CN108582117A - Robot is followed based on Kinect sensor - Google Patents
Robot is followed based on Kinect sensor Download PDFInfo
- Publication number
- CN108582117A CN108582117A CN201810760347.4A CN201810760347A CN108582117A CN 108582117 A CN108582117 A CN 108582117A CN 201810760347 A CN201810760347 A CN 201810760347A CN 108582117 A CN108582117 A CN 108582117A
- Authority
- CN
- China
- Prior art keywords
- robot
- sensor
- kinect sensor
- robot body
- follow
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses the robots that follows based on Kinect sensor, including：Robot body, robot head and following control system；Robot head is provided at the top of robot body, the bottom of robot body is provided with driving wheel, and following control system is arranged on robot body, to realize that the intelligence of robot body follows movement；Following control system includes：Master controller, sensor unit, host computer and servo-drive system, host computer, sensor unit and master controller are sequentially connected to realize to following the acquisition of information of object to carry out moving line planning, servo-drive system is executing agency, used control driving wheel follows movement with realize robot body.This follows robot that robot is followed to overcome robot in the prior art general in the humanization level of service field, can not carry out intelligence and follow service, the service experience of customer also insufficient problem.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of to follow robot based on Kinect sensor.
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.
With technically improving, also there is the figure of robot in many industries with service element, are provided for customer
More intimate and hommization service, to improve the experience of customer.But robot in the prior art is in service field
Humanization level or general, such as it is usually static serviced, or movement service is carried out with specifically movement locus,
It can not carry out intelligence and follow service, the service experience of customer is also insufficient.
Therefore it provides a kind of can intelligently follow specified customer to carry out full-time service in use, carried for customer
For more humanized service, to improve customer experience based on Kinect sensor follow robot be the present invention urgently
It need to solve the problems, such as.
Invention content
In view of the above technical problems, the purpose of the present invention is overcome robot in the prior art in the human nature of service field
Change degree or general, for example, it is usually static serviced, or movement service, Wu Fajin are carried out with specifically movement locus
Row intelligence follows service, the service experience of customer also insufficient problem, in use can be with intelligence to provide one kind
Specified customer can be followed to carry out full-time service, more humanized service is provided for customer, to improve the experience of customer
Robot is followed based on Kinect sensor.
To achieve the goals above, the present invention provides a kind of following robot, the base based on Kinect sensor
Include in the robot that follows of Kinect sensor：Robot body, robot head and following control system；The machine
Be provided with the robot head at the top of human body, the bottom of the robot body is provided with driving wheel, it is described with
With set-up of control system on the robot body, to realize that the intelligence of robot body follows movement；Wherein, described to follow
Control system includes：Master controller, sensor unit, host computer and servo-drive system, the host computer, the sensor unit
And the master controller is sequentially connected to realize to following the acquisition of information of object to carry out moving line planning, the servo-drive system
For executing agency, the used control driving wheel follows movement with realize the robot body.
Preferably, the sensor unit includes：Kinect sensor, avoidance sensor and photoelectric encoder, it is described
Kinect sensor is used for following the information of target to obtain；The avoidance sensor is used to detect the barrier on moving line
Hinder information；The photoelectric encoder is used to obtain the movable information of robot body.
Preferably, the information that the master controller obtains the sensor unit is handled, and total by controlling
Line, communication bus and data/address bus are transmitted with the servo-drive system into row information.
Preferably, the host computer is transmitted by serial communication and the master controller into row information.
Preferably, it is provided with the Kinect sensor and the first display on the robot head, described first
Display can show expression.
Preferably, the outer surface of the robot body is provided with second display.
Preferably, the outer surface of the robot body is additionally provided with card reader, and the card reader is for verifying customer VIP
Information, by verification, the following control system activation obtains the information of customer, to realize intelligence
It can follow.
Preferably, voice collector and power amplifier are additionally provided on the robot body.
It is provided by the invention that robot is followed when in use based on Kinect sensor according to above-mentioned technical proposal, institute
Stating following control system can realize that the intelligence of robot body follows movement, wherein the host computer carries out data processing, determines
The work of plan operation and human-computer interaction, the sensor unit realize information, obstacle information and the machine to following target
The movable information of device human body obtains；The master controller carries out the work of avoidance processing, motion control and data communication
Make, the servo-drive system is executing agency, the used control driving wheel, and movement is followed with realize the robot body.
It is provided by the invention that the people that robot overcomes robot in the prior art in service field is followed based on Kinect sensor
Property degree or general, for example, it is usually static serviced, or movement service is carried out with specifically movement locus, can not
It carries out intelligence and follows service, the service experience of customer also insufficient problem.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 be the present invention a kind of preferred embodiment in the following in robot based on Kinect sensor that provides
The structural schematic diagram of following control system；
Fig. 2 be the present invention a kind of preferred embodiment in provide robot is followed based on Kinect sensor
Structural schematic diagram.
Reference sign
1 robot body, 2 power amplifier
3 second display, 4 voice collector
6 first display of 5Kinect sensors
7 card reader, 8 robot head
9 driving wheels
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " upper and lower, inside and outside " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
As depicted in figs. 1 and 2, what the present invention provides a kind of based on Kinect sensor follows robot, described to be based on
The robot that follows of Kinect sensor includes：Robot body 1, robot head 8 and following control system；The machine
The top of human body 1 is provided with the robot head 8, and the bottom of the robot body 1 is provided with driving wheel 9, institute
It states following control system to be arranged on the robot body 1, to realize that the intelligence of robot body follows movement；Wherein, institute
Stating following control system includes：Master controller, sensor unit, host computer and servo-drive system, the host computer, the sensing
Device assembly and the master controller are sequentially connected to realize to following the acquisition of information of object to carry out moving line planning, described to watch
Dress system is executing agency, the used control driving wheel 9, and movement is followed with realize the robot body 1.
It is provided by the invention that robot is followed when in use based on Kinect sensor according to above-mentioned technical proposal, institute
Stating following control system can realize that the intelligence of robot body follows movement, wherein the host computer carries out data processing, determines
The work of plan operation and human-computer interaction, the sensor unit realize information, obstacle information and the machine to following target
The movable information of device human body obtains；The master controller carries out the work of avoidance processing, motion control and data communication
Make, the servo-drive system is executing agency, the used control driving wheel 9, and fortune is followed with realize the robot body 1
It is dynamic.It is provided by the invention to follow robot to overcome robot in the prior art in service field based on Kinect sensor
Humanization level or general, for example, it is usually static serviced, or movement service, nothing are carried out with specifically movement locus
Method carries out intelligence and follows service, the service experience of customer also insufficient problem.
In a kind of preferred embodiment of the present invention, the sensor unit includes：Kinect sensor 5, avoidance
Sensor and photoelectric encoder, the Kinect sensor 5 are used for following the information of target to obtain；The avoidance passes
Sensor is used to detect the complaint message on moving line；The photoelectric encoder is used to obtain the movable information of robot body.
In a kind of preferred embodiment of the present invention, information that the master controller obtains the sensor unit
It is handled, and is transmitted into row information by controlling bus, communication bus and data/address bus and the servo-drive system.
In a kind of preferred embodiment of the present invention, the host computer by serial communication and the master controller into
Row information is transmitted.
In a kind of preferred embodiment of the present invention, the Kinect sensings are provided on the robot head 8
Device 5 and the first display 6, first display 6 can show expression, so that the facial expression of robot is more
It is abundant, so that the interactive experience of customer is more preferable.
In a kind of preferred embodiment of the present invention, the outer surface of the robot body 1 is provided with the second display
Device 3, the second display 3 are used to show the information of robot and the interaction of customer.
In a kind of preferred embodiment of the present invention, the outer surface of the robot body 1 is additionally provided with card reader
7, the card reader 7 is for verifying VIP Customer Informations, by verification, the following control system activation, for
The information of customer obtains, to realize that intelligence follows.
The present invention a kind of preferred embodiment in, be additionally provided on the robot body 1 voice collector 4 with
And power amplifier 2, improve the interactive experience of customer and robot.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (8)
1. a kind of following robot based on Kinect sensor, which is characterized in that the following based on Kinect sensor
Robot includes：Robot body (1), robot head (8) and following control system；The top of the robot body (1)
Portion is provided with the robot head (8), and the bottom of the robot body (1) is provided with driving wheel (9), described to follow
Set-up of control system is on the robot body (1), to realize that the intelligence of robot body follows movement；Wherein,
The following control system includes：Master controller, sensor unit, host computer and servo-drive system, the host computer, institute
It states sensor unit and the master controller is sequentially connected to realize to following the acquisition of information of object to carry out moving line planning,
The servo-drive system is executing agency, the used control driving wheel (9), and fortune is followed with realize the robot body (1)
It is dynamic.
2. according to claim 1 follow robot based on Kinect sensor, which is characterized in that the sensor is total
At including：Kinect sensor (5), avoidance sensor and photoelectric encoder, the Kinect sensor (5) are used for following
The information of target is obtained；The avoidance sensor is used to detect the complaint message on moving line；The photoelectric encoder
Movable information for obtaining robot body.
3. according to claim 2 follow robot based on Kinect sensor, which is characterized in that the master controller
The information obtained to the sensor unit is handled, and passes through controlling bus, communication bus and data/address bus and institute
Servo-drive system is stated to transmit into row information.
4. according to claim 3 follow robot based on Kinect sensor, which is characterized in that the host computer is logical
Serial communication is crossed to transmit into row information with the master controller.
5. according to claim 2 follow robot based on Kinect sensor, which is characterized in that the robot head
The Kinect sensor (5) and the first display (6) are provided in portion (8), first display (6) can show table
Feelings.
6. according to claim 1 follow robot based on Kinect sensor, which is characterized in that the robot sheet
The outer surface of body (1) is provided with second display (3).
7. according to claim 6 follow robot based on Kinect sensor, which is characterized in that the robot sheet
The outer surface of body (1) is additionally provided with card reader (7), and the card reader (7) is passing through verification for verifying VIP Customer Informations
In the case of, the following control system activation obtains the information of customer, to realize that intelligence follows.
8. according to claim 7 follow robot based on Kinect sensor, which is characterized in that the robot sheet
Voice collector (4) and power amplifier (2) are additionally provided on body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760347.4A CN108582117A (en) | 2018-07-12 | 2018-07-12 | Robot is followed based on Kinect sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760347.4A CN108582117A (en) | 2018-07-12 | 2018-07-12 | Robot is followed based on Kinect sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582117A true CN108582117A (en) | 2018-09-28 |
Family
ID=63615417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810760347.4A Withdrawn CN108582117A (en) | 2018-07-12 | 2018-07-12 | Robot is followed based on Kinect sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582117A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815174A (en) * | 2019-10-10 | 2020-02-21 | 汕头大学 | Following robot |
| CN112518750A (en) * | 2020-11-30 | 2021-03-19 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
| CN113048334A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Full-automatic mobile playing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203092551U (en) * | 2013-03-15 | 2013-07-31 | 西北师范大学 | Domestic service robot based on Kinect and FPGA (Field-programmable Gate Array) |
| CN203300127U (en) * | 2013-06-18 | 2013-11-20 | 西北师范大学 | Children teaching and monitoring robot |
| CN104375504A (en) * | 2014-09-12 | 2015-02-25 | 中山大学 | Running accompanying robot and tracking control strategy and movement control method for running accompanying robot |
