CN108803618A - Robot based on robot identity card crosses the border warning system - Google Patents
Robot based on robot identity card crosses the border warning system Download PDFInfo
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- CN108803618A CN108803618A CN201810762821.7A CN201810762821A CN108803618A CN 108803618 A CN108803618 A CN 108803618A CN 201810762821 A CN201810762821 A CN 201810762821A CN 108803618 A CN108803618 A CN 108803618A
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- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000003860 storage Methods 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 12
- 230000008054 signal transmission Effects 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0253—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 relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
It crosses the border warning system the invention discloses the robot based on robot identity card, including central processing unit, the input terminal of the central processing unit and the output end of power module connect, the output end of remote control module and the input terminal of central processing unit connect, storage module is bi-directionally connected with central processing unit, the output end of central processing unit and the input terminal of alarm unit connect, the output end of central processing unit and the input terminal of data simultaneous module connect, the output end of data simultaneous module and the input terminal of GPS positioning module connect, the output end of GPS positioning module is connect with the input terminal of feedback module one, the output end of feedback module one and the input terminal of central processing unit connect.The present invention establishes the virtual boundary of robot movable, can carry out precise positioning to boundary, due to the better performances of laser ranging, can prevent extraneous factor from being interfered by the way that detection module is arranged.
Description
Technical field
The present invention relates to robotic technology fields, and the robot specially based on robot identity card crosses the border warning system.
Background technology
Robot is to automatically control being commonly called as machine, and it includes all simulation human behaviors or thought and mould to automatically control machine
The machinery (such as robot dog, Doraemon etc.) of quasi- other biological, also has many classification and dispute to the definition of robot in the narrow sense,
Some computer programs or even also referred to as robot, in contemporary industry, robot refers to the man-made machine that can execute task automatically
Device, to replace or assist human work, the highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, meter
Calculation machine and artificial intelligence, materialogy and bionic product, standardization body of the United Nations adopt the robot Institute of America to machine
Definition under device people：" programmable and multi-functional operation machine, or change with available computer to execute different tasks
With the specialized system of programmable action ", it can be the mankind bring many conveniences, industry, medicine, agricultural, construction industry very
To thering is important use, Chinese roboticist to be divided into two major classes from application environment, by robot in the fields such as military affairs,
That is industrial robot and specialized robot, with the improvement of the quality of life, robot have been widely applied in our life,
When robot movable, need to plan the zone of action of robot so that robot is in the zone of action of planning
Mobile, virtual boundary is the non-physical boundary for robot obstacle-avoiding and Ambulatory Activity, it passes through the biography in robot
Sensor detects beacon orientation, then constitutes the identification that algorithm realizes working region and non-active area by boundary so that robot
The carry out activity in boundary marker may result in robot when activity if not establishing a borderline region, be easy production
Raw cross the border causes the accident, and is damaged so as to cause robot.
Invention content
It crosses the border warning system the purpose of the present invention is to provide the robot based on robot identity card, has foundation activity
The advantages of boundary, solves the problems, such as that robot is easy tod produce in activity and crosses the border.
Realizing the technical solution of above-mentioned purpose is：
Robot based on robot identity card crosses the border warning system, including central processing unit, the central processing unit
The output end of input terminal and power module connects, and the output end of remote control module and the input terminal of central processing unit connect, and store mould
Block is bi-directionally connected with central processing unit, and the output end of central processing unit and the input terminal of alarm unit connect, the central processing
The output end of device and the input terminal of data simultaneous module connect, the output end of data simultaneous module and the input of GPS positioning module
End connection, the output end of the GPS positioning module are connect with the input terminal of feedback module one, the output end of the feedback module one
It is connect with the input terminal of central processing unit, the output end of detection module is connect with the input terminal of feedback module two, feedback module two
Output end and central processing unit input terminal connect.
