CN104765366B - Realize the service robot of intelligent obstacle detouring - Google Patents
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Abstract
本发明涉及一种实现智能化越障的服务机器人，包括可伸缩机构、红外线传感器、摄像机、图像处理器和ARM 9型号的主控制器，可伸缩机构在竖直方向可伸缩，红外线传感器用于检测前方障碍物距离服务机器人的红外线前向距离，摄像机位于可伸缩机构上，用于拍摄前方的障碍物图像，图像处理器用于对障碍物图像进行图像处理，主控制器与可伸缩机构、红外线传感器、摄像机和图像处理器分别连接，基于红外线前向距离决定是否启动摄像机与图像处理器，并基于图像处理结果控制可伸缩机构的伸缩动作。通过本发明，能够提高机器人测距的准确性，还能根据前方障碍物三个方向的尺寸大小确定不同避让方式，提高了服务机器人的运行可靠性。
The invention relates to a service robot for realizing intelligent obstacle surmounting, which includes a retractable mechanism, an infrared sensor, a camera, an image processor and an ARM 9 type main controller. The retractable mechanism is vertically scalable, and the infrared sensor is used for Detect the infrared forward distance between the obstacle in front and the service robot. The camera is located on the retractable mechanism to capture the image of the obstacle in front. The image processor is used to process the image of the obstacle. The sensor, camera, and image processor are connected separately, and whether to start the camera and the image processor is determined based on the forward distance of the infrared rays, and the telescopic action of the telescopic mechanism is controlled based on the image processing result. Through the present invention, the accuracy of distance measurement of the robot can be improved, and different avoidance modes can be determined according to the sizes of the obstacles in front in three directions, thereby improving the operation reliability of the service robot.
Description
本发明是申请号为2014107073997、申请日为2014年11月27日、发明名称为“实现智能化越障的服务机器人”的专利的分案申请。The present invention is a divisional application of a patent with the application number 2014107073997, the application date is November 27, 2014, and the invention name is "a service robot for realizing intelligent obstacle surmounting".
技术领域technical field
本发明涉及机器人控制领域，尤其涉及一种实现智能化越障的服务机器人。The invention relates to the field of robot control, in particular to a service robot for realizing intelligent obstacle surmounting.
背景技术Background technique
服务机器人是机器人家族中的一个年轻成员，可以分为专业领域服务机器人和个人/家庭服务机器人，服务机器人的应用范围很广，主要从事维护保养、修理、运输、清洗、保安、救援、监护等工作。Service robots are a young member of the robot family, which can be divided into professional field service robots and personal/home service robots. Service robots have a wide range of applications, mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, guardianship, etc. Work.
数据显示，目前，世界上至少有48个国家在发展机器人，其中25个国家已涉足服务型机器人开发。在日本、北美和欧洲，迄今已有7种类型计40余款服务型机器人进入实验和半商业化应用。近年来，全球服务机器人市场保持较快的增长速度，全球人口的老龄化带来大量的问题，例如对于老龄人的看护，以及医疗的问题，这些问题的解决带来大量的财政负担。由于服务机器人所具有的特点使之能够显著的降低财政负担，因而服务机器人能够被大量的应用。Data show that at present, at least 48 countries in the world are developing robots, of which 25 countries have set foot in the development of service robots. In Japan, North America and Europe, seven types of more than 40 service robots have entered experimental and semi-commercial applications so far. In recent years, the global service robot market has maintained a rapid growth rate. The aging of the global population has brought about a large number of problems, such as care for the elderly and medical problems. The solutions to these problems have brought a lot of financial burden. Due to the characteristics of service robots that can significantly reduce the financial burden, service robots can be widely used.
