CN109176539A - Autonomous positioning robot based on Kinect - Google Patents
Autonomous positioning robot based on Kinect Download PDFInfo
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- CN109176539A CN109176539A CN201810974406.8A CN201810974406A CN109176539A CN 109176539 A CN109176539 A CN 109176539A CN 201810974406 A CN201810974406 A CN 201810974406A CN 109176539 A CN109176539 A CN 109176539A
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- kinect
- robot
- autonomous positioning
- control box
- positioning robot
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- 230000007613 environmental effect Effects 0.000 claims abstract description 28
- 238000012545 processing Methods 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 239000002023 wood Substances 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000007547 defect Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the autonomous positioning robots based on Kinect, comprising: robot body and the control system being arranged in robot body；Robot body includes: Kinect device, IP Camera, control cabinet, battery layers and the differential platform of four-wheel；Support plate is provided with right above control cabinet, it is connected between the center of support plate and the upper surface of control cabinet by shaft, Kinect device and IP Camera are fixed on the upper surface of support plate, the lower end of shaft is connected with the driving motor of control box house, driving motor being capable of drive shaft rotation, drive support plate rotation, the autonomous positioning robot overcomes robot in the prior art inadequate using the precision of GPS positioning, it is only applicable to interior, the mode that map is manually entered limits the working range of robot, and existing robot is not comprehensive enough to the acquisition of environmental information, the problem of causing the environmental map poor accuracy of building.
Description
Technical Field
The invention relates to the field of robots, in particular to an autonomous positioning robot based on Kinect.
Background
With the development of industrial automation, machine intelligence is receiving more and more attention, and intelligent robots among the machine intelligence are well recognized as the mainstream development direction in the future. Once the robot moves, understanding of the environment, path planning, autonomous positioning, obstacle avoidance, collision avoidance and the like are inevitably involved, and it goes without saying that understanding of the environment and autonomous positioning of the robot are the basis of other functions and are the primary research directions.
In the prior art, a robot generally uses a GPS to realize autonomous positioning of the robot, and a known environment map and a building structure diagram are manually input to replace the robot to autonomously learn and construct a map, but the GPS positioning accuracy is insufficient and is only suitable for indoor use, the mode of manually inputting the map limits the working range of the robot, and the robot is not suitable for outdoor changing environments; and the existing robot can not acquire environmental information comprehensively, so that the accuracy of the constructed environmental map is poor.
Therefore, the environment where the robot is located can be analyzed in the using process, the environment map is established, and the robot can determine the current position of the robot in the map at any time. Therefore, the Kinect-based autonomous positioning robot is driven to stably move, can comprehensively acquire environmental information and build an accurate environmental map, and is a problem to be solved urgently.
Disclosure of Invention
Aiming at the technical problems, the invention aims to overcome the defects that the robot in the prior art generally uses a GPS to realize the autonomous positioning of the robot, and the known environment map and the building structure diagram are manually input to replace the robot to learn and construct the map autonomously, but the GPS positioning precision is not enough, and the robot is only suitable for indoor use, the working range of the robot is limited by the manual map input mode, and the robot is not suitable for outdoor changing environment; and the existing robot can not acquire the environmental information completely, so that the problem of poor accuracy of the constructed environmental map is caused, and therefore the robot can analyze the current environment in the using process, establish the environmental map and determine the current position of the robot in the map at any time. Therefore, the Kinect-based autonomous positioning robot can be driven to stably move, can comprehensively acquire environmental information and can construct an accurate environmental map.
In order to achieve the above object, the present invention provides an autonomous positioning robot based on Kinect, comprising: the robot comprises a robot body and a control system arranged in the robot body; wherein, the robot body includes: the system comprises Kinect equipment, a network camera, a control box body, a battery layer and a four-wheel differential platform; a support plate is arranged right above the control box body, the center of the support plate is connected with the upper surface of the control box body through a rotating shaft, the Kinect equipment and the network camera are fixed on the upper surface of the support plate, the lower end of the rotating shaft is connected with a driving motor in the control box body, the driving motor can drive the rotating shaft to rotate to drive the support plate to rotate, the battery layer is fixed on the lower surface of the control box body, the lower surface of the battery layer is connected with a four-wheel differential platform through a telescopic column, and the control system is arranged in the control box body; the Kinect equipment and the network camera are used for collecting environmental information around the robot, the control system analyzes the obtained environmental information and executes an SLAM program to realize environment map construction and autonomous positioning, and the motion of the four-wheel differential platform is controlled through a serial port line; and the battery pack is arranged in the battery layer and used for providing electric energy for system operation.
