CN107943059A - Heavily loaded multi-foot robot and its motion planning method based on deep vision navigation - Google Patents
Heavily loaded multi-foot robot and its motion planning method based on deep vision navigation Download PDFInfo
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- CN107943059A CN107943059A CN201711469283.4A CN201711469283A CN107943059A CN 107943059 A CN107943059 A CN 107943059A CN 201711469283 A CN201711469283 A CN 201711469283A CN 107943059 A CN107943059 A CN 107943059A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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Abstract
The invention discloses the heavily loaded multi-foot robot and its motion planning method to be navigated based on deep vision, wherein multi-foot robot body includes robot load platform, robot foot section system and deep vision device part, and control method includes the traveling control based on deep vision navigation.Robot uses linear unit to carry very big weight compared to joint type multi-foot robot as driving device, solve the problems such as joint type multi-foot robot power and flow consumption fluctuation；It can also realize the direction of advance of quick change robot and full landform Fast marching, there is very high practical value.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of heavily loaded multi-foot robot based on deep vision navigation
And its motion planning method.
Background technology
In the prior art, multi-foot robot is usually revolute robot, it has following several common faults：(1) due to closing
Section is laterally located, and causes lifting capacity very weak, it is impossible to carries out heavily loaded traveling；(2) the traveling control difficulty of complex space is high, asks
Inverse Kinematics Solution asks rotation angle difficult；(3) gait of march is slower, more demanding to motor；(4) do not possess each executing agency
Feedback, can only carry out opened loop control.
Based on above reason, it is necessary to which a kind of multi-foot robot that can carry out heavy duty is devised, robot can be big
It is big to improve work efficiency and adaptivity；At the same time positioning is carried out using the relatively low visual apparatus progress image procossing of price to lead
Boat, improves the practical value of robot.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of based on deep vision navigation
Heavily loaded multi-foot robot and its motion planning method, there is provided it is a kind of heavy duty multi-foot robot, use machine vision complete machine
The positioning and navigation of people, and can be improved by the change in software end, the adaptability of robot, solves to exist in the prior art
The above problem.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
Heavily loaded multi-foot robot based on deep vision navigation, it is characterised in that：Multi-foot robot body include by down toward
Upper sequentially connected robot foot section system, robot load platform and deep vision device；Wherein,
The robot foot section system is made of some support legs, every support leg include bindiny mechanism, a base pitch,
One trochanter, a leg section and a support foot, wherein, the bindiny mechanism is connected with robot load platform, the base pitch
Top be connected with the bindiny mechanism, the bottom of base pitch is connected with the trochanter centrally through electric rotating machine, the end of trochanter
End is connected with leg section, and the end of each leg section is provided with support foot；
The robot load platform be used for placement machine people needed for carry weight, the robot load platform it is upper
Surface has the tubular linear motor for the embedded digital formula displacement sensor being transversely mounted along center symmetric setting；
The deep vision device is made of " L " type supporting rack and binocular vision camera, and one end of " L " type supporting rack is horizontal
Set and its end is connected with binocular vision camera, the other end is vertically arranged and its end is loaded by motor installed in robot
The center of platform.
The bindiny mechanism is made of screw guide rail and sliding block, and the shell of screw guide rail connects with the robot load platform
Connect, sliding block is connected with base pitch；The bottom of the base pitch is connected by electric rotating machine with the center of trochanter, and trochanter top is provided with tiltedly
Pull-up structure, is connected with base pitch by bearing；The leg section uses the tubular linear motor conduct of embedded digital formula displacement sensor
Executing agency, is fixed on the both ends of trochanter, leg section end is connected with support foot, each to support foot bottom to be respectively arranged with piezoelectric sensing
Device, for feeding back the posture of robot.
The robot foot section system is made of six support legs, along the center of the robot load platform in circumferential
It is uniformly arranged.Six sufficient mechanisms have two redundancy supporting points, stability higher, relative to eight foots and eight foots relative to quadruped structure
The modeling difficulty and control difficulty of above mechanism will be low.
