CN108153314A - A kind of split type service robot - Google Patents
A kind of split type service robot Download PDFInfo
- Publication number
- CN108153314A CN108153314A CN201711497669.6A CN201711497669A CN108153314A CN 108153314 A CN108153314 A CN 108153314A CN 201711497669 A CN201711497669 A CN 201711497669A CN 108153314 A CN108153314 A CN 108153314A
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- Prior art keywords
- module
- split type
- service robot
- type service
- driving body
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Classifications
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of split type service robots, belong to the technology in intelligent machine field, including：Apart from detection module, map structuring module, navigation module, driving device and control module, the control module is connected with the driving device, control module driving device according to the path clustering, the split type service robot to be driven to be moved according to the path.The advantageous effect of the technical solution is：The driving body and load of the present invention is separate type, it and can be there are many combination, enable adaptation to different application scenarios, the electronic map of accurate structure different scenes, plan that different paths enable entire split type service robot accurately to reach appointed place according to electronic map, and specified individual can be followed, additionally it is possible to effectively keep away obstacle object.
Description
Technical field
The present invention relates to a kind of technology in intelligent machine field, specifically a kind of split type service robots.
Background technology
In recent years, with SLAM (Simultaneous Localization and Mapping, instant positioning and map
Structure) technology maturation and AI (Artificial Intelligence, artificial intelligence) technology development, various servers
Device people comes into being, and the service robot particularly using voice human-computer interaction as major function starts high-volume and moves towards market.
At present, at least 48 countries are in development robot in the world, wherein 25 national involveds service humanoid robots
Exploitation.In Japan, North America and Europe, 40 left fund of existing 7 type meter service humanoid robot enters experiment and half commercialization so far
It should.
Service robot is of wide application, and is mainly engaged in maintaining, repairing, transport, cleaning, security personnel, rescue, prison
The work such as shield.
The world is robot combined to be arranged through collection in a few years, given service robot one preliminary definition：Service
Robot is the robot of a kind of semi-autonomous or full utonomous working, it can complete the healthy services that is beneficial to man, but not
Including manufacturing-oriented equipment.Here, we are also included in the robot that some other lives close to people wherein.
But currently various service robots to be applied are all integral type, power unit and transport based on sport intellect
It is overall structure, and be all that single power unit drives to wait structural units.
Invention content
The present invention proposes a kind of split type service robot for deficiencies of the prior art.The drive of the present invention
Kinetoplast and load are separate type, and can enable adaptation to different application scenarios there are many combination, accurate to build
The electronic map of different scenes plans that different paths enable entire split type service robot accurate according to electronic map
Appointed place is reached, and specified individual can be followed, additionally it is possible to effectively keep away obstacle object.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of split type service robot, wherein, including：
At least one driving body and connect with the driving body one load marshalling, it is described load marshalling include to
A few load when the load marshalling includes multiple loads, is sequentially connected between the load；
The driving body includes：
Apart from detection module, it is described apart from detection module be used for acquire between the driving body and peripheric fixture body away from
From information；
Map structuring module, the map structuring module receives the range information, and is established according to the range information
One electronic map；
Navigation module, the navigation module handle to obtain the driving body and preset target position according to the electronic map
Path between putting；
Driving device, the driving device are used to drive the driving body and the load；
Control module, the control module are connected with the driving device, and the control module is according to the path clustering
The driving device, the split type service robot to be driven to be moved according to the path.
Preferably, the split type service robot, wherein, it is described apart from detection module be laser radar and/or depth phase
Machine.
Preferably, the split type service robot, wherein, the control module, which is connected with, keeps away around module, described to keep away around module
It is connected apart from detection module to control the reality acquired apart from detection module between the driving body and mobile object with described
When distance, described keep away one keep away around the path to keep away around the mobile object around module according to real-time range planning.
Preferably, the split type service robot, wherein, the control module, which is connected with, follows module, the distance detection
Module acquires the driving body and the real-time individual distance of a specified individual, described to follow module according to the real-time individual distance
Processing obtains following path in real time between the driving body and the specified individual, the control module according to it is described in real time with
The specified individual is followed with service robot split type described in path clustering.
Preferably, the split type service robot, wherein, it is described that module is followed to be connected with image capture module, described image
Acquisition module is used to acquire the personal feature of the specified individual, described to identify institute according to the personal feature apart from detection module
State specified individual.
Preferably, the split type service robot, wherein, the personal feature include face feature, aspectual character and
Gait feature.
Preferably, the split type service robot, wherein, the driving body is equipped with machine vision module for establishing space
Three-dimensional data model, identification object type and measurement contour of object size.
Preferably, the split type service robot, wherein, pass through hasp, extension between the driving body and the load
Hook, hinges or bolt connection.
