CN107214700A - A kind of robot autonomous patrol method - Google Patents
A kind of robot autonomous patrol method Download PDFInfo
- Publication number
- CN107214700A CN107214700A CN201710417927.9A CN201710417927A CN107214700A CN 107214700 A CN107214700 A CN 107214700A CN 201710417927 A CN201710417927 A CN 201710417927A CN 107214700 A CN107214700 A CN 107214700A
- Authority
- CN
- China
- Prior art keywords
- patrol
- robot
- interactive voice
- module
- map
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of robot autonomous patrol method, robot obtains the virtual map with xy coordinates in reality by building figure first, each target point for setting robot to reach on map；The map of establishment and target point data are uploaded onto the server, in the server by the coordinate points data configuration of upload into robot patrol route；Robot is independently gone on patrol within the period of patrol, and robot can return to the starting point of patrol after the patrol period；If robot is touched or detected personnel into set distance range during patrol, robot enters interactive voice recognition mode and suspends patrol；Without interactive voice, then robot stops interactive voice for a long time, terminates rear robot and remains unchanged progress patrol up to the patrol time terminates.The present invention can solve the problem that the fixed point of robot, and the relevant issues that timing and interactive voice are gone on patrol allow robot to carry out intelligent patrol.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of patrol robot under unattended.
Background technology
As robot correlation technique is constantly in the application of production and living and commercial field, interaction of the people to robot
Functional requirement more and more higher, robot patrol can make robot more intelligent, and applied to market, large evening party can also strengthen section
Skill sense, is that the life of people offers convenience.Current robot patrol is most to be carried out in changeable region, and is determined
The patrol for fixed point (customization patrol route) that when (customizes the period).
The content of the invention
In view of this, the invention provides a kind of robot autonomous patrol method, the fixed point of robot is can solve the problem that, timing
And the relevant issues that interactive voice is gone on patrol, allow robot to carry out intelligent patrol.
A kind of robot autonomous patrol method, this method is realized by following steps：
The first step：Robot obtains the virtual map with xy coordinates in reality by building figure first, in virtual map
Upper each target point for setting robot to reach；
Second step：Robot uploads onto the server the map of establishment and coordinate of ground point data, in the server will be upper
The coordinate data of biography is configured to the patrol route of robot, while configuring the patrol period；
3rd step：Robot is independently gone on patrol within the period of patrol, and robot can be returned after the patrol period
Return the starting point of robot patrol；During patrol, if robot touches head by external staff, visited by infrared equipment
When measuring external staff into set distance range, robot enters interactive voice recognition mode and suspends patrol, interactive voice
After the completion of robot terminate patrol, return robot patrol starting point；Without interactive voice, then robot stops voice for a long time
Interaction, terminates rear robot and remains unchanged progress patrol up to the patrol time terminates.
Further, the hardware that the robot includes includes laser radar module, infrared sensor module, head sensor
Device module, data processing module, Motor execution module and server；
Laser radar module is the equipment for gathering external environment cartographic information, can be to external world by laser radar robot
Environment carries out the coordinate diagram that cognitive construction carries xy, makes robot inspection function；
Infrared sensor module detects whether that someone is close by infrared sensor, and carries out face by camera simultaneously
Identification is to whether someone is close to judging, the robot stopping if if someone, and carries out interactive voice；
Hot nose module strengthens the interaction of machine person to person, and robot can be suspended by touching robot head sensor
Patrol, and enter interactive voice state, for a long time nobody carry out interactive voice with it then robot be again introduced into patrol pattern and opened
Begin to go on patrol；
Map and coordinate points data configuration that data processing module is uploaded according to robot patrol coordinate route, when specified
Between section inner machine people according to it is specified patrol coordinate route gone on patrol；
Motor execution module is gone on patrol robot after the coordinate points led the way and the patrol route configured,
While patrol is carried out and by infrared and camera recognition of face, detect whether that around someone is close, such as someone is close
Then make robot stop motion, carry out interactive voice；
Server module obtains the map of robot establishment, and the coordinate points information gone on patrol and led the way, and is configured to patrol
Route, and return to coordinate points patrol route and map datum required for robotic end.