Preferably, the detection module includes video acquisition unit, microprocessor, laser emitting module, boundary generation mould
Block, signal transmission module, A/D converter and laser pick-off module, wherein
The output end of the microprocessor and the input terminal of laser emitting module connect, the output of the laser emitting module
End is connect with the input terminal of boundary generation module, and the output end of the boundary generation module and the input terminal of signal transmission module connect
Connect, the input terminal of the output end of the signal transmission module and A/D converter connects, the output end of the A/D converter with swash
The input terminal of optical receiver module connects, and the output end of the laser pick-off module and the input terminal of microprocessor connect.
Preferably, the central processing unit is using AMD series, concrete model A6-7310.
Preferably, the storage module is embedded data reservoir, and embedded data reservoir is that flash flash is deposited
Reservoir.
Preferably, the GPS positioning module uses SIRF three generations's chipsets.
Preferably, the microprocessor is embeded processor, and the model i7-4770K of embeded processor.
Preferably, detection module is utilized to carrying out primary uniform scanning according to certain motion planning in zone of action
Laser emitting module emits laser so that laser is reflected through object, records launch time by boundary generation module, instead
It is emitted back towards the optical signal come to be exported by signal transmission module, then after converting optical signals into electric signal by A/D converter, into
And microprocessor calculates it, establishes the virtual boundary of robot movable using boundary generation module according to result of calculation；
Bound object is shot by video acquisition unit, then utilize storage module to the distance of movable boundary into
Row storage, according to the detection of detection module, so as to form an effective zone of action map, then by feedback module two
Central processing unit is output data to, is stored using storage module；
Robot determines the current reality of robot during movement, by data simultaneous module from GPS positioning module
When position, and central processing unit is output to by feedback module one, if robot carry out activity in defined zone of action,
Then the alarm unit in robot will not send alarm, if exceed prescribed limit in the zone of action of robot, in turn
Alarm unit will send alarm；Output control signal is carried out to robot using remote control module, control robot avoids,
Robot is avoided to cross the border.
Preferably, the output end of the central processing unit connects drive module, when robot crosses the border, central processing unit control
Drive module processed avoids robot.
Beneficial effects of the present invention：
1, should robot based on robot identity card cross the border warning system, by the way that detection module is arranged, to establish machine
The movable virtual boundary of device people, can carry out precise positioning to boundary can prevent the external world due to the better performances of laser ranging
Factor interfered, by be arranged storage module reached robot during exercise, by memory module to the data of detection
It is preserved, the problem of crossing the border is easy tod produce in activity so as to avoid robot.
2, should robot based on robot identity card cross the border warning system, pass through and data simultaneous module, GPS positioning be set
Module and feedback module one, have reached the data by data simultaneous module real-time synchronization robot location, utilize GPS positioning mould
The current position of robot is accurately positioned out in block, and it is fed back to central processing unit, and robot is avoided to surmount side in activity
Boundary prevents robot from crossing the border and damages.
3, should robot based on robot identity card cross the border warning system, can be collected by the way that video acquisition unit is arranged
Image information so that camera can be conducive to identify zone of action interior items with the layout of comprehensive scanning zone of action
Classification, by be arranged alarm unit, can robot generate cross the border when generate alarm, to remind user to its into
Row control, avoids robot from occurring crossing the border and cause the accident.
Description of the drawings
Fig. 1 is present system structure chart；
Fig. 2 is detection module systematic schematic diagram of the present invention；
Fig. 3 is alarm unit systematic schematic diagram 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.
