CN107696042A - Wheel type intelligent autonomous mobile service robot - Google Patents
Wheel type intelligent autonomous mobile service robot Download PDFInfo
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- CN107696042A CN107696042A CN201710945667.2A CN201710945667A CN107696042A CN 107696042 A CN107696042 A CN 107696042A CN 201710945667 A CN201710945667 A CN 201710945667A CN 107696042 A CN107696042 A CN 107696042A
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- robot
- video camera
- sensor
- monopod video
- motion
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of wheel type intelligent autonomous mobile service robot, is divided into top and the bottom being arranged on chassis, including：Control system, motion, embedded board computer, monopod video camera and sensor；Motion, it is controlled by motor driving and/or controller；Industrial computer, motor driving and/or controller are connected by serial ports；Monopod video camera, the orientation and angle of monopod video camera are controlled by serial ports, there is provided the environmental information around robot, and the information gathered is connected to embedded computer by image pick-up card；Sensor is arranged on the top and bottom of robot, by being connected to embedded computer after information processing；Robot upper part carries out folding with lower connecting plate by upper junction plate with bottom and connected, and laterally folded axle is provided between plate is vertically connected with and/or is pulled and pushed；Robot can realize automatic obstacle avoiding according to sonac, improve the ability of the location navigation and map structuring in some inartificial environment.
Description
Technical field
It is more particularly to a kind of the present invention relates to the intelligent Mobile Service robot platform of electromechanical integration and computer technology
Intelligent mobile robot with independence.
Background technology
The European and American developed countries such as the U.S., Germany, Britain were started in for 20th century in terms of service robot product developing
The mid-1970s, the work standing posture robot and carrying type robot that they develop are more successfully to be serviced into market at that time
One of robot.In the early 1990s, European Union propose TIDE plan, it is intended to promote help technical research with meet society and
Industrial requirements, the quality of life of handicapped and elderly is improved, improve the development level in European industry and services market.Into
21 century, the French Academy and German federal research association propose that Bobea, GURP plan respectively, actively promote service robot
Study support of the U.S. governments for service robot and concentrate on fighter robot, anti-terrorism robot the aspect, " nurse of release
Assistant " robot, in hospital's extensive use.
In China, robot technology research is started late in itself, the research of intellect service robot and advanced international standard
There is very big gap.In recent years, with artificial intelligence technology research extensively and profoundly, theory of the China to service robot technology
Research just gradually deeply, with expanding economy and the sharp increase of aging populations, for service-delivery machine Man's Demands also increasingly
Greatly.Therefore, in June, 2005, Ministry of Science and Technology's new and high technology is with industrialization department with regard to the advanced manufacture of National 863 plan and automation skill
Relevant enterprise, expert is invited to hold " service robot " Symposium On Development Strategy in Beijing in art field.Expert group is directed to
Domestic demand is analyzed, it is contemplated that the technical foundation of China's reality, it is proposed that the Eleventh Five-Year Plan period service-delivery machine man-based development
Target, domestic many scientific research institutions take up the research in this aspect.In April, 2007, Harbin Institute of Technology is after development
After going out intellect service robot " blue and green ", a kind of novel intelligent service robot is developed again, and this robot can independently be kept away
Barrier, freely walks, and can belong to top standard at home with people's simple dialog.But its scope of activities is extremely limited, from
The target of high-intelligentization is far apart.
But with the further development of computer technology and artificial intelligence technology, intelligent Mobile Service robot is ground
Study carefully a undeniable key areas as robot research, turn into the focus of research field, research direction mainly includes
Machine vision, multi-sensor fusion technology, the navigation of robot cooperates with location technology, from owner-machine, man-machine interaction etc., and
These research contents are required for an opening and the higher experiment porch of reliability, to be put into practice to these methods and theory
Prove, thus exploitation with home services and colleges and universities it is practical there is the robot test platform of high reliability, opening with very
Big market potential and Research Significance.
The key technology of wheel type intelligent autonomous mobile robot mainly includes, navigator fix and motion based on machine vision
The control of object tracking, interactive voice technology, the control technology of mobile robot, robot motion mechanism based on robot platform
Technology processed, sensor technology etc..
Machine vision is the science and technology in a suitable forward position, and the focus of artificial intelligence study, and robot obtain it is big
The sensor of ambient condition information is measured, data volume is larger in machine vision calculating process, and real-time is poor, have impact on machine vision
Practical application, and the method that much the machine vision navigation system based on road sign uses artificial landmark, practicality is also poor.
The content of the invention
It is real-time using this method it is an object of the invention to provide a kind of method using the real-time location navigation of machine vision
The topological map of surrounding environment where obtaining robot, using machine vision to week when mainly being roamed in the environment by robot
The natural conspicuousness road sign in collarette border is identified, and builds topological node, forms the topological map of environment.
