CN109960249A - A kind of autonomous mobile robot applied to public arena - Google Patents
A kind of autonomous mobile robot applied to public arena Download PDFInfo
- Publication number
- CN109960249A CN109960249A CN201711422408.8A CN201711422408A CN109960249A CN 109960249 A CN109960249 A CN 109960249A CN 201711422408 A CN201711422408 A CN 201711422408A CN 109960249 A CN109960249 A CN 109960249A
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- mobile robot
- people
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- public arena
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- 238000001931 thermography Methods 0.000 claims abstract description 10
- 238000012216 screening Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 241001269238 Data Species 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of autonomous mobile robots applied to public arena, including mobile robot, thermal infrared imager is set inside mobile robot, connect the CPU of mobile robot, acquire the thermal imaging in mobile robot field range, it is sent to CPU, for perceiving to the people in mobile robot field range.The present invention is considered in some special public arenas, such as airport, station, the big place of the stream of peoples such as market, installs thermal infrared imager additional on the autonomous mobile robot of laser slam, to judge the angle of surrounding someone and people, so as to screening laser data, map is matched using remaining laser data, reduces matching confidence level too low the case where causing slam to fail, while is still appropriate to the communication of the voice of people close friend according to situation.
Description
Technical field
The present invention relates to Mobile Robotics Navigation field, specifically a kind of autonomous machine applied to public arena
Device people.
Background technique
With automatic technology fast development, robot gradually comes into people's lives.In some public arenas, can
See that some service humanoid robots are everybody service in crowd, these robots are all moveable.It is led in mobile robot
Domain, robot need various sensors to perceive the external world.Robot movement walking how autonomous in certain environment, is permanent
Since the project studied always.
In the prior art, that more mature is 2D-slam, in one plane obtains range information by sensor, according to
Entire map is established by algorithm, and B point can be gone to from any A point planning path in map.Among these, sensor is played the part of
It drills and its important role, it is exactly the eyes of robot, is the basis of entire slam behavior.The type of sensor is a variety of more
Sample, most commonly laser, there are also ultrasound, depth cameras etc..Wherein because data precision is high, scanning angle becomes greatly laser
The preferred sensor of 2D-slam.The core of 2D --- slam is exactly to carry out building figure and positioning using the data of laser scanning.?
During navigation, the data of laser scanning are used to positioning in real time.In some public arenas, the stream of people is more, in laser scanning model
If having multiple people in enclosing, it is possible that the case where map match fails, then will lead to entire slam failure.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of autonomous mobile robot applied to public arena.
Present invention technical solution used for the above purpose is:
A kind of autonomous mobile robot applied to public arena, including mobile robot, set inside mobile robot
Thermal infrared imager is set, the CPU of mobile robot is connected, the thermal imaging in mobile robot field range is acquired, is sent to CPU,
For being perceived to the people in mobile robot field range.
The mobile robot is the mobile robot based on 2D-slam.
The thermal infrared imager is set on mobile robot chassis by motor, and motor drives thermal infrared imager in movement
It is rotated in robot, the detection viewing field angle of thermal infrared imager is made to level off to the field of view angle of mobile robot laser sensor.
The temperature data of the thermal imaging is compared with given threshold, is greater than if there is the temperature data of thermal imaging
Given threshold, then there are people in the temperature data corresponding region, and the laser data of the corresponding mobile robot in the region is dug
It removes；Otherwise determine that people is not present in the field range of mobile robot laser sensor.
The laser data excluded is that there are the regions of people to correspond to the laser data variation of mobile robot most in thermograph
Laser data between two big points.
The matching that grating map is carried out using the laser data after screening, completes the positioning of mobile robot.
Laser data after the screening includes the view of the laser data and mobile robot laser sensor after excluding
The laser data of people is not present in the range of field.
When there are people, and the distance between barrier is respectively less than and moves in the field range of mobile robot laser sensor
When robot local width, mobile robot path planning failure rotates the laser sensor of mobile robot to the side of people
To progress voice prompting.
