CN108527363A - The system of robot leaping over obstacles - Google Patents
The system of robot leaping over obstacles Download PDFInfo
- Publication number
- CN108527363A CN108527363A CN201810190700.XA CN201810190700A CN108527363A CN 108527363 A CN108527363 A CN 108527363A CN 201810190700 A CN201810190700 A CN 201810190700A CN 108527363 A CN108527363 A CN 108527363A
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- CN
- China
- Prior art keywords
- driving motor
- robot
- over obstacles
- camera
- leaping over
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a kind of system of robot leaping over obstacles, which includes：Photographing module, photographing module include the first camera and second camera, and the first camera is for obtaining the first video data, and the second camera is for obtaining the second video data；Image processing module is communicatively coupled to photographing module, obtains the first video data and the second video data from photographing module, and analyzed, and obtains avoidance data, and generate control signal based on avoidance data；Execution module is communicatively coupled to image processing module, and driving motor, leaping over obstacles are controlled according to control signal.Using the system of robot leaping over obstacles provided by the invention, the video data of barrier is obtained by photographing module, and is analyzed, and is generated control signal and is controlled driving motor so that robot leaping over obstacles.
Description
Technical field
The invention belongs to robot fields, more particularly, to a kind of system of robot leaping over obstacles.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.It is keeping away for robot to study at present more
Barrier method, but for walking robot, be to need across the past, rather than detour for some smaller obstacles, make it more
The form of adjunction person of modern times's class, therefore, it is necessary to provide a kind of system of robot leaping over obstacles.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Invention content
The present invention provides a kind of system of robot leaping over obstacles, robot is judged when encountering obstacle, simulates people
Class form, when barrier is smaller, direct leaping over obstacles.
To achieve the goals above, the present invention provides a kind of system of robot leaping over obstacles, which includes：Image mould
Block, the photographing module include the first camera and second camera, and first camera is used to obtain the first video data,
The second camera is for obtaining the second video data；Image processing module is communicatively coupled to the photographing module, from institute
It states photographing module and obtains first video data and second video data, and analyzed, obtain avoidance data, and base
Control signal is generated in the avoidance data；Execution module is communicatively coupled to described image processing module, according to the control
Signal controls driving motor, leaping over obstacles.
Preferably, the driving motor is multiple.
Preferably, the driving motor includes：First driving motor, the second driving motor and third driving motor, it is described
First driving motor is set to the femoral head position of robot；Second driving motor is set to the knee joint position of robot
It sets；The third driving motor is set to the ankle-joint location of robot；Wherein, first driving motor, the second driving electricity
Machine and third driving motor are respectively 2.
Preferably, imaging sensor, described image sensor packet are provided in first camera and second camera
Include CIS sensors and cmos sensor.
Preferably, described image processing module is arm processor.
Preferably, first video data includes the first image data of multiframe, and second video data includes multiframe
Second image data.
Preferably, described first image data and second image data are gray-scale map.
Preferably, there are parallaxes for the described image data of synchronization, and with Distance Shortened, the parallax reduces.
Using the system of robot leaping over obstacles provided by the invention, the video counts of barrier are obtained by photographing module
According to, and analyzed, it generates control signal and controls driving motor so that robot leaping over obstacles.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein in exemplary embodiment of the invention, identical reference label
Typically represent same parts.
Fig. 1 shows the schematic diagram of the system of robot leaping over obstacles.
Specific implementation mode
The preferred embodiment of the present invention is described in more detail below.Although the following describe the preferred implementations of the present invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, these embodiments are provided so that the present invention is more thorough and complete, and can be by the scope of the present invention completely
It is communicated to those skilled in the art.
The present invention provides a kind of system of robot leaping over obstacles, which includes：Photographing module, photographing module include the
One camera and second camera, the first camera is for obtaining the first video data, and the second camera is for obtaining the
Two video datas；Image processing module is communicatively coupled to photographing module, and the first video data and second is obtained from photographing module
Video data, and analyzed, avoidance data are obtained, and control signal is generated based on avoidance data；Execution module, communication link
It is connected to image processing module, driving motor, leaping over obstacles are controlled according to control signal.
Preferably, driving motor is multiple.
Preferably, driving motor includes：First driving motor, the second driving motor and third driving motor, the
One driving motor is set to the femoral head position of robot；Second driving motor is set to the knee joint position of robot；Third
Driving motor is set to the ankle-joint location of robot；Wherein, the first driving motor, the second driving motor and third driving motor
Respectively 2.
Specifically, the first driving motor, the second driving motor and third driving motor are respectively 2, it is respectively at machine
Two lower extremities of people or so complete the operation of robot leaping over obstacles by the driving of these motors.
Preferably, it is provided with imaging sensor in the first camera and second camera, imaging sensor includes
CIS sensors and cmos sensor.
Specifically, ccd sensor is charge coupling device sensor, and by the accumulation of electronics, image transmitting is to pass through for imaging
The transfer of charge is realized；CIS sensors are complementary metal oxide semiconductors, and image information is transmitted to obtain by voltage.
Preferably, image processing module is arm processor.
Specifically, arm processor is widely used in system design, and command length is fixed, and execution efficiency is high, cost
It is low.
Preferably, the first video data includes the first image data of multiframe, and the second video data includes multiframe
Two image datas.
Preferably, the first image data and the second image data are gray-scale map.
Specifically, cromogram is more saturated accordingly, and human vision is more abundant, but the image obtained needs machine friendly
Good, gray-scale map is lower relative to cromogram noise.
Preferably, there are parallaxes for the image data of synchronization, and with Distance Shortened, parallax reduces.
Embodiment 1
Fig. 1 shows the schematic diagram of the system of robot leaping over obstacles.
