CN112454348A

CN112454348A - Intelligent robot

Info

Publication number: CN112454348A
Application number: CN201910841992.3A
Authority: CN
Inventors: 李臣学; 王晓楠; 郭峰; 杨霁天; 蒋公宝
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-09-06
Filing date: 2019-09-06
Publication date: 2021-03-09

Abstract

The invention relates to the technical field of robots, in particular to an intelligent robot which comprises a single chip microcomputer and is characterized in that the single chip microcomputer is respectively connected with an infrared pair transistor, an ultrasonic sensor, a Hall sensor, a metal proximity switch, a motor drive and an AD (analog-digital) which is connected with a photoresistor, a camera and a wireless transceiver module; the behavior execution step comprises: sensor perception → modeling → planning → task execution → operational control → performer. According to the invention, through an autonomous path planning solution, the robot can learn autonomously in a large space, and perform path map planning, autonomous navigation and obstacle avoidance; the robot can overcome the uncertainty of the environment, reliably complete complex tasks, and has high efficiency and good robustness; the camera is used for image acquisition, and the single chip microcomputer is used for image segmentation, target identification and target tracking, so that the robot has an active vision function and plays roles in environment detection and identification.

Description

Intelligent robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent robot.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

In the prior art, the robot cannot perform autonomous learning, path map planning, autonomous navigation and obstacle avoidance, particularly in strange environments and is unstable.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides an intelligent robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent robot comprises a single chip microcomputer, wherein the single chip microcomputer is respectively connected with an infrared pair transistor, an ultrasonic sensor, a Hall sensor, a metal proximity switch, a motor driver and an AD (analog-digital) which is connected with a photoresistor, a camera and a wireless transceiver module;

the behavior execution step comprises: sensor perception → modeling → planning → task execution → operational control → performer.

Preferably, the navigation implementation method comprises the following steps:

the method comprises the following steps: the sensor senses the local first configuration;

step two: matching with the original stored map;

step three: the robot can determine the position of the robot and plan a global route in advance;

step four: and navigation is realized by adopting a path tracking and obstacle avoidance technology.

Preferably, the modeling includes identifying an object and building a map, and the task execution includes changing environment planning and automatically avoiding obstacles.

Preferably, the sensor perception is the data response of infrared geminate transistor, ultrasonic sensor, hall sensor, metal proximity switch, photo resistance and camera, infrared geminate transistor is the tracking device, ultrasonic sensor is for keeping away the barrier device, hall sensor calculates the wheel number of turns, metal proximity switch is metal detection device, photo resistance is connected with the triode and constitutes and seeks the light circuit.

Preferably, the camera is used for image acquisition, and the singlechip is used for image segmentation, target recognition and target tracking.

Preferably, the driving implementation method comprises the following steps: setting a servo state → setting a motor-driven zero-speed box position → setting a speed → receiving a motor-driven action flag position → driving motor actions, wherein the driving motor actions comprise forward movement, backward movement, forward left turning, forward right turning, backward left turning, backward right turning and stopping actions.

Compared with the prior art, the invention provides an intelligent robot, which has the following beneficial effects:

according to the invention, through an autonomous path planning solution, the robot can learn autonomously in a large space, and perform path map planning, autonomous navigation and obstacle avoidance.

The invention ensures that the robot can overcome the uncertainty of the environment, reliably completes complex tasks, and has high efficiency and good robustness.

According to the robot, the camera is used for image acquisition, and the singlechip is used for image segmentation, target identification and target tracking, so that the robot has an active visual function and plays roles in environment detection and identification.

Drawings

Fig. 1 is a schematic diagram of a system of an intelligent robot according to the present invention;

fig. 2 is a schematic diagram of a behavior executing step of an intelligent robot according to the present invention;

FIG. 3 is a schematic diagram of steps of a navigation implementation method of an intelligent robot according to the present invention;

fig. 4 is a schematic diagram of steps of a driving implementation method of an intelligent robot according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, an intelligent robot comprises a single chip microcomputer, wherein the single chip microcomputer is respectively connected with an infrared pair transistor, an ultrasonic sensor, a hall sensor, a metal proximity switch, a motor driver and an AD, and the AD is connected with a photoresistor, a camera and a wireless transceiver module;

The navigation implementation method comprises the following steps: the method comprises the following steps: the sensor senses the local first configuration; step two: matching with the original stored map; step three: the robot can determine the position of the robot and plan a global route in advance; step four: the robot can determine the position of the robot and realize navigation by adopting a path tracking and obstacle avoidance technology according to a pre-planned global route.

