CN207281590U - A kind of intelligence blind-guidance robot device - Google Patents
A kind of intelligence blind-guidance robot device Download PDFInfo
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- CN207281590U CN207281590U CN201721164468.XU CN201721164468U CN207281590U CN 207281590 U CN207281590 U CN 207281590U CN 201721164468 U CN201721164468 U CN 201721164468U CN 207281590 U CN207281590 U CN 207281590U
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Abstract
A kind of intelligence blind-guidance robot device, it is characterised in that it includes car body, driving wheel, radar module, camera model and guide connecting rod；Vehicle body has intelligent blind-guidance robot control unit；The mode of vision ORB SLAM is used to carry out building figure circumstances not known to describe the cartographic information of unknown scene；It is beneficial to blind-guidance robot to be precisely located in circumstances not known.Positioning more accurately can be identified to targets such as outdoor traffic lights, pedestrians, can further lift the safety problem of blind person；It is simple in structure, it is convenient and practical, it is highly practical.
Description
Technical field
The utility model belongs to robot correlative technology field, especially a kind of intelligent blind-guidance robot device.
Background technology
For blind person, seeing-eye dog is most safe and reliable trip supplementary mode.However, demand of the society for seeing-eye dog
Measure excessive, cause seeing-eye dog can not be satisfied with actual demand.Blind-guidance robot is to provide navigation side for dysopia patient
A kind of service humanoid robot helped, it detects surrounding environment using multiple sensors, and the information of detection is handled,
Then corresponding feedback is made, and feedback information is supplied to driving device and dysopia patient, so as to help user to have
Avoid obstacle to effect.
Traditional blind-guidance robot can be divided into two kinds of bootmode and panning mode.Bootmode is to lead user not
Cut-through thing in the case of colliding, panning mode are then with depicting the panorama in region in a manner of ultrasonic wave etc.
Figure, informs the information such as the size of barrier, distance in user region by panoramic table, allows dysopia patient can
Effectively to judge the situation of scene around.
But above-mentioned bootmode and panning mode blind-guidance robot are difficult reply complex environment scene, are lacked to week
The recognition capability of traffic lights and pedestrian target in the scape of enveloping field.In addition, the cartographic information that ultrasonic wave is described is often inadequate
Accurately, and the circumstances not known of robot cannot accurately be built figure positioning.
Utility model content
The purpose of this utility model is to provide a kind of intelligent blind-guidance robot device, it can overcome the prior art
Deficiency, can solve the problems, such as that the target such as traffic lights and pedestrian is known in map building, and circumstances not known in circumstances not known
Other problem, is a kind of blind-guidance robot device easy to use simple in structure.
The technical solution of the utility model：A kind of intelligence blind-guidance robot device, it is characterised in that it includes car body, drives
Driving wheel, radar module, camera model and guide connecting rod；Wherein, driving wheel is connected with below the car body, its top is provided with
Radar module, camera model and guide connecting rod.
The guide connecting rod is installed on the top of car body；There is universal connection machine between the guide connecting rod and car body
Structure；The Universal connecting mechanism may insure robot itself rotation when do not drive guide connecting rod to rotate together, prevent blind person
Carry out unnecessary movement.
A driving wheel is connected with below the car body, the driving wheel is four-driving-force system, has lighter structure
And good obstacle climbing ability, the movement locus of trolley is controlled by the way of differential motion control；Four-wheel drive
Advantage is that blind-guidance robot has certain obstacle climbing ability, can tackle more complicated outdoor scene.
The camera model is binocular camera structure；The binocular camera structure is binocular stereo vision camera, baseline model
Enclosing should be between 90 ~ 110mm, and focal length builds figure and traffic lights between 2mm ~ 3mm, for circumstances not known scene
With the identification of pedestrian target.
The radar module is avoidance laser radar structure；The radar module is 360 degree of laser radars, can be detected
The barrier that 8 meters of ultimate range, the Real Time Obstacle Avoiding task for robot.