Based on the heavily loaded multi-foot robot of deep vision navigation, its traveling control method comprises the following steps：
Step 1：Binocular vision camera is demarcated, obtains the internal reference of binocular vision camera and outer ginseng；
Step 2：The direction of advance of robot is obtained according to the feedback of deep vision bottom of device motor, gathers robot
Corresponding depth data and RGB data, the depth data progress denoising to obtaining in binocular vision camera field of view under direction of advance
Processing, obtains smooth depth data；Derivation is carried out to depth data again, obtains the smoothness of reflection depth data smoothness
Data；
Step 3：According to the internal reference of binocular vision camera, depth data and smoothness data are switched into three dimensional point cloud,
And the three-dimensional point cloud model of smooth degrees of data is obtained, Octree Spatial Index is carried out to the three-dimensional point cloud model of smooth degrees of data,
Data compaction is carried out using bounding box method to the point cloud model after processing；
Step 4：Each support foot is attainable after determining robot ambulation next step according to the current pose of multi-foot robot
Scope, which is transformed into the coordinate system of camera, and corresponding region is selected in the three-dimensional point cloud model of smooth degrees of data
As further selection section；
Step 5：M represents the size of smooth degrees of data, i.e., the depth difference between the point and surrounding are put in depth data, choosing
Select threshold value M of the median of all the points in section as initial smooth degrees of data0, select the minimum value conduct of all the points in section
MMIN, from MMINTo M0The pose for the next step that can be produced constantly is searched for, is weighted, wherein robot pose changes
Weight is w1, the weight of robot location's change is w2, the weight of energy consumption needed for robot change procedure is w3, then root is answered
Asking for for optimal solution, Result=w are carried out according to following equation1Gesture-w2Position+w3Energy, convergence obtain next
The optimal location of step；
Step 6：Carry out Biped Robot Control and reach designated position, complete the traveling of a period of motion inner machine people,
Then repeat step two completes the walking navigation of robot to step 5.
The beneficial effects of the invention are as follows：The heavily loaded multi-foot robot based on deep vision navigation is compared to traditional polypody
Robot, has the advantage that：(1) robot uses linear unit as driving device, compared to joint type polypody machine
People can carry very big weight (2) solve the problems such as joint type multi-foot robot power and flow consumption fluctuation (3) can be with
Realize the direction of advance of quick change robot and full landform Fast marching, there is very high practical value.
Brief description of the drawings
Fig. 1 is the explanation schematic diagram of the embodiment of the present invention；
Fig. 2 is the partial schematic diagram of the embodiment of the present invention；
Fig. 3 is the structure diagram of bindiny mechanism in embodiment；
Fig. 4 is the structure diagram of foot piezoelectric transducer in embodiment；
In figure：1- robot foot section systems, 2- robots load platform, 3- deep vision devices, 4- support legs, 5- connections
Mechanism, 6- base pitch, 7- trochanters, 8- leg sections, 9- support foots, 10- electric rotating machines, 11- tubular linear motors, the support of 12- " L " type
Frame, 13- binocular vision cameras, 14- ends motor, 15- screw guide rails, 16- sliding blocks, 17- slant-pull structures, 18- bearings, 19- pipes
Shape linear motor.
Embodiment
The invention discloses the heavily loaded multi-foot robot and its motion planning method to be navigated based on deep vision, wherein polypody
Robot body includes robot load platform, robot foot section system and deep vision device part, and control method includes base
In the traveling control of deep vision navigation.
