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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- 230000002068 genetic effect Effects 0.000 title claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract 1
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 12
- 238000005457 optimization Methods 0.000 description 5
- 239000003381 stabilizer Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
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- 238000010845 search algorithm Methods 0.000 description 1
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Abstract
本实用新型公开了一种基于遗传算法的可自动搜寻行走路径的机器人。基于遗传算法的可自动搜寻行走路径的机器人在工作过程中，首先利用摄像机、超声传感器以及红外传感器采集环境信息，以便数据处理模块构建初始地图，在初始地图的基础上，数据处理模块可以进行遗传算法的初始化工作，并计算出优化的行走路径；控制模块依据上述行走路径，控制运动机构的动作。本实用新型实现了机器人在未知环境中行走路径的自动搜寻。此外，本实用新型还具有另一有益效果：由某一机器人所首次构建的初始地图和行走路径，可以上传给所述远程监控计算机，从而在不同的机器人之间实现了数据的共享。
The utility model discloses a robot that can automatically search for a walking path based on a genetic algorithm. In the working process of a robot that can automatically search for walking paths based on genetic algorithms, it first uses cameras, ultrasonic sensors, and infrared sensors to collect environmental information so that the data processing module can build an initial map. On the basis of the initial map, the data processing module can carry out genetic The algorithm is initialized and the optimized walking path is calculated; the control module controls the action of the motion mechanism according to the above walking path. The utility model realizes the automatic searching of the walking path of the robot in the unknown environment. In addition, the utility model has another beneficial effect: the initial map and walking path constructed by a certain robot for the first time can be uploaded to the remote monitoring computer, thereby realizing data sharing among different robots.
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)
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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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| 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 | Robot path planning method based on combined individual differential evolution |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20140327 |