CN107538492A - Intelligent control system, method and the intelligence learning method of mobile robot - Google Patents
Intelligent control system, method and the intelligence learning method of mobile robot Download PDFInfo
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- CN107538492A CN107538492A CN201710802258.7A CN201710802258A CN107538492A CN 107538492 A CN107538492 A CN 107538492A CN 201710802258 A CN201710802258 A CN 201710802258A CN 107538492 A CN107538492 A CN 107538492A
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- 230000008447 perception Effects 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 14
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- 210000004556 brain Anatomy 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 18
- 239000011521 glass Substances 0.000 claims description 3
- 208000033748 Device issues Diseases 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
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Abstract
The invention discloses a kind of Intelligent control system of mobile robot, method and intelligence learning method, system includes intelligent control device and the webserver, and the webserver includes intelligently parsing device；Intelligent control device receives the first manipulation signal and the first manipulation signal is converted into the second manipulation signal；The webserver receives the second manipulation signal；Intelligently parsing device is used to manipulate signal resolution into control instruction by second and sent to mobile robot；The executing agency of mobile robot is used to perform task according to control instruction；The sensing mechanisms of mobile robot is used to obtain perception information and send perception information to the webserver；The webserver is additionally operable to receive perception information and sends perception information to intelligent control device.The present invention introduces the intervention supervision of the mankind in mobile robot performs task process, optimizes machine intelligence using mankind's feedback, reduces the machine intelligence trial and error time, machine intelligence can independently complete complex task and improve operating efficiency.
Description
Technical field
The present invention relates to mobile robot control technical field, more particularly to a kind of intelligence of network mobile robot
Can control system, method and intelligence learning method.
Background technology
With the development of the society, mobile robot has been progressed into the Working Life of people, it can replace people
Complete a series of work.In the process that the mobile robot auxiliary mankind are operated, the mould of opened loop control is typically all used
Formula, such as the mankind manipulate mobile robot in visual range and carry out operation, or by Remote that mobile robot is all
The scene enclosed is presented in operator at the moment after being caught using multiple cameras.In mobile robot more and more intelligent today, this
The simple opened loop control of kind hinders the intelligent development of mobile robot.From the angle analysis of intelligent Service mobile robot,
Current mobile robot can't be entirely autonomous completion complex task, but in given scenario and the situation of Given task
Under, mobile robot can realize very high operating efficiency.If it can reasonably add the guidance and supervision of the mankind, robot
Can with bigger aspect aid in the mankind be engaged in complexity work.
The content of the invention
It in order to overcome is in the prior art letter to the control mode of mobile robot that the technical problem to be solved in the present invention, which is,
Single opened loop control so that the defects of robot can't complete complex task entirely autonomously, and operating efficiency is relatively low, there is provided one
Mobile robot kind is enabled to complete the intelligence behaviour of complex task and the high mobile robot of operating efficiency entirely autonomously
Control system, method and intelligence learning method.
The present invention is that solve above-mentioned technical problem by following technical proposals：
The invention provides a kind of Intelligent control system of mobile robot, its feature is, including intelligent control device
And the webserver, the webserver include intelligently parsing device；The mobile robot includes executing agency and perceptron
Structure；
The webserver passes through network connection with the intelligent control device and the mobile robot respectively；
The intelligent control device is used for the first manipulation signal for receiving outside input and turns the described first manipulation signal
The second manipulation signal is turned to send to the webserver；
The webserver is used to receive the second manipulation signal；
The intelligently parsing device is used to manipulate signal resolution into control instruction by described second and sent to the moving machine
Device people；
The executing agency of the mobile robot is used to perform task according to the control instruction；
The sensing mechanisms of the mobile robot is used to obtain perception information and send the perception information to the net
Network server；
The webserver is additionally operable to receive the perception information and send the perception information to the intelligence to control
Control equipment.