The vehicle body has intelligent blind-guidance robot control unit, is by upper computer module, slave computer module, motor
Module, drive module, power module, gyro module, GPS module and voice module are formed；The upper computer module and bottom
Machine module is connected in two-phase；The input terminal of the upper computer module gathers radar module, camera model, voice module, GPS respectively
The input signal of module；Slave computer module, upper computer module and the drive module are powered by battery module；The bottom
The output signal of the input terminal collection gyro module of machine module, and the attitude information of detection blind-guidance robot；Its output terminal is defeated
Go out drive signal to drive module；The drive module is connected with motor module, controls the movement shape of the start and stop of motor
State.
The upper computer module is the structure that internal core processor is ARM cortex-A72, is mounted with embedded
Ubuntu16.04 and ROS Kinetic systems, its inside is equipped with robot navigation's algorithm, for upper computer module, slave computer mould
The transmission of information between block, gyro module, GPS module, voice module, radar module and camera model, and can be to machine
People's navigation algorithm carries out processed offline.
The GPS module, can receive thousand and seek the differential position signal that position cloud service provides；Described thousand seek position cloud service
It is to rely on the satellite positioning ground enhancing station to spread all over the country, merges all kinds of location technologies, it is small that 7*24 is provided in a manner of internet
When the service of broadcasting of High Availabitity difference, each Terminal Type and application system of the 31 provinces and cities' scopes that orient towards the whole country, there is provided centimetre class precision
Positional deviation correction data service.The module is connected with upper computer module, and the outdoor positioning for blind-guidance robot navigates.
The voice module is connected with upper computer module, for receiving the phonetic control command of blind person's transmission, voice module
It is connected by bluetooth with the microphone that blind person carries, for receiving voice messaging.
The camera model is connected with the upper computer module in car body, and the image information of surrounding environment is provided for it；It is described
Radar module is connected with upper computer module, for completing the Real Time Obstacle Avoiding task of robot.
Switched in the guide connecting rod containing Antiskid handle 7 and braille three-dimensional touch；The height of the guide connecting rod
It is adjustable, adapt to different height blind users and use, and regulative mode is simple to operation；The Antiskid handle can improve blind person
User's contact product comfort level and reinforcing sense of touch are easy to blind users positioning action；The braille three-dimensional touch switch meets blind person
User's life-form structure logic, is more convenient blind users operated products.
Blind-guidance robot blind-guiding method involved by the utility model：
（1）When blind person carries out outdoor guide task, the GPS module of control unit in intelligent blind-guidance robot device
For receiving gps satellite signal and thousand seeking position cloud service and provide differential position signal and realize that the dynamic realtime of sub-meter grade is determined
Position；
（2）When carrying out guide task, the ROS Kinetic systems of prepackage are to pre-recorded movement in upper computer module
Path locus point carries out path planning, and is converted into corresponding motion control instruction, and sends control instruction to slave computer mould
Block；
（3）Drive module is controlled by the control instruction received by slave computer module, drive module is come pair
Motor module is driven, so as to complete the reproduction of blind-guidance robot corresponding sports track；
（4）GPS module and gyro module, can also be real-time by positional information and attitude information during trajectory reproducing
Ground is transmitted to upper computer module and slave computer module, so as to be calibrated in real time to the movement locus of blind-guidance robot so that lead
Blind machine people can be moved according to predetermined track；
（5）Online navigation for indoor circumstances not known, since GPS module loses the effect of positioning, at this time, then utilizes
External environment condition perceive camera model and constructing environment scene map；Then the ROS of prepackage in upper computer module is utilized
Kinetic systems carry out path planning to the point of interest in circumstances not known, and motion control instruction is sent to slave computer module；
Last slave computer module receives instruction, completes the control to drive module and motor module, so that blind-guidance robot reaches not
Know any point of interest in environment；
1. when map is created, using based on towards quick and hyperspin feature（Oriented Fast and
Rotated Brief——ORB）Instant positioning and map structuring（Simultaneous Localization and
Mapping——SLAM）Algorithmic method perceives circumstances not known；
2. using ORB algorithms extraction image characteristic point, based on image pose optimum theory, one is created to circumstances not known
The scene cartographic information of a distinguished point based, the offline cartographic information will be stored in upper computer module, can be for later guide
Make reference and use；
3. circumstances not known navigates indoors, the coordinate of point-of-interest, sense first in the offline map acceptance of the bid note of characteristic point
Point of interest be blind person in a circumstances not known, it is expected the point often reached；Then the ROS of prepackage in upper computer module is utilized
Kinetic systems carry out path planning to the point of interest in circumstances not known, and motion control instruction is sent to slave computer module；
Last slave computer module receives instruction, completes the control to drive module and motor module, so that blind-guidance robot reaches not
Know any point of interest in environment.