Preferably, the upper surface of the supporting plate is recessed downwards to form a fixing groove matched with the Kinect device, and a plurality of fixing suckers are arranged in the fixing groove.
Preferably, the control system comprises: the Kinect equipment, the network camera, the memory and the battery pack are respectively connected with the central processing unit, and the memory stores environment map data constructed by the central processing unit.
Preferably, the control system further comprises a human body sensor, the human body sensor is used for identifying a human body, and under the condition that the human body is identified, the central processing unit controls the four-wheel differential platform to move around the human body, so that the Kinect device acquires data around the human body, and the central processing unit is used for building an environment map and automatically positioning.
Preferably, the outer side surface of the control box body is hinged with a hidden door, and the back surface of the hidden door is communicated with the inside of the control box body.
Preferably, a display is embedded in the hidden door, and the hidden door is electrically connected with the central processing unit and used for displaying information processed by the central processing unit.
Preferably, the display is a touch liquid crystal display.
Preferably, the four-wheel differential platform is a platform driven by four wheels independently, and the driving wheels arranged on the side surface of the platform are rubber wheels with anti-skid convex strips distributed on the surface.
Preferably, at least two network cameras are arranged on the upper surface of the Kinect equipment at intervals, and the network cameras are calibrated to form binocular vision sensing equipment.
Preferably, the robot body is made of wood.
According to the technical scheme, when the autonomous positioning robot based on the Kinect is used, the Kinect equipment and the network camera are used for collecting environmental information around the robot, and the control system is used for executing the SLAM algorithm to realize environment map construction and autonomous positioning; in addition, the Kinect equipment and the network camera are driven to rotate by the robot through the supporting plate, so that the environmental information around the robot is acquired more comprehensively, and the constructed environmental map is more accurate. The Kinect-based autonomous positioning robot overcomes the defects that the robot in the prior art generally uses a GPS to realize autonomous positioning of the robot, and uses a manual input known environment map and a building structure diagram to replace the robot to learn and construct a map autonomously, but the GPS positioning precision is insufficient, and the Kinect-based autonomous positioning robot is only suitable for indoor use, the working range of the robot is limited by the manual input of the map, and the Kinect-based autonomous positioning robot is not suitable for outdoor changing environments; and the existing robot can not acquire the environmental information comprehensively, so that the problem of poor accuracy of the constructed environmental map is caused.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an autonomous positioning robot based on Kinect provided in a preferred embodiment of the present invention;
fig. 2 is a schematic mechanism diagram of an upper support plate of an autonomous positioning robot based on Kinect provided in a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system on an autonomous positioning robot based on Kinect provided in a preferred embodiment of the present invention.
Description of the reference numerals
1 four-wheel differential platform 2 telescopic column
3 hidden door 4 display
5 control box 6 support plate
7 network camera 8Kinect equipment
9 battery layer 10 rotating shaft
11 fixed groove 12 fixed suction cup
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the directional words "upper, lower, inner, outer" and the like included in the terms merely represent the orientation of the terms in a conventional use state or are colloquially understood by those skilled in the art, and should not be construed as limiting the terms.
As shown in fig. 1 and 2, the present invention provides an autonomous positioning robot based on Kinect, including: the robot comprises a robot body and a control system arranged in the robot body; wherein, the robot body includes: the system comprises Kinect equipment 8, a network camera 7, a control box body 5, a battery layer 9 and a four-wheel differential platform 1; a support plate 6 is arranged right above the control box body 5, the center of the support plate 6 is connected with the upper surface of the control box body 5 through a rotating shaft 10, the Kinect device 8 and the network camera 7 are fixed on the upper surface of the support plate 6, the lower end of the rotating shaft 10 is connected with a driving motor inside the control box body 5, the driving motor can drive the rotating shaft 10 to rotate to drive the support plate 6 to rotate, the battery layer 9 is fixed on the lower surface of the control box body 5, the lower surface of the battery layer 9 is connected with a four-wheel differential platform 1 through a telescopic column 2, and the control system is arranged in the control box body 5; the Kinect equipment 8 and the network camera 7 are used for collecting environmental information around the robot, the control system analyzes the obtained environmental information and executes an SLAM program to realize environment map construction and autonomous positioning, and the motion of the four-wheel differential platform is controlled through a serial port line; the battery layer 9 is provided with a battery pack for providing electric energy for system operation.