In this programme, the manipulation side namely mankind send the first manipulation signal to intelligent control device, intelligent control device
The signal is converted into the second manipulation signal to send to the webserver, the intelligently parsing device in the webserver assist the mankind and
Two-way interactive is carried out between mobile robot, the control that the second manipulation signal resolution received can be identified into mobile machine
Instruction, the executing agency of mobile robot perform task, the perception of the sensing mechanisms acquisition of mobile robot according to control instruction
Information passes the webserver back, and now the webserver can send the perception information received to intelligent control device, the mankind
By intelligent control device can Understanding perception information, according to these information complete to the further behaviour of mobile robot
Control, so as to complete a closed loop interaction.
Present solution provides a kind of system of network closed-loop control mobile robot, the mankind are allow arbitrarily to have
The place of network carries out reliable and stable control to mobile robot, and diversified Control Cooling causes human intelligence and robot
The interaction of intelligence becomes simpler.The mankind by real-time performance to mobile robot rational guidance and supervision, in the mankind and
Network closed-loop control is formd between mobile robot so that mobile robot can complete entirely autonomously complex task and
Improve operating efficiency.
It is preferred that the webserver is additionally operable to store the second manipulation signal and/or the perception information.
It is preferred that the intelligent control device include PC (personal computer, personal computer), tablet personal computer,
VR (virtual reality technology) the brain waves helmet, AR (augmented reality) glasses, touch glove and/or the photography of 3D (three-dimensional) body-sensing
Machine.
In this programme, the VR brain waves helmet can identify brain wave and send the result of identification to the webserver；3D
Body-sensing video camera can import the work(such as dynamic seizure immediately, image identification, microphone input, speech recognition, community interactive simultaneously
Energy.
It is preferred that the first manipulation signal includes natural language and/or machine language.
In this programme, the mankind and mobile robot are linked up using natural language or the machine language of setting, so as to
Effectively using the intelligent of mobile robot, the intervention supervision of the mankind can be introduced during mobile robot tasks carrying,
Optimize machine intelligence using mankind's feedback, greatly reduce the machine intelligence trial and error time, after forming intensified learning model, machine intelligence
It can independently complete work.This programme forms rational network interactive mode, promotes mobile robot industry
Development.
It is preferred that the natural language includes voice, word, gesture and/or brain wave, the machine language includes button
Operational order and/or handle operational order.
In this programme, the form of natural language is varied, can be phonetic entry, word input, gesture operation or
The brain wave identified input of the mankind, as long as can be intended to collect by intelligent control device by the operation of the mankind, intelligence
The operation of the mankind is intended to be converted into the second manipulation signal output to the webserver by control device.
It is preferred that the sensing mechanisms includes camera and/or rangefinder.
In this programme, sensing mechanisms is used to gather the various information in mobile robot execution task process, including distance
Image, video or distance etc..
It is preferred that the executing agency includes motor and/or steering wheel.
In this programme, executing agency according to control instruction perform task, executing agency according to the type of task difference and
It is different.
It is preferred that the intelligently parsing device is additionally operable to the perception information being parsed into visual information and sent to described
Intelligent control device, the intelligent control device are additionally operable to receive and export the visual information.
In this programme, perception information can be explained or translated into visual information and send to intelligent control by intelligently parsing device
Control equipment, intelligent control device shows manipulation side after the visual information is received, such as is visualized by screen display
Information is shown by forms such as voice broadcasts.
Present invention also offers a kind of Intelligent control method of mobile robot, its feature is, based on foregoing movement
The Intelligent control system of robot realizes that the Intelligent control method comprises the following steps：
S1, the intelligent control device receives the first manipulation signal of outside input and converts the described first manipulation signal
Sent for the second manipulation signal to the webserver；
S2, the webserver receive the second manipulation signal, the intelligently parsing device will the described second manipulation letter
Number it is parsed into control instruction and sends to the mobile robot；
S3, the mobile robot executing agency task is performed according to the control instruction；
S4, the mobile robot sensing mechanisms obtain perception information and send the perception information to the network
Server；
S5, the webserver receives the perception information and sends the perception information to the intelligent control and set
It is standby.