（6）During guide, blind users can be according to the different directions passed on by blind-guidance robot experienced
Tractive force changes direct of travel, untill arrive at；
（7）During guide, radar module gathers the positional information of surrounding environment barrier in real time, and will barrier
The positional information of thing is hindered to be sent to upper computer module；ROS Kinetic systems in upper computer module can be according to barrier
Positional information cooks up newest motion path in real time, and control instruction is transmitted to slave computer module, so as to complete guide machine
The avoidance task of people；
（8）Phonetic control command can be transmitted to voice module, by voice after voice module parsing by blind person by speaking
Appearance is transmitted to upper computer module, and the control content to be realized according to blind person of upper computer module is controlled instruction generation, and will control
Instruction is sent to slave computer module, so as to fulfill control of the blind person to blind-guidance robot corresponding task.
In addition, the robot of the utility model can also identify traffic lights, pedestrian, automobile, the method for zebra line target, is
Based on by depth convolutional neural networks trained in advance（Convolutional Neural Network——CNN）Realize
's：
1）It is stored in trained in advance based on depth convolutional neural networks CNN models in upper computer module；
2）The real-time road photo of blind-guidance robot is obtained by camera model, and photographic intelligence is sent to host computer mould
Block；Upper computer module carries out feature extraction using depth convolutional neural networks CNN models to image, obtains each corresponding feature
Figure, these features are represented with the characteristic set of regular length；
3）Step 2）Obtained feature vector goes to judge with support vector machines linear classifier, and by support vector machines line
Property grader provide the confidence level of corresponding identification object, and by confidence level come judge target object it is final belonging to classification；
4）The target information of identification is sent to voice module by upper computer module, and voice module can be by scene objects thing around
Information feeds back to blind person；
5）The movement instruction calculated according to different target thing is also sent to slave computer module by upper computer module, so that complete
Advance into blind-guidance robot in face of the intelligent of different target thing.
The superiority of the utility model：Due to carrying out building figure to circumstances not known by the way of vision ORB-SLAM, profit
The cartographic information of unknown scene is described with three-dimensional point cloud information；The panoramic table described compared to ultrasonic wave, vision SLAM skills
The point cloud information that art is described is more abundant, is relatively beneficial to blind-guidance robot and is precisely located in circumstances not known；Motor part is adopted
With wheel hub motor, the compactedness of system is improved, simplifies structure；Battery module is powered using ferric phosphate lithium cell, the battery
Technology maturation and energy density is more balanced；Last whole system is equipped with intelligent long-range cloud server, which can be with
Online processing, and can also preserve the cartographic information of SLAM establishments in real time is carried out to the view data of transmission, by the map
Information is shared in different equipment rooms；In addition, binocular vision detection system is using convolutional neural networks CNN as theoretical foundation,
Model is trained using residual error coaching method, more accurately the targets such as outdoor traffic lights, pedestrian can be carried out
Identification positioning, can further lift the safety problem of blind person；It is simple in structure, it is convenient and practical, it is highly practical.
