of robot become more accurate.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those skilled in the art, do not paying wound
On the premise of the property made is laborious, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 be first embodiment of the invention provide robot navigation method realize schematic flow sheet.
Fig. 2 be second embodiment of the invention provide robot navigation method realize schematic flow sheet.
Fig. 3 is the structural representation of the navigating robot that third embodiment of the invention provides.
Fig. 4 is the structural representation of the navigating robot that fourth embodiment of the invention provides.
Detailed description of the invention
For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, below will knot
Close the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely retouched
State, it is clear that described embodiment is only a part of embodiment of the present invention, and not all embodiments.Base
Embodiment in the present invention, those skilled in the art are obtained under not making creative work premise
Every other embodiment, broadly falls into the scope of protection of the invention.
The technical problem to be solved is to provide method and the navigation instrument of a kind of robot navigation
People, by image processing techniques, controls robot and moves by default mobile route.
Refer to the robot navigation method that Fig. 1, Fig. 1 provide for first embodiment of the invention realizes flow process
Schematic diagram.The robot navigation method that the present embodiment provides mainly comprises the steps that
S101, when detecting that robot moves, Real-time Collection is arranged at the image of preset position.
Be arranged at the image of preset position, be the most specially disposed in the interior roof for
The image of robot navigation, includes that robot allows information and the zones of different of track route in the images
Mark information, wherein mark information is specially special pattern set in advance or letter, such as, by kitchen
It is set to K, parlor is set to D.
Real-time image acquisition, realizes especially by the camera being arranged on the robot crown in the present embodiment,
This camera shoots straight up, and capture setting, at the image for robot navigation of indoor roof, needs
Illustrating, this camera not necessarily must be by the crown in robot, as long as arrive by energy captured in real-time
The place of rooftop images.
S102, this image collected is processed, obtain the path profile in this image.
After this robot receives the image of camera collection, process by analysis, obtain the path in image
Figure, this path profile refers to be disposed in the interior in the image for robot navigation on roof, real-time institute of robot
Image information on the crown, position.
Path profile in S103, this image that will obtain after processing compares with preset path map, acquisition
The instantaneous position of this robot.
Preset path map is stored in robot interior, and is disposed in the interior leading for robot of roof
The identical image of image of boat, for the path profile contrast obtained through image procossing, determine that robot works as
The particular location at front place.
S104, according to this instantaneous position, the destination of this robot and this path map, generate this machine
People moves to the mobile route of this destination.
By determining the position that this robot is presently in, the mesh that robot is to be arrived in this path map
Ground, generate this robot and move to the mobile route of this destination, it should be noted that this robot exists
During generating path, first can generate whole mobile routes arrived at from current location, so
One optimal path of rear selection, this optimal path is probably the path that distance is the shortest, it is also possible to mobile the most square
Just path, such as minimum path of turning round.
S105, control this robot by generate this mobile route move.
The invention provides method and the navigating robot of a kind of robot navigation, obtained by image processing techniques
Take the instantaneous position of robot, thus generate the mobile route of robot and control robot and move by this path,
The navigation making robot becomes more accurate.
Refer to the robot navigation method that Fig. 2, Fig. 2 provide for second embodiment of the invention realizes flow process
Schematic diagram.The robot navigation method that the present embodiment provides mainly comprises the steps that
S201, when detecting that robot moves, Real-time Collection is arranged at the image of preset position.
Be arranged at the image of preset position, be the most specially disposed in the interior roof for
The image of robot navigation, includes that robot allows information and the zones of different of track route in the images
Mark information, wherein mark information is specially special pattern set in advance or letter, such as, by kitchen
It is set to K, parlor is set to D.
Real-time image acquisition, realizes especially by the camera being arranged on the robot crown in the present embodiment,
This camera shoots straight up, and capture setting, at the image for robot navigation of indoor roof, needs
Illustrating, this camera not necessarily must be by the crown in robot, as long as arrive by energy captured in real-time
The place of rooftop images.
S202, this image collected is processed, obtain the path profile in this image.
After this robot receives the image of camera collection, process by analysis, obtain the path in image
Figure, this path profile refers to be disposed in the interior in the image for robot navigation on roof, real-time institute of robot
Image information on the crown, position.
Path profile in S203, this image that will obtain after processing compares with preset path map, acquisition
The instantaneous position of this robot.
Preset path map is stored in robot interior, and is disposed in the interior leading for robot of roof
The identical image of image of boat, for the path profile contrast obtained through image procossing, determine that robot works as
The particular location at front place.