It is preferred that step S5Comprise the following steps：The webserver receives the perception information, the intelligently parsing
The perception information is parsed into visual information and sent to the intelligent control device by device；
Step S5It is further comprising the steps of afterwards：
S6, the intelligent control device receives and exports the visual information.
The present invention also provides a kind of intelligence learning method of mobile robot, and its feature is, based on foregoing moving machine
The Intelligent control method of device people realizes that the intelligence learning method comprises the following steps：
T1, pass through the intelligent control device issue a preset task；
T2, the mobile robot learns the preset task and a learning outcome obtained in current learning process；
T3, the mobile robot learning outcome is fed back into the intelligent control device；
T4, the intelligent control device export the learning outcome；
T5, judge whether the learning outcome meets goal-selling, if otherwise performing step T2If then flow terminates.
In this programme, the intervention that mobile robot adds human intelligence during a preset task is learnt is sentenced
Disconnected, the result learnt every time for mobile robot is fed back in time, optimizes machine intelligence using mankind's feedback, greatly reduces machine
The device intelligence trial and error time, after forming intensified learning model, and then enable machine intelligence independently to complete complex task and carry
High workload efficiency.
The positive effect of the present invention is：The Intelligent control system of mobile robot provided by the invention, method and
Intelligence learning method allows the mankind and mobile robot to enter using natural language or the machine language of setting by network
Row is linked up, so as to effectively using the intelligent of mobile robot, introduce the mankind's in mobile robot performs task process
Intervene supervision, optimize machine intelligence using mankind's feedback, greatly reduce the machine intelligence trial and error time, form intensified learning model
Afterwards, machine intelligence can independently complete complex task and improve operating efficiency.The present invention forms rational network
Interactive mode, network closed-loop control is formd, advance the development of mobile robot industry.
Brief description of the drawings
Fig. 1 is the structural representation of the Intelligent control system of the mobile robot of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the Intelligent control system of the mobile robot of the embodiment of the present invention 2.
Fig. 3 is the flow chart of the Intelligent control method of the mobile robot of the embodiment of the present invention 3.
Fig. 4 is the flow chart of the Intelligent control method of the mobile robot of the embodiment of the present invention 4.
Fig. 5 is the flow chart of the intelligence learning method of the mobile robot of the embodiment of the present invention 5.
Embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to described reality
Apply among a scope.
Embodiment 1
As shown in figure 1, a kind of Intelligent control system 1 of mobile robot, including intelligent control device and the webserver
11, the webserver 11 includes intelligently parsing device 1101；Mobile robot 2 includes executing agency and sensing mechanisms.This reality
Apply intelligent control device in example and use the VR brain waves helmet 12, motor 21 and camera is respectively adopted in executing agency and sensing mechanisms
22。
The webserver 11 passes through network connection with the VR brain waves helmet 12 and the mobile robot 2 respectively.
The VR brain waves helmet 12 is used to receiving first manipulates signal and by described the by manipulation side 3 from what its exterior inputted
One manipulation signal is converted into the second manipulation signal and sent to the webserver 11, and the first manipulation signal is behaviour in the present embodiment
The eeg signal of prosecutor 3.The webserver 11 is used to receiving and storing the second manipulation signal；The intelligently parsing
Device 1101 is used to manipulate signal resolution into control instruction by described second and sent to the mobile robot 2；The moving machine
The motor 21 of device people 2 is used to perform task according to the control instruction；The camera 22 of the mobile robot 2, which is used to obtain, to be felt
Know information and send the perception information to the webserver 11.Perception information is that camera 22 captures in the present embodiment
Image and video.
The webserver 11 is additionally operable to receive and stores the perception information, and the intelligently parsing device 1101 is additionally operable to
The perception information is parsed into visual information and sent to the VR brain waves helmet 12, the VR brain waves helmet 12 and is additionally operable to receive
And show that the visual information uses for operation side 3.