Brief description of the drawings
Fig. 1 is a kind of overall structure composition schematic diagram of intelligence blind-guidance robot device involved by the utility model（Wherein,
Fig. 1-a are right side view；Fig. 1-b are front view）.
Fig. 2 is intelligent blind-guidance robot control unit in a kind of intelligence blind-guidance robot device involved by the utility model
Overall structure diagram.
Wherein, 1 is car body；2 be driving wheel；3 be radar module；4 be camera model；5 be Universal connecting mechanism；6 be to lead
Blind connecting rod；7 be Antiskid handle.
Embodiment
Embodiment：A kind of intelligence blind-guidance robot device（See Fig. 1-a, Fig. 1-b）, it is characterised in that it include car body 1,
Driving wheel 2, radar module 3, camera model 4 and guide connecting rod 6；Wherein, the lower section of car body 1 is connected with driving wheel 2, thereon
Side is provided with radar module 3, camera model 4 and guide connecting rod 6.
The guide connecting rod 6 is installed on the top of car body 1；There is universal connection between the guide connecting rod 6 and car body 1
Mechanism 5；The Universal connecting mechanism 5 may insure not driving guide connecting rod 6 to rotate together during robot itself rotation, prevent
Blind person carries out unnecessary movement（See Fig. 1-a, Fig. 1-b）.
The lower section of car body 1 is connected with 4 driving wheels 2, and the driving wheel 2 is four-driving-force system, is had lighter
Structure and good obstacle climbing ability, are controlled the movement locus of trolley by the way of differential motion control；Four-wheel drives
Dynamic advantage is that blind-guidance robot has certain obstacle climbing ability, can tackle more complicated outdoor scene（See Fig. 1-a, figure
1-b）.
The camera model 4 is binocular camera structure；The binocular camera structure is binocular stereo vision camera, and baseline is
100mm, focal length are 2.8mm, the identification for building figure and traffic lights and pedestrian target for circumstances not known scene.
The radar module 3 is avoidance laser radar structure；The radar module 3 is 360 degree of laser radars, can be detected
To 8 meters of barrier of ultimate range, the Real Time Obstacle Avoiding task for robot.
There is intelligent blind-guidance robot control unit inside the car body 1（See Fig. 2）, it is by upper computer module, slave computer
Module, motor module, drive module, power module, gyro module, GPS module and voice module are formed；The host computer mould
Block is connected with slave computer module in two-phase；The input terminal of the upper computer module gathers radar module 3, camera model 4, language respectively
Sound module, the input signal of GPS module；Slave computer module, upper computer module and the drive module are supplied by battery module
Electricity；The output signal of the input terminal collection gyro module of the slave computer module, and the attitude information of detection blind-guidance robot；
Its output terminal output drive signal is to drive module；The drive module is connected with motor module, controls the startup of motor with stopping
Motion state only.
The upper computer module is the structure that internal core processor is ARM cortex-A72, is mounted with embedded
Ubuntu16.04 and ROS Kinetic systems, its inside is equipped with robot navigation's algorithm, for upper computer module, slave computer mould
The transmission of information between block, gyro module, GPS module, voice module, radar module and camera model, and can be to machine
People's navigation algorithm carries out processed offline.
The GPS module, can receive thousand and seek the differential position signal that position cloud service provides；Described thousand seek position cloud service
It is to rely on the satellite positioning ground enhancing station to spread all over the country, merges all kinds of location technologies, it is small that 7*24 is provided in a manner of internet
When the service of broadcasting of High Availabitity difference, each Terminal Type and application system of the 31 provinces and cities' scopes that orient towards the whole country, there is provided centimetre class precision
Positional deviation correction data service.The module is connected with upper computer module, and the outdoor positioning for blind-guidance robot navigates.
The voice module is connected with upper computer module, for receiving the phonetic control command of blind person's transmission, voice module
It is connected by bluetooth with the microphone that blind person carries, for receiving voice messaging.
