CN113146626A - Patrolling robot based on AprilTag visual positioning - Google Patents
Patrolling robot based on AprilTag visual positioning Download PDFInfo
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- CN113146626A CN113146626A CN202110347361.3A CN202110347361A CN113146626A CN 113146626 A CN113146626 A CN 113146626A CN 202110347361 A CN202110347361 A CN 202110347361A CN 113146626 A CN113146626 A CN 113146626A
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention provides a patrol robot based on AprilTag visual positioning, and belongs to the technical field of artificial intelligence. The problem is solved. The technical scheme is as follows: a patrol robot based on AprilTag visual positioning, wherein the patrol robot based on AprilTag visual positioning is used for round-robin monitoring in office areas or public places; the ultrasonic image acquisition device comprises a base, a shell, a central processing unit, a driving unit, an ultrasonic sensor, an image acquisition unit, an audio player, a display and an inertia measurement unit. The invention has the beneficial effects that: the patrol robot vision positioning system intelligently controls the patrol robot vision positioning, and the ultrasonic sensor has obstacle avoidance indication and guides the patrol robot to turn to go out; the monitoring camera stores the path and the environment field through recording the screen in real time, and the patrol security effect is achieved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a patrol robot based on Apriltag visual positioning.
Background
With the gradual development of the field of computer vision science, the accurate positioning of vision technology is an important issue facing currently, and the technology comprises natural scene recognition and artificial landmark recognition. The visual system with higher identification rate and better robustness is AprilTag, has good open source characteristics, supports simultaneous identification of multiple clusters and multiple IDs, and meets the requirements of different scenes.
At present, the work efficiency caused by repeated walking of workers in an occasion with a small article taking part is low due to frequent mutual file submission and complex part carrying of workshop workers, the manual mark in the traditional vision is easily influenced by conditions such as environment and illumination, the error rate is high, and the like, the robot can actively patrol the AprilTag icon condition, can help solve the transmission problem in the first time, and patrol and monitor some emergency conditions for 24 hours. Therefore, the patrol robot can fully solve the problems of accurate coordinate positioning and non-delay data transmission in visual positioning and patrol monitoring.
Disclosure of Invention
The invention aims to provide a patrol robot based on AprilTag visual positioning, which can realize patrol obstacle avoidance, visual positioning, monitoring and man-machine interaction and can also play a role in carrying the work of workers.
The invention is realized by the following measures: a patrol robot based on AprilTag visual positioning, wherein the patrol robot based on AprilTag visual positioning is used for round-robin monitoring in office areas or public places;
the ultrasonic image acquisition device comprises a base, a shell, a central processing unit, a driving unit, an ultrasonic sensor, an image acquisition unit, an audio player, a display and an inertia measurement unit;
the driving units are respectively arranged on the base and consist of a first driving unit, a second driving unit, a third driving unit and a fourth driving unit, and the electric control end of each driving unit is connected with the electric driving end of the travelling wheel and drives the travelling wheel to rotate;
the shell is arranged on the base, the ultrasonic sensor, the image acquisition unit, the audio collector, the audio player and the display are respectively arranged on the shell, and the shell is provided with corresponding openings respectively used for exposing the ultrasonic sensor, the image acquisition unit, the audio collector, the audio player and the display;
the central processing unit and the inertia measurement unit are respectively arranged on the base, and the central processing unit is respectively and electrically connected with the driving unit, the ultrasonic sensor, the image acquisition unit, the audio collector, the audio player, the display and the inertia measurement unit through lines.
The patrol robot further comprises a power supply for supplying power to each component, and the power supply is a storage battery.
Furthermore, at least one accommodating cavity for placing articles is arranged in the shell, and a cabin door for sealing the accommodating cavity is arranged at an opening of the accommodating cavity. The user can put articles to be carried, the cabin door 21 can be a drawing cabin door or a full-open cabin door, and the shell 2 can be integrally formed by ABS materials.
The patrol robot body is oval, and the chassis adopts mecanum wheel design, and its wheel hub axle is 45 jiaos with the roller pivot, is located the middle of the back of patrol robot, and the upper strata is pull formula design, and the lower floor is the design of full open gate.