According to the technical scheme, when the autonomous positioning robot based on the Kinect is used, the Kinect equipment and the network camera are used for collecting environmental information around the robot, and the control system is used for executing the SLAM algorithm to realize environment map construction and autonomous positioning; in addition, the Kinect equipment and the network camera are driven to rotate by the robot through the supporting plate, so that the environmental information around the robot is acquired more comprehensively, and the constructed environmental map is more accurate. The Kinect-based autonomous positioning robot overcomes the defects that the robot in the prior art generally uses a GPS to realize autonomous positioning of the robot, and uses a manual input known environment map and a building structure diagram to replace the robot to learn and construct a map autonomously, but the GPS positioning precision is insufficient, and the Kinect-based autonomous positioning robot is only suitable for indoor use, the working range of the robot is limited by the manual input of the map, and the Kinect-based autonomous positioning robot is not suitable for outdoor changing environments; and the existing robot can not acquire the environmental information comprehensively, so that the problem of poor accuracy of the constructed environmental map is caused.
In a preferred embodiment of the present invention, the upper surface portion of the supporting plate 6 is recessed downward to form a fixing groove 11 for matching with the Kinect device 8, a plurality of fixing suction cups 12 are disposed in the fixing groove 11, and the fixing groove 11 matches with the fixing suction cups 12 to make the Kinect device 8 more stable and stable in fixing, so that the obtained image information is more accurate.
In a preferred embodiment of the present invention, the control system includes: the Kinect equipment 8, the network camera 7, the memory and the battery pack are respectively connected with the central processing unit, and the memory stores environment map data constructed by the central processing unit, so that the constructed environment map is conveniently provided for workers to analyze and use.
In a preferred embodiment of the present invention, the control system further includes a human body sensor, the human body sensor is configured to identify a human body, and when the human body is identified, the central processing unit controls the four-wheel differential platform to move around the human body, so that the Kinect apparatus collects data around the human body, and the central processing unit implements construction of an environment map and autonomous positioning.
In a preferred embodiment of the present invention, a hidden door 3 is hinged to an outer side surface of the control box 5, and a back surface of the hidden door 3 is communicated with an interior of the control box 5, and in the preferred embodiment of the present invention, it is convenient for a worker to open the control box 5 and perform maintenance and repair on a control system inside the control box 5.
In a preferred embodiment of the present invention, a display 4 is embedded in the hidden door 3, the hidden door 3 is electrically connected to the central processing unit and is used for displaying information processed by the central processing unit, the display 4 facilitates a worker to obtain working state information of the robot, and the structure facilitates the worker to install and maintain the display 4.
In a preferred embodiment of the present invention, the display 4 is a touch liquid crystal display, so that a worker can conveniently input a control command to the robot.
In a preferred embodiment of the present invention, the four-wheel differential platform is a platform driven by four wheels independently, and the driving wheels disposed on the side of the platform are rubber wheels with anti-skid convex strips disposed on the surface. This allows more precise control of the robot movement and prevents the robot from slipping during movement.
In a preferred embodiment of the present invention, at least two network cameras 7 are arranged and spaced apart from each other on the upper surface of the Kinect device 8, and the network cameras are calibrated to form a binocular vision sensing device, so as to comprehensively and accurately acquire environmental information around the robot.
