CN106393109A - Step following walking robot and automatic walking method thereof - Google Patents
Step following walking robot and automatic walking method thereof Download PDFInfo
- Publication number
- CN106393109A CN106393109A CN201610917165.4A CN201610917165A CN106393109A CN 106393109 A CN106393109 A CN 106393109A CN 201610917165 A CN201610917165 A CN 201610917165A CN 106393109 A CN106393109 A CN 106393109A
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- CN
- China
- Prior art keywords
- robot
- base
- walking
- arc
- image
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention relates to a step following walking robot and an automatic walking method thereof. The robot comprises a base and a loading space mounted on the upper portion of the base. At least one image device is arranged on the side face of the base. A round wheel disc is embedded in the bottom of the base concentrically. A plurality of rolling wheels are arranged on the bottom face of the wheel disc. The loading space is defined by the base and a baffle arranged on the upper surface of the base jointly. The baffle is an arc plate formed by obliquely cutting a cylinder. The arc length of the bottom of the arc plate is greater than the arc length of the top of the curve plate. The bottom of the arc plate is embedded into a circular groove in the base. The arc plate can rotate along the circular groove with the axial lead of the base as the rotation center. An identification label is arranged on a step following object of the robot. The image devices face the identification label. The robot is characterized in that when the step following object moves in front of the robot, the image devices determine the direction and distance between the step following object and the robot by scanning the identification label, and the robot follows the object according to direction and distance information.
Description
Technical field
The present invention relates to a kind of walking robot, more particularly, to one kind is with walking robot walking and its autonomous method.
Background technology
Specific crowd, the such as crowd of walking disorder, if using the auxiliary of robot, walking can become more convenient, special
When not being to carry carrying heavy goods luggage etc., with greater need for the auxiliary of robot.
Content of the invention
Instant invention overcomes the deficiencies in the prior art, provide one kind with walking robot walking and its autonomous method.
For reaching above-mentioned purpose, the first technical scheme that the present invention adopts is：A kind of with walking robot walking, including：
Base and be arranged on the load space above base it is characterised in that described base side is provided with least one device for image, institute
State the concentric wheel disc being embedded with circle of base bottom, described wheel disc bottom surface is provided with several rollers, and described load space passes through
Base surrounds with the baffle plate being arranged on base upper surface and is formed, the arc that described baffle plate is formed after cutting sth. askew for cylinder, described arc
The circular arc line length of shape plate bottom is more than the circular arc line length at top, and described arc bottom embeds in the circular groove of described base,
Described arc can be rotated along circular groove with the axial line of described base for center of rotation.
In a preferred embodiment of the present invention, described base upper surface arranges two circular grooves being arranged concentrically, each circular groove
One arc of interior each setting.
In a preferred embodiment of the present invention, described wheel disc can be driven by described driving means, with described base, phase occur
To rotation.
In a preferred embodiment of the present invention, described wheel disc is provided with four rolling, and at least two rollers connect
Driving means.
In a preferred embodiment of the present invention, described base side is provided with two device for image, two described device for image
It is photographic head, two photographic head are separately positioned on the relative position of described base side.
The present invention adopt second technical scheme be：A kind of autonomous method with walking robot walking, robot
With setting identification label on step object, device for image is towards identification label it is characterised in that moving in front of robot with step object
When dynamic, device for image passes through scanning recognition label and determines with step object and the orientation of itself and spacing, and passes through orientation and spacing
Information is with step.
In a preferred embodiment of the present invention, the actual identification mark taking in shining of image documentation equipment is compared by space or depth perception principle
Sign the identification tag size relation with pre-stored image.
In a preferred embodiment of the present invention, the identification mark of the actual identification label size taking in shining and pre-stored image
The ratio signing size is N, and when N is less than preset value, robot rearward movement, away from step object；When N is equal to preset value, machine
Device people's stop motion；When N is more than preset value, robot travels forward, near with step object.
In a preferred embodiment of the present invention, described identification label is arranged on step object bottom for horizontal circle, described
Some horizontal identification lines are arranged on label, the spacing between adjacent two horizontal identification lines is certain.
The present invention solves defect present in background technology, and the present invention possesses following beneficial effect：
（1）By arranging wheel disc and roller it is achieved that robot can be with the hardware condition of self-steering and walking, by certain
Control method, controls wheel disc to be control direction, controls roller to be to control to move.
（2）By arranging arc, weight can be put into base upper surface from the indentation, there of arc bottom, and passes through to adjust
Two arcs of section, make the two mutually stagger, and just can form the load space that a closure preferably only has upper shed.
（3）Photographic head can pass through scanning recognition label, and then recognizes that locking is with step object with step object.