Further, the image acquisition unit includes that two are used for whole surveillance video and April Tag that is used for sweeping Tag acquisition information sweep yard camera, surveillance camera and April Tag sweep yard camera and are located casing upper portion, surveillance camera and April Tag sweep yard camera and are connected with central processing unit control end respectively.
The monitoring camera adopts an OV5640-CMOS sensor, can automatically focus and output 800 ten thousand pixel high-definition images. A yard engine is swept to aprilTag adopts BM401 to sweep yard camera, and inside image sensor visual angle range is wide, and the recognition distance has 5cm to 30cm to use the continuous recognition of light filling lamp. April Tag sweeps a yard camera and sweeps a yard engine through BM401 and reads April Tag label similar to the two-dimensional code on carriers such as paper, glass screen, plastics.
Furthermore, the central processing unit is a ZYNQ processor, and a communication module and a voice recognition module are arranged in the ZYNQ processor.
The ZYNQ processor is used for information fusion processing of front-end data, communication of network data and control of an actuating mechanism. The communication module is an NB-LoT communication module, the voice recognition module is an LD3320 sound control chip, the ZYNQ processor is a core logic operation unit, and is also internally provided with an XC7Z020 chip, a DDR3 memory, an E2PROM memory, an RTC clock module, a PWM isolation circuit and the like, and CAN support rich interface peripherals comprising RS232, RS485, CAN, SPI and I2C。
The ZYNQ processor is a core logic operation unit, is positioned at the middle lower part of the patrol robot, uses a copper column and a metal plate as a support and a chassis support, is electrically connected with an internal 24V animal battery, can continuously work for 48 hours in endurance capacity, and is electrically connected with four direct current magnetic coding motors through a PWM (pulse width modulation) isolation circuit.
The NB-LoT communication module performs CoAP transparent transmission after automatic network residence, and is characterized by a fixed transceiving mechanism and simple operation, in the mode, only the address and the port number of a server need to be set, the serial port of the ZYNQ processor can directly send data to a specified CoAP server through NB73-BA, the NB-LoT communication module can also directly receive the data from the server and forward the information to the ZYNQ processor, and a protocol conversion module in the data transmission process is automatically completed. The user can check the position of the patrol robot and submit a carrying command in the WeChat applet, and the patrol robot is directly controlled to take a task through the NB-LoT network.
The LD3320 sound control chip integrates high-precision AD/DA conversion, sets key words to a relevant register and transmits the content to be recognized to a recognition engine in a character form.
Furthermore, the driving unit is a direct-current magnetic coding motor, the traveling wheels are Mecanum wheels, and the Mecanum wheels are driven by the driving unit and used for the all-directional movement of the robot. The positive and negative rotation, the turning and the sudden stop are realized through the modulation control of the central processing unit.
Further, a plurality of ultrasonic sensor sets up the casing lower part, ultrasonic sensor includes transmitter and receiver, transmitter and receiver personally submit 30 contained angles with the level respectively and set up on the casing, transmitter and receiver are connected with central processing unit control end respectively.
The ultrasonic sensor is used for playing a role in avoiding obstacles in multiple directions in the moving process of the patrol robot. The ultrasonic sensor can be selected as a DYP-A02 distance measurement obstacle avoidance sensor, the range is 3-450cm, the switching value output data is stable, the protection level IP67 design can adapt to the severe humid environment, the measurement precision is higher due to temperature compensation, and the power consumption can be reduced to the lowest by an interface connected to a ZYNQ processor.
The ultrasonic sensor comprises three pairs, each pair of the three pairs is provided with a transmitter and a receiver, the transmitter and the receiver are respectively arranged below the display, are respectively arranged in an angle direction of 60 degrees and are electrically connected with an internal ZYNQ processor.
The ultrasonic sensor is internally provided with temperature compensation, an intelligent algorithm, split waterproof and multi-output design, can adjust the range of 3-450cm for distance measurement, and aims to play a role in multi-directional obstacle avoidance in the moving process.
