CN202480099U - Genetic algorithm-based robot capable of automatically searching walking path - Google Patents
Genetic algorithm-based robot capable of automatically searching walking path Download PDFInfo
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- CN202480099U CN202480099U CN2012201200196U CN201220120019U CN202480099U CN 202480099 U CN202480099 U CN 202480099U CN 2012201200196 U CN2012201200196 U CN 2012201200196U CN 201220120019 U CN201220120019 U CN 201220120019U CN 202480099 U CN202480099 U CN 202480099U
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Abstract
The utility model discloses a genetic algorithm-based robot capable of automatically searching a walking path. During the working process of the genetic algorithm-based robot capable of automatically searching the walking path, a video camera, an ultrasonic sensor and an infrared sensor are firstly utilized for acquiring environmental information, so that a data processing module can conveniently construct an initial map; on the basis of the initial map, the data processing module can perform initialization work of a genetic algorithm, and the optimized walking path can be further calculated; and the control module can control the actions of a motion mechanism according to the walking path. The genetic algorithm-based robot disclosed by the utility model can realize automatic search of the walking path in an unknown environment. In addition, the genetic algorithm-based robot further has another beneficial effect that, the initial map and the walking path, which are initially constructed by the certain robot, can be uploaded to a remote monitoring computer, and data sharing among the different robots can be realized.
Description
Technical field
The utility model relates to a kind of robot that can search walking path automatically based on genetic algorithm.
Background technology
Genetic algorithm is a kind of randomness global optimization probabilistic search algorithm of simulating nature circle theory of biologic evolution, and it has simulated the life evolutionary mechanism, in manual system, realizes the optimization of specific objective.The basic operation of genetic algorithm is divided into steps such as initialization, selection, intersection, variation.Wherein, select, intersect and variation all is that fitness with individuality is a basis.
Robotics has become a research focus.At present, the automatic search that is in the robot ambulation path in the circumstances not known still belongs to has technical problem to be solved.
The utility model content
To above-mentioned technical problem, the utility model has been designed and developed a kind of robot that can search walking path automatically based on genetic algorithm.In the utility model; At first utilize video camera, sonac and infrared sensor to gather environmental information; So that data processing module makes up initial map; On the basis of initial map, data processing module can carry out the initial work of genetic algorithm, and calculates the walking path of optimization; Control module is according to above-mentioned walking path, the action of controlled motion mechanism.The utility model has been realized the automatic search of robot walking path in circumstances not known.
The technical scheme that the utility model provides is:
A kind of robot that can search walking path automatically based on genetic algorithm comprises:
Video camera is used to the external information that robot provides said robot place environment;
Sonac is used to the obstacle information that robot provides said robot place environment;
Infrared sensor is used to the obstacle information that robot provides said robot place environment;
Calculate the data processing module in said robot ambulation path according to genetic algorithm; It is connected with said video camera, said sonac and said infrared sensor simultaneously; Receive the vision signal of said video camera; Obtaining the external information of said robot place environment, and the signal that receives said sonac and said infrared sensor, to obtain the obstacle information of said robot place environment; Said data processing module makes up the initial map of said robot place environment, and calculates the walking path of said robot;
Motion;
Control module, said control module is connected with said data processing module, and is connected with said motion, and said control module is controlled the walking path motion of said motion according to the said robot of said data processing module calculating.
Preferably; Describedly can search in the robot of walking path automatically based on genetic algorithm; The pair of driving wheels that said motion includes a cylindrical base and is installed on the bottom of said cylindrical base, said driving wheel is connected in a reducing motor, and said reducing motor is connected in said control module; Controlled by said control module, said reducing motor drives said driving wheel.
Preferably, described based on can the searching automatically in the robot of walking path of genetic algorithm, said a plurality of sonacs are distributed in the periphery of the cylindrical base of said motion.
Preferably, described based on can the searching automatically in the robot of walking path of genetic algorithm, said a plurality of infrared sensors are distributed in the periphery of the cylindrical base of said motion.
Preferably, described based on can the searching automatically in the robot of walking path of genetic algorithm, the number of said sonac is 10～20.