（4）The spacing between adjacent level identification line on identification label can be distinguished by space or depth perception, even if simultaneously
Be identification label uneven surface row in photographic head, but this part of both is substantially to be located in the same horizontal plane, space or depth perception
Impact do not result in the deformation of the distance between horizontal identification line.The principle of space or depth perception is that object distance observation body is more remote,
Imaging is less；Object distance observation body is nearer, and imaging is bigger；Observing body can be photographic head or human eye, in the present invention be
Photographic head.
Brief description
The present invention is further described with reference to the accompanying drawings and examples；
Fig. 1 is the three-dimensional structure diagram of two arc separated position of the first preferred embodiment of the present invention；
Fig. 2 is the three-dimensional structure diagram of two arc coincidence status of the first preferred embodiment of the present invention；
Fig. 3 is the upward view of the base of the first preferred embodiment of the present invention；
In figure：1st, base, 2, circular groove, 3, arc, 4, wheel disc, 5, roller, 6, pressure photographic head.
Specific embodiment
Presently in connection with drawings and Examples, the present invention is further detailed explanation, and these accompanying drawings are the signal of simplification
Figure, only illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention in a schematic way.
As shown in Figure 1, Figure 2 and Figure 3, a kind of with walking robot walking, including：Base 1 and the load being arranged on base 1 top
Object space, base 1 side is provided with least one device for image, and what base 1 bottom was concentric is embedded with the wheel disc 4 of circle, wheel disc 4 bottom surface
It is provided with several rollers 5, load space is surrounded with the baffle plate being arranged on base 1 upper surface by base 1 and formed, baffle plate is circle
The arc 3 that cylinder is formed after cutting sth. askew, the circular arc line length of arc 3 bottom is more than the circular arc line length at top, arc 3 bottom
In the circular groove 2 of embedded base 1, arc 3 can be rotated along circular groove 2 with the axial line of base 1 for center of rotation.
By arranging wheel disc 4 and roller 5 it is achieved that robot can be with the hardware condition of self-steering and walking, by one
Fixed control method, controls wheel disc 4 to be control direction, controls roller 5 to be to control to move.
By arranging arc 3, weight can be put into base 1 upper surface from the indentation, there of arc 3 bottom, and passes through to adjust
Two arcs 3 of section, make the two mutually stagger, and just can form the load space that a closure preferably only has upper shed.
By arranging arc 3, weight can be put into base 1 upper surface from the indentation, there of arc 3 bottom, and passes through to adjust
Two arcs 3 of section, make the two mutually stagger, and just can form the load space that a closure preferably only has upper shed.
Base 1 upper surface arranges two circular grooves being arranged concentrically 2, respectively arranges an arc 3 in each circular groove 2.
Wheel disc 4 can be rotated against with base 1 in driven device driving.
Four rolling 5 is provided with wheel disc 4, and at least two rollers 5 connect driving means.
Base 1 side is provided with two device for image, and two device for image are photographic head 6, and two photographic head 6 are respectively provided with
In the relative position in base 1 side.
A kind of autonomous method with walking robot walking, robot fills with setting identification label on step object, image
Put towards identification label, when moving in front of robot with step object, device for image passes through scanning recognition label and determines with step pair
As orientation and spacing with itself, and by orientation and pitch information with step.
Compare the identification label of the actual identification label taking in shining of image documentation equipment and pre-stored image by space or depth perception principle
Magnitude relationship.Photographic head 6 can pass through scanning recognition label, and then recognizes that locking is with step object with step object.
The actual identification label size taking in shining is N with the ratio of the identification label size of pre-stored image, and N is less than
During preset value, robot rearward movement, away from step object；When N is equal to preset value, robot stop motion；N is more than preset value
When, robot travels forward, near with step object.
Identification label is arranged on step object bottom for horizontal circle, and label arranges some horizontal identification lines, adjacent
Article two, the spacing between horizontal identification line is certain.The spacing between adjacent level identification line on identification label passes through space or depth perception
Can distinguish, even the uneven surface row of identification label is in photographic head 6 simultaneously, but this part of both is substantially positioned at same
In horizontal plane, the impact of space or depth perception does not result in the deformation of the distance between horizontal identification line.The principle of space or depth perception is object
Distance observation body is more remote, and imaging is less；Object distance observation body is nearer, and imaging is bigger；Observing body can be photographic head 6
Or human eye, it is photographic head 6 in the present invention.
Desirable embodiment according to the present invention is enlightenment above, and by above-mentioned description, related personnel is completely permissible
In the range of without departing from this invention technological thought, carry out various change and modification.The technical scope of this invention
The content being not limited in description is it is necessary to determine technical scope according to right.