Furthermore, the audio collector is a microphone, the microphones are respectively arranged in the middle and at two sides of the shell, and the microphones are connected with the control end of the central processing unit; the microphone is an electret microphone which is wide in frequency response range, high in sensitivity and capable of reducing noise in a full-directional mode, is an omnidirectional capacitor pin microphone and has the characteristics of dry resistance and noise reduction, the output impedance is 2.2K omega, and the sensitivity is minus 30 +/-2 db.
The microphone adopts an electret microphone and a vibrating horn, the size of the electret microphone is 6.0 x 2.7mm, the size of the vibrating horn is 33 x 12.6mm, the electret microphone and the vibrating horn are respectively arranged on two sides and the middle position below the patrol robot, are close to the upper part of the chassis and are electrically connected with an internal ZYNQ processor.
Further, the audio player is a loudspeaker, and the loudspeaker can adopt a vibration type horn with low power consumption and high frequency response; the loudspeaker is designed in a circular shape, the output rated impedance and power are 8 omega/0.5W, the sensitivity is 73 +/-3 db, and the resonant frequency reaches 500 Hz.
Furthermore, the display is a liquid crystal display, the liquid crystal display is arranged on the shell and is positioned below the image acquisition unit, and the liquid crystal display is connected with the control end of the central processing unit; and the AprilTag display module is used for displaying the position of the AprilTag label stored in the central processing unit according to the recognized voice command.
The display adopts 1602 display module, has the backlight unit of taking of 16X 2 dot matrix, and its purpose is to show the corresponding position of tag label visual identification.
The display is located below the surveillance camera and is electrically connected to the internal ZYNQ processor for the purpose of identifying the aprilatag tag code to the destination by receiving a voice command to display the next station visual location.
Furthermore, the inertial measurement unit is a nine-axis motion processing sensor of the MPU6050, and outputs a three-dimensional angular velocity signal and an acceleration signal in real time, so as to calculate the current posture.
The inertial measurement unit can also be three accelerometers and three gyroscopes, which are arranged on mutually perpendicular measurement axes in order to give the angular velocity and acceleration parameters required by the space, and are electrically connected with an internal ZYNQ processor.
The inertial measurement unit is an IMU based on MEMS technology, a thermometer is further arranged in the inertial measurement unit to carry out real-time temperature calibration, and three-dimensional angular velocity signals and acceleration signals are output in real time so as to calculate the current posture.
The height of the patrol robot is 55cm, the shell is made of integrally formed ABS materials, the head is designed in an oval shape, the height is 20cm, the bottom is designed in a cylindrical shape, the height is 25cm, the chassis is designed into four Mecanum wheels which are parallel to each other, a circle of planet wheels which are independently inclined by 45 degrees are arranged in the circumferential direction of a central shaft of each wheel, the advancing speed of the central shaft is decomposed into X and Y directions by the planet wheels, the accurate speed of each wheel has a constraint relation with the sliding friction on the ground, advancing and transverse traveling are realized, the structure is compact, the movement is flexible, the driving part adopts a Makeblock direct current magnetic coding motor, the PID parameters of the driving part, the resolution of the code wheel and the reduction of the resolution of the code wheelThe speed ratio can pass through2C bus set, automatically save to E2PROM。
In actual use, the invention comprises the following steps: the method comprises the steps that a user stores information of each conveying position in an April tag, the April tag is numbered and then is recorded in a central processing unit of the patrol robot, the corresponding April tag is arranged at the corresponding conveying position, the number is spoken through voice, an audio collector collects audio information and then identifies the audio information through a voice identification unit, the central processing unit calls the April tag stored inside to obtain the conveying position, the position of the April tag is displayed on a liquid crystal display, the patrol robot is moved to the position, a code scanning camera is matched with the April tag at the conveying position, the voice reminding is used for reminding that the conveying position is correct and successful, and the user can open a cabin door to take goods.
Compared with the prior art, the invention has the beneficial effects that:
(1) the patrol robot vision positioning system intelligently controls the patrol robot vision positioning, and the ultrasonic sensor has obstacle avoidance indication and guides the patrol robot to turn to go out; the monitoring camera stores the path and the environment field through recording the screen in real time, and the patrol security effect is achieved.