The camera model 4 is connected with the upper computer module in car body 1（See Fig. 1-a, Fig. 1-b）, surrounding ring is provided for it
The image information in border；The radar module 3 is connected with upper computer module, for completing the Real Time Obstacle Avoiding task of robot（See figure
1-a, Fig. 1-b）.
Switched in the guide connecting rod 6 containing Antiskid handle 7 and braille three-dimensional touch（See Fig. 1-a, Fig. 1-b）；It is described
Height-adjustable, the adaptation different height blind users use of guide connecting rod 6, and regulative mode is simple to operation；It is described anti-
Sliding handle 7（See Fig. 1-a, Fig. 1-b）Blind users contact product comfort level can be improved and strengthen sense of touch and determined easy to blind users
Bit manipulation；The braille three-dimensional touch switch meets blind users life-form structure logic, is more convenient blind users operated products.
With reference to specific embodiment, the utility model is expanded on further.It is to be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, reading the content of the utility model instruction
Afterwards, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms equally fall within this Shen
Please the appended claims limited range.
Refering to Fig. 1, the utility model device mainly includes autonomous blind-guidance robot car body 1, the lower section of car body 1 connection driving wheel
2.The top of car body 1 connection avoidance laser radar module 3, camera model 4 and guide connecting rod 6.Containing anti-skidding in guide connecting rod 6
Handle 7.There is a Universal connecting mechanism 5 between guide connecting rod 6 and car body 1.When structure 5 may insure robot itself rotation
Guide connecting rod is not driven to rotate together, in case blind person carries out unnecessary movement.Driving wheel 2 is four-driving-force system, is had
Lighter structure and good obstacle climbing ability.
Refering to Fig. 2, embedded upper computer module is contained in the inside of car body, slave computer module, radar module, camera model,
Voice module, GPS module, power module.Wherein embedded upper computer module core processor is using cortex-A72 framves
Structure, has the real-time process performance of higher.Ubuntu16.04 systems are installed in advance in the module, ROS is mounted with system
Kinetic systems are used for each intermodule information transmission and scheduling, so as to be finally completed the task of blind person's guide.Upper computer module
It is connected with radar module, camera model, voice module, GPS module.Each module is a node under ROS systems, just
Communication and scheduling between each module.Slave computer module develops plate module for Arduino, which is used to receive gyroscope receipts
The attitude information got and send control instruction to bottom motor drive module and communicate with upper computer module.
Claims (9)
- A kind of 1. intelligence blind-guidance robot device, it is characterised in that it include car body (1), driving wheel (2), radar module (3), Camera model (4) and guide connecting rod (6)；Wherein, driving wheel (2) is connected with below the car body (1), its top is provided with thunder Up to module (3), camera model (4) and guide connecting rod (6).
- A kind of 2. intelligent blind-guidance robot device according to claim 1, it is characterised in that guide connecting rod (6) peace Mounted in the top of car body (1)；There is Universal connecting mechanism (5) between the guide connecting rod (6) and car body (1)；The car body (1) Lower section is connected with 4 driving wheels (2), and the driving wheel (2) is four-driving-force system.
- 3. a kind of intelligent blind-guidance robot device according to claim 1, it is characterised in that the camera model (4) is double Mesh camera structure；The binocular camera structure is binocular stereo vision camera, and baseline range should be burnt between 90~110mm Away between 2mm~3mm.
- 4. a kind of intelligent blind-guidance robot device according to claim 1, it is characterised in that the radar module (3) is to keep away Hinder laser radar structure；The radar module (3) is 360 degree of laser radars, can detect the barrier of 8 meters of ultimate range, Real Time Obstacle Avoiding task for robot.