- 3 are please referred to Fig.1, the robot based on robot identity card crosses the border warning system, including central processing unit, center
Processor is connected using AMD series, concrete model A6-7310, the input terminal of central processing unit and the output end of power module
It connects, the output end of remote control module and the input terminal of central processing unit connect, and storage module is bi-directionally connected with central processing unit, store
Module is embedded data reservoir, and embedded data reservoir is flash flash memory, is reached by the way that storage module is arranged
It has arrived robot during exercise, the data of detection has been preserved by memory module, so as to avoid robot in activity
The problem of crossing the border is easy tod produce, the output end of central processing unit and the input terminal of alarm unit connect, and alarm unit includes red
Warning lamp and buzzer siren can generate alarm, to carry by the way that alarm unit is arranged when robot generation is crossed the border
Awake user controls it, and avoids robot from occurring crossing the border and cause the accident, the output end of central processing unit is synchronous with data
The input terminal of module connects, and the output end of data simultaneous module and the input terminal of GPS positioning module connect, and GPS positioning module is adopted
It is connect with the input terminal of feedback module one with the output end of SIRF three generations's chipsets, GPS positioning module, the output of feedback module one
End is connect with the input terminal of central processing unit, by the way that data simultaneous module, GPS positioning module and feedback module one is arranged, is reached
By the data of data simultaneous module real-time synchronization robot location, robot is accurately positioned out using GPS positioning module works as
Preceding position, and it is fed back into central processing unit, it avoids robot from surmounting boundary in activity, prevents robot from crossing the border and cause
Damage, the output end of central processing unit and the input terminal of drive module connect, output end and the feedback module two of detection module
Input terminal connects, and the output end of feedback module two and the input terminal of central processing unit connect, and detection module includes microprocessor, swashs
Optical transmitter module, boundary generation module, signal transmission module, A/D converter and laser pick-off module detect mould by setting
Block, to establish the virtual boundary of robot movable, can to boundary carry out precise positioning, due to laser ranging performance compared with
It is good, it can prevent extraneous factor from being interfered, the output end of microprocessor and the input terminal of laser emitting module connect, micro- place
Reason device is embeded processor, and the model i7-4770K of embeded processor, the output end of laser emitting module and boundary
The input terminal of generation module connects, and the output end of boundary generation module and the input terminal of signal transmission module connect, signal transmission
The output end of module and the input terminal of A/D converter connect, and the output end of A/D converter connects with the input terminal of laser pick-off module
It connects, the output end of laser pick-off module and the input terminal of microprocessor connect, the output end and microprocessor of video acquisition unit
Input terminal connection, by be arranged video acquisition unit can collect image information so that camera can be lived with comprehensive scanning
The layout in dynamic region is conducive to the classification for identifying zone of action interior items.
When in use, emit laser using laser emitting module so that laser is reflected through object, is given birth to by boundary
Launch time is recorded at module, reflected optical signal exported by signal transmission module, then by A/D converter by light
After signal is converted into electric signal, and then microprocessor calculates it, is established using boundary generation module according to result of calculation
The virtual boundary of robot movable can carry out precise positioning to boundary, due to the better performances of laser ranging, can prevent outer
The factor on boundary is interfered, and reduces error, and shot to bound object by video acquisition unit, then utilizes storage
Module stores the distance of movable boundary, according to the detection of detection module, so as to form an effective behaviour area
Then domain map is output data to central processing unit by feedback module two, is stored using storage module, robot is transporting
In dynamic process, the current real time position of robot is determined from GPS positioning module by data simultaneous module, and by feeding back mould
Block one is output to central processing unit, if robot carry out activity in defined zone of action, the alarm list in robot
Member will not send alarm, if exceed prescribed limit in the zone of action of robot, and then alarm unit will send report
Alert prompt, reminds user to control it, and carries out output control signal to robot using remote control module, controls robot
Avoid, robot is avoided to cross the border.
Above example is used for illustrative purposes only rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution should also belong to scope of the invention, should be limited by each claim.
Claims (8)
- Warning system, including central processing unit 1. the robot based on robot identity card crosses the border, it is characterised in that：The center The input terminal of processor and the output end of power module connect, and the output end of remote control module and the input terminal of central processing unit connect It connects, storage module is bi-directionally connected with central processing unit, and the output end of central processing unit and the input terminal of alarm unit connect, described The output end of central processing unit and the input terminal of data simultaneous module connect, output end and the GPS positioning mould of data simultaneous module The input terminal of block connects, and the output end of the GPS positioning module is connect with the input terminal of feedback module one, the feedback module one Output end and the input terminal of central processing unit connect, the output end of detection module connect with the input terminal of feedback module two, instead The input terminal of the output end and central processing unit of presenting module two connects.
