CN107450565A - Intelligent movable tracks car - Google Patents
Intelligent movable tracks car Download PDFInfo
- Publication number
- CN107450565A CN107450565A CN201710870285.8A CN201710870285A CN107450565A CN 107450565 A CN107450565 A CN 107450565A CN 201710870285 A CN201710870285 A CN 201710870285A CN 107450565 A CN107450565 A CN 107450565A
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- Prior art keywords
- head
- car
- host computer
- tracking
- car body
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- 238000001514 detection method Methods 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 6
- 235000021061 dietary behavior Nutrition 0.000 claims description 6
- 235000006694 eating habits Nutrition 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000009017 pursuit movement Effects 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Image Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to robot field, specially a kind of intelligent movable tracking car.Include host computer (1), slave computer (2), car body (3), head (4), camera (5), voice module (6), head driving (7), wheel driving (8), laser ranging module (9).Intelligent movable tracking car is operable with Three models, and the first pattern is by storage template tracking, and second of pattern is selectes content tracing in frame by template, and the third pattern is to be tracked by moving object detection result, and user is selected using phonetic order.The present invention can be used as airdrome luggage car or supermarket shopping car to use.
Description
Technical field
The invention belongs to robot field, is related to a kind of intelligent movable tracking car, more particularly to a kind of tracking specific objective
Intelligent movable tracking car.
Background technology
Tracking car is the hot research problem of robot field, and it can have emphatically in many fields such as security protection, monitoring, traffic
The application value wanted.Shopping cart or luggage truck used in existing supermarket, airport all do not have automatic tracking function.Tool
There are the shopping cart of automatic tracking function or luggage truck to provide convenient, raising device intelligence level for user.Due to
The complexity of track environment and the particularity of tracing task, higher requirement is proposed to the performance for tracking car in practical application.
On the one hand require that tracking accurately, stably, is on the other hand required to meet the requirement of real-time tracking performance.
Therefore, designing a kind of intelligent movable tracking car for being capable of automatic identification target has good application value.
The content of the invention
The technical problems to be solved by the invention are, for public place locomotive lacking without intelligent tracking function
Point, a kind of intelligent movable tracking car that can realize automatic tracking function of design.
The technical solution adopted in the present invention is：A kind of intelligent movable tracks car, includes host computer (1), slave computer
(2), car body (3), head (4), camera (5), voice module (6), head driving (7), wheel driving (8), laser ranging mould
Block (9).
Host computer (1) is made up of computer, can gather image by camera (5), and realize people by voice module (6)
Machine interacts.Head (4) is two-degree-of-freedom cradle head, can be achieved up and down and left-right rotation, slave computer (2) are used as control using DSP
Coremaking piece, head movement instruction can be provided, drive (7) to drive head (4) to rotate by head, slave computer (2) also provides car body
Movement instruction, two motor movements of (8) driving car body are driven by wheel.Car body (3) have two motors of left and right wheels and
One universal wheel, realized and turned to by the differential control of two motors.Camera (5) and laser ranging module (9) are all solid
It is scheduled on head (4), can be driven and rotated by head (4), head (4) is fixed on car body (3), laser ranging module (9) measurement
The distance between barrier and car body, and pass to slave computer (2).
It is an object of the invention to construct a kind of intelligent movable applied to places such as airport or supermarkets to track car, for transporting
See off Lee or goods etc., there is good practicality.
Brief description of the drawings
Fig. 1 is intelligent movable tracking bassinet structure schematic diagram.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the display interface of host computer (1) provides signal language, user says instruction, language according to signal language
Sound module (6) receives phonetic order, and sends host computer (1) to.Intelligent movable tracking car is operable with Three models, the first
Pattern is by storage template tracking, and for second of pattern to select content tracing in frame by template, the third pattern is by motion mesh
Testing result tracking is marked, user is selected using phonetic order.Pattern one is used for keeper, and host computer is deposited in (1)
Store up keeper work clothes trace template picture, when host computer receive voice module (6) instruction Dietary behavior for the moment, on
Position machine (1) is using the template image in camera (5) search current scene, when searching and stored trace template image phase one
During the image of cause, lock onto target starts to track；Pattern two uses for ordinary customer, when Dietary behavior two, host computer (1)
Occur template on display screen and select frame, customer makes tracing area enter the selected inframe of template by adjustment position, and provides voice
Instruct " starting to track ", the picture that host computer (1) locking template selectes inframe starts to track as To Template；Pattern three is used
Used in ordinary customer, when Dietary behavior three, before customer stands on camera, provide phonetic order " starting to track ", it is upper
Machine (1) determines To Template using gauss hybrid models, starts to track.The track algorithm of host computer (1) uses Camshift
Algorithm realizes tracking, and when intelligent movable tracking car starts to track target, host computer (1) deviates in display screen according to moving target
The distance of heart point, biased error command signal is sent to slave computer (2), after slave computer (2) receives biased error command signal,
Drive (7) to drive head (4) to drive camera (5) up and down and left rotation and right rotation by head, realize tracking of the camera to target
Motion, slave computer (2) according to the left rotation and right rotation angle of head (4), by wheel drive (8) drive car body two motors difference
Speed motion, left and right follow-up motion of the car body (3) to head (4) is realized, between laser ranging module (9) measurement barrier and car body
Distance, and send slave computer (2) to, slave computer (2) provides car body gait of march according to the distance between barrier and car body,
Drive (8) to drive two motors of car body to rotate by wheel, realize pursuit movement of the intelligent movable tracking car to target.Use
Person stops tracking by providing phonetic order " stopping tracking ", order intelligent movable tracking car.