- 5. a kind of intelligent blind-guidance robot device according to claim 1, it is characterised in that have intelligence inside the car body (1) Blind-guidance robot control unit can be changed, be by upper computer module, slave computer module, motor module, drive module, power module, Gyro module, GPS module and voice module are formed；The upper computer module is connected with slave computer module in two-phase；On described The input terminal of position machine module gathers radar module (3), camera model (4), voice module, the input signal of GPS module respectively；Institute Slave computer module, upper computer module and drive module is stated to power by battery module；The input terminal of the slave computer module is adopted Collect the output signal of gyro module, and the attitude information of detection blind-guidance robot；Its output terminal output drive signal is to driving Module；The drive module is connected with motor module, controls the motion state of the start and stop of motor.
- 6. a kind of intelligent blind-guidance robot device according to claim 5, it is characterised in that the upper computer module is interior Portion's core processor is the structure of ARM cortex-A72, is mounted with embedded Ubuntu16.04 and ROS Kinetic systems； The GPS module receives thousand and seeks the differential position signal that position cloud service provides；The motor is wheel hub motor.
- A kind of 7. intelligent blind-guidance robot device according to claim 5, it is characterised in that the voice module with it is upper Machine module is connected, and for receiving the phonetic control command of blind person's transmission, voice module relies on the microphone phase that bluetooth is carried with blind person Even, for receiving voice messaging.
- 8. a kind of intelligent blind-guidance robot device according to claim 5, it is characterised in that the camera model (4) and car Upper computer module in body (1) is connected, and the image information of surrounding environment is provided for it；The radar module (3) and host computer mould Block is connected, for completing the Real Time Obstacle Avoiding task of robot；The power module uses ferric phosphate lithium cell.
- 9. a kind of intelligent blind-guidance robot device according to claim 2, it is characterised in that on the guide connecting rod (6) Switched containing Antiskid handle 7 and braille three-dimensional touch；The guide connecting rod (6) it is height-adjustable, adapt to different height it is blind People user uses, and regulative mode is simple to operation；The Antiskid handle (7) can improve blind users contact product comfort level It is easy to blind users positioning action with sense of touch is strengthened；The braille three-dimensional touch switch meets blind users life-form structure logic, More convenient blind users operated products.
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| CN201721164468.XU CN207281590U (en) | 2017-09-12 | 2017-09-12 | A kind of intelligence blind-guidance robot device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN109144057A (en) * | 2018-08-07 | 2019-01-04 | 上海大学 | A kind of guide vehicle based on real time environment modeling and autonomous path planning |
| CN109557920A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of self-navigation Jian Tu robot and control method |
| CN109966064A (en) * | 2019-04-04 | 2019-07-05 | 北京理工大学 | The wheelchair and control method of fusion brain control and automatic Pilot with investigation device |
| CN110246178A (en) * | 2019-07-09 | 2019-09-17 | 华东师范大学 | A kind of modularization intelligent auxiliary system visually impaired |
| CN110262447A (en) * | 2019-05-24 | 2019-09-20 | 南京航空航天大学 | A kind of ACS closed-loop system Fault Locating Method based on ANN |
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2017
- 2017-09-12 CN CN201721164468.XU patent/CN207281590U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN109144057A (en) * | 2018-08-07 | 2019-01-04 | 上海大学 | A kind of guide vehicle based on real time environment modeling and autonomous path planning |
| CN109557920A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of self-navigation Jian Tu robot and control method |
| CN109966064A (en) * | 2019-04-04 | 2019-07-05 | 北京理工大学 | The wheelchair and control method of fusion brain control and automatic Pilot with investigation device |
| CN110262447A (en) * | 2019-05-24 | 2019-09-20 | 南京航空航天大学 | A kind of ACS closed-loop system Fault Locating Method based on ANN |
| CN110262447B (en) * | 2019-05-24 | 2020-07-28 | 南京航空航天大学 | ACS closed loop system fault positioning method based on ANN |
| CN110246178A (en) * | 2019-07-09 | 2019-09-17 | 华东师范大学 | A kind of modularization intelligent auxiliary system visually impaired |
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