- The warning system 2. robot according to claim 1 based on robot identity card crosses the border, it is characterised in that：It is described Detection module includes video acquisition unit, microprocessor, laser emitting module, boundary generation module, signal transmission module, A/D Converter and laser pick-off module, whereinThe input terminal of the output end of the microprocessor and laser emitting module connects, the output end of the laser emitting module with The input terminal of boundary generation module connects, and the output end of the boundary generation module and the input terminal of signal transmission module connect, The output end of the signal transmission module and the input terminal of A/D converter connect, and output end and the laser of the A/D converter connect The input terminal connection of module is received, the output end of the laser pick-off module and the input terminal of microprocessor connect.
- The warning system 3. robot according to claim 1 based on robot identity card crosses the border, it is characterised in that：It is described Central processing unit is using AMD series, concrete model A6-7310.
- The warning system 4. robot according to claim 1 based on robot identity card crosses the border, it is characterised in that：It is described Storage module is embedded data reservoir, and embedded data reservoir is flash flash memory.
- The warning system 5. robot according to claim 1 based on robot identity card crosses the border, it is characterised in that：It is described GPS positioning module uses SIRF three generations's chipsets.
- The warning system 6. robot according to claim 1 based on robot identity card crosses the border, it is characterised in that：It is described Microprocessor is embeded processor, and the model i7-4770K of embeded processor.
- The warning system 7. robot according to claim 2 based on robot identity card crosses the border, it is characterised in that：Detection Module is emitted using laser emitting module and is swashed to carrying out primary uniform scanning according to certain motion planning in zone of action Light so that laser is reflected through object, records launch time by boundary generation module, reflected optical signal passes through Signal transmission module is exported, then after converting optical signals into electric signal by A/D converter, and then microprocessor carries out it It calculates, establishes the virtual boundary of robot movable using boundary generation module according to result of calculation；Bound object is shot by video acquisition unit, then the distance of movable boundary is deposited using storage module Then storage, will be counted according to the detection of detection module so as to form an effective zone of action map by feedback module two According to central processing unit is output to, stored using storage module；Robot determines the current real-time position of robot during movement, by data simultaneous module from GPS positioning module It sets, and central processing unit is output to by feedback module one, if robot carry out activity, machine in defined zone of action Alarm unit on device people will not send alarm, if exceed prescribed limit in the zone of action of robot, and then alarm Unit will send alarm；Output control signal is carried out to robot using remote control module, control robot avoids, and avoids Robot crosses the border.
- The warning system 8. robot according to claim 7 based on robot identity card crosses the border, it is characterised in that：It is described The output end of central processing unit connects drive module, and when robot crosses the border, central processing unit controls drive module to robot Avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810762821.7A CN108803618A (en) | 2018-07-12 | 2018-07-12 | Robot based on robot identity card crosses the border warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810762821.7A CN108803618A (en) | 2018-07-12 | 2018-07-12 | Robot based on robot identity card crosses the border warning system |
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| CN108803618A true CN108803618A (en) | 2018-11-13 |
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| CN201810762821.7A Pending CN108803618A (en) | 2018-07-12 | 2018-07-12 | Robot based on robot identity card crosses the border warning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109685849A (en) * | 2018-12-27 | 2019-04-26 | 南京苏美达智能技术有限公司 | A kind of the out-of-bounds determination method and system of mobile robot |
| CN113341983A (en) * | 2021-06-15 | 2021-09-03 | 上海有个机器人有限公司 | Escalator autonomous avoidance early warning method for robot |
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Application publication date: 20181113 |
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| RJ01 | Rejection of invention patent application after publication |