S204, receive the move of the destination information comprising this robot of user setup, and obtain should
Destination information, to obtain the destination that this robot moves.
S205, according to this instantaneous position, the destination of this robot and this path map, generate this machine
People moves to the mobile route of this destination.
By determining the position that this robot is presently in, the mesh that robot is to be arrived in this path map
Ground, generate this robot and move to the mobile route of this destination, it should be noted that this robot exists
During generating path, first can generate whole mobile routes arrived at from current location, so
One optimal path of rear selection, this optimal path is probably the path that distance is the shortest, it is also possible to mobile the most square
Just path, such as minimum path of turning round.
S206, by adjusting the speed of this robot left and right wheels, control this robot by generate this move road
Footpath is moved, when detect this mobile route has barrier time, avoiding obstacles, continue by generate this shifting
Dynamic path is moved.
By adjusting the speed of this robot left and right wheels, control this robot and move by this mobile route generated,
I.e. when robot now needs to turn round to the left, the speed controlling robot left side wheel is less than the right wheel,
Robot is made to turn round to the left.
When this robot runs into barrier during movement, i.e. have on mobile route when robot detects
During object, robot can stop and send voice message " there is obstacle in front ", and after one minute, obstacle signal is not
Become, robot along advance the direction anglec of rotation detect in real time surrounding sensor signal get around barrier until
After again routing information being detected, robot walks on.
S207, the entrance alert mode instruction of reception user setup, and enter alert mode；
When user needs to go out, indoor nobody time, user can input entrance alert mode instruction, make robot
Enter alert mode.
S208, when detect activity object time, alert.
When the object of activity being detected, alert, i.e. after robot enters alert mode, detection
To the most movable object, all will alert, and until user input instruction, make this robot exit alarm
Pattern.Under alert mode, user can arrange the path of the patrol of robot, after user leaves home, machine
Device people can go on patrol according to default patrol path.
This robot carries out the mode alerted, and independently blows a whistle 2 minutes including by the super loud alarm of 90 decibels
And rely on built-in Wi-Fi module uploaded videos photo to user mobile phone simultaneously, it is ensured that subscriber household property safety,
Strengthen user's high-tech to experience.
The invention provides method and the navigating robot of a kind of robot navigation, obtained by image processing techniques
Take the instantaneous position of robot, thus generate the mobile route of robot and control robot and move by this path,
The navigation making robot becomes more accurate, provides simultaneously and can move ahead and the merit of Real-time Alarm by avoiding obstacles
Can, make this robot more intelligent.
Refer to the structural representation that Fig. 3, Fig. 3 are the navigating robots that third embodiment of the invention provides,
For convenience of description, illustrate only the part relevant to the embodiment of the present invention.The navigating robot of Fig. 3 example
It can be the executive agent of the robot navigation method that aforementioned first embodiment provides.The guiding aircraft of Fig. 3 example
Device people, specifically includes that image capture module 301, image processing module 302, comparison module 303, generates
Module 304 and control module 305.Each functional module describes in detail as follows:
Image capture module 301, for when detecting that robot moves, Real-time Collection is arranged at presetting bit
The image put.
Be arranged at the image of preset position, be the most specially disposed in the interior roof for
The image of robot navigation, includes that robot allows information and the zones of different of track route in the images
Mark information, wherein mark information is specially special pattern set in advance or letter, such as, by kitchen
It is set to K, parlor is set to D.
Real-time image acquisition, realizes especially by the camera being arranged on the robot crown in the present embodiment,
This camera shoots straight up, and capture setting, at the image for robot navigation of indoor roof, needs
Illustrating, this camera not necessarily must be by the crown in robot, as long as arrive by energy captured in real-time
The place of rooftop images.
Image processing module 302, for being processed by this image collected, obtains the road in this image
Footpath figure.
After this robot receives the image of camera collection, process by analysis, obtain the path in image
Figure, this path profile refers to be disposed in the interior in the image for robot navigation on roof, real-time institute of robot
Image information on the crown, position.
Comparison module 303, the path profile in this image obtained after processing and preset path map
Compare, obtain the instantaneous position of this robot.
Preset path map is stored in robot interior, and is disposed in the interior leading for robot of roof
The identical image of image of boat, for the path profile contrast obtained through image procossing, determine that robot works as
The particular location at front place.
Generation module 304, is used for according to this instantaneous position, the destination of this robot and this path map,
Generate this robot and move to the mobile route of this destination.