It is an advantage of the current invention that intelligent movable tracking car has, three kinds of tracing modes are available, can for keeper
According to the work clothes template automatic identification target prestored, it is tracked, for ordinary customer, setting tracking mould can be used
Plate and the selected tracking target of moving object detection two ways, are tracked.In addition, the tracking to target is realized using head,
Car body realizes the servo antrol to head, can increase the flexibility of tracking car, improves the Stability and veracity of tracking.The present invention
Airdrome luggage car or supermarket shopping car can be used as to use.
Claims (2)
1. a kind of intelligent movable tracks car, include host computer (1), slave computer (2), car body (3), head (4), camera (5),
Voice module (6), head driving (7), wheel driving (8), laser ranging module (9), it is characterised in that host computer (1) is by counting
Mechanism is calculated into image being gathered by camera (5), and realize man-machine interaction by voice module (6)；Head (4) be two from
By degree head, it can be achieved up and down and left-right rotation, slave computer (2), as control chip, can provide head motion using DSP
Instruction, (7) are driven to drive head (4) to rotate by head, slave computer (2) also provides body movement instruction, is driven by wheel
(8) two motor movements of car body are driven；Car body (3) has two motors of left and right wheels and a universal wheel, passes through two drives
The differential control of dynamic motor, which is realized, to be turned to；Camera (5) and laser ranging module (9) are all fixed on head (4), can be by head
(4) rotation is driven, head (4) is fixed on car body (3), laser ranging module (9) measurement the distance between barrier and car body,
And pass to slave computer (2).
2. a kind of intelligent movable tracking car according to claim 1, it is characterised in that the display interface of host computer (1) is given
Go out signal language, user says instruction, voice module (6) receives phonetic order, and sends host computer (1) to according to signal language；
Intelligent movable tracking car is operable with Three models, and the first pattern is that second of pattern is by template by storage template tracking
Content tracing in selected frame, the third pattern are to be tracked by moving object detection result, and user is selected using phonetic order
Select；Pattern one uses for keeper, and the work clothes trace template picture of storage administrator, works as host computer in host computer (1)
Instruction Dietary behavior a period of time of voice module (6) is received, host computer (1) utilizes the mould in camera (5) search current scene
Plate image, when searching the image consistent with stored trace template image, lock onto target starts to track；Pattern two is used for
Ordinary customer uses, and when Dietary behavior two, occurs template on the display screen of host computer (1) and selectes frame, customer is by adjusting position
Putting, which makes tracing area enter template, selectes inframe, and provides phonetic order " starting to track ", and host computer (1) locking template selectes frame
Interior picture starts to track as To Template；Pattern three uses for ordinary customer, and when Dietary behavior three, customer stands
Before camera, phonetic order " starting to track " is provided, host computer (1) is determined To Template using gauss hybrid models, opened
Begin to track；The track algorithm of host computer (1) realizes tracking using Camshift algorithms, when intelligent movable tracking car starts to track mesh
Timestamp, host computer (1) deviate the distance of display screen central point according to moving target, and biased error instruction is sent to slave computer (2)
Signal, after slave computer (2) receives biased error command signal, (7) are driven to drive head (4) to drive camera by head
(5) up and down and left rotation and right rotation, pursuit movement of the camera to target is realized, slave computer (2) is according to the left-right rotary corner of head (4)
Degree, the differential motion of two motors of (8) driving car body is driven by wheel, realizes that car body (3) is servo-actuated to the left and right of head (4)
Motion, laser ranging module (9) measurement the distance between barrier and car body, and send slave computer (2) to, slave computer (2) root
Car body gait of march is provided according to the distance between barrier and car body, drives (8) to drive two motors of car body to revolve by wheel
Turn, realize pursuit movement of the intelligent movable tracking car to target；By providing phonetic order " stopping tracking ", order moves user
Dynamic intelligent-tracking car stops tracking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710870285.8A CN107450565A (en) | 2017-09-18 | 2017-09-18 | Intelligent movable tracks car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710870285.8A CN107450565A (en) | 2017-09-18 | 2017-09-18 | Intelligent movable tracks car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107450565A true CN107450565A (en) | 2017-12-08 |
Family
ID=60497099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710870285.8A Pending CN107450565A (en) | 2017-09-18 | 2017-09-18 | Intelligent movable tracks car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107450565A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445882A (en) * | 2018-03-26 | 2018-08-24 | 北京智山机器人科技有限责任公司 | Automatic guided vehicle with following function |
| CN108664032A (en) * | 2018-06-08 | 2018-10-16 | 东北大学秦皇岛分校 | A kind of automatic control system and method for following carrier based on machine vision |
| CN110825123A (en) * | 2019-10-21 | 2020-02-21 | 哈尔滨理工大学 | Control system and method for automatic following loading vehicle based on motion algorithm |
| CN112180943A (en) * | 2020-10-19 | 2021-01-05 | 山东交通学院 | Underwater robot navigation obstacle avoidance method based on visual image and laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108445882A (en) * | 2018-03-26 | 2018-08-24 | 北京智山机器人科技有限责任公司 | Automatic guided vehicle with following function |
| CN108664032A (en) * | 2018-06-08 | 2018-10-16 | 东北大学秦皇岛分校 | A kind of automatic control system and method for following carrier based on machine vision |
| CN110825123A (en) * | 2019-10-21 | 2020-02-21 | 哈尔滨理工大学 | Control system and method for automatic following loading vehicle based on motion algorithm |
| CN112180943A (en) * | 2020-10-19 | 2021-01-05 | 山东交通学院 | Underwater robot navigation obstacle avoidance method based on visual image and laser radar |
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Application publication date: 20171208 |
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