CN108748165A - A kind of artificial intelligence robot of autonomous classification anticollision - Google Patents
A kind of artificial intelligence robot of autonomous classification anticollision Download PDFInfo
- Publication number
- CN108748165A CN108748165A CN201810914947.1A CN201810914947A CN108748165A CN 108748165 A CN108748165 A CN 108748165A CN 201810914947 A CN201810914947 A CN 201810914947A CN 108748165 A CN108748165 A CN 108748165A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- electrically connected
- unit
- steering engine
- 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.)
- Pending
Links
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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1666—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
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of artificial intelligence robot of autonomous classification anticollision, including obstacle recognition module, it is used to detect robot side barrier and analyzes its profile size；Several steering engines are used to drive robot motion and change the direction of motion；Drive module is used to drive robot steering engine to rotate；Path planning module is used for planning robot's avoiding barrier travel path；Locating module is used for positioning robot；And main control MCU, the control centre of anticollision is identified for robot；Wherein, main control MCU is electrically connected in the obstacle recognition module, drive module, path planning module and position module, and the drive module is electrically connected steering engine.The artificial intelligence robot of the present invention can autonomous disturbance of analysis object and intelligent planning path avoidance.
Description
Technical field
The present invention relates to intelligent robot technology field, the artificial intelligence robot of specifically a kind of autonomous classification anticollision.
Background technology
Avoidance robot is a kind of method of relatively conventional intelligent robot displaying, intelligence in robotic technology field
The robot of avoidance often during demonstrating avoidance can after brought to spectators visually show its intelligence sense organ.
But existing intelligent robot mostly uses greatly sensor and is examined to barrier in anticollision and the running of avoidance
It surveys and avoidance is carried out according to preset moving displacement, preset mobile content includes to move to left several distances, move to right several distances
And retreat several distances etc., and robot in identification process None- identified to barrier self character, especially barrier
The specific location etc. of distance, opposed robots apart from robot body can not carry out avoidance path according to barrier characteristic
Planning.
Invention content
The purpose of the present invention is to provide a kind of artificial intelligence robots of autonomous classification anticollision, to solve above-mentioned background skill
The existing intelligent robot proposed in art is in anticollision, the application of avoidance, None- identified barrier characteristic and can not be according to barrier
The problem of hindering object characteristic contexture by self path to carry out avoidance processing.
To achieve the above object, the present invention provides the following technical solutions：
A kind of artificial intelligence robot of autonomous classification anticollision, including：
Obstacle recognition module is used to detect robot side barrier and analyzes its profile size；
Several steering engines are used to drive robot motion and change the direction of motion；
Drive module is used to drive robot steering engine to rotate；
Path planning module is used for planning robot's avoiding barrier travel path；
Locating module is used for positioning robot；And
Main control MCU identifies the control centre of anticollision for robot；
Wherein, master is electrically connected in the obstacle recognition module, drive module, path planning module and position module
MCU is controlled, the drive module is electrically connected steering engine.
Preferably, the obstacle recognition module includes image acquisition units and image processing unit, image acquisition units
It is electrically connected main control MCU and image processing unit to be handled for acquiring ambient image and being sent to image processing unit, scheme
It is used to carry out image processing and analyzing Obstacle Position to the ambient image of acquisition and to barrier as processing unit is electrically connected main control MCU
Object is hindered to carry out profile description.
Preferably, the path planning module includes obstacle coefficient analysis unit and avoidance planning unit, obstacle coefficient point
Analyse unit be electrically connected main control MCU and image processing unit be used for according to the barrier profile of description and robot body profile into
Row overlapping comparison determines that obstruction degree of the barrier to robot, avoidance planning unit are electrically connected main control MCU and obstacle coefficient
Analytic unit is used for according to the obstruction degree and robot location's planning robot's avoidance path for covering nothing to robot.
Preferably, the drive module includes steering engine analogue unit and servo driving unit, and steering engine analogue unit electrically connects
It connects main control MCU and calculates steering engine rotation value for receiving robot obstacle-avoiding path and simulating, servo driving unit is electrically connected rudder
Machine analogue unit and steering engine are used to read the steering engine rotation value calculated and steering engine rotation are driven to complete avoidance.