但是，现有技术中的服务机器人存在以下缺陷：(1)测距模式单一，仅仅凭着红外线测距或超声波测距中的一种测距方式进行前方障碍物的测距，往往会因为测距设备的精度问题，导致测距不够准确；(2)越障不够智能化，服务机器人在前进过程中经常会碰到障碍物，现有技术中一般采取停止等待指令或仅仅根据障碍物高度进行越障，前者导致服务机器人工作效率低下，后者在障碍物纵向过长的情况下难于成功越障。However, the service robot in the prior art has the following defects: (1) the distance measurement mode is single, and the distance measurement of the obstacles in front is often performed only by means of infrared range measurement or ultrasonic range measurement. The accuracy of distance equipment leads to inaccurate distance measurement; (2) Obstacle surmounting is not intelligent enough, and service robots often encounter obstacles in the process of advancing. In the prior art, stop and wait instructions are generally adopted or only based on the height of obstacles. Obstacle surmounting, the former leads to low working efficiency of the service robot, and the latter is difficult to successfully surmount the obstacle when the obstacle is too long vertically.
因此，需要一种新的实现智能化越障的服务机器人，能够提高前方障碍物测距的准确性，同时能够准确测量到前方障碍物的横向、竖向和纵向三个方向的尺寸，从而根据前方障碍物的实际情况，确定不同的自动越障方式，保障服务机器人的正常服务操作。Therefore, there is a need for a new service robot that realizes intelligent obstacle surmounting, which can improve the accuracy of distance measurement of obstacles ahead, and can accurately measure the dimensions of the obstacles in front of them in the horizontal, vertical and longitudinal directions. According to the actual situation of the obstacles ahead, different automatic obstacle surmounting methods are determined to ensure the normal service operation of the service robot.
发明内容Contents of the invention
为了解决上述问题，本发明提供了一种实现智能化越障的服务机器人，改造现有的服务机器人结构，引入超声波测障和红外线测障结合的方式，以提高前方障碍物测量精度，另外，引入图像识别技术确定前方障碍物的横向、竖向和纵向三个方向的尺寸，以决定采用跨越障碍物、绕行障碍物或等待指令三种越障模式的一种，使得服务机器人的正常工作受到的干扰最小，提高服务机器人的工作效率和服务效果。In order to solve the above problems, the present invention provides a service robot that realizes intelligent obstacle surmounting, transforms the structure of the existing service robot, and introduces a combination of ultrasonic obstacle measurement and infrared obstacle measurement to improve the measurement accuracy of obstacles ahead. In addition, Introduce image recognition technology to determine the horizontal, vertical and longitudinal dimensions of the obstacles in front, to decide to use one of the three obstacle-crossing modes of crossing obstacles, circumventing obstacles or waiting for instructions, so that the service robot can work normally The least interference is received, and the work efficiency and service effect of the service robot are improved.
根据本发明的一方面，提供了一种实现智能化越障的服务机器人，所述服务机器人包括，可伸缩机构、红外线传感器、摄像机、图像处理器和ARM 9型号的主控制器，所述可伸缩机构在竖直方向可伸缩，所述红外线传感器用于检测前方障碍物距离所述服务机器人的红外线前向距离，所述摄像机位于所述可伸缩机构上，用于拍摄前方的障碍物图像，所述图像处理器与所述摄像机连接，用于对所述障碍物图像进行图像处理，所述主控制器与所述可伸缩机构、所述红外线传感器、所述摄像机和所述图像处理器分别连接，基于所述红外线前向距离决定是否启动所述摄像机与所述图像处理器，并基于图像处理结果控制所述可伸缩机构的伸缩动作。According to one aspect of the present invention, there is provided a service robot for realizing intelligent obstacle surmounting, the service robot includes a retractable mechanism, an infrared sensor, a camera, an image processor and a main controller of ARM 9 type, the said service robot can The telescopic mechanism is vertically telescopic, the infrared sensor is used to detect the infrared forward distance between the obstacle in front and the service robot, the camera is located on the telescopic mechanism, and is used to take images of obstacles in front, The image processor is connected to the camera for image processing of the obstacle image, and the main controller is connected with the retractable mechanism, the infrared sensor, the camera and the image processor respectively. connected to determine whether to activate the camera and the image processor based on the forward distance of the infrared rays, and to control the retractable action of the retractable mechanism based on the image processing result.