(2) The AprilTag code scanning camera can keep a high-performance state of fast and stable code reading in a complex environment, and has high recognition operation speed, high tracking accuracy and high recognition rate; the inertia measurement unit accurately detects rapid and slow motion in a self-induction manner, so that a self-adaptive balancing process is realized, and the translation and rotation of the robot can be balanced and stable; the ZYNQ processor can expand a processing platform, meet the requirements of high performance, low power consumption and multi-core processing of a complex embedded system, and can realize carrying and patrol operation by linking a front-end mobile phone WeChat applet through an NB-LoT communication module.
(3) The invention has standard input and output interfaces, is convenient to integrate with other devices, can realize remote control and management and has strong system capacity expansion capability.
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.
FIG. 1 is a schematic front view of a patrol robot of the present invention;
FIG. 2 is a schematic back view of the patrol robot of the present invention;
FIG. 3 is an electrical schematic block diagram of the patrol robot of the present invention;
FIG. 4 is a circuit diagram of a ZYNQ processor in the patrol robot of the present invention;
FIG. 5 is a circuit diagram of the inertial measurement unit of the patrol robot of the present invention;
fig. 6 is a circuit diagram of a patrol robot display of the present invention;
fig. 7 is a circuit diagram of an ultrasonic sensor of the patrol robot of the present invention;
fig. 8 is a circuit diagram of a monitoring camera of an image acquisition unit in the patrol robot of the present invention;
FIG. 9 is a schematic view of the patrol robot of the present invention;
FIG. 10 is a Tag diagram of Tag16h5 of the patrol robot of the present invention;
FIG. 11 is a Tag diagram of Tag25h9 of the patrol robot of the present invention;
FIG. 12 is a Tag diagram of Tag36h11 of the patrol robot of the present invention;
fig. 13 is a Tag diagram of Tag41h12 of the patrol robot of the present invention.
Wherein the reference numerals are: 1. a base; 2. a housing; 21. a cabin door; 3. a central processing unit; 4. a drive unit; 5. an ultrasonic sensor; 6. an image acquisition unit; 7. an audio collector; 8. an audio player; 9. a display; 10. an inertial measurement unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
Example 1
Referring to fig. 1 to 13, the present invention provides a patrolling robot based on AprilTag visual positioning, wherein the patrolling robot based on AprilTag visual positioning is used for round-robin monitoring in office areas or public places;
the ultrasonic image acquisition device comprises a base 1, a shell 2, a central processing unit 3, a driving unit 4, an ultrasonic sensor 5, an image acquisition unit 6, an audio acquisition unit 7, an audio player 8, a display 9 and an inertia measurement unit 10;
the driving units 4 are respectively arranged on the base 1, each driving unit 4 consists of a first driving unit, a second driving unit, a third driving unit and a fourth driving unit, and the electric control end of each driving unit 4 is connected with the electric driving end of a travelling wheel and drives the travelling wheel to rotate;
the shell 2 is arranged on the base 1, the ultrasonic sensor 5, the image acquisition unit 6, the audio collector 7, the audio player 8 and the display 9 are respectively arranged on the shell 2, and the shell 2 is provided with corresponding openings respectively used for exposing the ultrasonic sensor 5, the image acquisition unit 6, the audio collector 7, the audio player 8 and the display 9;
the central processing unit 3 and the inertia measurement unit 10 are respectively arranged on the base 1, and the central processing unit 3 is respectively electrically connected with the driving unit 4, the ultrasonic sensor 5, the image acquisition unit 6, the audio acquisition unit 7, the audio player 8, the display 9 and the inertia measurement unit 10 through lines.
The patrol robot further comprises a power supply for supplying power to each component, and the power supply is a storage battery.
Further, at least one accommodating cavity for placing articles is arranged in the shell 2, and a hatch door 21 for closing the accommodating cavity is arranged at an opening of the accommodating cavity. The user can put articles to be carried, the cabin door 21 can be a drawing cabin door or a full-open cabin door, and the shell 2 can be integrally formed by ABS materials.
The patrol robot body is oval, and the chassis adopts mecanum wheel design, and its wheel hub axle is 45 jiaos with the roller pivot, is located the middle of the back of patrol robot, and the upper strata is pull formula design, and the lower floor is the design of full open gate. The cabin volume of the drawing door is 15 × 10cm, and can accommodate general parts; the fully open door had a compartment volume of 15 x 10 x 20cm and could accommodate a4 paper documents.