Preferably, described based on can the searching automatically in the robot of walking path of genetic algorithm, the number of said infrared sensor is 10～20.
Preferably, described based on can the searching automatically in the robot of walking path of genetic algorithm, the bottom of the cylindrical base of said motion also is equipped with a stabilizer.
Preferably, the described robot that can search walking path automatically based on genetic algorithm also comprises:
The remote monitoring computer, it is connected through communicating wireless signals with said data processing module, obtains the initial map of the constructed said robot place environment of said data processing module, and the walking path that obtains said robot.
The described robot that can search walking path automatically based on genetic algorithm of the utility model in the course of the work; At first utilize video camera, sonac and infrared sensor to gather environmental information; So that data processing module makes up initial map; On the basis of initial map, data processing module can carry out the initial work of genetic algorithm, and calculates the walking path of optimization; Control module is according to above-mentioned walking path, the action of controlled motion mechanism.The utility model has been realized the automatic search of robot walking path in circumstances not known.
In addition, the utility model also has another beneficial effect: by a certain robot the initial map and the walking path that make up first, can be uploaded to said remote monitoring computer, thereby between different robots, realize sharing of data.
Description of drawings
Fig. 1 is the described robot construction sketch map that can search walking path automatically based on genetic algorithm of the utility model;
Fig. 2 is the structural representation of the motion of the described robot that can search walking path automatically based on genetic algorithm of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further detailed description, can implement according to this with reference to the specification literal to make those skilled in the art.
As shown in Figure 1, the utility model provides a kind of robot that can search walking path automatically based on genetic algorithm, comprising: video camera 1 is used to the external information that robot provides said robot place environment; Sonac 2 is used to the obstacle information that robot provides said robot place environment; Infrared sensor 3 is used to the obstacle information that robot provides said robot place environment; Calculate the data processing module 5 in said robot ambulation path according to genetic algorithm; It is connected with said video camera, said sonac and said infrared sensor simultaneously; Receive the vision signal of said video camera; Obtaining the external information of said robot place environment, and the signal that receives said sonac and said infrared sensor, to obtain the obstacle information of said robot place environment; Said data processing module makes up the initial map of said robot place environment, and calculates the walking path of said robot; Motion 7; Control module 6, said control module is connected with said data processing module, and is connected with said motion, and said control module is controlled the walking path motion of said motion according to the said robot of said data processing module calculating.
Describedly can search in the robot of walking path automatically based on genetic algorithm; The pair of driving wheels 73 that said motion includes a cylindrical base 71 and is installed on the bottom of said cylindrical base; Said driving wheel is connected in a reducing motor; Said reducing motor is connected in said control module, controlled by said control module, and said reducing motor drives said driving wheel.
Described based on can the searching automatically in the robot of walking path of genetic algorithm, said a plurality of sonacs are distributed in the periphery of the cylindrical base of said motion.
Described based on can the searching automatically in the robot of walking path of genetic algorithm, said a plurality of infrared sensors are distributed in the periphery of the cylindrical base of said motion.
Described based on can the searching automatically in the robot of walking path of genetic algorithm, the number of said sonac is 10～20.
Described based on can the searching automatically in the robot of walking path of genetic algorithm, the number of said infrared sensor is 10～20.
Described based on can the searching automatically in the robot of walking path of genetic algorithm, the bottom of the cylindrical base of said motion also is equipped with a stabilizer 72.
Above-mentioned stabilizer can rotate to any direction.
The described robot that can search walking path automatically based on genetic algorithm; Also comprise: remote monitoring computer 4; It is connected through communicating wireless signals with said data processing module; Obtain the initial map of the constructed said robot place environment of said data processing module, and the walking path that obtains said robot.
When the described robot of the utility model is placed in a circumstances not known,, need at first obtain the environmental information of circumstances not known for obtaining the primary data of genetic algorithm.Therefore, robot walks in the environment of place according to certain track route, utilizes camera, sonac and infrared sensor to obtain environmental information.Data processing module is handled the data of camera, sonac and infrared sensor, and makes up initial map.This initial map is used to the initialization of genetic algorithm.After this, data processing module can calculate the walking path of optimization with genetic algorithm.
