CN205721353U - A kind of omni-directional mobile robots based on Kinect avoidance - Google Patents
A kind of omni-directional mobile robots based on Kinect avoidance Download PDFInfo
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- CN205721353U CN205721353U CN201620165625.8U CN201620165625U CN205721353U CN 205721353 U CN205721353 U CN 205721353U CN 201620165625 U CN201620165625 U CN 201620165625U CN 205721353 U CN205721353 U CN 205721353U
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Abstract
This utility model discloses a kind of omni-directional mobile robots based on Kinect avoidance, described robot includes Kinect sensor, master system, motion controller and actuator, described Kinect sensor at least includes depth camera, Kinect sensor is connected with master system by USB interface, master system is connected with motion controller by turning serial port module, and motion controller electrically connects with actuator.Robot obtains the depth information of surrounding by the depth camera of Kinect sensor and is sent to host computer, and host computer carries out obstacle recognition by depth information, and host computer is by serial ports and motion controller communication, thus controls the motion of robot.This utility model accurately can carry out perception to surrounding, obtains obstacle information, it is ensured that all can effective avoidance under indoor all kinds barrier scene.
Description
Technical field
This utility model relates to mobile robot technology field, more particularly, to a kind of omni-directional mobile robots based on Kinect avoidance.
Background technology
Technologies of intelligent mobile is an important branch in robotics, is a new and high technology having broad prospect of application, and it is all widely used at numerous areas such as industrial automation, military affairs, agricultural, building, medical treatment, households.In numerous functions of intelligent vehicle, avoidance be the most basic, the function of lowest level, only robot can autonomous in the environment, other Premium Features can be by the addition system of safety.In Mobile Robot Obstacle Avoidance, it is one of them important topic that the barrier in indoor environment is evaded.Mobile robot is when indoor walking, the barrier scene being likely encountered is a lot, such as desk, chair, doorway, wall, stair, corridor, pendent lamp, cupboard etc., also there is no effective solution currently for the robot autonomous navigation of the circumstances not known being applicable to multiple scene.
Utility model content
This utility model is to overcome at least one defect described in above-mentioned prior art, it is provided that a kind of omni-directional mobile robots based on Kinect avoidance.This utility model accurately can carry out perception to surrounding, obtains obstacle information, it is ensured that all can effective avoidance under indoor all kinds barrier scene.
For solving above-mentioned technical problem, the technical solution of the utility model is as follows:
A kind of omni-directional mobile robots based on Kinect avoidance, described robot includes Kinect sensor, master system, motion controller and actuator, described Kinect sensor at least includes depth camera, Kinect sensor is connected with master system by USB interface, master system is connected with motion controller by turning serial port module, and motion controller electrically connects with actuator.
In the preferred scheme of one, described actuator at least includes omni-directional wheel, and omni-directional wheel is driven by motor.Robot realizes spin by omni-directional wheel and moves.
In the preferred scheme of one, described robot also includes speed measuring module, and speed measuring module electrically connects with motion controller and actuator respectively.Speed measuring module moves the present speed information of robot omni-directional wheel by motion actuators collection, is sent to motion controller.The real time speed information that motion controller can provide according to speed measuring module, carries out closed loop control to the movement velocity of omni-directional wheel, thus realizes the speed controlling to mobile robot.
Compared with prior art, technical solutions of the utility model provide the benefit that: this utility model discloses a kind of omni-directional mobile robots based on Kinect avoidance, described robot includes Kinect sensor, master system, motion controller and actuator, described Kinect sensor at least includes depth camera, Kinect sensor is connected with master system by USB interface, master system is connected with motion controller by turning serial port module, and motion controller electrically connects with actuator.Robot obtains the depth information of surrounding by the depth camera of Kinect sensor and is sent to host computer, and host computer carries out obstacle recognition by depth information, and host computer is by serial ports and motion controller communication, thus controls the motion of robot.This utility model accurately can carry out perception to surrounding, obtains obstacle information, it is ensured that all can effective avoidance under indoor all kinds barrier scene.
Accompanying drawing explanation
Fig. 1 is the structural representation of omni-directional mobile robots based on Kinect avoidance.
Detailed description of the invention
Accompanying drawing being merely cited for property explanation, it is impossible to be interpreted as the restriction to this patent；
In order to the present embodiment is more preferably described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product；
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may will be understood by omission.
With embodiment, the technical solution of the utility model is described further below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, a kind of omni-directional mobile robots based on Kinect avoidance, described robot includes Kinect sensor, master system, motion controller and actuator, described Kinect sensor at least includes depth camera, Kinect sensor is connected with master system by USB interface, master system is connected with motion controller by turning serial port module, and motion controller electrically connects with actuator.
In specific implementation process, described actuator at least includes omni-directional wheel, and omni-directional wheel is driven by motor.Robot realizes spin by omni-directional wheel and moves.
In specific implementation process, described robot also includes speed measuring module, and speed measuring module is connected with motion controller and actuator respectively.Speed measuring module moves the present speed information of robot omni-directional wheel by motion actuators collection, is sent to motion controller.The real time speed information that motion controller can provide according to speed measuring module, carries out closed loop control to the movement velocity of omni-directional wheel, thus realizes the speed controlling to mobile robot.
This utility model discloses a kind of omni-directional mobile robots based on Kinect avoidance, robot obtains the depth information of surrounding by the depth camera of Kinect sensor and is sent to host computer, host computer carries out obstacle recognition by depth information, host computer is by serial ports and motion controller communication, thus controls the motion of robot.This utility model accurately can carry out perception to surrounding, obtains obstacle information, it is ensured that all can effective avoidance under indoor all kinds barrier scene.
The corresponding same or analogous parts of same or analogous label；
Term the being merely cited for property explanation of position relationship described in accompanying drawing, it is impossible to be interpreted as the restriction to this patent；
Obviously, above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in this utility model scope of the claims.
Claims (1)
1. an omni-directional mobile robots based on Kinect avoidance, it is characterized in that, described robot includes Kinect sensor, master system, motion controller and actuator, described Kinect sensor at least includes depth camera, Kinect sensor is connected with master system by USB interface, master system is connected with motion controller by turning serial port module, motion controller electrically connects with actuator, described actuator at least includes omni-directional wheel, and omni-directional wheel is driven by motor；Described robot also includes speed measuring module, and speed measuring module electrically connects with motion controller and actuator respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620165625.8U CN205721353U (en) | 2016-03-04 | 2016-03-04 | A kind of omni-directional mobile robots based on Kinect avoidance |
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| CN201620165625.8U CN205721353U (en) | 2016-03-04 | 2016-03-04 | A kind of omni-directional mobile robots based on Kinect avoidance |
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| CN205721353U true CN205721353U (en) | 2016-11-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107092252A (en) * | 2017-04-11 | 2017-08-25 | 杭州光珀智能科技有限公司 | A kind of robot automatic obstacle avoidance method and its device based on machine vision |
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2016
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107092252A (en) * | 2017-04-11 | 2017-08-25 | 杭州光珀智能科技有限公司 | A kind of robot automatic obstacle avoidance method and its device based on machine vision |
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