CN108839055A - Robot with independent navigation - Google Patents
Robot with independent navigation Download PDFInfo
- Publication number
- CN108839055A CN108839055A CN201810549082.3A CN201810549082A CN108839055A CN 108839055 A CN108839055 A CN 108839055A CN 201810549082 A CN201810549082 A CN 201810549082A CN 108839055 A CN108839055 A CN 108839055A
- Authority
- CN
- China
- Prior art keywords
- robot
- independent navigation
- controller
- alarm
- module
- 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
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Classifications
-
- 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
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot with independent navigation, the robot with independent navigation includes：Controller and the laser radar being connected with the controller, depth camera and SLAM module；The laser radar and the depth camera are used to obtain the environmental information around robot, and the SLAM module constructs the iconic model of ambient enviroment according to the environmental information of acquisition, and the controller controls the motion profile of driving wheel according to the iconic model of building.The robot with independent navigation, which overcomes the problems, such as to be easy to happen when service humanoid robot in the prior art moves indoors, collides other people or wall.
Description
Technical field
The present invention relates to service type robot fields, and in particular, to a kind of robot with independent navigation.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology, with the development of society, machine
The technology of people has also obtained development by leaps and bounds, and therefore, the application of robot is also more and more common, also each for Robot Design
Kind various kinds.
There is a kind of referred to as service humanoid robot in robot, full-time service is carried out to the client of entrance indoors, is promoted objective
The experience at family, so to the more demanding of hommization.But service humanoid robot in the prior art is easy when moving indoors
Collide other people or wall the problem of, client may be damaged, also influence the service experience of client.
Therefore it provides a kind of can carry out independent navigation indoors in use, barrier is effectively avoided, is prevented
The problem of robot with independent navigation for colliding other people or wall problem is urgent need to resolve of the present invention.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is overcome service humanoid robot in the prior art to move indoors
When the problem of being easy to happen other people or wall of collision, client may be damaged, also influence asking for the service experience of client
Topic, thus provide it is a kind of can carry out independent navigation indoors in use, effectively avoid barrier, prevent from colliding him
The robot with independent navigation of people or wall problem.
To achieve the goals above, described with independent navigation the present invention provides a kind of robot with independent navigation
Robot includes：Controller and the laser radar being connected with the controller, depth camera and SLAM module；The laser
Radar and the depth camera are used to obtain the environmental information around robot, and the SLAM module is believed according to the environment of acquisition
The iconic model of breath building ambient enviroment, the controller control the motion profile of driving wheel according to the iconic model of building.
Preferably, the depth camera is at least arranged two, and the depth camera is separately positioned on the robot
Head, and two depth cameras are oppositely arranged.
Preferably, the robot with independent navigation further includes power module, the power module and the controller
It is connected, is used to provide the described the operating voltage of controller.
Preferably, alarm module is connected on the power module, the alarm module passes through Wireless Transmitter and backstage
Server carries out information transmitting, when the alarm module starts, the hub motor brake of controller control robot.
Preferably, the alarm module includes：Warning lamp and alarm, after the alarm module starting, the warning lamp
Start with the alarm, to issue alarm and alarm light.
Preferably, the robot with independent navigation further includes display module, the display module and the controller
It is connected, for showing the interactive information of robot and user.
Preferably, the display module includes at least two pieces of displays, and one piece is used to show information, and another piece is touch
Type gives user's operation use.
According to the above technical scheme, the robot provided by the invention with independent navigation when in use, is arranged by itself
The laser radar and the depth camera be used to obtain environmental information around robot, the SLAM module is according to obtaining
The iconic model of the environmental information building ambient enviroment taken, the controller control the fortune of driving wheel according to the iconic model of building
Dynamic rail mark, thus the effectively barrier around evacuation.Robot provided by the invention with independent navigation overcomes the prior art
In service humanoid robot the problem of other people or wall of collision are easy to happen when moving indoors.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, 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 is that the control structure of the robot with independent navigation provided in a kind of preferred embodiment of the invention is shown
It is intended to.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in Figure 1, the present invention provides a kind of robot with independent navigation, the robot packet with independent navigation
It includes：Controller and the laser radar being connected with the controller, depth camera and SLAM module；The laser radar and institute
It states depth camera and week is constructed according to the environmental information of acquisition for obtaining the environmental information around robot, the SLAM module
The iconic model in collarette border, the controller control the motion profile of driving wheel according to the iconic model of building.
According to the above technical scheme, the robot provided by the invention with independent navigation when in use, is arranged by itself
The laser radar and the depth camera be used to obtain environmental information around robot, the SLAM module is according to obtaining
The iconic model of the environmental information building ambient enviroment taken, the controller control the fortune of driving wheel according to the iconic model of building
Dynamic rail mark, thus the effectively barrier around evacuation.Robot provided by the invention with independent navigation overcomes the prior art
In service humanoid robot the problem of other people or wall of collision are easy to happen when moving indoors.
In a preferred embodiment of the invention, the depth camera is at least arranged two, and the depth is taken the photograph
As head is separately positioned on the head of the robot, and two depth cameras are oppositely arranged, and guarantee the depth camera
Head can the ambient condition information to robot comprehensively obtained, prevent detect dead angle, cause robot safety
It cannot ensure.
In a preferred embodiment of the invention, the robot with independent navigation further includes power module,
The power module is connected with the controller, is used to provide the described the operating voltage of controller.
In a preferred embodiment of the invention, alarm module, the alarm are connected on the power module
Module carries out information transmitting by Wireless Transmitter and background server, when the alarm module starts, the controller control
The hub motor of robot is braked.The structure facilitates staff in case of emergency, remote brake control system, thus indirectly
Robot is braked on ground, prevents dangerous situation.