In the present embodiment, manipulator i.e. the mankind are that the VR brain waves helmet 12 sends control meaning by intelligent control device
Figure is intended to eeg signal to the webserver 11, the control.The webserver 11 is used to receive and data storage, network clothes
The intelligently parsing device 1101 being engaged in device 11 assists human intelligence and intelligent robot to carry out two-way interactive, and the control received is anticipated
The control instruction that figure signal resolution can identify into robot is sent to the executing agency i.e. motor 21 of mobile robot 2, moving machine
The sensing mechanisms of device people 2 is that camera 22 obtains perception information and passes the webserver 11 back, the now meeting of intelligently parsing device 1101
The perception information of mobile robot 2 is understood and translate change into the mankind can be with the information of Understanding, so as to complete one
Individual closed loop interaction.
Present embodiments provide a kind of Intelligent control system 1 of mobile robot, by the system mankind can and machine
People is linked up using natural language or the machine language of setting, so that effectively using the intelligent of mobile robot, and
The intervention supervision of the mankind is introduced during mobile robot tasks carrying, optimizes machine intelligence using mankind's feedback, greatly subtracts
Few machine intelligence trial and error time, after forming intensified learning model, machine intelligence can independently complete work.
Embodiment 2
As shown in Fig. 2 intelligent control device uses PC12 ' in the present embodiment as different from Example 1, executing agency and
Steering wheel 21 ' and rangefinder 22 ' is respectively adopted in sensing mechanisms.
The webserver 11 passes through network connection with PC12 ' and the mobile robot 2 ' respectively.
PC12 ' is used to receive the first manipulation signal inputted from its exterior by manipulation side 3 ' and believes the described first manipulation
Number it is converted into the second manipulation signal to send to the webserver 11, the first manipulation signal is that manipulation side 3 ' leads in the present embodiment
Cross the data-signal of PC12 ' input through keyboard.The webserver 11 is used to receiving and storing the second manipulation signal；Institute
Intelligently parsing device 1101 is stated to be used to manipulate signal resolution into control instruction by described second and send to the mobile robot 2 '；
The steering wheel 21 ' of the mobile robot 2 ' is used to perform task according to the control instruction；The ranging of the mobile robot 2 '
Instrument 22 ' is used to obtain perception information and send the perception information to the webserver 11.Letter is perceived in the present embodiment
Cease the range information gathered for rangefinder 22 '.
The webserver 11 is additionally operable to receive and stores the perception information, and sends this information to PC12 ',
PC12 ' is additionally operable to receive and shows that the visual information uses for operation side 3 '.
In the present embodiment, manipulator i.e. the mankind are that PC12 ' sends control and is intended to network by intelligent control device
Server 11, the control are intended to the data-signal of PC12 ' input through keyboard.The webserver 11 is used to receive and store number
According to the intelligently parsing device 1101 in the webserver 11 assists human intelligence and intelligent robot to carry out two-way interactive, reception
To the control signal of intent control instruction that is parsed into robot and can identify be sent to the steering wheel 21 ' of mobile robot 2 ', it is mobile
The rangefinder 22 ' of robot 2 ' obtains perception information and passes the webserver 11 back, and the webserver 11 is received and stored described
Perception information, and PC12 ' is sent this information to, PC12 ' is additionally operable to receive and shows that the visual information supplies operation side 3 '
Use, so as to complete a closed loop interaction.
A kind of Intelligent control system 1 ' of mobile robot is present embodiments provided, can and be moved by the system mankind
Robot is linked up using natural language, so as to effectively using the intelligent of mobile robot, and in mobile robot task
The intervention supervision of the mankind is introduced in implementation procedure, optimizes machine intelligence using mankind's feedback, greatly reduces machine intelligence trial and error
Time, after forming intensified learning model, machine intelligence can independently complete work.