In a preferred embodiment of the present invention, the robot body is made of wood. In the process of selecting materials for the main structure of the hardware platform, the metal material is used for welding or the 3D printer is used for printing, but the reasons are finally rejected as follows: 1) although the 3D printing technology is fast in forming, the printing material of the 3D printer is fragile, and the printer is printed layer by layer, so that the layers are particularly fragile, the structure cannot bear the weight of a notebook and a visual sensor, and in addition, the storage battery is also heavy; 2) the metal structure can bear the required load, but the metal frame has heavy weight, and the total weight of the metal frame is more than that of the four-wheel differential platform due to the addition of computers, vision sensors, storage batteries and other equipment. Therefore, a wooden structure is finally selected.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. An autonomous positioning robot based on Kinect, comprising: the robot comprises a robot body and a control system arranged in the robot body; wherein,
the robot body includes: the system comprises Kinect equipment (8), a network camera (7), a control box body (5), a battery layer (9) and a four-wheel differential platform (1); a supporting plate (6) is arranged right above the control box body (5), the center of the supporting plate (6) is connected with the upper surface of the control box body (5) through a rotating shaft (10), the Kinect device (8) and the network camera (7) are fixed on the upper surface of the supporting plate (6), the lower end of the rotating shaft (10) is connected with a driving motor inside the control box body (5), the driving motor can drive the rotating shaft (10) to rotate to drive the supporting plate (6) to rotate, the battery layer (9) is fixed on the lower surface of the control box body (5), the lower surface of the battery layer (9) is connected with a four-wheel differential platform (1) through a telescopic column (2), and the control system is arranged in the control box body (5);
the Kinect equipment (8) and the network camera (7) are used for collecting environmental information around the robot, the control system analyzes the obtained environmental information and executes an SLAM program to realize environment map construction and autonomous positioning, and the motion of the four-wheel differential platform is controlled through a serial port line; and a battery pack is arranged in the battery layer (9) and used for providing electric energy for system operation.
2. The Kinect-based autonomous positioning robot as claimed in claim 1, characterized in that the upper surface of the supporting plate (6) is recessed downwards to form a fixing groove (11) for cooperation with the Kinect device (8), and a plurality of fixing suckers (12) are arranged in the fixing groove (11).
3. The Kinect-based autonomous positioning robot of claim 1, wherein the control system comprises: the Kinect equipment (8), the network camera (7), the memory and the battery pack are respectively connected with the central processing unit, and the memory stores environment map data constructed by the central processing unit.
4. The Kinect-based autonomous positioning robot of claim 3, wherein the control system further comprises a human body sensor, the human body sensor is used for identifying a human body, and in the case that the human body is identified, the central processor controls the four-wheel differential platform to move around the human body, so that the Kinect device collects data around the human body, and the Kinect device realizes building of an environment map and autonomous positioning through the central processor.
5. The Kinect-based autonomous positioning robot as claimed in claim 1, characterized in that the outer side of said control box (5) is hinged with a hidden door (3), the back of said hidden door (3) is connected with the inside of said control box (5).
6. The Kinect-based autonomous positioning robot as claimed in claim 5, characterized in that a display (4) is embedded in the hidden door (3), and the hidden door (3) is electrically connected to the CPU for displaying the information processed by the CPU.
7. The Kinect-based autonomous positioning robot as claimed in claim 6, characterized in that said display (4) is a touch-sensitive liquid crystal display.
8. The Kinect-based autonomous positioning robot as claimed in claim 1, wherein the four-wheel differential platform is a four-wheel independent driving platform, and the driving wheels arranged on the side of the platform are rubber wheels with anti-skid convex strips.
9. The Kinect-based autonomous positioning robot as claimed in claim 1, wherein at least two network cameras (7) are arranged and spaced on the upper surface of the Kinect device (8), and form binocular vision sensing equipment after calibration.
10. The Kinect-based autonomous positioning robot of claim 1, wherein the robot body is made of wood.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974406.8A CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974406.8A CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
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| Publication Number | Publication Date |
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| CN109176539A true CN109176539A (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810974406.8A Pending CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN206960959U (en) * | 2017-05-10 | 2018-02-02 | 广州汇宏品牌管理有限公司 | A kind of autonomous shipping and receiving robot |
-
2018
- 2018-08-24 CN CN201810974406.8A patent/CN109176539A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| WO2017099097A1 (en) * | 2015-12-08 | 2017-06-15 | Mitsubishi Electric Corporation | Method and system for detecting and localizing object and slam method |
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| CN206960959U (en) * | 2017-05-10 | 2018-02-02 | 广州汇宏品牌管理有限公司 | A kind of autonomous shipping and receiving robot |
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Application publication date: 20190111 |