CN107175645A - Mobile robot - Google Patents
Mobile robot Download PDFInfo
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- CN107175645A CN107175645A CN201710540131.2A CN201710540131A CN107175645A CN 107175645 A CN107175645 A CN 107175645A CN 201710540131 A CN201710540131 A CN 201710540131A CN 107175645 A CN107175645 A CN 107175645A
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- Prior art keywords
- image
- mobile robot
- collecting device
- ambient
- processor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The invention discloses a kind of mobile robot, it is related to robotic technology field, mobile robot includes body and the wheel located at body, motor, the first image collecting device, photoelectric sensor, light compensating lamp and processor；Wheel is driven to drive mobile robot to move on the ground by motor；First image collecting device is used to gather ambient image, processor is used to carry out data processing to ambient image according to presetting method, and controlled motor performs avoidance action in the barrier in identifying ambient image, closely check frequency, lifting Consumer's Experience are eliminated；Photoelectric sensor is used to detect environment illumination intensity, processor is additionally operable to the control light compensating lamp when environment illumination intensity is less than or equal to predetermined threshold value and lighted, to increase the first image collecting device intensity of illumination within the vision, it is easy to the first image collecting device to shoot bright enough ambient image, improves detection success rate.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of mobile robot.
Background technology
During the complex environment operation indoors of the mobile robots such as sweeping robot, robot of accompanying and attending to, guest-meeting robot,
The low obstructions such as inclined-plane base, vamp, the electric wire of fan easily are climbed up, cause the wheel of robot to be maked somebody a mere figurehead or by electric wire
Snarling to advance, and may be such that robot falls down to the ground and triggers security incident when serious.If robot is during traveling
Can detect in advance front low obstructions, then avoid them, then robot can become more intelligent, it is also safer can
Lean on.Existing common detection low obstructions technical scheme mainly has：
(1) mechanical collision is detected：Robot bottom front is mounted with the mechanical shutter of one piece of connection electronic switch, when encountering
Electronic switch is converted into connected state from off-state during barrier, so as to detect the low obstructions in front.Using such a
Detection mode, it is necessary to which collision can just be detected, and easily break valuable furniture, poor user experience, moreover, electric wire, vamp etc.
Low obstructions are easily elapsed by robot, can not be triggered electronic switch because shock dynamics is too small, be caused missing inspection.
(2) ultrasonic ranging is detected：Robot bottom front is mounted with one or more ultrasonic distance-measuring sensors, works as inspection
The distance of survey is judged as front and there is barrier after the threshold value less than setting.In a first aspect, the hair of ultrasonic distance-measuring sensor
Firing angle it is narrow, it is necessary to install it is multiple can just make front detection space be completely covered, cost can be significantly increased in this.Second aspect,
Ultrasonic wave is easily influenceed by factors such as environment temperature, reverberation material, sound wave multipath transmisstions.The third aspect, transceiver
There is the problem of short-distance blind section is larger in ultrasonic sensor, it is larger so that shell that the ultrasonic sensor that transmitting-receiving is separated has volume
Body perforate it is larger and it is less attractive in appearance the problem of.Fourth aspect, is limited by shell structure, and ultrasonic sensor can not be mounted so as to too
It is low, so that can missing inspection some highly low obstructions lower than ultrasonic wave.
(3) common infrared distance measuring detection：It is similar with ultrasonic ranging detection, robot bottom front be mounted with one or
Multiple common infrared distance measuring sensors, front is judged as after the distance of detection is less than the threshold value of setting and there is barrier.
Infrared detection is influenceed very big by ambient lighting, there is also short-distance blind section it is larger the problem of.Glass, extinction or completely black material
Barrier is easily missed, and precision uniformity is poor.Influenceed by shell structure, infrared ray sensor can not be mounted so as to it is too low, from
And can missing inspection some highly low obstructions lower than infrared ray.
The content of the invention
The technical problems to be solved by the invention are there is provided a kind of mobile robot, eliminate closely check frequency, carry
Consumer's Experience is risen, detection success rate is improved by way of light filling according to environment illumination intensity.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
The embodiment provides a kind of mobile robot, including body and wheel, electricity located at the body
Machine, the first image collecting device, photoelectric sensor, light compensating lamp and processor；The wheel is driven to drive by the motor
Mobile robot is stated to move on the ground；Described first image harvester is used to gather ambient image, and the processor is used for
Data processing is carried out to the ambient image according to presetting method, and controlled in the barrier in identifying the ambient image
The motor performs avoidance action；The photoelectric sensor is used to detect environment illumination intensity, and the processor is additionally operable in institute
The light compensating lamp is controlled to light when stating environment illumination intensity less than or equal to predetermined threshold value, to increase described first image collection dress
Put intensity of illumination within the vision.