By determining the position that this robot is presently in, the mesh that robot is to be arrived in this path map
Ground, generate this robot and move to the mobile route of this destination, it should be noted that this robot exists
During generating path, first can generate whole mobile routes arrived at from current location, so
One optimal path of rear selection, this optimal path is probably the path that distance is the shortest, it is also possible to mobile the most square
Just path, such as minimum path of turning round.
Control module 305, is moved by this mobile route generated for controlling this robot.
The invention provides method and the navigating robot of a kind of robot navigation, obtained by image processing techniques
Take the instantaneous position of robot, thus generate the mobile route of robot and control robot and move by this path,
The navigation making robot becomes more accurate.
Refer to the structural representation that Fig. 4, Fig. 4 are the navigating robots that fourth embodiment of the invention provides,
For convenience of description, illustrate only the part relevant to the embodiment of the present invention.The navigating robot of Fig. 4 example
It can be the executive agent of the robot navigation method that aforementioned second embodiment provides.The guiding aircraft of Fig. 4 example
Device people, specifically includes that image capture module 401, image processing module 402, comparison module 403, receives
Module 404, generation module 405, control module the 406, first alarm module 407 and the second alarm module
408.Each functional module describes in detail as follows:
Image capture module 401, for when detecting that robot moves, Real-time Collection is arranged at presetting bit
The image put.
Be arranged at the image of preset position, be the most specially disposed in the interior roof for
The image of robot navigation, includes that robot allows information and the zones of different of track route in the images
Mark information, wherein mark information is specially special pattern set in advance or letter, such as, by kitchen
It is set to K, parlor is set to D.
Real-time image acquisition, realizes especially by the camera being arranged on the robot crown in the present embodiment,
This camera shoots straight up, and capture setting, at the image for robot navigation of indoor roof, needs
Illustrating, this camera not necessarily must be by the crown in robot, as long as arrive by energy captured in real-time
The place of rooftop images.
Image processing module 402, for being processed by this image collected, obtains the road in this image
Footpath figure.
After this robot receives the image of camera collection, process by analysis, obtain the path in image
Figure, this path profile refers to be disposed in the interior in the image for robot navigation on roof, real-time institute of robot
Image information on the crown, position.
Comparison module 403, the path profile in this image obtained after processing and preset path map
Compare, obtain the instantaneous position of this robot.
Preset path map is stored in robot interior, and is disposed in the interior leading for robot of roof
The identical image of image of boat, for the path profile contrast obtained through image procossing, determine that robot works as
The particular location at front place.
Receiver module 404, for receiving the movement of the destination information comprising described robot of user setup
Instruction, and obtain described destination information, to obtain the destination that described robot moves.
Generation module 405, is used for according to this instantaneous position, the destination of this robot and this path map,
Generate this robot and move to the mobile route of this destination.
By determining the position that this robot is presently in, the mesh that robot is to be arrived in this path map
Ground, generate this robot and move to the mobile route of this destination, it should be noted that this robot exists
During generating path, first can generate whole mobile routes arrived at from current location, so
One optimal path of rear selection, this optimal path is probably the path that distance is the shortest, it is also possible to mobile the most square
Just path, such as minimum path of turning round.
Control module 406, for the speed by adjusting described robot left and right wheels, controls this robot and presses
Generate this mobile route move, when detect described mobile route has barrier time, avoiding obstacles, continue
Continue the described mobile route by generating to move.
By adjusting the speed of this robot left and right wheels, control this robot and move by this mobile route generated,
I.e. when robot now needs to turn round to the left, the speed controlling robot left side wheel is less than the right wheel,
Robot is made to turn round to the left.
When this robot runs into barrier during movement, i.e. have on mobile route when robot detects
During object, robot can stop and send voice message " there is obstacle in front ", and after one minute, obstacle signal is not
Become, robot along advance the direction anglec of rotation detect in real time surrounding sensor signal get around barrier until
After again routing information being detected, robot walks on.
First alarm module 407, for receiving the entrance alert mode instruction of user setup, and enters alarm
Pattern；
When user needs to go out, indoor nobody time, user can input entrance alert mode instruction, make robot
Enter alert mode.
Second alarm module 408, for when the object of activity being detected, alerting.
When the object of activity being detected, alert, i.e. after robot enters alert mode, detection
To the most movable object, all will alert, and until user input instruction, make this robot exit alarm
Pattern.Under alert mode, user can arrange the path of the patrol of robot, after user leaves home, machine
Device people can go on patrol according to default patrol path.