The present invention is realized using following technological means：
A kind of wheel type intelligent autonomous mobile service robot, it is divided into top and the bottom being arranged on chassis, including：Control
System, motion, embedded board computer, monopod video camera and sensor；Motion, by motor driving and/or
Controller is controlled；Industrial computer, motor driving and/or controller are connected by serial ports；Monopod video camera, controlled by serial ports
The orientation and angle of monopod video camera, there is provided the environmental information around robot, and the information gathered passes through IMAQ
Card is connected to embedded board computer；Sensor is arranged on the top and bottom of robot, by being connected to after information processing
Embedded computer；Robot upper part carries out folding with lower connecting plate by upper junction plate with bottom and connected, and is being vertically connected with plate
Between be provided with and laterally folded axle and/or pull and push；
Foregoing sensor is distributed as the composition semicircle of bottom five, and both the above is side by side.
Foregoing sensor is distributed on five prisms for dividing 180 ° equally, each occupies 36 ° of scope.
The DC brush servomotor of photoelectric encoder, decelerator is installed, in driving wheel at left and right sides of foregoing chassis
One universal supporting roller is respectively installed on the perpendicular bisector of axis.
The present invention compared with prior art, has following obvious advantage and beneficial effect：
Robot of the present invention can realize automatic obstacle avoiding according to sonac, roam in the environment, while pass through head
Camera records ambient condition information, the topological map of constructing environment, can also realize the identification and tracking of specific objective, this
Outside, robot has good man-machine interaction sexual function, can carry out Voice command by the self-contained Mike of robot,
And carry out briefly dialogue and self-introduction etc..Improve location navigation in some inartificial environment and map structuring
Ability so that the scope of activities of robot has the more broad outdoor of indoor trend, and this also preferably serves people for robot
Class provides theoretical foundation and certain methods.
Brief description of the drawings
Fig. 1 is wheel type intelligent autonomous mobile service robot overall appearance figure of the present invention；
Fig. 2 is the fold mechanism of wheel type intelligent autonomous mobile service robot of the present invention；
Fig. 3 is the control system schematic block diagram of wheel type intelligent autonomous mobile service robot of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Put down as shown in figure 1, wheel type intelligent autonomous mobile service robot ROBUT-I belongs to the experiment of generic service humanoid robot
Platform, main machine people sonac are made up of upper and lower two parts, and bottom forms semicircular ring (figure middle part by 5 sonacs
Part 7), it is possible to achieve the obstacle detection in the range of 180 ° of front, because home-services robot is higher in itself, it is possible to
Aerial barrage thing is run into, so there are also installed two sonacs (part 6 in figure) arranged side by side in robot upper part, has been realized
Judgement to high-altitude barrier and hide.
Another feature of the robot is that robot uses fold mechanism, as shown in Fig. 2 so this robot carry and
It can easily be folded in storage, be advantageous to carry and store；The motion of the robot is by two driving wheels and two
Individual universal driven pulley is formed, and driving wheel is driven by the motor for being integrated with decelerator and encoder, in order to ensure that robot is passing through
Preferable earth-grasping force is maintained to during hogwallow, suspension is devised, can so remain grabbing for driving wheel
Ground, the type of drive of robot use the differential driving of two-wheeled, and driving wheel is the part 2 in Fig. 1, after advance that can be random
Move back, rapidly change direction, itself barycenter can also be surrounded with no-radius rotation, can thus be come in and gone out certainly in narrow place
Such as, the profile of robot is as shown in figure 1, mainly service robot, and the structure on chassis is well suited for service robot, center of gravity compared with
It is low, behave relatively steadily, hand-grip thing will not have much impact to the center of gravity of whole robot, be more beneficial for machine
The stability of people.In addition, the control system of robot uses distributed frame, the sensing data processing of robot, servo fortune
Dynamic control is so advantageous to strengthen the real-time of robot, so as to surrounding environment all by each independent DSP parallel processings
Complex situations make quick reaction, strengthen the security of robot.
The latter half of robot uses wheel moving platform, and top half is humanoid using class, can so give full play to
The characteristics of property and strong gable structure's operational capacity easy to control of wheeled construction, the purpose that service robot is served the people is also complied with,
It is possible to solve robot by half high barrier obstruction (such as four very big leg desks), the ultrasound biography of possible bottom
Sensor is detected less than table leg, and such robot is possible to below desk in the past, so, to cause danger, in order to avoid
Such case occurs, and we the arrangement to robot sensor have carried out special design, have almost formd the net in a space,
Two sensors of top arrangement can be used for solving above-mentioned situation, and the sensor of bottom is distributed in five independent iron plates
On, 180 ° of angle is divided into each angle in five parts for 36 ° by this five iron plates, as shown in Fig. 1 parts 7.