Preferably, which further includes display module, which is electrically connected main control MCU and is collected for showing
Obstructions chart picture and environment scene on the way.
Preferably, which further includes alarm module, which is electrically connected main control MCU and image processing unit
For alarming when detecting barrier.
More preferably, the alarm module is loudspeaker alarm unit.
Preferably, described image collecting unit is 3D high-definition cameras.
Compared with prior art, the beneficial effects of the invention are as follows：
1) present invention carries out Image Acquisition using 3D high-definition cameras to the environment of robot, is carried out to the image collected
Analysis carries out profile description, the overlapping comparison of break the barriers profile and robot profile, analysis barrier to the barrier detected
Hinder the specific location of object opposed robots, it is determined whether avoidance and avoidance direction realize intelligent robot to barrier
Autonomous classification ability；
2) present invention carries out avoidance road according to the avoidance direction of processing result image analysis using simulation steering engine rotation value
Diameter is planned, by driving steering engine rotation to hide barrier, the intelligent barrier avoiding of human machine people is realized, compared to tradition
Preset displacement carry out avoidance, without presetting displacement program, with more intelligence.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the artificial intelligence robot of autonomous classification anticollision of the present invention；
Fig. 2 is a kind of structural representation of the artificial intelligence robot obstacle recognition module of autonomous classification anticollision of the present invention
Figure；
Fig. 3 is a kind of structural schematic diagram of the artificial intelligence robot path planning module of autonomous classification anticollision of the present invention；
Fig. 4 is a kind of structural schematic diagram of the artificial intelligence robot drive module of autonomous classification anticollision of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of artificial intelligence robot of autonomous classification anticollision, including：
Obstacle recognition module is used to detect robot side barrier and analyzes its profile size；
Several steering engines are used to drive robot motion and change the direction of motion；
Drive module is used to drive robot steering engine to rotate；
Path planning module is used for planning robot's avoiding barrier travel path；
Locating module is used for positioning robot；And
Main control MCU identifies the control centre of anticollision for robot；
Wherein, master is electrically connected in the obstacle recognition module, drive module, path planning module and position module
MCU is controlled, the drive module is electrically connected steering engine.
As shown in Fig. 2, obstacle recognition module includes image acquisition units and image processing unit, image acquisition units are
3D high-definition cameras.Image acquisition units are electrically connected main control MCU and image processing unit for acquiring ambient image and sending
It is handled to image processing unit, image processing unit is electrically connected main control MCU for carrying out figure to the ambient image of acquisition
Profile description is carried out as processing disturbance of analysis object location and to barrier.
As shown in figure 3, path planning module includes obstacle coefficient analysis unit and avoidance planning unit, obstacle coefficient analysis
Unit is electrically connected main control MCU and image processing unit is used to be carried out with robot body profile according to the barrier profile of description
Overlapping comparison determines that obstruction degree of the barrier to robot, avoidance planning unit are electrically connected main control MCU and obstacle coefficient point
Analysis unit is used for according to the obstruction degree and robot location's planning robot's avoidance path for covering nothing to robot.
As shown in figure 4, drive module includes steering engine analogue unit and servo driving unit, steering engine analogue unit is electrically connected
Main control MCU calculates steering engine rotation value for receiving robot obstacle-avoiding path and simulating, and servo driving unit is electrically connected steering engine
Analogue unit and steering engine are used to read the steering engine rotation value calculated and steering engine rotation are driven to complete avoidance.
The robot further includes display module, which is electrically connected main control MCU for showing collected obstacle
Object image and on the way environment scene.
The robot further includes alarm module, which is electrically connected main control MCU and image processing unit is used for
It alarms when detecting barrier, alarm module is loudspeaker alarm unit.
Image acquisition units are installed on robot body in the position on most boundary and machine on horizontal line by embodiment 1
The center of device human body carries out Image Acquisition and right by the position on most boundary and center to robot direction of advance
Collected three images are handled, and can accomplish that most perfect barrier is known to the barrier in robot direction of advance
Not, it and robot can be gone out according to the comparative analysis of the barrier analyzed and robot body profile is worn in barrier
Row.
