CN107264715B - Robot is slided based on image identification - Google Patents
Robot is slided based on image identification Download PDFInfo
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- CN107264715B CN107264715B CN201710465581.XA CN201710465581A CN107264715B CN 107264715 B CN107264715 B CN 107264715B CN 201710465581 A CN201710465581 A CN 201710465581A CN 107264715 B CN107264715 B CN 107264715B
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- skates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M27/00—Propulsion devices for sledges or the like
- B62M27/02—Propulsion devices for sledges or the like power driven
Abstract
Robot is slided based on image identification the present invention relates to a kind of, including armchair structure, understructure, infrared detection equipment and image analysis equipment, the armchair structure includes the chair back, seat, chair body left planar, chair body right planar and chair leg, the understructure includes left side skates, right side skates and anticollision tablet, the infrared detection equipment includes left side infrared sensor and right side infrared sensor, described image analytical equipment includes image acquisition device and image processor, the left side infrared sensor and the right side infrared sensor are for detection left side obstacle distance and right side obstacle distance respectively, described image collector is used to gather forward image, described image processor is used to carry out scene analysis to the forward image.By means of the invention it is possible to the children individually to take provide comprehensive protection.
Description
The present invention is Application No. 201710085778.0, the applying date to be on 2 17th, 2017, entitled " be based on
Image identification slide robot " patent divisional application.
Technical field
The present invention relates to art of image analysis more particularly to it is a kind of based on image identification slide robot.
Background technology
The robot that slides of early stage comes from Sledge on snow differentiation, it can be more suitable for freeze-up river surface and river surface
Faster, the time should be that liberation is even more remote early period to dilatory goods speed.Later with the toy for just evolving into children.It
It is equally an evolutionary process to occur with development and other traditional objects and culture.
It is of the prior art to slide that robot architecture is coarse or even there are many hand work, and there are congenital in design
Inferior position, it is while also more original in terms of material, cause easily to be formed that car body is unstable, is short of power, difficulty of driving a vehicle when sliding
And the problems such as easily colliding, especially when passenger is children, the above problem is more obvious, and robot is slided so as to compromise
It is recreational, and serious personal injury probably is caused to the child passengers of script self-care ability difference.
The content of the invention
To solve the above-mentioned problems, robot is slided based on image identification the present invention provides a kind of, transforms existing skill
Robot is slided in art, various auxiliary travelling equipment and various auxiliary security facilities are organically added, in convenient for children passenger
While seating, various accidents is avoided to occur.
Compare the prior art, and the present invention has following important inventive point：
(1) by weightening, avoid car body unstable；
(2) by motor device, auxiliary power is provided for children's skating；
(3) increase underload alert device, facilitate the increase of heavy burden；
(4) inverted triangle IceSword structure improves running speed；
(5) children's collision consequence is adaptively preferably minimized by inclination angle control device；
(6) ancillary equipment is travelled, ensures car body traveling in safe direction.
According to an aspect of the present invention, a kind of robot that slides based on image identification is provided, it is described to slide robot
Including armchair structure, understructure, infrared detection equipment and image analysis equipment, the armchair structure includes the chair back, seat, chair
Body left planar, chair body right planar and chair leg, the understructure include left side skates, right side skates and anticollision tablet, institute
Stating infrared detection equipment includes left side infrared sensor and right side infrared sensor, and described image analytical equipment includes Image Acquisition
Device and image processor；
The left side infrared sensor and the right side infrared sensor are located at the chair body left planar and described respectively
On chair body right planar, for detecting left side obstacle distance and right side obstacle distance, described image collector and institute respectively
It states image processor to be located on anticollision tablet, for gathering forward image, described image processor is used for described image collector
Scene analysis is carried out to the forward image.
More specifically, robot is slided based on image identification described：The anticollision tablet be tilting tablet, institute
It states left side skates and the right side skates forms base plane, plane is compared with the base plane where the anticollision tablet
It tilts upward, the anticollision tablet and the inclination angle that the base plane is in less than or equal to 35 degree；The left side infrared sensor
There is respective outer impact shell with the right side infrared sensor, described image collector and described image processor are in one together
In a outer impact shell.