The invention has the following beneficial effects and advantage:
The present invention considers in some special public arenas, such as airport, station, the big place of the stream of peoples such as market,
Thermal infrared imager is installed additional on the autonomous mobile robot of laser slam, to judge the angle of surrounding someone and people, so as to screening
Laser data matches map using remaining laser data, reduces matching confidence level too low the case where causing slam to fail, simultaneously
Or it is appropriate to the communication of the voice of people close friend according to situation.
Detailed description of the invention
Fig. 1 is the position overhead view that thermal infrared imager of the invention is installed in robot；
Fig. 2 is laser data screening embodiment schematic diagram of the invention；
Fig. 3 is to detect human body schematic diagram in the embodiment of the present invention on thermal infrared imager image；
Wherein, 1 is chassis, and 2 be thermal imaging system, and 3 be laser scanning range, and 4 be mobile robot, and 5 be laser point, and 6 be to sweep
The laser point formed on to human body, 7 be the static-obstacle in map, and 8 be map edge.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is the position overhead view that thermal infrared imager of the invention is installed in robot as shown in Figure 1.
General thermal infrared imager all not no wide-angles, about 30 ° of most field angle, so installing one in mobile robot
A motor can drive thermal infrared imager to rotate in robot.Slewing area according to the detection angle that robotic laser is installed and
Fixed, the range for enabling thermal infrared imager detect as far as possible is consistent with the detection angle that robotic laser is installed.Because of thermal infrared imager
There is field angle, so thermal infrared imager rotation angle is less than the detection angle of laser in actual use.
Present invention is mainly applied to airport, station etc., the main cause for causing robot slam to fail is exactly the public field of crowd
It closes.In this occasion, have scene it is big, in non-direct sunlight room, temperature throughout the year by Air-condition system control the features such as.
When robot of the present invention selects nobody when building figure, for example airport is at closing time.This for station 24 is small
The environment of Shi Kaifang can try to interfere every piece of region by people when building figure in such a way that piecemeal builds figure.
During starting to work after robot builds figure, using laser data, the navigation such as mileage counts.This its
In, laser data is screened according to the data of thermal infrared imager.Thermal infrared imager detects that temperature is greater than the region decision of n
For people, the laser data in this angle to be excluded accordingly.The value of n is summarized to obtain by actual test.
The position of the horizontal centre in region of the angle by the code-disc value and thermal infrared imager temperature of motor greater than n on the image
It determines.The angle specifically excluded is determined according to the change of gradient of laser data.Of map is carried out using the data after screening
Match, positions.
Due to the help of thermal infrared imager, robot can distinguish dynamic barrier originally no on map be people or
Object.When dynamic disorder excessively leads to not cook up navigation routine, robot, which can be rotated to the direction of people, carries out close friend's
Voice prompting asks someone to allow to come allowing the robot to continue operation.
It is illustrated in figure 2 laser data screening embodiment schematic diagram of the invention.It is infrared heat of the invention as shown in Figure 3
As detecting human body schematic diagram on instrument image.
Embodiment:
Using 30 ° of thermal imaging systems of field angle, someone occurs in robot left front during robot motion, at this time infrared heat
As instrument motor detects the thermal imaging of people, detection is when making among the graphic images of people as far as possible to reduce error.If motor angle
For β, imaging center distinguishes a and b according to image border horizontal distance, then human body be approximately located i * 30 ° of robot left front (b-a)/
(2a+2b)+β calculates change of gradient in corresponding laser scanning data since this angle or so is respectively, respectively in A point and
B point finds big change point, then proposes that A point to the laser data of B point, is matched using remaining data.
Claims (8)
1. a kind of autonomous mobile robot applied to public arena, including mobile robot, it is characterised in that: in mobile machine
Thermal infrared imager is set inside people, connects the CPU of mobile robot, acquires the thermal imaging in mobile robot field range, hair
It is sent to CPU, for perceiving to the people in mobile robot field range.