As shown in Fig. 2 be illustrated as wheel type intelligent autonomous mobile service robot ROBUT-I fold mechanism, wherein under connect
Fishplate bar 8 is used for connecting with chassis, and upper junction plate 11 is used for and robot is attached above the waist, and folding principle is mainly to pass through
The the pulling and pushing of folding shaft (part 9 in Fig. 2) realizes the movable of movable part (Fig. 2 parts 10) and fixed, and the design is by rotary shaft
Being combined together with steady pin realizes rotary shaft, is that rotary shaft has rotary shaft and the function of steady pin.So not only simplify
Structure, and use it is more convenient.
Fig. 3, which show wheel type intelligent autonomous mobile service robot of the present invention, to be included：Motion, sensing system, language
System for electrical teaching, power-supply system, vision system, monitoring system etc..The realization of specific electronic system is as follows：
Power supply：The power supply that ROBUT-I provides electric power is provided in series by two pieces of 12V lead accumulator, and its capacity is 12Ah, base
Originally can ensure, the voltage of motor is between 12~36V, ancillary equipment (display, sonac, the cloud of robot
Platform video camera) operating voltage be 12V and 5V, provided after changing voltages by two pieces of batteries.
Embedded board computer：Using the internal memory of intel965GM chipset, T6500 processor and 1G, performance
High and low in energy consumption, the industrial computer is connected by serial ports and passed equipped with two PCI-Express, PC104+ data/address bus, the industrial computer
The parameters such as luffing angle, the anglec of rotation and the autozoom of sensor system, motor driving/controller and control monopod video camera.
DC motors driving/controller：Electric machine control system is made up of one piece of motion control card and two servo-drivers.On
Position machine sent by RS-422 serial ports advance, retreat, rotation etc. is instructed to motion control card, then motion control card control servo
Driver demodulates pulse-width signal, the velocity of rotation of controlled motor and direction.So as to which powered motion mechanism realizes various actions,
Ensure the completion of robot task.
Cradle head camera and image pick-up card：The environmental information of cradle head camera collection is returned to by image pick-up card
Position machine, view data is handled using the powerful data processing of host computer and calculation function, enhances the real-time of robot reaction
Property, and the complex algorithms such as identification can be completed.
Sonac and DSP information processings：ROBUT-I sensing system is five ultrasonic rings by bottom (in Fig. 1
Part 7) and the sonac (part 6 in Fig. 1) of both the above side by side collectively form space networks, monopod video camera, photoelectricity
Encoder, gyroscope.Accelerometer is formed.Sonac mainly completes 180 ° and space front in front of ROBUT-I chassis
Obstacle detection, damaged so as to ensure robot not knock some barriers, monopod video camera mainly complete vision letter
The extraction of breath, can be rotated freely in the range of 360 ° and automatically focus on etc. function, can complete active vision positioning, navigation
The task such as follow with moving target.
DC motors driving/controller：The motor driving of robot is watched using the motion control card based on ARM structures and two
Driver composition is taken, gyroscope and accelerometer are integrated with motion control card, is mainly used in the acquisition of robot pose
Control with precision is turned to, and is integrated with photoelectric encoder on motor, it is mainly used to the distance of robot measurement relative movement,
Its information is mainly used to build the completion reckoning of map and the positioning in robot navigation.
Man machine language's interactive module：In order to strengthen the Man machine interaction of robot, we also developed man machine language's friendship
Mutual module, microphone is connected in veneer inserted computer, is mainly used in the reception of voice command and information, can be with control machine people
Forward-reverse or the action such as rotate to an angle, can also realize it is man-machine between carry out brief greeting or realize robot from
I such as introduces at the function.
Positioning and navigation module based on natural landmark：Robot can carry out navigator fix and ring using natural landmark
The topological map structure in border, the characteristics of making full use of visual sensor information amount big, this is also localization for Mobile Robot and navigation
Development trend, this system do not recycle made Target, thus can more complicated and inartificial environment carry out motion and
The completion of task, and the topological map of passed by environment can be built, and the planning of map realizing route and robot can be utilized
The function such as location navigation.
Wheel type intelligent autonomous mobile service robot overall performance index：
Outward appearance：The latter half is motion platform, and top half is humanoid robot, as shown in Figure 1.
Motion platform parameter：It is wide：40cm, it is long：70cm is high：120cm, weight：35kg, load：20kg.
Maximum linear speed：1m/s, maximum angular rate：3rad/s, no-radius rotation.
Motor：DC brush servomotor.