In a preferred embodiment of the invention, the alarm module includes：Warning lamp and alarm, the report
After alert module starting, the warning lamp and alarm starting, to issue alarm and alarm light.The alarm module
Also the raw warning alert of the human hair near robot prevents dangerous situation to make crowd far from robot.
In a preferred embodiment of the invention, the robot with independent navigation further includes display module,
The display module is connected with the controller, for showing the interactive information of robot and user.Prevent robot sounding mistake
In obscuring, user can not understand its meaning, so that user be facilitated more accurately to obtain information.
In a preferred embodiment of the invention, the display module include at least two pieces of displays, one piece with
In display information, another piece is touch type, gives user's operation use, it is more square that the display of two pieces of different function gives user
Just interaction, so that its experience is more preferable.
It is described the prefered embodiments of the present invention in detail above in conjunction 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 solution 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 where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
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 (7)
1. a kind of robot with independent navigation, which is characterized in that the robot with independent navigation includes：Controller and with
The controller connected laser radar, depth camera and SLAM module；The laser radar and the depth camera
For obtaining the environmental information around robot, the SLAM module constructs the image of ambient enviroment according to the environmental information of acquisition
Model, the controller control the motion profile of driving wheel according to the iconic model of building.
2. the robot according to claim 1 with independent navigation, which is characterized in that the depth camera is at least arranged
Two, the depth camera is separately positioned on the head of the robot, and two depth cameras are oppositely arranged.
3. the robot according to claim 1 with independent navigation, which is characterized in that the robot with independent navigation
It further include power module, the power module is connected with the controller, is used to provide the described the operating voltage of controller.
4. the robot according to claim 3 with independent navigation, which is characterized in that be connected with alarm on the controller
Module, the alarm module carries out information transmitting by Wireless Transmitter and background server, when the alarm module starts, institute
State the hub motor brake of controller control robot.
5. the robot according to claim 4 with independent navigation, which is characterized in that the alarm module includes：Warning
Lamp and alarm, after the alarm module starting, the warning lamp and alarm starting, to issue alarm and alarm
Light.
6. the robot according to claim 1 with independent navigation, which is characterized in that the robot with independent navigation
It further include display module, the display module is connected with the controller, for showing the interactive information of robot and user.
7. the robot according to claim 6 with independent navigation, which is characterized in that the display module includes at least two
Block display, one piece is used to show information, and another piece is touch type, gives user's operation use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549082.3A CN108839055A (en) | 2018-05-31 | 2018-05-31 | Robot with independent navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549082.3A CN108839055A (en) | 2018-05-31 | 2018-05-31 | Robot with independent navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839055A true CN108839055A (en) | 2018-11-20 |
Family
ID=64210434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810549082.3A Pending CN108839055A (en) | 2018-05-31 | 2018-05-31 | Robot with independent navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839055A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765901A (en) * | 2019-02-18 | 2019-05-17 | 华南理工大学 | Dynamic cost digital map navigation method based on line laser and binocular vision |
| CN111390917A (en) * | 2020-05-08 | 2020-07-10 | 苏州博众机器人有限公司 | Robot anti-collision device and method and robot |
Citations (6)
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|---|---|---|---|---|
| CN202888797U (en) * | 2012-11-28 | 2013-04-17 | 云南电网公司大理供电局 | Combined type security defending system of transformer substation inspection robot |
| CN104505919A (en) * | 2015-01-16 | 2015-04-08 | 蔡乌力吉 | Parking lot |
| CN205029436U (en) * | 2015-10-14 | 2016-02-10 | 山东鲁能智能技术有限公司 | Robot system is patrolled and examined to intelligence in centralized control formula transformer substation |
| CN106094836A (en) * | 2016-08-08 | 2016-11-09 | 成都希德电子信息技术有限公司 | A kind of microrobot control system based on two-dimensional laser radar and method |
| CN106227220A (en) * | 2016-09-28 | 2016-12-14 | 关健生 | Independent navigation crusing robot based on Distributed Architecture |
| CN207373179U (en) * | 2017-10-26 | 2018-05-18 | 常熟理工学院 | A kind of robot control system for being used for SLAM and navigation |
-
2018
- 2018-05-31 CN CN201810549082.3A patent/CN108839055A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202888797U (en) * | 2012-11-28 | 2013-04-17 | 云南电网公司大理供电局 | Combined type security defending system of transformer substation inspection robot |
| CN104505919A (en) * | 2015-01-16 | 2015-04-08 | 蔡乌力吉 | Parking lot |
| CN205029436U (en) * | 2015-10-14 | 2016-02-10 | 山东鲁能智能技术有限公司 | Robot system is patrolled and examined to intelligence in centralized control formula transformer substation |
| CN106094836A (en) * | 2016-08-08 | 2016-11-09 | 成都希德电子信息技术有限公司 | A kind of microrobot control system based on two-dimensional laser radar and method |
| CN106227220A (en) * | 2016-09-28 | 2016-12-14 | 关健生 | Independent navigation crusing robot based on Distributed Architecture |
| CN207373179U (en) * | 2017-10-26 | 2018-05-18 | 常熟理工学院 | A kind of robot control system for being used for SLAM and navigation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765901A (en) * | 2019-02-18 | 2019-05-17 | 华南理工大学 | Dynamic cost digital map navigation method based on line laser and binocular vision |
| CN111390917A (en) * | 2020-05-08 | 2020-07-10 | 苏州博众机器人有限公司 | Robot anti-collision device and method and robot |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181120 |