更具体地，在所述实现智能化越障的服务机器人中，所述服务机器人还包括，驱动机构，用于驱动所述服务机器人，包括直流无刷电动机、减速器、电机驱动器、两个电机驱动车轮和两个万向轮，所述两个万向轮为两个前轮，所述两个电机驱动车轮为两个后轮；用户输入设备，根据用户的操作，接收用户输入的预定前向距离阈值、预定高度阈值、竖向尺寸阈值、纵向尺寸阈值、横向尺寸阈值、障碍物上限灰度阈值和障碍物下限灰度阈值，所述障碍物上限灰度阈值和所述障碍物下限灰度阈值用于将图像中的障碍物目标与图像背景分离；存储器，与所述用户输入设备连接，以接收并存储所述预定前向距离阈值、所述预定高度阈值、所述竖向尺寸阈值、所述纵向尺寸阈值、所述横向尺寸阈值、所述障碍物上限灰度阈值和所述障碍物下限灰度阈值；超声波传感器，位于所述服务机器人的正前方，包括超声波发射器、超声波接收器和超声波运算器，所述超声波发射器用于发射超声波，所述超声波接收器用于接收经过前方障碍物反射回来的超声波，所述超声波运算器与所述超声波发射器和所述超声波接收器分别连接，用于基于超声波发射接收时间差和超声波传播速率，计算前方障碍物距离所述服务机器人的超声波障碍物距离；所述可伸缩机构接收所述主控制器发送的伸缩量以进行竖直方向的伸缩动作，并在检测到完成所述伸缩量后发出伸缩结束信号；所述红外线传感器位于所述服务机器人的正前方，还包括红外线发射二极管、红外线接收二极管和红外线运算器，所述红外线发射二极管发射红外线信号，当在前向方向遇到前方障碍物时，将红外线信号反射回来被所述红外线接收二极管接收，所述红外线运算器与所述红外线发射二极管和红外线接收二极管分别连接，基于红外线信号发射接收的时间差和红外线信号的传播速度，计算距离前方障碍物的红外线前向距离；所述图像处理器包括小波滤波单元、灰度化处理单元、障碍物识别单元和尺寸计算单元，所述小波滤波单元与所述摄像机连接以接收所述障碍物图像，基于小波滤波算法对所述障碍物图像执行滤波处理以输出滤波图像，所述灰度化处理单元连接所述小波滤波单元以对所述滤波图像进行灰度化处理，输出灰度化图像，所述障碍物识别单元与所述灰度化处理单元和所述存储器分别连接，将所述灰度化图像中灰度值在所述障碍物上限灰度阈值和所述障碍物下限灰度阈值之间的像素识别并组成障碍物目标子图像，所述尺寸计算单元与所述障碍物识别单元连接，以基于所述障碍物目标子图像计算所述障碍物目标子图像中前方障碍物的横向尺寸、竖向尺寸和纵向尺寸；所述主控制器与所述可伸缩机构、所述驱动机构、所述存储器、所述超声波传感器、所述红外线传感器、所述摄像机和所述图像处理器分别连接，当接收到的超声波障碍物距离和红外线前向距离不相匹配时，发出测距错误信号，控制所述驱动机构停止驱动所述服务机器人，当接收到的超声波障碍物距离和红外线前向距离相匹配且红外线前向距离小于等于所述预定前向距离阈值时，启动所述摄像机和所述图像处理器，在所述竖向尺寸小于所述预定高度阈值时，直接进入智能化越障模式，在所述竖向尺寸大于等于所述预定高度阈值时，关闭所述摄像机和所述图像处理器，基于所述竖向尺寸控制所述可伸缩机构的竖直方向的伸缩量，直到接收到所述可伸缩机构发出的伸缩结束信号后，启动所述摄像机和所述图像处理器，进入智能化越障模式；无线通信设备，与所述主控制器连接，用于将测距错误信号或障碍物报警信号通过移动通信网络发送到用户的移动终端上；其中，在所述主控制器的智能化越障模式中，所述主控制器在接收到的竖向尺寸小于等于所述竖向尺寸阈值且纵向尺寸小于等于所述纵向尺寸阈值时，进入机器跨越模式，在接收到的竖向尺寸小于等于所述竖向尺寸阈值且纵向尺寸大于所述纵向尺寸阈值且横向尺寸小于等于所述横向尺寸阈值时，或在接收到的竖向尺寸大于所述竖向尺寸阈值时且接收到的横向尺寸小于等于所述横向尺寸阈值时，进入机器绕过模式，在接收到的竖向尺寸大于所述竖向尺寸阈值时且接收到的横向尺寸大于所述横向尺寸阈值时，发送障碍物报警信号。More specifically, in the service robot realizing intelligent obstacle surmounting, the service robot also includes a drive mechanism for driving the service robot, including a DC brushless motor, a reducer, a motor driver, two motors Drive the wheel and two universal wheels, the two universal wheels are two front wheels, and the two motor-driven wheels are two rear wheels; the user input device receives the predetermined front wheel input by the user according to the user's operation. distance threshold, predetermined height threshold, vertical size threshold, longitudinal size threshold, lateral size threshold, obstacle upper limit gray threshold and obstacle lower limit gray threshold, the obstacle upper limit gray threshold and the obstacle lower limit gray The degree threshold is used to separate the obstacle target in the image from the image background; the memory is connected to the user input device to receive and store the predetermined forward distance threshold, the predetermined height threshold, and the vertical size threshold , the longitudinal dimension threshold, the transverse dimension threshold, the upper limit gray threshold of the obstacle and the lower gray threshold of the obstacle; an ultrasonic sensor, located directly in front of the service robot, includes an ultrasonic transmitter, an ultrasonic receiver and an ultrasonic computing unit, the ultrasonic transmitter is used to transmit ultrasonic waves, and the ultrasonic receiver is used to receive ultrasonic waves reflected by obstacles ahead, and the ultrasonic computing unit is connected to the ultrasonic transmitter and the ultrasonic receiver respectively , used to calculate the ultrasonic obstacle distance between the front obstacle and the service robot based on the ultrasonic transmission and reception time difference and the ultrasonic propagation rate; the telescopic mechanism receives the telescopic amount sent by the main controller to perform vertical telescoping Action, and after detecting the completion of the stretching amount, send a stretching end signal; the infrared sensor is located in front of the service robot, and also includes