Further, the image acquisition unit 6 includes two surveillance cameras that are used for whole-course surveillance video and an AprilTag that is used for sweeping Tag acquisition information and sweeps a yard camera, surveillance camera and AprilTag sweep a yard camera and be located casing 2 upper portion, surveillance camera and AprilTag sweep a yard camera and are connected with 3 control ends of central processing unit respectively.
The monitoring camera adopts an OV5640-CMOS sensor, can automatically focus and output 800 ten thousand pixel high-definition images. A yard engine is swept to aprilTag adopts BM401 to sweep yard camera, and inside image sensor visual angle range is wide, and the recognition distance has 5 to 30cm to use the light filling lamp to recognize in succession. April Tag sweeps a yard camera and sweeps a yard engine through BM401 and reads April Tag label similar to the two-dimensional code on carriers such as paper, glass screen, plastics.
Further, the central processing unit 3 is a ZYNQ processor, and a communication module and a voice recognition module are built in the ZYNQ processor.
The ZYNQ processor is used for information fusion processing of front-end data, communication of network data and control of an actuating mechanism. The communication module is an NB-LoT communication module, the voice recognition module is an LD3320 sound control chip, the ZYNQ processor is a core logic operation unit, and is also internally provided with an XC7Z020 chip, a DDR3 memory, an E2PROM memory, an RTC clock module, a PWM isolation circuit and the like, and CAN support rich interface peripherals comprising RS232, RS485, CAN, SPI and I2C。
The ZYNQ processor is a core logic operation unit, is positioned at the middle lower part of the patrol robot, uses a copper column and a metal plate as a support and a chassis support, is electrically connected with an internal 24V animal battery, can continuously work for 48 hours in endurance capacity, and is electrically connected with four direct current magnetic coding motors through a PWM (pulse width modulation) isolation circuit.
The NB-LoT communication module performs CoAP transparent transmission after automatic network residence, and is characterized by a fixed transceiving mechanism and simple operation, in the mode, only the address and the port number of a server need to be set, the serial port of the ZYNQ processor can directly send data to a specified CoAP server through NB73-BA, the NB-LoT communication module can also directly receive the data from the server and forward the information to the ZYNQ processor, and a protocol conversion module in the data transmission process is automatically completed. The user can check the position of the patrol robot and submit a carrying command in the WeChat applet, and the patrol robot is directly controlled to take a task through the NB-LoT network.
The LD3320 sound control chip integrates high-precision AD/DA conversion, sets key words to a relevant register and transmits the content to be recognized to a recognition engine in a character form.
Furthermore, the driving unit 4 is a direct-current magnetic coding motor, the traveling wheels are mecanum wheels, and the driving unit 4 drives the mecanum wheels for the omnidirectional movement of the robot. The positive and negative rotation, the turning and the sudden stop are realized through the modulation control of the central processing unit 3.
Further, a plurality of ultrasonic sensor 5 sets up 2 lower parts of casing, ultrasonic sensor 5 includes transmitter and receiver, transmitter and receiver personally submit 30 contained angles with the level respectively and set up on casing 2, transmitter and receiver are connected with central processing unit 3 control end respectively.
The ultrasonic sensor 5 is used for playing a role in multi-directional obstacle avoidance in the moving process of the patrol robot. The ultrasonic sensor 5 can be selected as a DYP-A02 distance measurement obstacle avoidance sensor, the range is 3-450cm, the switching value output data is stable, the protection level IP67 is designed to be suitable for a humid severe environment, the measurement precision is higher due to temperature compensation, and the power consumption can be reduced to the lowest by an interface connected to a ZYNQ processor.
The ultrasonic sensor 5 comprises three pairs, each pair of the three pairs is provided with a transmitter and a receiver, the transmitter and the receiver are respectively arranged below the display 9, are respectively arranged in an angle direction of 60 degrees and are electrically connected with an internal ZYNQ processor.
The ultrasonic sensor 5 is internally provided with temperature compensation, an intelligent algorithm, split waterproof and multi-output design, can adjust the range of 3-450cm for distance measurement, and aims to play a role in multi-directional obstacle avoidance in the moving process.