Preferably, the split type service robot, wherein, the bolt is pneumatic bolt, hydraulic drive type bolt or electricity
Magnetic driving formula bolt.
Preferably, the split type service robot, wherein, the load is babinet or multistory frame.
Preferably, the split type service robot, wherein, the split type service robot includes：It is multiple to be serially connected
The load, the head and the tail both ends for the load being serially connected set a driving body respectively.
The advantageous effect of above-mentioned technical proposal is：The present invention driving body and load be separate type, and can there are many
Combination enables adaptation to different application scenarios, and the accurate electronic map for building different scenes is advised according to electronic map
Drawing different paths enables entire split type service robot accurately to reach appointed place, and can follow specified individual,
It also is able to effectively keep away obstacle object.
Description of the drawings
Fig. 1 is the driving body combination signal of a kind of split type service robot in the preferred embodiment of the present invention
Figure；
Fig. 2 is two driving bodies combination signal of a kind of split type service robot in the preferred embodiment of the present invention
Figure；
Fig. 3 is a kind of split type service robot driving body structure diagram in the preferred embodiment of the present invention；
In figure：1 driving body, 2 loads, 11 are apart from detection module, 12 map structuring modules, 13 navigation modules, 14 drivings
Device, 15 control modules, 16 are kept away follows module, 18 image capture modules around module, 17.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
As shown in Figure 1, the present embodiment is related to a kind of split type service robot, wherein, including：
At least one driving body 1 and the load marshalling being connect with the driving body 1, the load marshalling include
At least one load 2, when the load marshalling includes multiple loads 2, phase successively between the load 2
Even；
As shown in figure 3, driving body 1 includes：
Apart from detection module 11, it is used to acquire the distance between driving body 1 and peripheric fixture body apart from detection module 11
Information；
Map structuring module 12, map structuring module 12 receives range information, and establishes one electronically according to range information
Figure；
Navigation module 13, navigation module 13 handle to obtain between driving body 1 and preset target location according to electronic map
Path；
Driving device 14, driving device 14 are used to drive driving body 1 and load 2；
Control module 15, control module 15 are connected with driving device 14, and control module 15 is according to path clustering driving device
14, split type service robot to be driven to be moved according to path.
Driving device 14 includes driving motor and retarder, and 14 bottom of driving device is equipped with idler wheel, and driving motor is by subtracting
Fast device drives corresponding idler wheel after slowing down, so as to drive entire split type service robot movement.
Split type service robot may include several driving bodies 1, and head end, tail end or the middle part of split type service-delivery machine can be set
Put driving body 1.Several driving bodies 1 connect with several 2 activities of load.
As shown in Fig. 2, several loads 2 are serially connected, one driving body 1 is respectively set at the both ends of connected load 2.
Driving body 1 positioned at 2 front end of load and the driving body 1 positioned at rear end can drive entire service robot to move forward and backward, tool
There is higher flexibility.
It is connected between driving body 1 and load 2 by hasp, hook, hinges or bolt.
Bolt is pneumatic bolt, hydraulic drive type bolt or electromagnetic drive type bolt.Hydraulic drive type bolt uses liquid
Pressure pushes bolt to realize flexible connection.Even if electromagnetic drive type bolt is realized with solenoid actuated bolt and is flexibly connected.
Load 2 is babinet or multistory frame.The shape of the babinet is square, cuboid or semicylinder.Load 2
For loading article, by the goods transportation that load 2 is loaded to corresponding position under the driving of driving body 1.
It is laser radar and/or depth camera apart from detection module 11.Laser radar carries out the object in application scenarios
Dynamic measures, and can obtain the distance between driving body 1 and the object in scene information, and measure driving body 1 and the shifting in scene
The real-time individual distance between real-time range and driving body 1 and individual between animal body.Depth camera can also be driven
The distance between object in body 1 and scene information, and measure between the mobile object in driving body 1 and scene it is real-time away from
From and real-time individual distance between driving body 1 and individual.
Map structuring module 12 according to range information, builds the relative data coordinate between object and driving body 1 first,
And electronic map not with driving body 1 for the application scenarios of reference system is further established, the electronic map is fixed for navigation module 13
The basis of position.
Navigation module 13 handles to obtain the path between driving body 1 and preset target location according to electronic map.Navigation
Module 13 positions position of the split type service robot in electronic map first, then cooks up the road for reaching target location
Diameter.
Control module 15, which is connected with, keeps away around module 16, keeps away and is detected around module 16 with being connected apart from detection module 11 with command range
Module 11 acquires the real-time range between driving body 1 and mobile object, keeps away to be kept away according to real-time range planning one around module 16 and detours
Diameter is to keep away around mobile object.