Further, the infrared perception distance of the infrared sensor module is unsuitable excessive, also unsuitable too small, by multiple
Measurement, the distance of infrared perception is set to immediately ahead of infrared sensor 20-30 centimetres.
Beneficial effect：
The interactive voice scheme in changeable environment is gone on patrol the invention provides robot, patrolling for right place can be realized
Patrol, close personage can also be effectively recognized during patrol, and carry out interactive voice, meet most commercial applications scenes
Patrol demand.
Brief description of the drawings
Fig. 1 is implementation process figure of the invention.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the invention provides a kind of robot autonomous patrol method, this method is real by following steps
It is existing：
The first step：Robot obtains the virtual map with xy coordinates in reality by building figure first, in virtual map
Upper each target point for setting robot to reach；
Second step：Robot uploads onto the server the map of establishment and coordinate of ground point data, in the server will be upper
The coordinate data of biography is configured to the patrol route of robot, while configuring the patrol period；
3rd step：Robot is independently gone on patrol within the period of patrol, and robot can be returned after the patrol period
Return the starting point of robot patrol；During patrol, if robot touches head by external staff, visited by infrared equipment
When measuring external staff into set distance range, robot enters interactive voice recognition mode and suspends patrol, interactive voice
After the completion of robot terminate patrol, return robot patrol starting point；Without interactive voice, then robot stops voice for a long time
Interaction, terminates rear robot and remains unchanged progress patrol up to the patrol time terminates.
The hardware that the robot of the present invention includes includes laser radar module, infrared sensor module, hot nose mould
Block, data processing module, Motor execution module and server；
Laser radar module is the equipment for gathering external environment cartographic information, can be to external world by laser radar robot
Environment carries out the coordinate diagram that cognitive construction carries xy, makes robot inspection function；
Infrared sensor module detects whether that someone is close by infrared sensor, and carries out face by camera simultaneously
Identification is to whether someone is close to judging, the robot stopping if if someone, and carries out interactive voice；Infrared sensor
The infrared perception distance of module is unsuitable excessive, and also unsuitable too small, by multiple measurement, the distance of infrared perception is set to distance
20-30 cms immediately ahead of infrared sensor.
Hot nose module strengthens the interaction of machine person to person, and robot can be suspended by touching robot head sensor
Patrol, and enter interactive voice state, for a long time nobody carry out interactive voice with it then robot be again introduced into patrol pattern and opened
Begin to go on patrol；
Map and coordinate points data configuration that data processing module is uploaded according to robot patrol coordinate route, when specified
Between section inner machine people according to it is specified patrol coordinate route gone on patrol；
Motor execution module is gone on patrol robot after the coordinate points led the way and the patrol route configured,
While patrol is carried out and by infrared and camera recognition of face, detect whether that around someone is close, such as someone is close
Then make robot stop motion, carry out interactive voice；
Server module obtains the map of robot establishment, and the coordinate points information gone on patrol and led the way, and is configured to patrol
Route, and return to coordinate points patrol route and map datum required for robotic end.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of robot autonomous patrol method, it is characterised in that this method is realized by following steps：
The first step：Robot obtains the virtual map with xy coordinates in reality by building figure first, is set on virtual map
Put each target point that robot can be reached；
Second step：Robot uploads onto the server the map of establishment and coordinate of ground point data, in the server by upload
Coordinate data is configured to the patrol route of robot, while configuring the patrol period；
3rd step：Robot is independently gone on patrol within the period of patrol, and robot can return to machine after the patrol period
The starting point of device people patrol；During patrol, if robot touches head by external staff, detected by infrared equipment
When external staff enters set distance range, robot enters interactive voice recognition mode and suspends patrol, and interactive voice is completed
Robot terminates patrol afterwards, returns to the starting point of robot patrol；Without interactive voice, then robot stops interactive voice for a long time,
Robot remains unchanged progress patrol up to the patrol time terminates after end.