Embodiment 3
As shown in figure 3, a kind of Intelligent control method of mobile robot, the intelligence based on the mobile robot in embodiment 1
Energy control system 1 realizes that the Intelligent control method comprises the following steps：
Step S101, the VR brain waves helmet 12 receives the first manipulation signal i.e. brain inputted by manipulation side 3 from its exterior
The signal is simultaneously converted into the second manipulation signal and sent to the webserver 11 by electric wave signal；
Step S102, the webserver 11 receives and stores the second manipulation signal, and intelligently parsing device 1101 manipulates second
Signal resolution is into control instruction and sends to mobile robot 2；
Step S103, the motor 21 of mobile robot 2 performs task according to the control instruction；
Step S104, the camera 22 of mobile robot 2 obtains perception information and is image and video and believes described perceive
Breath is sent to the webserver 11；
Step S105, the webserver 11 receives and stores the perception information, and intelligently parsing device 1101 is by the perception
Information is parsed into visual information and sent to the VR brain waves helmet 12；
Step S106, the VR brain waves helmet 12 receives and shows that the visual information uses for operation side 3.
Embodiment 4
As shown in figure 4, a kind of Intelligent control method of mobile robot, the intelligence based on the mobile robot in embodiment 2
Energy control system 1 ' realizes that the Intelligent control method comprises the following steps：
Step S201, it is to pass through PC12's ' that PC12 ', which receives the first manipulation signal inputted by manipulation side 3 ' from its exterior,
Described first manipulation signal is simultaneously converted into the second manipulation signal and sent to the webserver by the data-signal of input through keyboard
11；
Step S202, the webserver 11 receives and stores the second manipulation signal, and intelligently parsing device 1101 manipulates second
Signal resolution is into control instruction and sends to mobile robot 2 '；
Step S203, the steering wheel 21 ' of mobile robot 2 ' performs task according to the control instruction；
Step S204, it is the range information that rangefinder 22 ' gathers that the rangefinder 22 ' of mobile robot 2 ', which obtains perception information,
And the perception information is sent to the webserver 11；
Step S205, the webserver 11 receives and stores the perception information and send this information to PC12 '；
Step S206, PC12 ' is received and is shown that the visual information uses for operation side 3 '.
Embodiment 5
As shown in figure 5, a kind of intelligence learning method of mobile robot, the intelligence based on the mobile robot in embodiment 4
Energy control method realizes that intelligence is grasped learning method and comprised the following steps：
Step T101, manipulation side issues a preset task by PC；
Step T102, mobile robot can obtain the preset task, mobile robot after being transmitted by the webserver
Learn the preset task and a learning outcome is obtained in current learning process；
Step T103, the learning outcome is fed back to PC by mobile robot by the webserver；
Step T104, PC shows the learning outcome by its display screen；
Step T105, manipulation side judges whether the learning outcome meets goal-selling, if otherwise performing step T102, if
Then flow terminates.
In the present embodiment, using the Intelligent control method of the offer of previous embodiment 4, mobile robot is default in study one
The intervention that human intelligence is added during task judges that the result learnt every time for mobile robot is fed back in time, profit
Optimize machine intelligence with mankind's feedback, greatly reduce the machine intelligence trial and error time, after forming intensified learning model, machine intelligence
Work can independently be completed.
Situation of the intelligent control device for the VR brain waves helmet and PC is only gived in above-described embodiment, but is actually used
In also include tablet personal computer, AR glasses, touch glove and/or 3D body-sensing video cameras etc., multiple manipulators can be by different
Intelligent control device is interacted by means of network from different mobile robots, and a manipulator can also pass through multiple differences
Intelligent control device interacted with one or more mobile robots, formed network closed-loop control.
Although the embodiment of the present invention is the foregoing described, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
On the premise of the principle and essence of the present invention, various changes or modifications can be made to these embodiments, but these changes and
Modification each falls within protection scope of the present invention.