More specifically, sliding robot based on image identification described, further include：Car body driving equipment, positioned at institute
It states on understructure, for being controlled in real time the direct of travel for sliding robot and gait of march；The MCS- of Intel
296 control chips, are arranged below the seat, respectively with the car body driving equipment, the left side infrared sensor, described
Right side infrared sensor is connected with described image processor, for receiving the left side infrared sensor, the infrared biography in the right side
The output of sensor and described image processor, and based on the left side infrared sensor, the right side infrared sensor and described
The output of image processor sends car body drive signal to the car body driving equipment, to determine the car body driving equipment to institute
State the Real-Time Control Strategy for sliding robot；
Wherein, the car body driving equipment includes decelostat, direct current generator and direction controlling instrument, the direct current generator
It being connected with the direction controlling instrument, the decelostat and the direct current generator are all connected with MCS-296 control chips,
It is operated for receiving when the car body drive signal, the direct current generator and the decelostat difference；
Wherein, the decelostat is located on understructure, for after the car body drive signal is received, being based on
The car body drive signal determines whether to carry out brake operation to the left side skates and the right side skates；
Wherein, the direct current generator is located on the understructure, for after the car body drive signal is received, base
Determine to be sent to the driving direction of the direction controlling instrument in the car body drive signal, the driving direction is left-hand, dextrad plus
Speed or reversing.
More specifically, sliding robot based on image identification described, further include：Weight sensor is arranged on institute
It states below seat, for detecting the weight of human body above the seat in real time to be exported as target weight；Inclination angle control is set
It is standby, it is arranged on the anticollision tablet, is connected with the weight sensor, for receiving the target weight, and based on described
Target weight determines the inclination angle that the anticollision tablet is in the base plane, and the target weight is bigger, the inclination
Angle is smaller, wherein, the inclination angle that the anticollision tablet is in the base plane is 15 degree, 20 degree, 25 degree, 30 degree or 35
Degree；
Increase weight alert device, is arranged below the seat, including load container and voice control chip, the voice control
Coremaking piece is connected with the weight sensor, for when the target weight is less than preset weight threshold value, playing car body and bearing a heavy burden
Insufficient information, and broadcasting content is determined to remind staff based on the difference of the target weight and the preset weight threshold value
The increased load lead quantity into the load container, wherein, the difference is bigger, the corresponding load lead of the broadcasting content
Number of blocks is more；
Skates folding equipment, is arranged on the understructure, is connected with the direct current generator, for being based on the driving
Direction determines the control strategy to the left side skates and the right side skates；Wherein, the left side skates and the right side ice
All including preceding to unfolding mechanism and backward deployed configuration, forward direction unfolding mechanism is used to be unfolded or shrink front end inverted triangle body ice knife
Sword, backward unfolding mechanism are used to be unfolded or shrink rear end inverted triangle body IceSword；
Wherein, the skates folding equipment is determined based on the driving direction to the left side skates and the right side skates
Control strategy include：When the driving direction is left-hand, dextrad or accelerates, the left side skates and the right side ice are controlled
Knife to unfolding mechanism and shrinks rear end inverted triangle body IceSword before being all unfolded, when the driving direction for reversing when, control the left side
Before all shrinking to unfolding mechanism and rear end inverted triangle body IceSword is unfolded in side skates and the right side skates；
Wherein, the direct current generator also it is described slide the current sliding speed of robot less than pre-set velocity threshold value when, really
Surely the driving direction of the direction controlling instrument is sent to accelerate.
More specifically, robot is slided based on image identification described：The voice control chip is additionally operable in institute
When stating target weight more than or equal to the preset weight threshold value, stop the broadcasting to the insufficient information of car body heavy burden.