The present invention is further described below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, 2, heavily loaded multi-foot robot, it is characterised in that：Multi-foot robot body is included from the bottom to top successively
Robot foot section system 1, robot load platform 2 and the deep vision device 3 of connection；Wherein,
The robot foot section system 1 is made of some support legs 4, and every support leg 4 includes bindiny mechanism 5, one
The leg section 8 of trochanter 7, one of base pitch 6, one and a support foot 9, wherein, the bindiny mechanism 5 connects with robot load platform 2
Connect, the top of the base pitch 6 is connected with the bindiny mechanism 5, and the bottom of base pitch 6 is with the trochanter 7 centrally through electric rotating
Machine 10 is connected, and the end of trochanter 7 is connected with leg section 8, and the end of each leg section 8 is provided with support foot 9；
The robot load platform 2 is used for the weight carried needed for placement machine people, the robot load platform 2
Upper surface has the tubular linear motor 11 for the embedded digital formula displacement sensor being transversely mounted along center symmetric setting；
The deep vision device 3 is made of " L " type supporting rack 12 and binocular vision camera 13, " L " type supporting rack 12
One end is horizontally disposed with and its end is connected with binocular vision camera 13, and the other end is vertically arranged and its end is installed by motor 14
At the center of robot load platform 2.
As shown in figure 3, the bindiny mechanism 5 is made of screw guide rail 15 and sliding block 16, the shell of screw guide rail 15 and institute
State robot load platform 2 to connect, sliding block 16 is connected with base pitch 6；The bottom of the base pitch 6 passes through electric rotating machine 10 and trochanter 7
Center be connected, 7 top of trochanter is provided with slant-pull structure 17, is connected with base pitch 6 by bearing 18；Built in 8 use of leg section
The tubular linear motor 19 of digital displacement transducer is used as executing agency, is fixed on the both ends of trochanter 7,8 end of leg section and branch
Support foot 9 is connected, and each 9 bottoms of support foot are respectively arranged with piezoelectric transducer, for feeding back the posture of robot, as shown in Figure 4.
The robot foot section system 1 is made of six support legs 9, and the center along the robot load platform 2 is in
Circumferentially it is uniformly arranged.Six sufficient mechanisms have two redundancy supporting points relative to quadruped structure, stability higher, relative to eight enough and
Eight are enough the modeling difficulty of mechanism and control difficulty will be low.
Based on the heavily loaded multi-foot robot of deep vision navigation, its traveling control method comprises the following steps：
Step 1：Binocular vision camera 13 is demarcated, obtains the internal reference of binocular vision camera 13 and outer ginseng；
Step 2：The direction of advance of robot is obtained according to the feedback of 3 bottom motors of deep vision device, gathers robot
Corresponding depth data and RGB data in 13 ken of binocular vision camera under direction of advance, remove obtained depth data
Make an uproar processing, obtain smooth depth data；Derivation is carried out to depth data again, obtains the smooth of reflection depth data smoothness
Degrees of data；
Step 3：According to the internal reference of binocular vision camera 13, depth data and smoothness data are switched into three-dimensional point cloud number
According to, and the three-dimensional point cloud model of smooth degrees of data is obtained, Octree Spatial Cable is carried out to the three-dimensional point cloud model of smooth degrees of data
Draw, data compaction is carried out using bounding box method to the point cloud model after processing；
Step 4：Each support foot is attainable after determining robot ambulation next step according to the current pose of multi-foot robot
Scope, which is transformed into the coordinate system of camera, and corresponding region is selected in the three-dimensional point cloud model of smooth degrees of data
As further selection section；
Step 5：M represents the size of smooth degrees of data, i.e., the depth difference between the point and surrounding are put in depth data, choosing
Select threshold value M of the median of all the points in section as initial smooth degrees of data0, select the minimum value conduct of all the points in section
MMIN, from MMINTo M0The pose for the next step that can be produced constantly is searched for, is weighted, wherein robot pose changes
Weight is w1, the weight of robot location's change is w2, the weight of energy consumption needed for robot change procedure is w3, then root is answered
Asking for for optimal solution, Result=w are carried out according to following equation1Gesture-w2Position+w3Energy, convergence obtain next
The optimal location of step；
Step 6：Carry out Biped Robot Control and reach designated position, complete the traveling of a period of motion inner machine people,
Then repeat step two completes the walking navigation of robot to step 5.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
- A kind of 1. heavily loaded multi-foot robot based on deep vision navigation, it is characterised in that：Multi-foot robot body is included under Supreme sequentially connected robot foot section system, robot load platform and deep vision device；Wherein,The robot foot section system is made of some support legs, every support leg include bindiny mechanism, a base pitch, one Trochanter, a leg section and a support foot, wherein, the bindiny mechanism is connected with robot load platform, the top of the base pitch Portion is connected with the bindiny mechanism, and the bottom of base pitch is connected with the trochanter centrally through electric rotating machine, the end of trochanter with Leg section is connected, and the end of each leg section is provided with support foot；The robot load platform is used for the weight carried needed for placement machine people, the upper surface of the robot load platform There is the tubular linear motor for the embedded digital formula displacement sensor being transversely mounted along center symmetric setting；The deep vision device is made of " L " type supporting rack and binocular vision camera, and one end of " L " type supporting rack is horizontally disposed with And its end is connected with binocular vision camera, the other end is vertically arranged and its end is installed on robot load platform by motor Center.