2. the autonomous mobile robot according to claim 1 applied to public arena, it is characterised in that: the moving machine
Device is artificially based on the mobile robot of 2D-slam.
3. the autonomous mobile robot according to claim 1 applied to public arena, it is characterised in that: the infrared heat
As instrument is set on mobile robot chassis by motor, motor drives thermal infrared imager to rotate in mobile robot, makes red
The detection viewing field angle of outer thermal imaging system levels off to the field of view angle of mobile robot laser sensor.
4. the autonomous mobile robot according to claim 1 applied to public arena, it is characterised in that: by it is described heat at
The temperature data of picture is compared with given threshold, is greater than given threshold if there is the temperature data of thermal imaging, then the temperature
There are people in data corresponding region, and the laser data of the corresponding mobile robot in the region is excluded；Otherwise determine moving machine
People is not present in the field range of device people's laser sensor.
5. the autonomous mobile robot according to claim 4 applied to public arena, it is characterised in that: the laser excluded
Data are that there are the laser datas that the region of people corresponds to mobile robot to change swashing between maximum two points in thermograph
Light data.
6. the autonomous mobile robot according to claim 4 applied to public arena, it is characterised in that: after screening
Laser data carry out grating map matching, complete the positioning of mobile robot.
7. the autonomous mobile robot according to claim 6 applied to public arena, it is characterised in that: after the screening
Laser data include that there is no people in the field range of laser data and mobile robot laser sensor after excluding
Laser data.
8. the autonomous mobile robot according to claim 6 applied to public arena, it is characterised in that: when mobile machine
There are people in the field range of people's laser sensor, and when the distance between barrier is respectively less than mobile robot local width,
The laser sensor of mobile robot is rotated to the direction of people, carries out voice prompting by mobile robot path planning failure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711422408.8A CN109960249A (en) | 2017-12-25 | 2017-12-25 | A kind of autonomous mobile robot applied to public arena |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711422408.8A CN109960249A (en) | 2017-12-25 | 2017-12-25 | A kind of autonomous mobile robot applied to public arena |
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| CN109960249A true CN109960249A (en) | 2019-07-02 |
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Citations (7)
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|---|---|---|---|---|
| WO2000003200A2 (en) * | 1998-07-09 | 2000-01-20 | Siemens Aktiengesellschaft | Device and method for determining a spatial position of an object |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN103576686A (en) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | Automatic guide and obstacle avoidance method for robot |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
| CN106324619A (en) * | 2016-10-28 | 2017-01-11 | 武汉大学 | Automatic obstacle avoiding method of substation inspection robot |
| CN106406338A (en) * | 2016-04-14 | 2017-02-15 | 中山大学 | Omnidirectional mobile robot autonomous navigation apparatus and method based on laser range finder |
| CN107368073A (en) * | 2017-07-27 | 2017-11-21 | 上海工程技术大学 | A kind of full ambient engine Multi-information acquisition intelligent detecting robot system |
-
2017
- 2017-12-25 CN CN201711422408.8A patent/CN109960249A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000003200A2 (en) * | 1998-07-09 | 2000-01-20 | Siemens Aktiengesellschaft | Device and method for determining a spatial position of an object |
| CN102699895A (en) * | 2012-06-04 | 2012-10-03 | 山东大陆科技有限公司 | Meal delivering robot and meal delivering method |
| CN103576686A (en) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | Automatic guide and obstacle avoidance method for robot |
| CN106406338A (en) * | 2016-04-14 | 2017-02-15 | 中山大学 | Omnidirectional mobile robot autonomous navigation apparatus and method based on laser range finder |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
| CN106324619A (en) * | 2016-10-28 | 2017-01-11 | 武汉大学 | Automatic obstacle avoiding method of substation inspection robot |
| CN107368073A (en) * | 2017-07-27 | 2017-11-21 | 上海工程技术大学 | A kind of full ambient engine Multi-information acquisition intelligent detecting robot system |
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