This robot carries out the mode alerted, and independently blows a whistle 2 minutes including by the super loud alarm of 90 decibels
And rely on built-in Wi-Fi module uploaded videos photo to user mobile phone simultaneously, it is ensured that subscriber household property safety,
Strengthen user's high-tech to experience.
The invention provides method and the navigating robot of a kind of robot navigation, obtained by image processing techniques
Take the instantaneous position of robot, thus generate the mobile route of robot and control robot and move by this path,
The navigation making robot becomes more accurate, provides simultaneously and can move ahead and the merit of Real-time Alarm by avoiding obstacles
Can, make this robot more intelligent.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (10)
1. the method for a robot navigation, it is characterised in that described method includes:
When detecting that robot moves, Real-time Collection is arranged at the image of preset position；
The described image collected is processed, obtains the path profile in described image；
Path profile in the described image obtained after processing compares with preset path map, obtains described
The instantaneous position of robot；
According to described instantaneous position, the destination of described robot and described path map, generate described machine
Device people moves to the mobile route of described destination；
Control described robot to move by the described mobile route generated.
2. the method for claim 1, it is characterised in that described according to described instantaneous position, described
The destination of robot and described path map, generate described robot and move to the movement of described destination
Also include before path:
Receive the move of the destination information comprising described robot of user setup, and obtain described mesh
Ground information, to obtain the destination that described robot moves.
3. method as claimed in claim 1 or 2, it is characterised in that the described robot of described control is by raw
The described mobile route become moves and includes:
By adjusting the speed of described robot left and right wheels, control described robot by the described mobile road generated
Footpath is moved.
4. the method for claim 1, it is characterised in that the described robot of described control is by generation
Described mobile route moves and includes:
Control described robot to move by the described mobile route generated, have when detecting in described mobile route
During barrier, avoiding obstacles, continues the described mobile route by generating and moves.
5. the method for claim 1, it is characterised in that described method also includes:
Receive the entrance alert mode instruction of user setup, and enter alert mode；
When the object of activity being detected, alert.
6. a navigating robot, it is characterised in that described robot includes:
Image capture module, for when detecting that robot moves, Real-time Collection is arranged at preset position
Image；
Image processing module, for being processed by the described image collected, obtains the road in described image
Footpath figure；
Comparison module, the path profile in the described image obtained after processing does with preset path map
Relatively, the instantaneous position of described robot is obtained；
Generation module, for according to described instantaneous position, the destination of described robot and ground, described path
Figure, generates described robot and moves to the mobile route of described destination；
Control module, is moved by the described mobile route generated for controlling described robot.
7. robot as claimed in claim 6, it is characterised in that described robot also includes:
Receiver module, for receiving the move of the destination information comprising described robot of user setup,
And obtain described destination information, to obtain the destination that described robot moves.
Robot the most as claimed in claims 6 or 7, it is characterised in that described control module specifically for:
By adjusting the speed of described robot left and right wheels, control described robot and move by the described mobile route generated
Dynamic.
9. robot as claimed in claim 8, it is characterised in that described control module is specifically additionally operable to:
Control described robot to move, when detecting in described mobile route have obstacle by the described mobile route generated
During thing, avoiding obstacles, continues the described mobile route by generating and moves.
10. robot as claimed in claim 9, it is characterised in that described robot also includes:
First alarm module, for receiving the entrance alert mode instruction of user setup, and enters alert mode；
Second alarm module, for when the object of activity being detected, alerting.
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| CN106598054A (en) * | 2017-01-16 | 2017-04-26 | 深圳优地科技有限公司 | Method and device for adjusting robot path |
| CN107065871A (en) * | 2017-04-07 | 2017-08-18 | 东北农业大学 | It is a kind of that dining car identification alignment system and method are walked based on machine vision certainly |
| CN107703940A (en) * | 2017-09-25 | 2018-02-16 | 芜湖智久机器人有限公司 | A kind of air navigation aid based on ceiling Quick Response Code |
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| CN108958249A (en) * | 2018-07-06 | 2018-12-07 | 东南大学 | A kind of ground robot control system and control method considering Unknown control direction |
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | Intelligent device |
| WO2019154443A3 (en) * | 2019-04-04 | 2020-02-13 | 上海快仓智能科技有限公司 | Navigation control method, smart warehousing system, and automated guided vehicle |
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