an infrared emitting diode, an infrared receiving diode and an infrared computing unit, and the infrared emitting diode emits The infrared signal, when encountering an obstacle ahead in the forward direction, reflects the infrared signal back and is received by the infrared receiving diode. The received time difference and the propagation speed of the infrared signal calculate the infrared forward distance from the obstacle in front; the image processor includes a wavelet filter unit, a grayscale processing unit, an obstacle identification unit and a size calculation unit, and the wavelet filter The unit is connected with the camera to receive the obstacle image, performs filtering processing on the obstacle image based on the wavelet filtering algorithm to output the filtered image, and the grayscale processing unit is connected to the wavelet filtering unit to filter the filtered image. The image is gray-scaled, and the gray-scaled image is output, and the obstacle identification unit is connected to the gray-scaled processing unit and the memory respectively, and the gray-scale value in the gray-scaled image is compared with the obstacle Pixels between the upper gray threshold and the lower gray threshold of the obstacle are identified and form an obstacle target sub-image, and the size calculation unit is connected to the obstacle identification unit to calculate based on the obstacle target sub-image Place The horizontal size, vertical size and longitudinal size of the obstacle ahead in the target sub-image of the obstacle; The sensor, the camera and the image processor are respectively connected, and when the received ultrasonic obstacle distance does not match the infrared forward distance, a ranging error signal is sent to control the driving mechanism to stop driving the service robot, When the received ultrasonic obstacle distance matches the infrared forward distance and the infrared forward distance is less than or equal to the predetermined forward distance threshold, start the camera and the image processor, and when the vertical size is less than the predetermined When the predetermined height threshold is reached, enter the intelligent obstacle-crossing mode directly, and when the vertical dimension is greater than or equal to the predetermined height threshold, turn off the camera and the image processor, and control the The amount of expansion and contraction in the vertical direction of the telescopic mechanism, until the telescopic end signal sent by the telescopic mechanism is received, the camera and the image processor are started to enter the intelligent obstacle-crossing mode; the wireless communication device communicates with the The main controller is connected to send the ranging error signal or the obstacle warning signal to the user's mobile terminal through the mobile communication network; wherein, in the intelligent obstacle surmounting mode of the main controller, the main controller When the received vertical size is less than or equal to the vertical size threshold and the longitudinal size is less than or equal to the longitudinal size threshold, enter the machine spanning mode, and when the received vertical size is less than or equal to the vertical size threshold and the longitudinal size When it is greater than the vertical size threshold and the horizontal size is less than or equal to the horizontal size threshold, or when the received vertical size is larger than the vertical size threshold and the received horizontal size is smaller than or equal to the horizontal size threshold, enter In the machine bypass mode, when the received vertical size is larger than the vertical size threshold and the received horizontal size is larger than the horizontal size threshold, an obstacle warning signal is sent.