- 2. the heavily loaded multi-foot robot as claimed in claim 1 based on deep vision navigation, it is characterised in that：The connection machine Structure is made of screw guide rail and sliding block, and the shell of screw guide rail is connected with the robot load platform, and sliding block is connected with base pitch； The bottom of the base pitch is connected by electric rotating machine with the center of trochanter, and trochanter top is provided with slant-pull structure, passes through with base pitch Bearing is connected；The leg section uses the tubular linear motor of embedded digital formula displacement sensor to be fixed on and turn as executing agency The both ends of section, leg section end is connected with support foot, each to support foot bottom to be respectively arranged with piezoelectric transducer, for feeding back robot Posture.
- 3. the heavily loaded multi-foot robot as claimed in claim 1 based on deep vision navigation, it is characterised in that：The robot Foot system is made of six support legs, is uniformly arranged along the center of the robot load platform in circumferential.
- 4. the motion planning method of the heavily loaded multi-foot robot based on deep vision navigation as described in claims 1 to 3 is any, It is characterized in that：Its traveling control method comprises the following steps：Step 1：Binocular vision camera is demarcated, obtains the internal reference of binocular vision camera and outer ginseng；Step 2：The direction of advance of robot is obtained according to the feedback of deep vision bottom of device motor, collection robot advances Corresponding depth data and RGB data in binocular vision camera field of view under direction, denoising is carried out to obtained depth data, Obtain smooth depth data；Derivation is carried out to depth data again, obtains the smooth degrees of data of reflection depth data smoothness；Step 3：According to the internal reference of binocular vision camera, depth data and smoothness data are switched into three dimensional point cloud, and ask Go out the three-dimensional point cloud model of smooth degrees of data, Octree Spatial Index is carried out to the three-dimensional point cloud model of smooth degrees of data, to place Point cloud model after reason carries out data compaction using bounding box method；Step 4：The attainable model of foot is each supported after determining robot ambulation next step according to the current pose of multi-foot robot Enclose, which is transformed into the coordinate system of camera, select corresponding region to make in the three-dimensional point cloud model of smooth degrees of data For further selection section；Step 5：M represents the size of smooth degrees of data, i.e., the depth difference between the point and surrounding are put in depth data, selects area Threshold value M of the median of interior all the points as initial smooth degrees of data0, the minimum value of all the points in section is selected as MMIN, From MMINTo M0The pose for the next step that can be produced constantly is searched for, is weighted, wherein the weight of robot pose change For w1, the weight of robot location's change is w2, the weight of energy consumption needed for robot change procedure is w3, then should be according to such as Lower equation carries out asking for for optimal solution, Result=w1Gesture-w2Position+w3Energy, convergence obtain next step Optimal location；Step 6：Carry out Biped Robot Control and reach designated position, complete the traveling of a period of motion inner machine people, then Repeat step two completes the walking navigation of robot to step 5.
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