Wheel train structure：Two main drive wheels, (part 1 and 2 in Fig. 1, wherein 2 be driving wheel, 1 is two theory of even development quadrature arrangements
Servo-actuated universal wheel).
Sensing system：The semicircular ring being made up of five sonacs and two space arrays formed side by side are (in Fig. 1
Part 6 and 7, wherein part 6 are two sonacs side by side, and part 7 is the ultrasonic semicircular ring that five sensors are formed), can
Barrier in front of effective sniffing robot chassis immediately ahead of 180 ° of scopes and space, and have independent DSP Processor, can be with
Mitigate the burden of host computer data processing, and can realize that the real-time processing of sensing data and action are corresponding；Motion control card collection
Into gyroscope and accelerometer, the motion state of robot and the accuracy of the anglec of rotation can be effectively ensured, ensure machine
People can advance according to the path of planning.
Vehicle-mounted main control computer：Embedded board computer, core2T6500 processors, 1G RAM, PC104+ buses, RS485/
422/232 serial ports built-in industrial control machine.
Control system：The core of control system is embedded board computer, is coordinated and is melted by embedded board computer
Close each independent modular system；Modular system mainly includes：Sensing system, kinetic control system and vision system
Pass through serial ports Deng, each system and embedded board computer carries out real-time Communication for Power.Merged by embedded board computer each
Information and then complete last decision-making.
Conspicuousness natural landmark navigation system：Conspicuousness natural landmark navigation system can be realized robot autonomous in position
Roamed in environment, significant natural landmark demarcation node in extraction environment, build the topological map of location circumstances, and being capable of basis
Topological map realizes navigation and path planning in environment.
Voice interaction module：Developer can realize the language of robot by microphone self-contained with robot
Sound control system and brief dialogue between man-robot can be completed, brief self be situated between in addition, robot can do some
Continue.
The manipulation of mobile robot can realize that sensing system uses ultrasonic sensing by the phonetic order assigned
Device, monopod video camera and photoelectric encoder collectively form, and can realize ring by vision sensor in circumstances not known
The structure of border topological map and navigator fix and path planning based on map, the robot have good man-machine interaction
Function, it can carry out briefly talking with and introducing myself with people.
Claims (2)
1. a kind of wheel type intelligent autonomous mobile service robot, it is divided into top and the bottom being arranged on chassis, including：Control system
System, motion, industrial computer, monopod video camera and sensor；It is characterized in that：
Described motion, it is controlled by motor driving and/or controller；
Embedded computer, motor driving and/or controller are connected by serial ports；
Described monopod video camera, the orientation and angle of monopod video camera are controlled by serial ports, there is provided the environment around robot
Information, and the information gathered is connected to embedded computer by image pick-up card；
Described sensor is arranged on the top and bottom of robot, by being connected to embedded computer after information processing；
Described robot upper part carries out folding with lower connecting plate by upper junction plate with bottom and connected, between plate is vertically connected with
Provided with laterally folded axle and pull and push.
2. wheel type intelligent autonomous mobile service robot according to claim 1, it is characterised in that：Sensor is distributed as down
Five, portion composition semicircle, two sensors of robot upper part are side by side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945667.2A CN107696042A (en) | 2017-10-12 | 2017-10-12 | Wheel type intelligent autonomous mobile service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945667.2A CN107696042A (en) | 2017-10-12 | 2017-10-12 | Wheel type intelligent autonomous mobile service robot |
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| Publication Number | Publication Date |
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| CN107696042A true CN107696042A (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710945667.2A Pending CN107696042A (en) | 2017-10-12 | 2017-10-12 | Wheel type intelligent autonomous mobile service robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782768A (en) * | 2019-01-26 | 2019-05-21 | 哈尔滨玄智科技有限公司 | A kind of autonomous navigation system adapting to expert's planetary compound gear train transfer robot |
| CN110744521A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Stretching and containing structure of bionic robot and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201565952U (en) * | 2009-07-24 | 2010-09-01 | 北京工业大学 | Wheeled intelligent automatic moving service robot |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
-
2017
- 2017-10-12 CN CN201710945667.2A patent/CN107696042A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201565952U (en) * | 2009-07-24 | 2010-09-01 | 北京工业大学 | Wheeled intelligent automatic moving service robot |
| CN203460170U (en) * | 2013-08-01 | 2014-03-05 | 河北工程大学 | Wheel type search and rescue robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782768A (en) * | 2019-01-26 | 2019-05-21 | 哈尔滨玄智科技有限公司 | A kind of autonomous navigation system adapting to expert's planetary compound gear train transfer robot |
| CN110744521A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Stretching and containing structure of bionic robot and control method thereof |
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Application publication date: 20180216 |