更具体地，在所述实现智能化越障的服务机器人中，所述无线通信设备还用于接收用户的移动终端无线发送的控制指令，以通过所述主控制器控制所述驱动机构对所述服务机器人的驱动。More specifically, in the service robot realizing intelligent obstacle surmounting, the wireless communication device is also used to receive control instructions wirelessly sent by the user's mobile terminal, so as to control the driving mechanism to control the The drive of the service robot described above.
更具体地，在所述实现智能化越障的服务机器人中，所述无线通信设备通过移动通信网络与所述用户的移动终端建立双向无线通信链路。More specifically, in the service robot realizing intelligent obstacle surmounting, the wireless communication device establishes a two-way wireless communication link with the user's mobile terminal through a mobile communication network.
更具体地，在所述实现智能化越障的服务机器人中，所述移动通信网络为GPRS移动通信网络、3G移动通信网络和4G移动通信网络中的一种。More specifically, in the service robot realizing intelligent obstacle surmounting, the mobile communication network is one of GPRS mobile communication network, 3G mobile communication network and 4G mobile communication network.
更具体地，在所述实现智能化越障的服务机器人中，还包括，可充电锂电池，为所述服务机器人提供供电电源，并与所述主控制器连接以在所述主控制器控制下为所述服务机器人提供节电管理。More specifically, in the service robot realizing intelligent obstacle surmounting, it also includes a rechargeable lithium battery, which provides power supply for the service robot, and is connected with the main controller to control Next, provide power-saving management for the service robot.
更具体地，在所述实现智能化越障的服务机器人中，所述服务机器人为修理机器人、运输机器人、清洗机器人、保安机器人、救援机器人和监护机器人中的一种。More specifically, in the service robot realizing intelligent obstacle surmounting, the service robot is one of a repair robot, a transport robot, a cleaning robot, a security robot, a rescue robot and a guardian robot.
附图说明Description of drawings
以下将结合附图对本发明的实施方案进行描述，其中：Embodiments of the present invention will be described below in conjunction with the accompanying drawings, wherein:
图1为根据本发明实施方案示出的实现智能化越障的服务机器人的结构方框图。Fig. 1 is a structural block diagram of a service robot realizing intelligent obstacle surmounting according to an embodiment of the present invention.
具体实施方式detailed description
下面将参照附图对本发明的实现智能化越障的服务机器人的实施方案进行详细说明。The implementation of the intelligent obstacle-surpassing service robot of the present invention will be described in detail below with reference to the accompanying drawings.
机器人(Robot)，指的是自动执行工作的机器装置。他既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。机器人的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。Robot (Robot) refers to a machine device that performs work automatically. He can accept human commands, run pre-programmed programs, and act according to principles and programs formulated with artificial intelligence technology. The task of the robot is to assist or replace the work of human beings, such as manufacturing industry, construction industry, or dangerous work.
机器人分为两大类，即工业机器人和特种机器人。所谓工业机器人就是面向工业领域的多关节机械手或多自由度机器人。而特种机器人则是除工业机器人之外的、用于非制造业并服务于人类的各种先进机器人，包括：服务机器人、水下机器人、娱乐机器人、军用机器人、农业机器人、机器人化机器等。Robots are divided into two categories, namely industrial robots and special robots. The so-called industrial robot is a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field. Special robots are all kinds of advanced robots that are used in non-manufacturing industries and serve human beings in addition to industrial robots, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotized machines, etc.