In one of the embodiments, described first image harvester is located at the body obliquely so that described
When mobile robot is rest on the ground, optical axis and the ground of described first image harvester are in depression angle.
In one of the embodiments, in addition to the second image collecting device, second image collecting device is obliquely
Located at the body so that when the mobile robot is rest on the ground, optical axis and the ground of second image collecting device
Face is in upward view angle.
In one of the embodiments, described first image harvester and the second image collecting device interval are located at
The body.
In one of the embodiments, described first image harvester or second image collector are set to shooting
Head, any one in laser radar.
In one of the embodiments, the presetting method includes：
The noise of the ambient image is removed according to gaussian filtering；
Extract the contour feature, gray level co-occurrence matrixes and LBP features of the ambient image；
Characteristic vector is generated according to the contour feature, gray level co-occurrence matrixes and LBP features；
According to Adaboost graders and the characteristic vector, recognition result is exported.
In one of the embodiments, the image for containing short barrier is gathered in advance as positive sample, without short
Barrier image as negative sample, the Adaboost graders are obtained using OpenCV Adaboost algorithm training.
In one of the embodiments, before the contour feature of the ambient image is extracted, the presetting method is also wrapped
Include：The edge of ambient image according to Canny operator extractions.
Compared with prior art, technical scheme at least has the advantages that：
A kind of mobile robot provided in an embodiment of the present invention, processor is according to presetting method to the first image collecting device
The ambient image of collection carries out data processing, and in the barrier in identifying ambient image controlled motor to drive wheel to hold
Row avoidance is acted, and eliminates closely check frequency, lifting Consumer's Experience；The ambient lighting that processor is also detected in photoelectric sensor
Control light compensating lamp lights when intensity is less than or equal to predetermined threshold value, to increase the illumination within the vision of the first image collecting device
Intensity, is easy to the first image collecting device to shoot bright enough ambient image, improves detection success rate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other variants are obtained according to these accompanying drawings.
Fig. 1 is the top visual angle figure of mobile robot in one embodiment of the present of invention；
Fig. 2 is the circuit connection diagram of the electric component in part in mobile robot；
Fig. 3 is the bottom views figure of mobile robot in Fig. 1；
Fig. 4 is schematic diagram of first image collecting device obliquely on body；
Fig. 5 is the first image collecting device and the second image collector is arranged in schematic diagram on body；
Fig. 6 is the schematic flow sheet of presetting method.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched
State, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Fig. 1 and Fig. 2 are referred to, Fig. 1 is the top visual angle figure of mobile robot 10 in one embodiment of the present of invention, Fig. 2
It is the circuit connection diagram of the electric component in part in mobile robot 10.In the present embodiment, mobile robot 10 is to sweep
Floor-washing robot.Mobile robot 10 includes：Body 11, wheel 12, motor 13, the first image collecting device 14, photoelectric sensor
15th, light compensating lamp 16 and processor 17, wheel 12, motor 13, the first image collecting device 14, photoelectric sensor 15, light compensating lamp 16
Body 11 is located at processor 17.Light compensating lamp 16 can be as needed adaptively located at the upper of the first image collecting device 14
The positions such as side, lower section, left, right.
Referring to Fig. 3, Fig. 3 is the bottom views figure of mobile robot 10 in Fig. 1.Especially set in the structure of sweeping robot
On meter, wheel 12 is normally mounted at the bottom 111 of body 11, and does not extend out the outer peripheral edge of body 11, moreover, wheel 12 by
Motor 13 drives to drive mobile robot 10 to move on the ground.Under the weight effect of body 11, wheel 12 can part
Stretch in body 11 on ground.Wheel 12 is two, and each wheel 12 is driven by a motor 13.In addition, the bottom 111 of body 11
One castor 18 is also installed, the castor 18 can rotate along 360 ° of the axle of the bottom 111 perpendicular to body 11, be easy to quick, suitable
Freely adjust the direction of mobile robot 10.It is preferred that, castor 18 is located on the perpendicular bisector of two lines of wheel 12, castor 18 with
Two wheels 12 bottom 111 triangular in shape for being distributed in body 11.
In the present embodiment, wheel 12 is to be arranged rubber tyre 121, the appearance of rubber tyre 121 on circular wheel, its wheel rim
Face is provided with non-slip process or texture, to increase the frictional force and earth-grasping force when wheel 12 is rotated on the ground, adapts to surface smooth
The different types of ground such as floor tile, wood floors and shaggy carpet.In other embodiments, wheel can also
For triangle Athey wheel.