The modeling comprises the steps of identifying a target and establishing a map, the task execution comprises the steps of changing environment planning and automatically avoiding obstacles, and in the moving process of the robot, if the obstacle avoidance area is detected by the infrared geminate transistors to have obstacles, the robot stops moving towards the sub-targets temporarily, implements emergency obstacle avoidance behaviors, and then replans the sub-targets.

The sensor perception is the data response of infrared geminate transistor, ultrasonic sensor, hall sensor, metal proximity switch, photo resistance and camera, infrared geminate transistor is the tracking device, ultrasonic sensor is for keeping away the barrier device, hall sensor calculates the wheel number of turns, metal proximity switch is metal detection device, photo resistance is connected with the triode and constitutes and seeks the light circuit.

The camera carries out image acquisition, the singlechip carries out image segmentation, target identification and target tracking, the image acquisition acquires the actual situation in the environment to a computer memory through the camera for visual processing software analysis, the image acquisition is mainly completed by hardware equipment such as the camera and an image acquisition card, and the image segmentation is to divide each pixel in the color image into subclasses of different objects. After pixel classification processing, the color image is changed into a binary image, each independent target area is separated from the binary image, the image segmentation is performed on the basis of color segmentation, after the image is subjected to color segmentation, a plurality of binary image results can be obtained, the binary images are actually obtained from the same image, multi-target segmentation is completed, target characteristics are determined through characteristic quantities of the independent target areas by target identification, for example, the center position and the movement direction of a target are finally determined through the target centroid, the target perimeter, the target area, the target direction and the like, information is provided for a decision subsystem, and the target identification process is a process of recognizing the image by a computer.

The driving implementation method comprises the following steps: setting a servo state → setting a motor-driven zero-speed box position → setting a speed → receiving a motor-driven action flag position → driving motor actions, wherein the driving motor actions comprise forward movement, backward movement, forward left turning, forward right turning, backward left turning, backward right turning and stopping actions.

In the invention, when in use, the sensor senses and carries out a local first structure; step two: matching with the original stored map; step three: the robot can determine the position of the robot and plan a global route in advance; step four: the robot can determine the position of the robot and realize navigation by adopting a path tracking and obstacle avoidance technology according to a pre-planned global route by adopting the path tracking and obstacle avoidance technology, detecting the surrounding environment through various sensors of the robot, constructing a local map by utilizing the sensed local environment information, and matching the local map with a complete map stored in the robot in advance, wherein if the two models are matched with each other; the camera carries out image acquisition, the singlechip carries out image segmentation, target identification and target tracking, the servo state is set → the motor drive zero-speed box bit is effective → the speed is set → the motor drive action flag bit is received → the motor is driven to act, and the motor is driven to act, wherein the action of the motor comprises advancing, retreating, advancing left turning, advancing right turning, retreating left turning, retreating right turning and stopping.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An intelligent robot comprises a single chip microcomputer and is characterized in that the single chip microcomputer is respectively connected with an infrared pair transistor, an ultrasonic sensor, a Hall sensor, a metal proximity switch, a motor drive and an AD, and the AD is connected with a photosensitive resistor, a camera and a wireless transceiver module;

2. The intelligent robot as claimed in claim 1, wherein the navigation implementation method comprises the following steps:

step two: matching with the original stored map;

3. The intelligent robot as claimed in claim 1, wherein the modeling comprises identifying targets, building a map, and the task execution comprises changing environment planning and automatically avoiding obstacles.

4. The intelligent robot according to claim 1, wherein the sensor senses data of an infrared pair tube, an ultrasonic sensor, a hall sensor, a metal proximity switch, a photo resistor and a camera, the infrared pair tube is a tracking device, the ultrasonic sensor is an obstacle avoidance device, the hall sensor calculates the number of turns of a wheel, the metal proximity switch is a metal detection device, and the photo resistor is connected with a triode to form a light searching circuit.

5. The intelligent robot of claim 1, wherein the camera performs image acquisition, and the single chip microcomputer performs image segmentation, target recognition and target tracking.

6. The intelligent robot as claimed in claim 1, wherein the driving implementation method comprises: setting a servo state → setting a motor-driven zero-speed box position → setting a speed → receiving a motor-driven action flag position → driving motor actions, wherein the driving motor actions comprise forward movement, backward movement, forward left turning, forward right turning, backward left turning, backward right turning and stopping actions.