More specifically, sliding robot based on image identification described, further include：MMC storage cards are arranged on described
Below seat, it is connected with weightening alert device, for prestoring the preset weight threshold value.
More specifically, sliding robot based on image identification described, further include：Environment light sensing device, is located at
On anticollision tablet, for detecting the illumination brightness for sliding robot place environment in real time；LED array, positioned at anticollision tablet
On, it is connected with the environment light sensing device, for receiving the illumination brightness, and is less than or equal to preset in the illumination brightness
During luminance threshold, floor light light is provided for the Image Acquisition of described image collector；Wherein, LED array is LED gusts of high density
Row can provide the floor light light of high intensity and prominent target shape contour feature.
More specifically, robot is slided based on image identification described：Described image collector senses for ccd image
Device, and be integrated in the environment light sensing device, the LED array, described image sensor on same integrated circuit plate.
More specifically, robot is slided based on image identification described：The MMC storage cards also respectively with it is described
LED array is connected with the direct current generator, is additionally operable to prestore the predetermined luminance threshold value and the pre-set velocity threshold value.
Description of the drawings
Embodiment of the present invention is described below with reference to attached drawing, wherein：
Fig. 1 is the structure diagram for sliding robot based on image identification according to embodiment of the present invention.
Fig. 2 is the infrared detection equipment for sliding robot based on image identification according to embodiment of the present invention
Block diagram.
Reference numeral：1 armchair structure；2 understructures；11 chair body right planars；12 chair body left planars；21 anticollisions are put down
Plate；Skates on the left of 22A；Skates on the right side of 22B；3 infrared detection equipment；31 left side infrared sensors；32 right side infrared sensors
Specific embodiment
The embodiment for sliding robot based on image identification of the present invention is carried out specifically below with reference to accompanying drawings
It is bright.
It is common that slide robot type including but not limited to following two：
1st, both legs slide robot, and materials most is plank and flitch and skates composition, and skates alternate betwwen good and bad, and it is secondary to mix one
The ice of steel nail head sharpening is pricked after nailing on large size steel nail with log bar, you can it completes to slide the construction of robot, it is such
The playing method for sliding robot is：It is seated sliding slowly, it is sliding soon on bended knees, and flexibility is bad.
2nd, single leg slides robot, and material is also based on a wood, and, speed and flexibility are non-double with a skates down below
Leg, which slides robot, to be compared, sliding to get up to balance especially difficult grasp, need to practice what a period of time can be slided, such cunning
Row robot, which is more suitable for adult, to be played.
However the above-mentioned type slides robot and all has the technical issues of cornering ability is not high, security performance is low, it can not
Meet requirement of the people to recreational, convenience and security, for child passengers, the above problem is especially pronounced.For
Overcome above-mentioned deficiency, the present invention built it is a kind of robot is slided based on image identification, ask so as to solve above-mentioned technology
Topic.
Fig. 1 be according to embodiment of the present invention based on image identification the block diagram for sliding robot, institute
It states and slides robot and include armchair structure, understructure, infrared detection equipment and image analysis equipment, the armchair structure includes
The chair back, seat, chair body left planar, chair body right planar and chair leg, the understructure include left side skates, right side skates and
Anticollision tablet；
The infrared detection equipment includes left side infrared sensor and right side infrared sensor, described image analytical equipment bag
Image acquisition device and image processor are included, as shown in Figure 2；
The left side infrared sensor and the right side infrared sensor are located at the chair body left planar and described respectively
On chair body right planar, for detecting left side obstacle distance and right side obstacle distance, described image collector and institute respectively
It states image processor to be located on anticollision tablet, for gathering forward image, described image processor is used for described image collector
Scene analysis is carried out to the forward image.
Then, continue to carry out further the concrete structure for sliding robot based on image identification of the present invention
It is bright.
Robot is slided described：The anticollision tablet is tilting tablet, the left side skates and the right side ice
Knife forms base plane, and plane where the anticollision tablet is tilted upward compared with the base plane, the anticollision tablet
It is in the inclination angle less than or equal to 35 degree with the base plane；The left side infrared sensor and the right side infrared sensing utensil
There is respective outer impact shell, described image collector and described image processor are in together in an outer impact shell.