服务机器人的应用范围很广，主要从事维护保养、修理、运输、清洗、保安、救援、监护等工作。国际机器人联合会经过多年的搜集整理，给了服务机器人一个初步的定义：服务机器人是一种半自主或全自主工作的机器人，他能完成有意于人类健康的服务工作，但不包括从事生产的设备。这里，我们把其他一些贴近人们生活的机器人也列入其中。Service robots have a wide range of applications, mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, guardianship and other work. After years of collection and sorting, the International Federation of Robotics has given a preliminary definition of service robots: a service robot is a semi-autonomous or fully autonomous robot that can complete service tasks that are intended for human health, but does not include those engaged in production. equipment. Here, we include some other robots that are close to people's lives.
现有技术中的服务机器人需要过多的人为干涉，例如远程发送指令或现场发送指令，才能完成服务机器人的通过各种障碍物，进行各种服务，自动化水平不高。The service robot in the prior art requires too much human intervention, such as sending instructions remotely or on site, to complete the service robot passing through various obstacles and performing various services, and the automation level is not high.
本发明的实现智能化越障的服务机器人，通过两种不同测距结果进行比较，以获得更准确的前方障碍物距离，同时，通过图像识别技术确定前方障碍物的各种尺寸，并自适应采取合适的越障方案，减少人为操作，提高了服务机器人的自动化程度。The intelligent obstacle-surpassing service robot of the present invention compares two different ranging results to obtain a more accurate distance of obstacles in front. At the same time, it uses image recognition technology to determine the various sizes of obstacles in front and adapts itself Adopting a suitable obstacle surmounting scheme reduces human operations and improves the automation of service robots.
图1为根据本发明实施方案示出的实现智能化越障的服务机器人的结构方框图，所述服务机器人包括：ARM9主控制器1、可伸缩机构2、驱动机构3、红外线传感器4、超声波传感器5、无线通信设备6、摄像机7、图像处理器8、存储器9、用户输入设备10和供电设备11。ARM9主控制器1与可伸缩机构2、驱动机构3、红外线传感器4、超声波传感器5、无线通信设备6、摄像机7、图像处理器8、存储器9、用户输入设备10和供电设备11分别连接，摄像机7与图像处理器8连接，存储器9和用户输入设备10连接，供电设备11采用可充电锂电池，为所述服务机器人提供供电电源。Fig. 1 is the structural block diagram of the service robot that realizes intelligent obstacle surmounting shown according to the embodiment of the present invention, and described service robot comprises: ARM9 main controller 1, retractable mechanism 2, driving mechanism 3, infrared sensor 4, ultrasonic sensor 5. Wireless communication device 6 , camera 7 , image processor 8 , memory 9 , user input device 10 and power supply device 11 . ARM9 main controller 1 is connected with retractable mechanism 2, drive mechanism 3, infrared sensor 4, ultrasonic sensor 5, wireless communication device 6, video camera 7, image processor 8, memory 9, user input device 10 and power supply device 11 respectively, The camera 7 is connected to the image processor 8, the memory 9 is connected to the user input device 10, and the power supply device 11 adopts a rechargeable lithium battery to provide power for the service robot.
所述可伸缩机构2在竖直方向可伸缩，所述红外线传感器4用于检测前方障碍物距离所述服务机器人的红外线前向距离，所述摄像机7位于所述可伸缩机构2上，用于拍摄前方的障碍物图像，所述图像处理器8用于对所述障碍物图像进行图像处理，所述主控制器1基于所述红外线前向距离决定是否启动所述摄像机7与所述图像处理器8，并基于图像处理结果控制所述可伸缩机构2的伸缩动作。The telescopic mechanism 2 is telescopic in the vertical direction, the infrared sensor 4 is used to detect the infrared forward distance between the front obstacle and the service robot, and the camera 7 is located on the telescopic mechanism 2 for Take the obstacle image ahead, the image processor 8 is used to image process the obstacle image, and the main controller 1 decides whether to start the camera 7 and the image processing based on the infrared forward distance. device 8, and control the stretching action of the stretchable mechanism 2 based on the image processing result.