Embodiment 2 carries out figure by being arranged image acquisition units on the four direction all around of robot body
As acquisition, the image collected can detailed description robot local environment, and according to Environment Obstacles principle condition comprehensive analysis
The avoidance travel path of robot has higher guarantee to the anticollision of robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of artificial intelligence robot of autonomous classification anticollision, which is characterized in that including：
Obstacle recognition module is used to detect robot side barrier and analyzes its profile size；
Several steering engines are used to drive robot motion and change the direction of motion；
Drive module is used to drive robot steering engine to rotate；
Path planning module is used for planning robot's avoiding barrier travel path；
Locating module is used for positioning robot；And
Main control MCU identifies the control centre of anticollision for robot；
Wherein, master control is electrically connected in the obstacle recognition module, drive module, path planning module and position module
MCU, the drive module are electrically connected steering engine.
2. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that the obstacle
Object identification module includes image acquisition units and image processing unit, and image acquisition units are electrically connected at main control MCU and image
Reason unit is handled for acquiring ambient image and being sent to image processing unit, and image processing unit is electrically connected master control
MCU is used to carry out image processing and analyzing Obstacle Position to the ambient image of acquisition and carries out profile description to barrier.
3. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that the path
Planning module includes obstacle coefficient analysis unit and avoidance planning unit, obstacle coefficient analysis unit be electrically connected main control MCU and
Image processing unit is used to carry out overlapping comparison with robot body profile according to the barrier profile of description to determine barrier pair
The obstruction degree of robot, avoidance planning unit is electrically connected main control MCU and obstacle coefficient analysis unit is used for basis and covers nothing
Obstruction degree to robot and robot location's planning robot's avoidance path.
4. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that the driving
Module includes steering engine analogue unit and servo driving unit, and steering engine analogue unit is electrically connected main control MCU for receiving robot
Calculating steering engine rotation value is simultaneously simulated in avoidance path, and servo driving unit is electrically connected steering engine analogue unit and steering engine for reading
The steering engine rotation value of calculating simultaneously drives steering engine rotation to complete avoidance.
5. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that the robot
Further include display module, which is electrically connected main control MCU for showing collected obstructions chart picture and on the way environment
Scene.
6. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that the robot
Further include alarm module, the alarm module be electrically connected main control MCU and image processing unit be used for when detecting barrier into
Row alarm.
7. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 6, which is characterized in that the alarm
Module is loudspeaker alarm unit.
8. a kind of artificial intelligence robot of autonomous classification anticollision according to claim 1, which is characterized in that described image
Collecting unit is 3D high-definition cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810914947.1A CN108748165A (en) | 2018-08-13 | 2018-08-13 | A kind of artificial intelligence robot of autonomous classification anticollision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810914947.1A CN108748165A (en) | 2018-08-13 | 2018-08-13 | A kind of artificial intelligence robot of autonomous classification anticollision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748165A true CN108748165A (en) | 2018-11-06 |
Family
ID=63969713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810914947.1A Pending CN108748165A (en) | 2018-08-13 | 2018-08-13 | A kind of artificial intelligence robot of autonomous classification anticollision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748165A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111070213A (en) * | 2020-01-08 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot control system |
| CN111170161A (en) * | 2019-12-28 | 2020-05-19 | 王昆 | Mode setting system based on scene detection |