Claims (9)
1. one kind is with walking robot walking, including：Base and be arranged on load space above base it is characterised in that described
Base side is provided with least one device for image, and what described base bottom was concentric is embedded with the wheel disc of circle, and described wheel disc bottom surface sets
It is equipped with several rollers, described load space is surrounded with the baffle plate being arranged on base upper surface by base and formed, described baffle plate
The arc being formed after cutting sth. askew for cylinder, the circular arc line length of described arc bottom is more than the circular arc line length at top, described
Arc bottom embeds in the circular groove of described base, and described arc can be with the axial line of described base for center of rotation along circle
Groove rotates.
2. according to claim 1 with walking robot walking it is characterised in that：Described base upper surface arranges two with one heart
The circular groove of setting, respectively arranges an arc in each circular groove.
3. according to claim 1 with walking robot walking it is characterised in that：Described wheel disc can be by described driving means
Drive and rotate against with described base.
4. according to claim 1 with walking robot walking it is characterised in that：It is provided with four rolling on described wheel disc,
And at least two rollers connect driving means.
5. according to claim 1 with walking robot walking it is characterised in that：Described base side is provided with two image dresses
Put, two described device for image are photographic head, two photographic head are separately positioned on the relative position of described base side.
6. a kind of autonomous method with walking robot walking as claimed in claim 1, robot is known with setting on step object
Distinguishing label, device for image is towards identification label it is characterised in that when moving in front of robot with step object, device for image leads to
Overscanning identification label determines with step object and the orientation of itself and spacing, and by orientation and pitch information with step.
7. autonomous method according to claim 6 it is characterised in that：Image documentation equipment is compared by space or depth perception principle
The actual identification label taking in shining and the identification tag size relation of pre-stored image.
8. autonomous method according to claim 7 it is characterised in that：The actual identification label size taking in shining
Ratio with the identification label size of pre-stored image is N, and when N is less than preset value, robot rearward movement, away from step pair
As；When N is equal to preset value, robot stop motion；When N is more than preset value, robot travels forward, near with step object.
9. autonomous method according to claim 6 it is characterised in that：Described identification label is arranged on for horizontal circle
With step object bottom, described label arranges some horizontal identification lines, the spacing between adjacent two horizontal identification lines is certain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917165.4A CN106393109A (en) | 2016-10-21 | 2016-10-21 | Step following walking robot and automatic walking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917165.4A CN106393109A (en) | 2016-10-21 | 2016-10-21 | Step following walking robot and automatic walking method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393109A true CN106393109A (en) | 2017-02-15 |
Family
ID=58013501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610917165.4A Pending CN106393109A (en) | 2016-10-21 | 2016-10-21 | Step following walking robot and automatic walking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393109A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100797001B1 (en) * | 2006-12-19 | 2008-01-22 | 한국생산기술연구원 | Wheel-based humanoid robot |
| CN103950032A (en) * | 2014-04-14 | 2014-07-30 | 上海大学 | Warehouse management auxiliary robot |
| CN105415385A (en) * | 2016-01-07 | 2016-03-23 | 马高峰 | Intelligent meal delivering robot |
| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN105856263A (en) * | 2016-06-24 | 2016-08-17 | 深圳市鑫益嘉科技股份有限公司 | Robot with intelligent follow-up function |
| CN205497456U (en) * | 2016-03-12 | 2016-08-24 | 深圳市新世纪启航科技开发有限公司 | Mark robot is sought to intelligence |
| CN205614640U (en) * | 2016-01-20 | 2016-10-05 | 詹雨科 | Robot is followed to intelligence |
| CN106003089A (en) * | 2016-07-03 | 2016-10-12 | 深圳市中幼国际教育科技有限公司 | Intelligent partner robot for children |
-
2016
- 2016-10-21 CN CN201610917165.4A patent/CN106393109A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100797001B1 (en) * | 2006-12-19 | 2008-01-22 | 한국생산기술연구원 | Wheel-based humanoid robot |
| CN103950032A (en) * | 2014-04-14 | 2014-07-30 | 上海大学 | Warehouse management auxiliary robot |
| CN105415385A (en) * | 2016-01-07 | 2016-03-23 | 马高峰 | Intelligent meal delivering robot |
| CN205614640U (en) * | 2016-01-20 | 2016-10-05 | 詹雨科 | Robot is followed to intelligence |
| CN205497456U (en) * | 2016-03-12 | 2016-08-24 | 深圳市新世纪启航科技开发有限公司 | Mark robot is sought to intelligence |
| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN105856263A (en) * | 2016-06-24 | 2016-08-17 | 深圳市鑫益嘉科技股份有限公司 | Robot with intelligent follow-up function |
| CN106003089A (en) * | 2016-07-03 | 2016-10-12 | 深圳市中幼国际教育科技有限公司 | Intelligent partner robot for children |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |