CN111098307A - Intelligent patrol robot - Google Patents
Intelligent patrol robot Download PDFInfo
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- CN111098307A CN111098307A CN201911420343.2A CN201911420343A CN111098307A CN 111098307 A CN111098307 A CN 111098307A CN 201911420343 A CN201911420343 A CN 201911420343A CN 111098307 A CN111098307 A CN 111098307A
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- 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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- 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
- B25J11/003—Manipulators for entertainment
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent patrol robot, which comprises: the sensing identification module acquires barrier information on a patrol path; the mobile walking module receives a first control instruction sent by the central processing module so as to move and avoid obstacles on a patrol path; the interaction module collects input information of a user, receives a second control command sent by the central processing module and outputs corresponding output information; the performance action control module receives a third control command sent by the central processing module; and the central processing module outputs a first control command to the mobile walking module based on the barrier information, and outputs a second control command to the interaction module or a third control command to the performance action control module based on the input information. The invention can realize automatic patrol in a specified area, automatically identify the barrier on the patrol path, automatically avoid barrier and walk, perform image and voice interaction with the user, including performance actions, and realize high-efficiency automatic patrol and automatic guidance.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to an intelligent patrol robot.
Background
With the rapid development of computer technology, very large scale integrated circuit technology, artificial intelligence technology and microelectronic technology, the development of robot technology enters a new era, and the application of the robot technology is not limited to industrial manufacturing, but gradually plays an increasingly important role in scientific exploration, public service, home entertainment and the like.
The intelligent patrol robot is a multifunctional comprehensive system integrating environment perception, route planning, dynamic decision, behavior control and alarm device, has wide application prospect, has received attention at home and abroad in recent years, and becomes a new research direction of the service robot. However, the existing intelligent patrol robot cannot realize automatic guidance.
Therefore, an intelligent patrol robot capable of automatic patrol and automatic guidance is particularly needed.
Disclosure of Invention
The invention aims to provide an intelligent patrol robot and a patrol positioning system which are capable of patrolling automatically and guiding automatically.
In order to achieve the above object, the present invention provides an intelligent patrol robot comprising: the sensing identification module is used for acquiring barrier information on a patrol path; the mobile walking module receives a first control instruction sent by a central processing module so as to move and avoid an obstacle on the patrol path; the interaction module is used for acquiring input information of a user, sending the input information to the central processing module, receiving a second control command sent by the central processing module and outputting corresponding output information; the performance action control module receives a third control command sent by the central processing module so as to perform corresponding performance; the central processing module is respectively connected with the sensing identification module, the mobile walking module, the interaction module and the performance action control module, outputs a first control command to the mobile walking module based on the barrier information, and outputs a second control command to the interaction module or a third control command to the performance action control module based on the input information.
Preferably, the central processing module receives the obstacle information from the sensing and identifying module; determining the type of the obstacle according to the obstacle information; and outputting a first control instruction to the mobile walking module or a second control instruction to the interaction module according to the type of the obstacle.
Preferably, the types of obstacles include human and non-human; when the type of the obstacle is a non-human body, the central processing module sends a first control instruction to the mobile walking module so as to control the mobile walking module to avoid the obstacle; and when the type of the obstacle is a human body, the central processing module sends a second control instruction to the interaction module so as to control the interaction module to acquire the input information of the user.
Preferably, the central processing module receives information from the interaction module, responds based on the information, and sends a second control command corresponding to the response to the interaction module for output, or sends a third control command corresponding to the response to the performance action control module for corresponding performance.
Preferably, when the mobile walking module moves to a designated position, the central processing module sends the third control command to the performance action control module to perform a corresponding performance.
Preferably, the sensing and identifying module collects an environment image on the patrol path; identifying an obstacle image based on the environment image; determining the obstacle information based on the obstacle image.
Preferably, the performance of the performance motion control module comprises one or more of blinking, turning, waving, shaking hands, and elbow motions.
Preferably, the interaction module collects input information of a user in an image mode or a voice mode and outputs corresponding output information in the image mode or the voice mode.
Preferably, when the type of the obstacle is a non-human body, the central processing module compares the obstacle with a pre-stored obstacle, and if the obstacle is a non-pre-stored obstacle, obstacle image information is generated.
Preferably, the intelligent patrol robot further comprises: and the central processing module is communicated with a remote terminal through the communication module.
Preferably, the central processing module receives an emergency control command of the remote terminal through the communication module; and transmitting obstacle image information to the remote terminal through the communication module.
The invention has the beneficial effects that: the intelligent patrol robot can realize automatic patrol in a specified area, automatically identify the barrier on a patrol path, perform image and voice interaction including performance actions and the like if the barrier is a human body, and automatically walk in an obstacle avoidance manner if the barrier is a non-human body, thereby realizing high-efficiency automatic patrol and automatic guidance and saving human resources.
The robot of the present invention has other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a block diagram of an intelligent patrol robot according to an embodiment of the present invention.
Reference numerals
12. A sensing identification module; 14. a mobile walking module; 16. an interaction module; 18. a central processing module; 20. a performance action control module; 22. and a communication module.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
An intelligent patrol robot according to the present invention includes: the sensing identification module is used for acquiring barrier information on the patrol path; the mobile walking module receives a first control instruction sent by the central processing module so as to move and avoid obstacles on the patrol path; the interaction module is used for acquiring input information of a user, sending the input information to the central processing module, receiving a second control command sent by the central processing module and outputting corresponding output information; the performance action control module receives a third control command sent by the central processing module so as to perform corresponding performance; and the central processing module is respectively connected with the sensing identification module, the mobile walking module, the interaction module and the performance action control module, outputs a first control command to the mobile walking module based on the barrier information, and outputs a second control command to the interaction module or a third control command to the performance action control module based on the input information.
Specifically, the sensing identification module is connected with the central processing module through a serial port or a U port, and transmits the acquired information such as images, sound waves, infrared rays, human body infrared rays and the like to the central processing module; the mobile walking module is connected with the central processing module through a serial port or a U port, and the automatic movement and obstacle avoidance of the area are realized through a first control command of the central processing module; the interaction module is connected with the central processing module through a serial port or a U port mode, transmits the acquired image information and voice information to the central processing module, receives a second control command of the central processing module and outputs corresponding images or voices; the performance action control module is connected with the central processing module in an I/O or serial port mode, performs corresponding action operation according to a third control command of the central processing module, and returns state information to the central processing module.
According to the exemplary embodiment, the intelligent patrol robot can automatically patrol in a specified area, automatically identify obstacles on a patrol path, perform image and voice interaction including performance actions and the like if the obstacles are human bodies, and automatically walk in an obstacle avoidance manner if the obstacles are non-human bodies, so that efficient automatic patrol and automatic guidance are realized, and human resources are saved.
Preferably, the central processing module receives the obstacle information from the sensing and identifying module; determining the type of the obstacle according to the obstacle information; and outputting a first control instruction to the mobile walking module or a second control instruction to the interaction module according to the type of the obstacle.
Specifically, the sensing identification module determines barrier information through images, infrared and other modes, transmits the barrier information to the central processing module, and the central processing module judges the type of the barrier according to the barrier information and controls the mobile walking module to avoid the barrier or the interaction module to interact according to different types.
The sensing and identifying module detects an object entering the sensing range of the sensing module through the human body infrared sensing module, judges whether the object is a human body, when the object is a human body, the sensing and identifying module determines that the obstacle information is the human body, then the type of the obstacle is the human body, the central processing module calls the voice information of the preset scenes in the database, playing the voice through the interactive module, picking up the voice of the user according to the voice recognition module in the interactive module, then converting the voice sound wave into recognizable text information, comparing the text information with the preset scenes in the database, outputting a second control command corresponding to the text information to the interaction module, enabling the interaction module to output information, or outputting a third control command corresponding to the third control command to the performance action control module to perform corresponding performance, so as to realize interaction (including voice and limb actions) between the patrol robot and the user.