| CN113741435A (en) * | 2021-08-19 | 2021-12-03 | 上海高仙自动化科技发展有限公司 | Obstacle avoidance method, device, decision maker, storage medium, chip and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0402764A2 (en) * | 1989-06-07 | 1990-12-19 | Kabushiki Kaisha Toshiba | Control apparatus for plane working robot |
| FR2861855A1 (en) * | 2003-11-03 | 2005-05-06 | Wany Sa | METHOD AND DEVICE FOR SCANNING A SURFACE STATISTICALLY |
| CN103335658A (en) * | 2013-06-19 | 2013-10-02 | 华南农业大学 | Autonomous vehicle obstacle avoidance method based on arc path |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
| CN107831760A (en) * | 2017-09-27 | 2018-03-23 | 安徽硕威智能科技有限公司 | Robot barrier thing processing system and method |
| CN207432214U (en) * | 2017-09-13 | 2018-06-01 | 天津三易达科技发展有限公司 | Robot controller and intelligent robot |
-
2018
- 2018-08-13 CN CN201810914947.1A patent/CN108748165A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0402764A2 (en) * | 1989-06-07 | 1990-12-19 | Kabushiki Kaisha Toshiba | Control apparatus for plane working robot |
| FR2861855A1 (en) * | 2003-11-03 | 2005-05-06 | Wany Sa | METHOD AND DEVICE FOR SCANNING A SURFACE STATISTICALLY |
| CN103335658A (en) * | 2013-06-19 | 2013-10-02 | 华南农业大学 | Autonomous vehicle obstacle avoidance method based on arc path |
| CN105759836A (en) * | 2016-03-14 | 2016-07-13 | 武汉卓拔科技有限公司 | Unmanned aerial vehicle obstacle avoidance method and device based on 3D camera |
| CN106338996A (en) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | Safe control method and system for mobile robot |
| CN207432214U (en) * | 2017-09-13 | 2018-06-01 | 天津三易达科技发展有限公司 | Robot controller and intelligent robot |
| CN107831760A (en) * | 2017-09-27 | 2018-03-23 | 安徽硕威智能科技有限公司 | Robot barrier thing processing system and method |
Non-Patent Citations (1)
| Title |
|---|
| 朱志刚: "《全视野时空视觉导航-真实景物的成像、建模与表示》", 23 November 2000 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111170161A (en) * | 2019-12-28 | 2020-05-19 | 王昆 | Mode setting system based on scene detection |
| CN111070213A (en) * | 2020-01-08 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot control system |
| CN113741435A (en) * | 2021-08-19 | 2021-12-03 | 上海高仙自动化科技发展有限公司 | Obstacle avoidance method, device, decision maker, storage medium, chip and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111399505B (en) | Mobile robot obstacle avoidance method based on neural network | |
| CN102161202B (en) | Full-view monitoring robot system and monitoring robot | |
| CN108748165A (en) | A kind of artificial intelligence robot of autonomous classification anticollision | |
| CN106808482A (en) | A kind of crusing robot multisensor syste and method for inspecting | |
| CN107031622A (en) | For colliding the training algorithm avoided | |
| CN106485233A (en) | Drivable region detection method, device and electronic equipment | |
| CN105760824A (en) | Moving body tracking method and system | |
| WO2015024407A1 (en) | Power robot based binocular vision navigation system and method based on | |
| CN107234625B (en) | The method of visual servo positioning and crawl | |
| CN111360818A (en) | Mechanical arm control system through visual positioning | |
| CN107193011A (en) | A kind of method for being used to quickly calculate car speed in automatic driving car area-of-interest | |
| CN106863259A (en) | A kind of wheeled multi-robot intelligent ball collecting robot | |
| AU2022256171B2 (en) | Weeding robot and method, apparatus for planning weeding path for the same and medium | |
| Momeni-k et al. | Height estimation from a single camera view | |
| CN104898675A (en) | Robot intelligent navigation control method | |
| Gajjar et al. | A comprehensive study on lane detecting autonomous car using computer vision | |
| Li et al. | Training end-to-end steering of a self-balancing mobile robot based on RGB-D image and deep ConvNet | |
| CN113084776B (en) | Intelligent epidemic prevention robot and system based on vision and multi-sensor fusion | |
| CN116466724A (en) | Mobile positioning method and device of robot and robot | |
| Nandkumar et al. | Simulation of Indoor Localization and Navigation of Turtlebot 3 using Real Time Object Detection | |
| Cui et al. | Deep CNN-based visual target tracking system relying on monocular image sensing | |
| CN104933732A (en) | Method for detecting and tracking movement target based on omnidirectional vision of robot | |
| CN111390918B (en) | Active control system of household intelligent robot | |
| CN114905512A (en) | Panoramic tracking and obstacle avoidance method and system for intelligent inspection robot | |
| CN113311848A (en) | Underwater detector and surrounding edge obstacle avoidance method thereof |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181106 |
|
| RJ01 | Rejection of invention patent application after publication |