接着，继续对本发明的实现智能化越障的服务机器人的具体结构进行进一步的说明。Next, continue to further describe the specific structure of the intelligent obstacle-surpassing service robot of the present invention.
在所述服务机器人中，所述可伸缩机构2接收所述主控制器1发送的伸缩量以进行竖直方向的伸缩动作，并在检测到完成所述伸缩量后发出伸缩结束信号。In the service robot, the telescopic mechanism 2 receives the telescopic amount sent by the main controller 1 to perform the telescopic action in the vertical direction, and sends a telescopic end signal after detecting that the telescopic amount is completed.
所述驱动机构3，用于驱动所述服务机器人，驱动机构3包括直流无刷电动机、减速器、电机驱动器、两个电机驱动车轮和两个万向轮，所述两个万向轮为两个前轮，所述两个电机驱动车轮为两个后轮。The driving mechanism 3 is used to drive the service robot. The driving mechanism 3 includes a DC brushless motor, a reducer, a motor driver, two motor-driven wheels and two universal wheels, and the two universal wheels are two There are two front wheels, and the two motor-driven wheels are two rear wheels.
所述红外线传感器4位于所述服务机器人的正前方，还包括红外线发射二极管、红外线接收二极管和红外线运算器，所述红外线发射二极管发射红外线信号，当在前向方向遇到前方障碍物时，将红外线信号反射回来被所述红外线接收二极管接收，所述红外线运算器与所述红外线发射二极管和红外线接收二极管分别连接，基于红外线信号发射接收的时间差和红外线信号的传播速度，计算距离前方障碍物的红外线前向距离。The infrared sensor 4 is located directly in front of the service robot, and also includes an infrared emitting diode, an infrared receiving diode and an infrared computing unit. The infrared emitting diode emits an infrared signal. The infrared signal is reflected back and received by the infrared receiving diode, and the infrared arithmetic unit is connected to the infrared emitting diode and the infrared receiving diode respectively, and calculates the distance from the obstacle in front based on the time difference of infrared signal transmission and reception and the propagation speed of the infrared signal. Infrared forward distance.
所述超声波传感器5，位于所述服务机器人的正前方，包括超声波发射器、超声波接收器和超声波运算器，所述超声波发射器用于发射超声波，所述超声波接收器用于接收经过前方障碍物反射回来的超声波，所述超声波运算器与所述超声波发射器和所述超声波接收器分别连接，用于基于超声波发射接收时间差和超声波传播速率，计算前方障碍物距离所述服务机器人的超声波障碍物距离。The ultrasonic sensor 5 is located directly in front of the service robot and includes an ultrasonic transmitter, an ultrasonic receiver and an ultrasonic calculator. The ultrasonic calculator is connected to the ultrasonic transmitter and the ultrasonic receiver respectively, and is used to calculate the ultrasonic obstacle distance between the front obstacle and the service robot based on the ultrasonic transmission and reception time difference and the ultrasonic propagation speed.
所述用户输入设备10，用于根据用户的操作，接收用户输入的预定前向距离阈值、预定高度阈值、竖向尺寸阈值、纵向尺寸阈值、横向尺寸阈值、障碍物上限灰度阈值和障碍物下限灰度阈值，所述障碍物上限灰度阈值和所述障碍物下限灰度阈值用于将图像中的障碍物目标与图像背景分离。The user input device 10 is configured to receive user-input predetermined forward distance thresholds, predetermined height thresholds, vertical size thresholds, longitudinal size thresholds, horizontal size thresholds, obstacle upper limit grayscale thresholds and obstacle thresholds according to user operations. The lower limit gray threshold, the obstacle upper limit gray threshold and the obstacle lower limit gray threshold are used to separate the obstacle target in the image from the image background.