The robot that slides further includes：Car body driving equipment, on the understructure, for sliding machine to described
The direct of travel and gait of march of device people is controlled in real time；The MCS-296 control chips of Intel, are arranged under the seat
Side is handled respectively with the car body driving equipment, the left side infrared sensor, the right side infrared sensor and described image
Device connects, for receiving the output of the left side infrared sensor, the right side infrared sensor and described image processor, and
Output based on the left side infrared sensor, the right side infrared sensor and described image processor drives to the car body
Equipment sends car body drive signal, to determine the car body driving equipment to the Real-Time Control Strategy for sliding robot；
Wherein, the car body driving equipment includes decelostat, direct current generator and direction controlling instrument, the direct current generator
It being connected with the direction controlling instrument, the decelostat and the direct current generator are all connected with MCS-296 control chips,
It is operated for receiving when the car body drive signal, the direct current generator and the decelostat difference；
Wherein, the decelostat is located on understructure, for after the car body drive signal is received, being based on
The car body drive signal determines whether to carry out brake operation to the left side skates and the right side skates；
Wherein, the direct current generator is located on the understructure, for after the car body drive signal is received, base
Determine to be sent to the driving direction of the direction controlling instrument in the car body drive signal, the driving direction is left-hand, dextrad plus
Speed or reversing.
The robot that slides further includes：Weight sensor is arranged below the seat, for detecting the chair in real time
The weight of seat top human body as target weight to export；Inclination angle control device is arranged on the anticollision tablet, and described
Weight sensor connects, for receiving the target weight, and based on the target weight determine the anticollision tablet with it is described
The inclination angle that base plane is in, the target weight is bigger, and the inclination angle is smaller, wherein, the anticollision tablet with it is described
The inclination angle that base plane is in is 15 degree, 20 degree, 25 degree, 30 degree or 35 degree；
Increase weight alert device, is arranged below the seat, including load container and voice control chip, the voice control
Coremaking piece is connected with the weight sensor, for when the target weight is less than preset weight threshold value, playing car body and bearing a heavy burden
Insufficient information, and broadcasting content is determined to remind staff based on the difference of the target weight and the preset weight threshold value
The increased load lead quantity into the load container, wherein, the difference is bigger, the corresponding load lead of the broadcasting content
Number of blocks is more；
Skates folding equipment, is arranged on the understructure, is connected with the direct current generator, for being based on the driving
Direction determines the control strategy to the left side skates and the right side skates；Wherein, the left side skates and the right side ice
All including preceding to unfolding mechanism and backward deployed configuration, forward direction unfolding mechanism is used to be unfolded or shrink front end inverted triangle body ice knife
Sword, backward unfolding mechanism are used to be unfolded or shrink rear end inverted triangle body IceSword；
Wherein, the skates folding equipment is determined based on the driving direction to the left side skates and the right side skates
Control strategy include：When the driving direction is left-hand, dextrad or accelerates, the left side skates and the right side ice are controlled
Knife to unfolding mechanism and shrinks rear end inverted triangle body IceSword before being all unfolded, when the driving direction for reversing when, control the left side
Before all shrinking to unfolding mechanism and rear end inverted triangle body IceSword is unfolded in side skates and the right side skates；
Wherein, the direct current generator also it is described slide the current sliding speed of robot less than pre-set velocity threshold value when, really
Surely the driving direction of the direction controlling instrument is sent to accelerate.
Robot is slided described：The voice control chip is additionally operable to be more than or equal in the target weight described pre-
If during weight threshold, stop the broadcasting to the insufficient information of car body heavy burden.
The robot that slides further includes：MMC storage cards are arranged below the seat, are connected with weightening alert device,
For prestoring the preset weight threshold value.