Furthermore, the audio collector 7 is a microphone, the microphones are respectively arranged in the middle and at two sides of the shell 2, and the microphones are connected with the control end of the central processing unit 3; the microphone is an electret microphone which is wide in frequency response range, high in sensitivity and capable of reducing noise in a full-directional mode, is used for transmitting the collected audio to the central processing unit 3 for identification, is an omnidirectional capacitor pin microphone, has the characteristics of dry resistance and noise reduction, and has output impedance of 2.2K omega and sensitivity of minus 30 +/-2 db.
The microphone adopts an electret microphone and a vibrating horn, the size of the electret microphone is 6.0 x 2.7mm, the size of the vibrating horn is 33 x 12.6mm, the electret microphone and the vibrating horn are respectively arranged on two sides and the middle position below the patrol robot, are close to the upper part of the chassis and are electrically connected with an internal ZYNQ processor.
Further, the audio player 8 is a speaker, and the speaker may adopt a vibration type horn with low power consumption and high frequency response; the loudspeaker is designed in a circular shape, the output rated impedance and power are 8 omega/0.5W, the sensitivity is 73 +/-3 db, and the resonant frequency reaches 500 Hz.
Further, the display 9 is a liquid crystal display, the liquid crystal display is arranged on the housing 2 and is located below the image acquisition unit 6, and the liquid crystal display is connected with the control end of the central processing unit 3; for displaying the location of the aprilat tag stored in the central processing unit 3 upon recognizing a voice command.
The display 9 adopts a 1602 display module, which has a backlight module with a 16 × 2 dot matrix, and aims to display a position corresponding to tag label visual identification.
The display 9 is located below the surveillance camera and is electrically connected to the internal ZYNQ processor for the purpose of identifying the aprilatag tag code to the destination by receiving a voice command to display the next station visual location.
Further, the inertial measurement unit 10 is a nine-axis motion processing sensor of the MPU6050, and outputs a three-dimensional angular velocity signal and an acceleration signal in real time, so as to calculate the current attitude.
The inertial measurement unit 10 can also be three accelerometers and three gyroscopes mounted on mutually perpendicular measurement axes, in order to give the angular velocity and acceleration parameters required for the space, electrically connected to an internal ZYNQ processor. The gyroscope can measure the precision to be +/-500 degrees/s, and the accelerometer can measure the precision to be +/-8 g.
The inertial measurement unit 10 is an IMU based on the MEMS technology, and further includes a thermometer for performing real-time temperature calibration, and outputting a three-dimensional angular velocity signal and an acceleration signal in real time, thereby calculating a current attitude.
The height of the patrol robot is 55cm, the shell is made of an integrally formed ABS material, the head is designed in an oval shape, the height is 20cm, the bottom is designed in a cylindrical shape, the height is 25cm, the chassis is designed into four Mecanum wheels which are parallel to each other, a circle of planet wheels which are independently inclined by 45 degrees are arranged in the circumferential direction of a central shaft of each wheel, the advancing speed of the central shaft is decomposed into X and Y directions by the planet wheels, the accurate speed of each wheel has a constraint relation with the sliding friction on the ground, advancing and transverse moving are realized, the structure is compact, the movement is flexible, the driving part adopts a Makeblock direct current magnetic coding motor, the PID parameters, the resolution ratio of the code wheels and the reduction ratio of the Makeblock direct current magnetic coding motor can be all passed through I2C bus set, automatically save to E2PROM。
The working principle of the invention is as follows: storing each piece of conveying position information into an April tag, numbering the April tag, then inputting the April tag into a central processing unit 3 of the patrol robot, setting the corresponding April tag at the corresponding conveying position, speaking the number by voice, identifying the voice information by a voice identification unit after an audio collector 7 collects the audio information, calling the April tag stored inside by the central processing unit 3 to obtain the conveying position, displaying the position on a liquid crystal display, moving the patrol robot to the position, matching a code scanning camera with the April tag at the conveying position, reminding the correctness and success by voice, and enabling a user to open a cabin door to take goods.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A patrol robot based on AprilTag visual positioning is characterized in that the patrol robot based on AprilTag visual positioning is used for round-robin monitoring in office areas or public places;