As shown in Figure 1, the present invention provides a kind of system of robot leaping over obstacles, which includes：Photographing module 101,
Photographing module 101 include the first camera and second camera, the first camera for obtain the first video data, described second
Camera is for obtaining the second video data；Image processing module 102 is communicatively coupled to photographing module 101, from photographing module
101 obtain the first video data and the second video data, and are analyzed, and obtain avoidance data, and generate based on avoidance data
Control signal；Execution module 103 is communicatively coupled to image processing module 102, and driving motor is controlled according to control signal, across
Obstacle-overpass；Wherein, driving motor is multiple；Driving motor includes：First driving motor, the second driving motor and third driving electricity
Machine, the first driving motor are set to the femoral head position of robot；Second driving motor is set to the knee joint position of robot；
Third driving motor is set to the ankle-joint location of robot；Wherein, the first driving motor, the second driving motor and third driving
Motor is respectively 2；Imaging sensor is provided in first camera and second camera, imaging sensor includes CIS sensings
Device and cmos sensor；Image processing module 102 is arm processor；First video data includes the first image data of multiframe, the
Two video datas include the second image data of multiframe；First image data and the second image data are gray-scale map；Synchronization
There are parallaxes for image data, and with Distance Shortened, parallax reduces.
Using the system of robot leaping over obstacles provided by the invention, the video counts of barrier are obtained by photographing module
According to, and analyzed, it generates control signal and controls driving motor so that robot leaping over obstacles.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The advantageous effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (8)
1. a kind of system of robot leaping over obstacles, which is characterized in that the system includes：
Photographing module, the photographing module include the first camera and second camera, and first camera is for obtaining the
One video data, the second camera is for obtaining the second video data；
Image processing module is communicatively coupled to the photographing module, and first video data is obtained from the photographing module
It with second video data, and is analyzed, obtains avoidance data, and control signal is generated based on the avoidance data；
Execution module is communicatively coupled to described image processing module, driving motor is controlled according to the control signal, across barrier
Hinder.
2. the system of robot leaping over obstacles according to claim 1, wherein the driving motor is multiple.
3. the system of robot leaping over obstacles according to claim 1, wherein the driving motor includes：First driving
Motor, the second driving motor and third driving motor,
First driving motor is set to the femoral head position of robot；
Second driving motor is set to the knee joint position of robot；
The third driving motor is set to the ankle-joint location of robot；
Wherein, first driving motor, the second driving motor and third driving motor are respectively 2.
4. the system of robot leaping over obstacles according to claim 1, wherein first camera and second camera
It is inside provided with imaging sensor, described image sensor includes CIS sensors and cmos sensor.
5. the system of robot leaping over obstacles according to claim 4, wherein described image processing module is ARM processing
Device.
6. the system of robot leaping over obstacles according to claim 1, wherein
First video data includes the first image data of multiframe,
Second video data includes the second image data of multiframe.
7. the system of robot leaping over obstacles according to claim 6, wherein described first image data and described second
Image data is gray-scale map.
8. the system of robot leaping over obstacles according to claim 6, wherein the described image data of synchronization exist
Parallax, with Distance Shortened, the parallax reduces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190700.XA CN108527363A (en) | 2018-03-08 | 2018-03-08 | The system of robot leaping over obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190700.XA CN108527363A (en) | 2018-03-08 | 2018-03-08 | The system of robot leaping over obstacles |
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| Publication Number | Publication Date |
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| CN108527363A true CN108527363A (en) | 2018-09-14 |
Family
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| CN201810190700.XA Withdrawn CN108527363A (en) | 2018-03-08 | 2018-03-08 | The system of robot leaping over obstacles |
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Citations (7)
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| DE10345743A1 (en) * | 2003-10-01 | 2005-05-04 | Kuka Roboter Gmbh | Method and device for determining the position and orientation of an image receiving device |
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| US20120173019A1 (en) * | 2010-12-29 | 2012-07-05 | Samsung Electronics Co., Ltd. | Robot and control method thereof |
| CN106078760A (en) * | 2016-07-11 | 2016-11-09 | 天津艾思科尔科技有限公司 | A kind of household service robot with path planning function |
| CN206123679U (en) * | 2016-10-21 | 2017-04-26 | 昆明理工大学 | Humanoid robot is out of shape to high trafficability characteristic |
| CN106709950A (en) * | 2016-11-28 | 2017-05-24 | 西安工程大学 | Binocular-vision-based cross-obstacle lead positioning method of line patrol robot |
| CN106826869A (en) * | 2017-04-13 | 2017-06-13 | 苏州宇希新材料科技有限公司 | A kind of robot of view-based access control model identification |
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2018
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Patent Citations (7)
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|---|---|---|---|---|
| DE10345743A1 (en) * | 2003-10-01 | 2005-05-04 | Kuka Roboter Gmbh | Method and device for determining the position and orientation of an image receiving device |
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| US20120173019A1 (en) * | 2010-12-29 | 2012-07-05 | Samsung Electronics Co., Ltd. | Robot and control method thereof |
| CN106078760A (en) * | 2016-07-11 | 2016-11-09 | 天津艾思科尔科技有限公司 | A kind of household service robot with path planning function |
| CN206123679U (en) * | 2016-10-21 | 2017-04-26 | 昆明理工大学 | Humanoid robot is out of shape to high trafficability characteristic |
| CN106709950A (en) * | 2016-11-28 | 2017-05-24 | 西安工程大学 | Binocular-vision-based cross-obstacle lead positioning method of line patrol robot |
| CN106826869A (en) * | 2017-04-13 | 2017-06-13 | 苏州宇希新材料科技有限公司 | A kind of robot of view-based access control model identification |
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Application publication date: 20180914 |