The robot that slides further includes：Environment light sensing device, on anticollision tablet, for detecting the cunning in real time
The illumination brightness of environment where row robot；LED array on anticollision tablet, is connected with the environment light sensing device, is used
It is described image collector in the reception illumination brightness, and when the illumination brightness is less than or equal to predetermined luminance threshold value
Image Acquisition provides floor light light；Wherein, LED array is high density LED array, can be provided outside high intensity and prominent target
The floor light light of shape contour feature.
Robot is slided described：Described image collector is ccd image sensor, and is set with ambient light detection
Standby, described LED array, described image sensor are integrated on same integrated circuit plate.
Robot is slided described：The MMC storage cards also connect with the LED array and the direct current generator respectively
It connects, is additionally operable to prestore the predetermined luminance threshold value and the pre-set velocity threshold value.
Additionally, or alternatively, the built-in storage RAM that the MCS-296 control chips of Intel may be employed replaces the MMC
Storage card, to be connected respectively with the LED array and the direct current generator, for prestoring the predetermined luminance threshold value and institute
State pre-set velocity threshold value.
It is using the present invention that robot is slided based on image identification, for shortage driveability is strong in the prior art and pacifies
The technical issues of children customization of full superior performance slides robot is slided by introducing various traveling ancillary equipments with improving children
The stability and cornering ability of row robot, while also robot is slided to improve children by introducing various safe ancillary equipments
Reliability, the harm of collision accident can be preferably minimized.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above or are revised as
With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention, technical spirit pair according to the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (1)
1. a kind of slide robot based on image identification, including armchair structure, understructure, infrared detection equipment and image point
Desorption device, the armchair structure include the chair back, seat, chair body left planar, chair body right planar and chair leg, the understructure
Including left side skates, right side skates and anticollision tablet, the infrared detection equipment includes left side infrared sensor and right side is infrared
Sensor, described image analytical equipment include image acquisition device and image processor, the left side infrared sensor and the right side
Side infrared sensor is located on the chair body left planar and the chair body right planar respectively, for detecting left side obstacle respectively
Object distance and right side obstacle distance, described image collector and described image processor are located on anticollision tablet, described image
For gathering forward image, described image processor is used to carry out scene analysis to the forward image collector；
The anticollision tablet is tilting tablet, and the left side skates and the right side skates form base plane, described anti-
Plane where hitting tablet is tilted upward compared with the base plane, and the anticollision tablet is in be less than or equal to the base plane
35 degree of inclination angle；
The left side infrared sensor and the right side infrared sensor have a respective outer impact shell, described image collector and
Described image processor is in together in an outer impact shell；
It is characterized in that, the robot that slides further includes：
Car body driving equipment, on the understructure, for the direct of travel and gait of march for sliding robot
It is controlled in real time；
The MCS-296 control chips of Intel, are arranged below the seat, respectively with the car body driving equipment, the left side
Infrared sensor, the right side infrared sensor are connected with described image processor, for receive the left side infrared sensor,
The output of the right side infrared sensor and described image processor, and it is red based on the left side infrared sensor, the right side
The output of outer sensor and described image processor sends car body drive signal to the car body driving equipment, to determine the vehicle
Body driving equipment is to the Real-Time Control Strategy for sliding robot；
Wherein, the car body driving equipment includes decelostat, direct current generator and direction controlling instrument, the direct current generator and institute
The connection of direction controlling instrument is stated, the decelostat and the direct current generator are all connected with MCS-296 control chips, are used for
It is operated when receiving the car body drive signal, the direct current generator and the decelostat difference；
Wherein, the decelostat is located on understructure, for after the car body drive signal is received, based on described
Car body drive signal determines whether to carry out brake operation to the left side skates and the right side skates；
Wherein, the direct current generator is located on the understructure, for after the car body drive signal is received, based on institute