If the object is a non-human body, the information of the object is collected through the image collecting module, the collected image is sent to the central processing module, the central processing module conducts preliminary judgment on the object according to the information of the size, the shape and the like of the object obtained through image recognition, and a path bypassing the object is judged. The walking path is adjusted in real time as the subject image moves, based on the position in the field of view (e.g., distance from the center/edge, left or right side of the field of view) in real time. The obstacle image is identified, obstacle information is determined, the obstacle image, the obstacle information, the acquisition time and the primary alarm information are uploaded to a remote terminal through a communication module, and the patrol robot sends the primary alarm information; and if the size of the object exceeds the patrol area, namely the object blocks a patrol path and the patrol robot cannot pass through the patrol path smoothly, sending out secondary alarm information and sending the secondary alarm information to the remote terminal through the communication module. The remote terminal can be a far-end handheld terminal or a central machine room, and remotely sends a control instruction according to the received information to guide the next action of the patrol robot and can also call the on-site video for verification.
The sensing identification module is also used for acquiring images around the patrol path and sending the acquired images to the central processing module, the central processing module is used for comparing the received images with preset images, determining the path of the patrol robot by combining a path positioning system and an algorithm, and sending a first control instruction to the mobile walking module according to the path so as to control the patrol robot to walk on the patrol path; when the patrol robot leaves the designated area, the central processing module sends a first control instruction to the mobile walking module so as to control the patrol robot to return to the designated area and walk according to the patrol path.
Preferably, the types of obstacles include human and non-human; when the type of the obstacle is a non-human body, the central processing module sends a first control instruction to the mobile walking module so as to control the mobile walking module to avoid the obstacle; and when the type of the barrier is a human body, the central processing module sends a second control instruction to the interaction module so as to control the interaction module to acquire the input information of the user.
Specifically, when the type of the obstacle is a non-human body, the central processing module controls the mobile walking module to avoid the obstacle according to the existing obstacle avoiding algorithm, which belongs to the prior art in the field and is not described herein again.
When the type of the barrier is a human body, the interaction module receives the voice input of the user and then transmits the voice input to the central processing module, and the central processing module recognizes the voice input by the user according to the existing voice recognition model and semantic analysis method and analyzes the intention of the user. And responding according to the user intention, sending a second control command corresponding to the response to the interaction module for outputting, or sending a third control command corresponding to the response to the performance action control module for performing corresponding performance. Recognizing the voice input by the user according to the existing voice recognition model and semantic analysis method, and analyzing the user intention belongs to the prior art in the field, and the details are not repeated herein.
Specifically, the central processing module calls an output response of a preset scene in the database according to the intention of the user, and sends corresponding voice information or video information to the interaction module, and the interaction module outputs the corresponding response in a voice mode or a display mode.
Or the central processing module sends a third control command corresponding to the user intention to the performance action control module according to the user intention. For example, the voice input of the user is 'handshake', the central processing module sends a handshake instruction to the performance action control module, and the performance action module receives the instruction and controls the movement of each part of the robot to perform the action. The action command is decomposed and operated to control the movement of each part of the robot to realize the preset performance action, which belongs to the prior art in the field and is not described herein again.
When the information acquired by the interaction module is image information, the interaction module sends the acquired information to the central processing module, the central processing module identifies the image information, corresponding text information or video information is sent to the interaction module, and the interaction module outputs corresponding response in a display mode. Or the central processing module sends a third control command corresponding to the response to the performance action control module according to the identified image information. The robot can be trained in advance, and the corresponding relation between the image information and the character information or the video information is established.
Preferably, when the mobile walking module moves to the designated position, the central processing module sends a third control command to the performance action control module to perform the corresponding performance.