Although the embodiment of the utility model is open as above; But it is not restricted to listed utilization in specification and the embodiment; It can be applied to the field of various suitable the utility model fully, for being familiar with those skilled in the art, can easily realize other modification; Therefore under the universal that does not deviate from claim and equivalency range and limited, the legend that the utility model is not limited to specific details and illustrates here and describe.
Claims (8)
1. the robot that can search walking path automatically based on genetic algorithm is characterized in that, comprising:
Video camera is used to the external information that robot provides said robot place environment;
Sonac is used to the obstacle information that robot provides said robot place environment;
Infrared sensor is used to the obstacle information that robot provides said robot place environment;
Calculate the data processing module in said robot ambulation path according to genetic algorithm; It is connected with said video camera, said sonac and said infrared sensor simultaneously; Receive the vision signal of said video camera; Obtaining the external information of said robot place environment, and the signal that receives said sonac and said infrared sensor, to obtain the obstacle information of said robot place environment; Said data processing module makes up the initial map of said robot place environment, and calculates the walking path of said robot;
Motion;
Control module, said control module is connected with said data processing module, and is connected with said motion, and said control module is controlled the walking path motion of said motion according to the said robot of said data processing module calculating.
2. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 1; It is characterized in that; The pair of driving wheels that said motion includes a cylindrical base and is installed on the bottom of said cylindrical base, said driving wheel is connected in a reducing motor, and said reducing motor is connected in said control module; Controlled by said control module, said reducing motor drives said driving wheel.
3. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 2 is characterized in that said a plurality of sonacs are distributed in the periphery of the cylindrical base of said motion.
4. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 2 is characterized in that said a plurality of infrared sensors are distributed in the periphery of the cylindrical base of said motion.
5. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 3 is characterized in that the number of said sonac is 10～20.
6. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 4 is characterized in that the number of said infrared sensor is 10～20.
7. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 2 is characterized in that the bottom of the cylindrical base of said motion also is equipped with a stabilizer.
8. the robot that can search walking path automatically based on genetic algorithm as claimed in claim 1 is characterized in that, also comprises:
The remote monitoring computer, it is connected through communicating wireless signals with said data processing module, obtains the initial map of the constructed said robot place environment of said data processing module, and the walking path that obtains said robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201200196U CN202480099U (en) | 2012-03-27 | 2012-03-27 | Genetic algorithm-based robot capable of automatically searching walking path |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012201200196U CN202480099U (en) | 2012-03-27 | 2012-03-27 | Genetic algorithm-based robot capable of automatically searching walking path |
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| CN202480099U true CN202480099U (en) | 2012-10-10 |
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| CN2012201200196U Expired - Fee Related CN202480099U (en) | 2012-03-27 | 2012-03-27 | Genetic algorithm-based robot capable of automatically searching walking path |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843225A (en) * | 2016-03-31 | 2016-08-10 | 纳恩博（北京）科技有限公司 | Data processing method and device |
| CN105867383A (en) * | 2016-05-16 | 2016-08-17 | 哈尔滨工程大学 | Automatic collision preventing control method of USV |
| CN106647757A (en) * | 2016-12-23 | 2017-05-10 | 江西理工大学 | Robot path planning method based on combined individual difference evolution |
-
2012
- 2012-03-27 CN CN2012201200196U patent/CN202480099U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843225A (en) * | 2016-03-31 | 2016-08-10 | 纳恩博（北京）科技有限公司 | Data processing method and device |
| CN105843225B (en) * | 2016-03-31 | 2022-01-25 | 纳恩博（北京）科技有限公司 | Data processing method and equipment |
| CN105867383A (en) * | 2016-05-16 | 2016-08-17 | 哈尔滨工程大学 | Automatic collision preventing control method of USV |
| CN106647757A (en) * | 2016-12-23 | 2017-05-10 | 江西理工大学 | Robot path planning method based on combined individual difference evolution |
| CN106647757B (en) * | 2016-12-23 | 2019-06-18 | 江西理工大学 | Based on the robot path planning method for combining individual differential evolution |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20140327 |