| CN206261034U (en) * | 2016-10-28 | 2017-06-20 | 泉州市范特西智能科技有限公司 | A kind of running gear of luggage case |
| CN107139189A (en) * | 2017-07-11 | 2017-09-08 | 吴世贵 | A kind of children's joy religion monitoring robot and its human body target tracking algorithm |
| CN207155772U (en) * | 2017-06-28 | 2018-03-30 | 深圳市元创兴科技有限公司 | Modularization intelligent mobile robot |
| CN108107878A (en) * | 2016-11-24 | 2018-06-01 | 广州映博智能科技有限公司 | A kind of new mobile robot complexity system for tracking and method |
| CN108170166A (en) * | 2017-11-20 | 2018-06-15 | 北京理工华汇智能科技有限公司 | The follow-up control method and its intelligent apparatus of robot |
-
2018
- 2018-07-12 CN CN201810760347.4A patent/CN108582117A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203092551U (en) * | 2013-03-15 | 2013-07-31 | 西北师范大学 | Domestic service robot based on Kinect and FPGA (Field-programmable Gate Array) |
| CN203300127U (en) * | 2013-06-18 | 2013-11-20 | 西北师范大学 | Children teaching and monitoring robot |
| CN104375504A (en) * | 2014-09-12 | 2015-02-25 | 中山大学 | Running accompanying robot and tracking control strategy and movement control method for running accompanying robot |
| CN206261034U (en) * | 2016-10-28 | 2017-06-20 | 泉州市范特西智能科技有限公司 | A kind of running gear of luggage case |
| CN108107878A (en) * | 2016-11-24 | 2018-06-01 | 广州映博智能科技有限公司 | A kind of new mobile robot complexity system for tracking and method |
| CN207155772U (en) * | 2017-06-28 | 2018-03-30 | 深圳市元创兴科技有限公司 | Modularization intelligent mobile robot |
| CN107139189A (en) * | 2017-07-11 | 2017-09-08 | 吴世贵 | A kind of children's joy religion monitoring robot and its human body target tracking algorithm |
| CN108170166A (en) * | 2017-11-20 | 2018-06-15 | 北京理工华汇智能科技有限公司 | The follow-up control method and its intelligent apparatus of robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815174A (en) * | 2019-10-10 | 2020-02-21 | 汕头大学 | Following robot |
| CN113048334A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Full-automatic mobile playing robot |
| CN112518750A (en) * | 2020-11-30 | 2021-03-19 | 深圳优地科技有限公司 | Robot control method, robot control device, robot, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108582117A (en) | Robot is followed based on Kinect sensor | |
| Realyvásquez-Vargas et al. | Introduction and configuration of a collaborative robot in an assembly task as a means to decrease occupational risks and increase efficiency in a manufacturing company | |
| MX2022008838A (en) | System and method for autonomous operation of a machine. | |
| EP3486041A3 (en) | Gripping system, learning device, and gripping method | |
| CN105912128B (en) | Multi-modal interaction data processing method and device towards intelligent robot | |
| Tang et al. | The design and evaluation of an ergonomic contactless gesture control system for industrial robots | |
| CN103252077B (en) | Chess playing robot | |
| EP2930597A3 (en) | Mobile terminal and method for controlling the same | |
| CN105629969A (en) | Restaurant service robot | |
| CN107756417A (en) | The intelligent man-machine co-melting robot system of both arms security cooperation | |
| CN106903691A (en) | Transport Robot Control System for Punch | |
| CN105511400A (en) | Control system of stamping robots | |
| Hoang et al. | Virtual barriers in augmented reality for safe and effective human-robot cooperation in manufacturing | |
| Hentout et al. | Key challenges and open issues of industrial collaborative robotics | |
| Dimitropoulos et al. | An outlook on future hybrid assembly systems-the Sherlock approach | |
| CN106447793A (en) | Intelligent popup method of card-taking turnstile | |
| JP2009205425A5 (en) | ||
| CN104679001A (en) | Rectangular target detection method | |
| CN103978324A (en) | Double-core five-shaft welding robot control system | |
| CN106096716A (en) | A kind of facial expression robot multi-channel information emotional expression mapping method | |
| CN204347612U (en) | For the robot system that rectangular target detects | |
| CN106119840A (en) | A kind of laser melting coating integrated control system | |
| CN106695889A (en) | Anti-collision detection device, corresponding control method and mechanical arm suitable for same | |
| CN203397604U (en) | Automatic control device used in intelligent education | |
| Nasti et al. | Obstacle avoidance during robot navigation in dynamic environment using fuzzy controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180928 |