First image collecting device 14 is used to gather ambient image, the first image collecting device 14 can for camera,
CMOS camera etc.；First image collecting device 14 can also be laser radar.It is placed in preferably detect on ground
Electric wire, vamp, the convex low obstructions such as stupefied, as shown in figure 4, the first image collecting device 14 is located at body 11 obliquely so that
When mobile robot 10 is located on ground 50, optical axis 141 and the ground 50 of the first image collecting device 14 are in depression angle A, are disappeared
Except the short-distance blind section of the first image collecting device 14.Depression angle A angular dimension can be set in the range of 10 ° to 90
It is fixed.
In order to preferably detect height and the much the same barrier of distance on top to the ground 50 of body 11, such as Fig. 5
Shown, mobile robot 10 also includes the second image collecting device 19, and the second image collecting device 19 is electrically connected with processor 17,
For gathering ambient image, and the second image collecting device 19 is located at body 11 obliquely so that in mobile robot 10
When on ground 50, optical axis 191 and the ground 50 of the second image collecting device 19 are in upward view angle B, and depression angle B angular dimension can
To be set in the range of 0 ° to 90.Second image collecting device 19 can be camera, CMOS camera etc.；Second image
Harvester 19 can also be laser radar.
The position relationship of first image collecting device 14 and the second image collecting device 19 can be that left and right is arranged at intervals, also
Can be arranged at intervals up and down.
Processor 17 is used to carry out data processing to ambient image according to presetting method, and in ambient image is identified
Controlled motor 13 performs avoidance action during barrier.It can advance or carry on the back along barrier edge to perform avoidance action
Retreated to barrier.
In the present embodiment, as shown in fig. 6, presetting method may include steps of：
Step S1, the noise of ambient image is removed according to gaussian filtering；
Gaussian filtering is a kind of linear smoothing filtering, it is adaptable to eliminate Gaussian noise, is widely used in subtracting for image procossing
Make an uproar process.Popular says, gaussian filtering is exactly that average process is weighted to view picture ambient image, each pixel
Value, all other pixel values in itself and neighborhood are obtained after being weighted averagely.The concrete operations of gaussian filtering are：With one
The weighting of pixel is put down in each pixel in individual template (being referred to as convolution or mask) scan image, the neighborhood determined with template
Equal gray value goes the value of alternate template central pixel point.
Step S3, including step S31, step S32 and step S33, wherein, step S31 includes the wheel of extraction environment image
Wide feature；Step S32 includes the gray level co-occurrence matrixes of extraction environment image；The LBP that step S33 includes extraction environment image is special
Levy.
In the present embodiment, contour feature can include area, the length of profile, the figure's ratio (wheel of profile inclusion region
The length-width ratio of wide minimum enclosed rectangle), rectangular degree (area ratio of the area of profile inclusion region with minimum enclosed rectangle), ball
One or more in shape degree (inscribed circle radius of profile and the radius ratio of circumscribed circle).Wherein, gray level co-occurrence matrixes are a kind of
The common method of texture, LBP (Local Binary Patterns, part are described by studying the spatial correlation characteristic of gray scale
Binary pattern) it is characterized in the characteristics of image commonly used in computer vision.Extract contour feature, the gray scale of the ambient image after denoising
Co-occurrence matrix and LBP features can use method of the prior art, will not be repeated here.
In an alternative embodiment, before the contour feature of extraction environment image, presetting method also includes step S2：Root
According to the edge of Canny operator extraction ambient images.
Step S5, characteristic vector is generated according to contour feature, gray level co-occurrence matrixes and LBP features；
In the present embodiment, by contour feature and gray level co-occurrence matrixes and LBP features are end to end can combination producing
Characteristic vector.
Step S7, according to Adaboost graders and characteristic vector, exports recognition result.
In the present embodiment, the image for containing short barrier is gathered in advance as positive sample, without short obstacle
The image of thing is as negative sample, using OpenCV (Open Source Computer Vision Library) Adaboost
Algorithm for Training obtains Adaboost graders.It regard characteristic vector as the input parameter of Adaboost graders, Adaboost point
Class device is exportable recognition result, if there is barrier in environment-identification image, and the controlled motor 13 of processor 17 is performed and kept away
Barrier is acted, if barrier is not present in environment-identification image, the controlled motor 13 of processor 17 continues according to set in advance
Track is cleaned to advance.
Photoelectric sensor 15 is used to detect environment illumination intensity, and photoelectric sensor 15 is set close to the first image collecting device 14
Put, be able to detect that the intensity of illumination within the vision of the first image collecting device 14 as optimal setting using photoelectric sensor 15.
Processor 17 is used for the control light compensating lamp 16 when environment illumination intensity is less than or equal to predetermined threshold value and lighted, to increase by the first image
The intensity of illumination within the vision of harvester 14 so that the first image collecting device 14 can collect clearly environment map
Picture.Predetermined threshold value can be according to progress size setting the need for practical application.