State car body drive signal and determine to be sent to the driving direction of the direction controlling instrument, the driving direction is left-hand, dextrad, acceleration or
Reversing；
Weight sensor is arranged below the seat, for detecting the weight of human body above the seat in real time using as mesh
Indicated weight amount exports；
Inclination angle control device is arranged on the anticollision tablet, is connected with the weight sensor, for receiving the target
Weight, and the inclination angle that the anticollision tablet and the base plane be in, the target weight are determined based on the target weight
Amount is bigger, and the inclination angle is smaller, wherein, the inclination angle that the anticollision tablet and the base plane are in is 15 degree, 20 degree,
25 degree, 30 degree or 35 degree；
Increase weight alert device, is arranged below the seat, including load container and voice control chip, the voice control core
Piece is connected with the weight sensor, for when the target weight is less than preset weight threshold value, playing car body heavy burden deficiency
Information, and broadcasting content is determined to remind staff to institute based on the difference of the target weight and the preset weight threshold value
Increased load lead quantity in load container is stated, wherein, the difference is bigger, the corresponding load lead number of the broadcasting content
Amount is more；
Skates folding equipment, is arranged on the understructure, is connected with the direct current generator, for being based on the driving direction
Determine the control strategy to the left side skates and the right side skates；
Wherein, the left side skates and the right side skates all include preceding to unfolding mechanism and backward unfolding mechanism, forward direction expansion
For being unfolded or shrinking front end inverted triangle body IceSword, backward unfolding mechanism is used to be unfolded or shrink rear end inverted triangle body ice for mechanism
Sword；
Wherein, the skates folding equipment determines the control to the left side skates and the right side skates based on the driving direction
Strategy processed includes：When the driving direction is left-hand, dextrad or accelerates, the left side skates and the right side skates are controlled all
To unfolding mechanism and shrink rear end inverted triangle body IceSword before expansion, when the driving direction for reversing when, control the left side ice
Before all shrinking to unfolding mechanism and rear end inverted triangle body IceSword is unfolded in knife and the right side skates；
Wherein, the direct current generator also it is described slide the current sliding speed of robot less than pre-set velocity threshold value when, determine hair
Driving direction toward the direction controlling instrument is acceleration；
The voice control chip is additionally operable to, when the target weight is more than or equal to the preset weight threshold value, stop to car body
The broadcasting for insufficient information of bearing a heavy burden；
MMC storage cards are arranged below the seat, are connected with weightening alert device, for prestoring the preset weight
Threshold value；
Environment light sensing device, it is bright for detecting the illumination for sliding robot place environment in real time on anticollision tablet
Degree；
LED array on anticollision tablet, is connected with the environment light sensing device, for receiving the illumination brightness, and
When the illumination brightness is less than or equal to predetermined luminance threshold value, floor light light is provided for the Image Acquisition of described image collector；
Wherein, LED array is high density LED array, and the auxiliary that can provide high intensity and prominent target shape contour feature is shone
Mingguang City；
Described image collector be ccd image sensor, and with the environment light sensing device, the LED array, described image
Sensor integration is on same integrated circuit plate；
The MMC storage cards are also connected with the LED array and the direct current generator respectively, are additionally operable to prestore described default
Luminance threshold and the pre-set velocity threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465581.XA CN107264715B (en) | 2017-02-17 | 2017-02-17 | Robot is slided based on image identification |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465581.XA CN107264715B (en) | 2017-02-17 | 2017-02-17 | Robot is slided based on image identification |
| CN201710085778.0A CN106741566B (en) | 2017-02-17 | 2017-02-17 | Robot is slided based on image recognition |
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| CN201710085778.0A Division CN106741566B (en) | 2017-02-17 | 2017-02-17 | Robot is slided based on image recognition |
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| CN105936289A (en) * | 2016-06-13 | 2016-09-14 | 李新亚 | Propeller propelling skiing and skating convertible car |
| CN106314577A (en) * | 2016-08-23 | 2017-01-11 | 西安科技大学 | Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot |
Also Published As
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| CN106741566B (en) | 2017-10-10 |
| CN107264715A (en) | 2017-10-20 |
| CN106741566A (en) | 2017-05-31 |
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