Specifically, the intelligent patrol robot performs or explains the introductions while walking on a patrol route. When the mobile walking module walks to the designated position, namely walks for the preset distance according to the preset direction, the central processing module sends a third control instruction to the performance action control module, and the performance action control module performs corresponding performance actions. Or the central processing module sends a second control instruction to the interaction module, and the interaction module explains and introduces.
As a preferred scheme, a sensing and identifying module collects an environment image on a patrol path; identifying an obstacle image based on the environment image; based on the obstacle image, obstacle information is determined.
Specifically, the sensing and identifying module collects an environment image on the patrol route, compares the collected environment image with a preset image, identifies an image of the obstacle, and determines obstacle information.
Preferably, the performance of the performance motion control module comprises one or more of blinking, turning, waving, shaking hands, and elbow movements.
As a preferred scheme, the interaction module collects input information of a user in an image mode or a voice mode and outputs corresponding output information in the image mode or the voice mode.
Specifically, the interaction module interacts with the user in a display mode or a voice mode.
Preferably, when the type of the obstacle is a non-human body, the central processing module compares the obstacle with a pre-stored obstacle, and if the obstacle is a non-pre-stored obstacle, the central processing module generates obstacle image information.
Specifically, when the type of the obstacle is a non-human body, the central controller judges whether the obstacle is an obstacle which should not appear, compares the obstacle with pre-stored information, generates obstacle image information when the obstacle is determined to be an obstacle which should not appear here, namely, a non-pre-stored obstacle, and transmits the obstacle image information to the remote terminal through the communication module, so that the remote terminal can see detailed information of the obstacle in time and process the detailed information in time.
As a preferred scheme, the intelligent patrol robot further comprises: and the central processing module is communicated with the remote terminal through the communication module.
As a preferred scheme, the central processing module receives an emergency control command of the remote terminal through the communication module; and transmitting the obstacle image information to the remote terminal through the communication module.
The specific communication module transmits information through 5G/Wi-Fi and automatically switches 5G or Wi-Fi signals according to signal strength, so that networking of the intelligent patrol robot and the remote mobile phone/handheld terminal is achieved. And transmitting the real-time patrol condition and the obstacle image information of the intelligent patrol robot to a preset remote handheld terminal. The central processing module of the intelligent patrol robot can also receive an emergency control command of the remote handheld terminal.
Examples
Fig. 1 shows a block diagram of an intelligent patrol robot according to an embodiment of the present invention.
As shown in fig. 1, the intelligent patrol robot includes: the sensing identification module 12, the sensing identification module 12 is used for acquiring the obstacle information on the patrol route; the mobile walking module 14 is used for receiving a first control instruction sent by the central processing module 18 so as to move and avoid obstacles on the patrol path, and the mobile walking module 14 is used for receiving the first control instruction; the interaction module 16 is used for acquiring input information of a user, sending the input information to the central processing module 18, receiving a second control command sent by the central processing module 18, and outputting corresponding output information; a performance action control module 20 for receiving a third control command from the central processing module 18 to perform a corresponding performance; and the central processing module 18 is respectively connected with the sensing identification module 12, the mobile walking module 14, the interaction module 16 and the performance action control module 20, outputs a first control command to the mobile walking module 14 based on the obstacle information, and outputs a second control command to the interaction module 16 or a third control command to the performance action control module 20 based on the input information.
Wherein, the central processing module 18 receives the obstacle information from the sensing and identifying module 12; determining the type of the obstacle according to the obstacle information; and outputting a first control instruction to the mobile walking module 14 or a second control instruction to the interaction module 16 according to the type of the obstacle.
Wherein the types of obstacles include human and non-human; when the type of the obstacle is non-human, the central processing module 18 sends a first control instruction to the mobile walking module 14 to control the mobile walking module 14 to avoid the obstacle; when the type of the obstacle is a human body, the central processing module 18 sends a second control instruction to the interaction module 16 to control the interaction module 16 to collect the input information of the user.