the device comprises a base (1), a shell (2), a central processing unit (3), a driving unit (4), an ultrasonic sensor (5), an image acquisition unit (6), an audio acquisition unit (7), an audio player (8), a display (9) and an inertia measurement unit (10);
the driving units (4) are respectively arranged on the base (1), each driving unit (4) consists of a first driving unit, a second driving unit, a third driving unit and a fourth driving unit, and the electric control end of each driving unit (4) is connected with the electric driving end of the travelling wheel and drives the travelling wheel to rotate;
the shell (2) is arranged on the base (1), the ultrasonic sensor (5), the image acquisition unit (6), the audio collector (7), the audio player (8) and the display (9) are respectively arranged on the shell (2), and the shell (2) is provided with corresponding openings which are respectively used for exposing the ultrasonic sensor (5), the image acquisition unit (6), the audio collector (7), the audio player (8) and the display (9);
the central processing unit (3) and the inertia measuring unit (10) are respectively arranged on the base (1), and the central processing unit (3) is respectively and electrically connected with the driving unit (4), the ultrasonic sensor (5), the image acquisition unit (6), the audio acquisition unit (7), the audio player (8), the display (9) and the inertia measuring unit (10) through lines;
the patrol robot further comprises a power supply for supplying power to each component, and the power supply is a storage battery.
2. April tag vision positioning-based patrol robot according to claim 1, wherein at least one accommodating cavity for placing articles is arranged in the housing (2), and a door (21) for closing the accommodating cavity is arranged at the opening of the accommodating cavity.
3. An AprilTag vision positioning based patrol robot according to claim 1 or 2, wherein the image acquisition unit (6) comprises two surveillance cameras for monitoring video in a whole course and an AprilTag code scanning camera for scanning Tag to obtain information, the surveillance cameras and AprilTag code scanning camera are located on the upper part of the housing (2), and the surveillance cameras and AprilTag code scanning camera are respectively connected with the control end of the central processing unit (3).
4. April tag-based visual positioning patrol robot according to any one of claims 1-3, wherein the central processing unit (3) is a ZYNQ processor having a communication module and a voice recognition module built in.
5. April Tag visual positioning-based patrol robot according to any one of claims 1-4, characterized in that the driving unit (4) is a DC magnetic encoding motor, the walking wheels are Mecanum wheels, and the Mecanum wheels are driven by the driving unit (4) for omni-directional movement of the robot.
6. April Tag vision positioning based patrol robot according to any one of claims 1-5, wherein the plurality of ultrasonic sensors (5) are arranged at the lower part of the shell (2), the ultrasonic sensors (5) comprise a transmitter and a receiver, the transmitter and the receiver are respectively arranged on the shell (2) at an angle of 30 degrees with the horizontal plane, and the transmitter and the receiver are respectively connected with a control end of a central processing unit (3).
7. April Tag visual positioning-based patrol robot according to any one of claims 1-6, characterized in that the audio collectors (7) are microphones respectively arranged in the middle and at both sides of the housing (2), and the microphones are connected with the control terminal of the central processing unit (3).
8. April Tag visual positioning-based patrol robot according to any one of claims 1-7, characterized in that the audio players (8) are loudspeakers, the microphones are respectively arranged in the middle and at two sides of the shell (2), and the loudspeakers are connected with the control end of the central processing unit (3).
9. April Tag visual positioning-based patrol robot according to any one of claims 1-8, wherein the display (9) is a liquid crystal display, the liquid crystal display is arranged on the housing (2) and is positioned below the image acquisition unit (6), and the liquid crystal display is connected with the control end of the central processing unit (3).
10. The aprilat visual positioning-based patrol robot according to any one of claims 1-9, wherein the inertial measurement unit (10) is an MPU6050 nine-axis motion processing sensor, and outputs a three-dimensional angular velocity signal and an acceleration signal in real time, so as to solve the current attitude.
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Cited By (1)
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| CN116160458A (en) * | 2023-04-26 | 2023-05-26 | 广州里工实业有限公司 | Multi-sensor fusion rapid positioning method, equipment and system for mobile robot |
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