2. robot autonomous patrol method as claimed in claim 1, it is characterised in that the hardware that the robot includes includes
Laser radar module, infrared sensor module, hot nose module, data processing module, Motor execution module and server；
Laser radar module is the equipment for gathering external environment cartographic information, can environment to external world by laser radar robot
The coordinate diagram that cognitive construction carries xy is carried out, makes robot inspection function；
Infrared sensor module detects whether that someone is close by infrared sensor, and carries out recognition of face by camera simultaneously
To whether someone is close to judging, the robot stopping if if someone, and carry out interactive voice；
Hot nose module strengthens the interaction of machine person to person, and touch robot head sensor can suspend robot and patrol
Patrol, and enter interactive voice state, nobody carries out interactive voice with it then robot is again introduced into patrol pattern and started for a long time
Patrol；
The map and coordinate points data configuration that data processing module is uploaded according to robot go on patrol coordinate route, at the appointed time section
Inner machine people is gone on patrol according to specified patrol coordinate route；
Motor execution module is gone on patrol robot after the coordinate points led the way and the patrol route configured, patrol
While progress and by infrared and camera recognition of face, detect whether that around someone is close, as someone makes if
Robot stop motion, carries out interactive voice；
Server module obtains the map of robot establishment, and the coordinate points information gone on patrol and led the way, and is configured to patrol route,
And return to coordinate points patrol route and map datum required for robotic end.
3. robot autonomous patrol method as claimed in claim 2, it is characterised in that the infrared sensor module it is infrared
The distance of perception is set to immediately ahead of infrared sensor 20-30 centimetres.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417927.9A CN107214700A (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous patrol method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417927.9A CN107214700A (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous patrol method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214700A true CN107214700A (en) | 2017-09-29 |
Family
ID=59948540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710417927.9A Pending CN107214700A (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous patrol method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214700A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825435A (en) * | 2017-11-28 | 2018-03-23 | 北京古点科技有限公司 | One kind, which is met, to stop formula drink distributor and method |
| CN107894739A (en) * | 2017-11-23 | 2018-04-10 | 太原工业学院 | A kind of control method of factory building Omni-mobile fire-fighting monitoring robot |
| CN108008987A (en) * | 2017-12-26 | 2018-05-08 | 上海棠宝机器人有限公司 | Service robot autonomous management method, apparatus, system and storage medium |
| CN108181636A (en) * | 2018-01-12 | 2018-06-19 | 中国矿业大学 | Petrochemical factory's crusing robot environmental modeling and map structuring device and method |
| CN108469825A (en) * | 2018-04-19 | 2018-08-31 | 河南科技学院 | A kind of intelligent patrol system and its construction method based on bus or train route collaboration |
| CN108748184A (en) * | 2018-06-13 | 2018-11-06 | 四川长虹电器股份有限公司 | A kind of robot patrol method and robot device based on area map mark |
| CN109753074A (en) * | 2019-01-28 | 2019-05-14 | 北京猎户星空科技有限公司 | A kind of robot cruise control method, device, control equipment and storage medium |
| CN110539305A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Intelligent robot management control system for community security |
| CN111818596A (en) * | 2020-05-21 | 2020-10-23 | 蓓安科仪（北京）技术有限公司 | Medical robot communication quality optimization method based on 5G |
| CN115116192A (en) * | 2022-07-15 | 2022-09-27 | 北京理工大学珠海学院 | Security protection monitored control system based on intelligent robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598972A (en) * | 2016-02-04 | 2016-05-25 | 北京光年无限科技有限公司 | Robot system and interactive method |
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN105912128A (en) * | 2016-04-29 | 2016-08-31 | 北京光年无限科技有限公司 | Smart robot-oriented multimodal interactive data processing method and apparatus |
| CN205521431U (en) * | 2016-02-01 | 2016-08-31 | 天津博诺机器人技术有限公司 | Construction site security trains and patrols and examines robot |
-
2017
- 2017-06-06 CN CN201710417927.9A patent/CN107214700A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652870A (en) * | 2016-01-19 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Autonomous patrol control system and method of intelligent security service robot |