A kind of mobile robot 10 provided in an embodiment of the present invention, processor 17 is according to presetting method to the first IMAQ
Device 14 gather ambient image carry out data processing, and in the barrier in identifying ambient image controlled motor 13 with drive
Driving wheel 12 performs avoidance action；The environment illumination intensity that processor 17 is also detected in photoelectric sensor 15 is less than or equal to default
Control light compensating lamp 16 to light during threshold value, to increase the intensity of illumination within the vision of the first image collecting device 14, be easy to first
Image collecting device 14 shoots bright enough ambient image, improves detection success rate.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the feature that the embodiment or example are described
It is contained at least one embodiment of the present invention or example.In this manual, the schematic representation of above-mentioned term is differed
Surely identical embodiment or example are referred to.Moreover, specific features, structure, material or the feature of description can be any one
Combined in an appropriate manner in individual or multiple embodiments or example.
Embodiments described above, does not constitute the restriction to the technical scheme protection domain.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (8)
1. a kind of mobile robot, it is characterised in that including body and the wheel located at the body, motor, the first image
Harvester, photoelectric sensor, light compensating lamp and processor；The wheel is driven to drive the mobile robot by the motor
Move on the ground；Described first image harvester is used to gather ambient image, and the processor is used for according to presetting method
Data processing is carried out to the ambient image, and controls the motor to perform in the barrier in identifying the ambient image
Avoidance is acted；The photoelectric sensor is used to detect environment illumination intensity, and the processor is additionally operable to strong in the ambient lighting
Degree controls the light compensating lamp to light when being less than or equal to predetermined threshold value, to increase described first image harvester within sweep of the eye
Intensity of illumination.
2. mobile robot according to claim 1, it is characterised in that described first image harvester is located at obliquely
The body so that when the mobile robot is rest on the ground, optical axis and the ground of described first image harvester are in
Depression angle.
3. mobile robot according to claim 2, it is characterised in that also including the second image collecting device, described
Two image collecting devices are located at the body obliquely so that when the mobile robot is rest on the ground, second figure
As the optical axis of harvester and ground are in upward view angle.
4. mobile robot according to claim 3, it is characterised in that described first image harvester and described second
Image collecting device interval is located at the body.
5. the mobile robot according to any one in claim 1-4, it is characterised in that described first image collection dress
Put or second image collector is set to any one in camera, laser radar.
6. the mobile robot according to any one in claim 1-4, it is characterised in that the presetting method includes：
The noise of the ambient image is removed according to gaussian filtering；
Extract the contour feature, gray level co-occurrence matrixes and LBP features of the ambient image；
Characteristic vector is generated according to the contour feature, gray level co-occurrence matrixes and LBP features；
According to Adaboost graders and the characteristic vector, recognition result is exported.
7. mobile robot according to claim 6, it is characterised in that collection contains the image of short barrier in advance
As positive sample, the image without short barrier is obtained as negative sample using OpenCV Adaboost algorithm training
The Adaboost graders.
8. mobile robot according to claim 6, it is characterised in that extract the ambient image contour feature it
Before, the presetting method also includes：The edge of ambient image according to Canny operator extractions.
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| CN201710540131.2A CN107175645A (en) | 2017-07-05 | 2017-07-05 | Mobile robot |
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|---|---|---|---|
| CN201710540131.2A CN107175645A (en) | 2017-07-05 | 2017-07-05 | Mobile robot |
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| CN107175645A true CN107175645A (en) | 2017-09-19 |
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| CN201710540131.2A Pending CN107175645A (en) | 2017-07-05 | 2017-07-05 | Mobile robot |
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| CN108553027A (en) * | 2018-01-04 | 2018-09-21 | 深圳悉罗机器人有限公司 | Mobile robot |
| CN108839022A (en) * | 2018-06-28 | 2018-11-20 | 盐城工学院 | A kind of industrial carrying machine people's barrier-avoiding method |
| CN109571401A (en) * | 2018-11-20 | 2019-04-05 | 深圳玩智商科技有限公司 | A kind of mobile robot of multi-layer laser radar |
| CN109636774A (en) * | 2018-11-08 | 2019-04-16 | 宁波旭磊电子科技有限公司 | Safety basement scene drive system |
| CN109696913A (en) * | 2018-12-13 | 2019-04-30 | 中国航空工业集团公司上海航空测控技术研究所 | A kind of sweeping robot intelligent barrier avoiding system and method based on deep learning |
| WO2019080500A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN112150389A (en) * | 2020-09-30 | 2020-12-29 | 小狗电器互联网科技（北京）股份有限公司 | Image denoising method and device, computer readable storage medium and electronic device |
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| WO2021196467A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
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| CN114191267A (en) * | 2021-12-06 | 2022-03-18 | 南通大学 | Light-weight intelligent method and system for assisting blind person in going out in complex environment |
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