Claims (10)
1. the Intelligent control system of a kind of mobile robot, it is characterised in that including intelligent control device and the webserver, institute
Stating the webserver includes intelligently parsing device；The mobile robot includes executing agency and sensing mechanisms；
The webserver passes through network connection with the intelligent control device and the mobile robot respectively；
The intelligent control device is used for the first manipulation signal for receiving outside input and is converted into the described first manipulation signal
Second manipulation signal is sent to the webserver；
The webserver is used to receive the second manipulation signal；
The intelligently parsing device is used to manipulate signal resolution into control instruction by described second and sent to the mobile robot；
The executing agency of the mobile robot is used to perform task according to the control instruction；
The sensing mechanisms of the mobile robot is used to obtain perception information and send the perception information to the network to take
Business device；
The webserver is additionally operable to receive the perception information and send the perception information to the intelligent control to set
It is standby.
2. the Intelligent control system of mobile robot as claimed in claim 1, it is characterised in that the intelligent control device bag
Include PC, tablet personal computer, the VR brain waves helmet, AR glasses, touch glove and/or 3D body-sensing video cameras.
3. the Intelligent control system of mobile robot as claimed in claim 1, it is characterised in that the first manipulation signal bag
Include natural language and/or machine language.
4. the Intelligent control system of mobile robot as claimed in claim 3, it is characterised in that the natural language includes language
Sound, word, gesture and/or brain wave, the machine language include button operation instruction and/or handle operational order.
5. the Intelligent control system of mobile robot as claimed in claim 1, it is characterised in that the sensing mechanisms includes taking the photograph
As head and/or rangefinder, the executing agency includes motor and/or steering wheel.
6. the Intelligent control system of mobile robot as claimed in claim 1, it is characterised in that the intelligently parsing device is also used
Also used in the perception information to be parsed into visual information and send to the intelligent control device, the intelligent control device
In receiving and export the visual information.
7. the Intelligent control system of mobile robot as claimed in claim 1, it is characterised in that the webserver is also used
Signal and/or the perception information are manipulated in storing described second.
8. a kind of Intelligent control method of mobile robot, it is characterised in that based on the shifting described in any one of claim 1 to 7
The Intelligent control system of mobile robot realizes that the Intelligent control method comprises the following steps：
S1, the intelligent control device receives the first manipulation signal of outside input and the described first manipulation signal is converted into the
Two manipulation signals are sent to the webserver；
S2, the webserver receive the second manipulation signal, the intelligently parsing device will the described second manipulation signal resolution
Into control instruction and send to the mobile robot；
S3, the mobile robot executing agency task is performed according to the control instruction；
S4, the mobile robot sensing mechanisms obtain perception information and send the perception information to the network service
Device；
S5, the webserver receives the perception information and sends the perception information to the intelligent control device.
9. the Intelligent control method of mobile robot as claimed in claim 8, it is characterised in that step S5Comprise the following steps：
The webserver receives the perception information, and the perception information is parsed into visual information simultaneously by the intelligently parsing device
Send to the intelligent control device；
Step S5It is further comprising the steps of afterwards：
S6, the intelligent control device receives and exports the visual information.
10. a kind of intelligence learning method of mobile robot, it is characterised in that based on the shifting described in any one of claim 8 to 9
The Intelligent control method of mobile robot realizes that the intelligence learning method comprises the following steps：
T1, pass through the intelligent control device issue a preset task；
T2, the mobile robot learns the preset task and a learning outcome obtained in current learning process；
T3, the mobile robot learning outcome is fed back into the intelligent control device；
T4, the intelligent control device export the learning outcome；
T5, judge whether the learning outcome meets goal-selling, if otherwise performing step T2If then flow terminates.
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| CN108960188A (en) * | 2018-07-23 | 2018-12-07 | 江苏科瑞恩自动化科技有限公司 | A kind of artificial intelligence approach that additional character is identified based on NI Vision Builder for Automated Inspection |
| CN109240282A (en) * | 2018-07-30 | 2019-01-18 | 王杰瑞 | One kind can manipulate intelligent medical robot |
| CN109454641A (en) * | 2018-12-25 | 2019-03-12 | 哈工大机器人（合肥）国际创新研究院 | A kind of motion controller multitask division of labor and data interactive method |
| CN110434877A (en) * | 2019-08-14 | 2019-11-12 | 纳博特南京科技有限公司 | One kind being based on augmented reality and idiodynamic robot control method |
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