Wherein the central processing module 18 receives the information from the interaction module 16, responds based on the information, sends a second control command corresponding to the response to the interaction module 16 for output, or sends a third control command corresponding to the response to the performance action control module 20 for performing a corresponding performance.
Wherein, when the mobile walking module 14 moves to the designated position, the central processing module 18 issues a third control command to the performance action control module 20 to perform the corresponding performance.
The sensing identification module 12 collects an environment image on a patrol path; identifying an obstacle image based on the environment image; based on the obstacle image, obstacle information is determined.
Wherein the performance of the performance motion control module 20 includes one or more of blinking, turning, waving, shaking hands, and elbow movements.
The interactive module 16 collects input information of a user in an image mode or a voice mode, and outputs corresponding output information in the image mode or the voice mode.
When the type of the obstacle is a non-human body, the central processing module 18 compares the obstacle with the pre-stored obstacle, and if the obstacle is a non-pre-stored obstacle, the image information of the obstacle is generated.
Wherein, intelligence patrol robot still includes: a communication module 22, the central processing module 18 communicates with the remote terminal through the communication module 22.
Wherein, the central processing module receives the emergency control command of the remote terminal through the communication module 22; and transmits the obstacle image information to the remote terminal through the communication module 22.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. An intelligent patrol robot, comprising:
the sensing identification module is used for acquiring barrier information on a patrol path;
the mobile walking module receives a first control instruction sent by a central processing module so as to move and avoid an obstacle on the patrol path;
the interaction module is used for acquiring input information of a user, sending the input information to the central processing module, receiving a second control command sent by the central processing module and outputting corresponding output information;
the performance action control module receives a third control command sent by the central processing module so as to perform corresponding performance;
the central processing module is respectively connected with the sensing identification module, the mobile walking module, the interaction module and the performance action control module, outputs a first control command to the mobile walking module based on the barrier information, and outputs a second control command to the interaction module or a third control command to the performance action control module based on the input information.
2. The intelligent patrol robot of claim 1, wherein the central processing module receives obstacle information from the sensing and identification module; determining the type of the obstacle according to the obstacle information; and outputting a first control instruction to the mobile walking module or a second control instruction to the interaction module according to the type of the obstacle.
3. The intelligent patrol robot of claim 2, wherein the types of obstacles include human and non-human; when the type of the obstacle is a non-human body, the central processing module sends a first control instruction to the mobile walking module so as to control the mobile walking module to avoid the obstacle; and when the type of the barrier is a human body, the central processing module sends a second control instruction to the interaction module so as to control the interaction module to output information and collect input information of a user.
4. The intelligent patrol robot of claim 3, wherein the central processing module receives information from the interaction module, responds based on the information, sends a second control command corresponding to the response to the interaction module for output, or sends the third control command corresponding to the response to the performance action control module for a corresponding performance.
5. The intelligent patrol robot of claim 1, wherein the central processing module issues the third control command to the performance action control module to perform a corresponding performance when the mobile walking module moves to a specified location.
6. The intelligent patrol robot of claim 1, wherein the sensing and recognition module collects an image of an environment on the patrol path; identifying an obstacle image based on the environment image; determining the obstacle information based on the obstacle image.
7. The intelligent patrol robot of claim 1, wherein the performance of the performance action control module comprises one or more of blinking, turning, waving, shaking hands, and elbow movements.
8. The intelligent patrol robot of claim 4, wherein the interaction module collects input information of a user in an image mode or a voice mode and outputs corresponding output information in an image mode or a voice mode.
9. The intelligent patrol robot of claim 3, wherein the central processing module compares the obstacle with pre-stored obstacles when the type of the obstacle is non-human, and generates obstacle image information if the obstacle is a non-pre-stored obstacle.
10. The intelligent patrol robot of claim 3, further comprising: the central processing module is communicated with a remote terminal through the communication module; the central processing module receives an emergency control command of the remote terminal through the communication module; and transmitting obstacle image information to the remote terminal through the communication module.
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Application publication date: 20200505 |