It keeps away and is connected with an infrared sensor around module 16, for accurately identifying the human body as mobile object, to prevent from colliding
Pedestrian.
Control module 15, which is connected with, follows module 17, and the real-time of driving body 1 and a specified individual is acquired apart from detection module 11
Individual distance, follow module 17 according to real-time individual distance handle to obtain between driving body 1 and specified individual in real time follow road
Diameter, control module 15 according to following the split type service robot of path clustering to follow specified individual in real time.
During following, module 17 is followed to adjust the movement speed of split type service robot according to real-time individual distance
And path is followed in real time, so as to fulfill speed sync, the trajectory synchronization between service-delivery machine and the individual followed.
Module 17 is followed to be connected with image capture module 18, the individual that image capture module 18 is used to acquire specified individual is special
Sign identifies specified individual apart from detection module 11 according to personal feature.
Personal feature includes face feature, aspectual character and gait feature.
Depth camera or general camera can be used in image capture module 18.
Driving body 1 is equipped with machine vision module for establishing space three-dimensional data model, identification object type and measurement
Contour of object size.
The split type service robot of the present invention, compared with prior art：The present invention is using separate type, that is, driving body and bears
Carrier is separate type, and can be enabled adaptation to different application scenarios there are many combination, accurately build different scenes
Electronic map, it is specified to plan that different paths enable entire split type service robot accurately to reach according to electronic map
Place, and specified individual can be followed, additionally it is possible to effectively keep away obstacle object.
The foregoing is merely preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all include within the scope of the present invention.
Claims (10)
1. a kind of split type service robot, which is characterized in that including：At least one driving body and with the driving body connect
Connect one load marshalling, it is described load marshalling includes at least one load, when it is described load marshalling include it is multiple described in
During load, it is sequentially connected between the load；
The driving body includes：
It is described to be used to acquire the distance between the driving body and peripheric fixture body letter apart from detection module apart from detection module
Breath；
Map structuring module, the map structuring module receives the range information, and establishes an electricity according to the range information
Sub- map；
Navigation module, the navigation module according to the electronic map handle to obtain the driving body and preset target location it
Between path；
Driving device, the driving device are used to drive the driving body and the load；
Control module, the control module are connected with the driving device, and the control module is according to the path clustering
Driving device, the split type service robot to be driven to be moved according to the path.
2. split type service robot according to claim 1, which is characterized in that it is described apart from detection module be laser thunder
It reaches and/or depth camera.
3. split type service robot according to claim 1, which is characterized in that the control module, which is connected with, keeps away around mould
Block, it is described keep away around module with it is described be connected apart from detection module described acquire the driving body with moving apart from detection module to control
Real-time range between animal body, described keep away keep away around the path to keep away around the movement around module according to real-time range planning one
Object.
4. split type service robot according to claim 1, which is characterized in that the control module, which is connected with, follows mould
Block, it is described to acquire the driving body and the real-time individual distance of a specified individual apart from detection module, it is described follow module according to
The real-time individual distance handles to obtain follows path, the control mould in real time between the driving body and the specified individual
Root tuber follows split type service robot described in path clustering to follow the specified individual in real time according to described.
5. split type service robot according to claim 4, which is characterized in that described that module is followed to be connected with Image Acquisition
Module, described image acquisition module are used to acquiring the personal feature of the specified individual, it is described apart from detection module according to
Personal feature identifies the specified individual.
6. split type service robot according to claim 5, which is characterized in that it is special that the personal feature includes face
Sign, aspectual character and gait feature.
7. split type service robot according to claim 1, which is characterized in that the driving body is equipped with machine vision mould
Block is used to establish space three-dimensional data model, identification object type and measures contour of object size.
8. split type service robot according to claim 1, which is characterized in that the driving body and the load it
Between pass through hasp, hook, hinges or bolt connect.
9. split type service robot according to claim 8, which is characterized in that the bolt is pneumatic bolt, hydraulic pressure
Drive-type bolt or electromagnetic drive type bolt.
10. split type service robot according to claim 1, which is characterized in that the load is babinet or multilayer
Frame；And/or
The split type service robot includes：Multiple loads being serially connected, the load being serially connected
Head and the tail both ends set a driving body respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711497669.6A CN108153314A (en) | 2017-12-29 | 2017-12-29 | A kind of split type service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711497669.6A CN108153314A (en) | 2017-12-29 | 2017-12-29 | A kind of split type service robot |
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| Publication Number | Publication Date |
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| CN108153314A true CN108153314A (en) | 2018-06-12 |
Family
ID=62460671
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|---|---|---|---|
| CN201711497669.6A Pending CN108153314A (en) | 2017-12-29 | 2017-12-29 | A kind of split type service robot |
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| CN (1) | CN108153314A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
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