| CN205521431U (en) * | 2016-02-01 | 2016-08-31 | 天津博诺机器人技术有限公司 | Construction site security trains and patrols and examines robot |
| CN105598972A (en) * | 2016-02-04 | 2016-05-25 | 北京光年无限科技有限公司 | Robot system and interactive method |
| CN105912128A (en) * | 2016-04-29 | 2016-08-31 | 北京光年无限科技有限公司 | Smart robot-oriented multimodal interactive data processing method and apparatus |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107894739A (en) * | 2017-11-23 | 2018-04-10 | 太原工业学院 | A kind of control method of factory building Omni-mobile fire-fighting monitoring robot |
| CN107825435A (en) * | 2017-11-28 | 2018-03-23 | 北京古点科技有限公司 | One kind, which is met, to stop formula drink distributor and method |
| CN108008987A (en) * | 2017-12-26 | 2018-05-08 | 上海棠宝机器人有限公司 | Service robot autonomous management method, apparatus, system and storage medium |
| CN108181636B (en) * | 2018-01-12 | 2020-02-18 | 中国矿业大学 | Environment modeling and map building device and method for petrochemical plant inspection robot |
| CN108181636A (en) * | 2018-01-12 | 2018-06-19 | 中国矿业大学 | Petrochemical factory's crusing robot environmental modeling and map structuring device and method |
| CN108469825A (en) * | 2018-04-19 | 2018-08-31 | 河南科技学院 | A kind of intelligent patrol system and its construction method based on bus or train route collaboration |
| CN108748184B (en) * | 2018-06-13 | 2020-04-28 | 四川长虹电器股份有限公司 | Robot patrol method based on regional map identification and robot equipment |
| CN108748184A (en) * | 2018-06-13 | 2018-11-06 | 四川长虹电器股份有限公司 | A kind of robot patrol method and robot device based on area map mark |
| CN109753074A (en) * | 2019-01-28 | 2019-05-14 | 北京猎户星空科技有限公司 | A kind of robot cruise control method, device, control equipment and storage medium |
| CN110539305A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Intelligent robot management control system for community security |
| CN111818596A (en) * | 2020-05-21 | 2020-10-23 | 蓓安科仪（北京）技术有限公司 | Medical robot communication quality optimization method based on 5G |
| CN111818596B (en) * | 2020-05-21 | 2022-04-08 | 蓓安科仪（北京）技术有限公司 | Medical robot communication quality optimization method based on 5G |
| CN115116192A (en) * | 2022-07-15 | 2022-09-27 | 北京理工大学珠海学院 | Security protection monitored control system based on intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107214700A (en) | A kind of robot autonomous patrol method | |
| WO2021103987A1 (en) | Control method for sweeping robot, sweeping robot, and storage medium | |
| CN102999152B (en) | A kind of gesture motion recognition methods and system | |
| CN107289949B (en) | Indoor guidance identification device and method based on face identification technology | |
| CN108303972B (en) | Interaction method and device of mobile robot | |
| WO2019232806A1 (en) | Navigation method, navigation system, mobile control system, and mobile robot | |
| CN110026987A (en) | Generation method, device, equipment and the storage medium of a kind of mechanical arm crawl track | |
| Kragic et al. | Vision for robotic object manipulation in domestic settings | |
| Sanna et al. | A Kinect-based natural interface for quadrotor control | |
| CN103389699B (en) | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system | |
| CN108234918B (en) | Exploration and communication architecture method and system of indoor unmanned aerial vehicle with privacy awareness | |
| CN107632699B (en) | Natural human-machine interaction system based on the fusion of more perception datas | |
| US20150262004A1 (en) | Information input apparatus, information input method, and computer program | |
| CN103985137B (en) | It is applied to the moving body track method and system of man-machine interaction | |
| WO2022042566A1 (en) | Method and apparatus for recognizing three-dimensional gesture on the basis of markers, and device | |
| JP2022542241A (en) | Systems and methods for augmenting visual output from robotic devices | |
| US20240078798A1 (en) | Information processing device, information processing method, and program | |
| CN113116224B (en) | Robot and control method thereof | |
| CN110908504B (en) | Augmented reality museum collaborative interaction method and system | |
| CN205693767U (en) | Uas | |
| CN109839827B (en) | Gesture recognition intelligent household control system based on full-space position information | |
| CN102830798A (en) | Mark-free hand tracking method of single-arm robot based on Kinect | |
| CN108828996A (en) | A kind of the mechanical arm remote control system and method for view-based access control model information | |
| CN109473168A (en) | A kind of medical image robot and its control, medical image recognition methods | |
| CN110069057A (en) | A kind of obstacle sensing method based on robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170929 |
|
| WD01 | Invention patent application deemed withdrawn after publication |