所述存储器9，与所述用户输入设备10连接，以接收并存储所述预定前向距离阈值、所述预定高度阈值、所述竖向尺寸阈值、所述纵向尺寸阈值、所述横向尺寸阈值、所述障碍物上限灰度阈值和所述障碍物下限灰度阈值。The memory 9 is connected to the user input device 10 to receive and store the predetermined forward distance threshold, the predetermined height threshold, the vertical size threshold, the longitudinal size threshold, and the horizontal size threshold , the upper gray threshold of the obstacle and the lower gray threshold of the obstacle.
所述图像处理器8包括小波滤波单元、灰度化处理单元、障碍物识别单元和尺寸计算单元，所述小波滤波单元与所述摄像机7连接以接收所述障碍物图像，基于小波滤波算法对所述障碍物图像执行滤波处理以输出滤波图像，所述灰度化处理单元连接所述小波滤波单元以对所述滤波图像进行灰度化处理，输出灰度化图像，所述障碍物识别单元与所述灰度化处理单元和所述存储器9分别连接，将所述灰度化图像中灰度值在所述障碍物上限灰度阈值和所述障碍物下限灰度阈值之间的像素识别并组成障碍物目标子图像。The image processor 8 includes a wavelet filter unit, a grayscale processing unit, an obstacle recognition unit and a size calculation unit, the wavelet filter unit is connected to the camera 7 to receive the obstacle image, and based on the wavelet filter algorithm to The obstacle image performs filtering processing to output a filtered image, the grayscale processing unit is connected to the wavelet filter unit to perform grayscale processing on the filtered image, and outputs a grayscale image, and the obstacle recognition unit respectively connected to the grayscale processing unit and the memory 9, and identify pixels whose grayscale values in the grayscale image are between the upper limit gray threshold of the obstacle and the lower gray threshold of the obstacle And compose the obstacle target sub-image.
在所述图像处理器8中，所述尺寸计算单元与所述障碍物识别单元连接，以基于所述障碍物目标子图像计算所述障碍物目标子图像中前方障碍物的横向尺寸、竖向尺寸和纵向尺寸。In the image processor 8, the size calculation unit is connected to the obstacle recognition unit to calculate the horizontal size, vertical size and portrait size.
所述主控制器1执行以下控制，当接收到的超声波障碍物距离和红外线前向距离不相匹配时，发出测距错误信号，控制所述驱动机构3停止驱动所述服务机器人，当接收到的超声波障碍物距离和红外线前向距离相匹配且红外线前向距离小于等于所述预定前向距离阈值时，启动所述摄像机7和所述图像处理器8，在所述竖向尺寸小于所述预定高度阈值时，直接进入智能化越障模式，在所述竖向尺寸大于等于所述预定高度阈值时，关闭所述摄像机7和所述图像处理器8，基于所述竖向尺寸控制所述可伸缩机构2的竖直方向的伸缩量，直到接收到所述可伸缩机构2发出的伸缩结束信号后，启动所述摄像机7和所述图像处理器9，进入智能化越障模式。The main controller 1 performs the following control. When the received ultrasonic obstacle distance does not match the infrared forward distance, a ranging error signal is sent to control the driving mechanism 3 to stop driving the service robot. When receiving When the ultrasonic obstacle distance matches the infrared forward distance and the infrared forward distance is less than or equal to the predetermined forward distance threshold, start the camera 7 and the image processor 8, and when the vertical size is less than the When the predetermined height threshold is reached, it will directly enter the intelligent obstacle surmounting mode. When the vertical size is greater than or equal to the predetermined height threshold, the camera 7 and the image processor 8 will be turned off. Based on the vertical size, the The amount of expansion and contraction in the vertical direction of the telescopic mechanism 2 is until after the telescopic end signal sent by the telescopic mechanism 2 is received, the camera 7 and the image processor 9 are started to enter the intelligent obstacle surmounting mode.
所述服务机器人还包括，无线通信设备6，与所述主控制器1连接，用于将测距错误信号或障碍物报警信号通过移动通信网络发送到用户的移动终端上。The service robot also includes a wireless communication device 6, which is connected to the main controller 1, and is used to send a ranging error signal or an obstacle warning signal to the user's mobile terminal through a mobile communication network.
其中，在所述主控制器1的智能化越障模式中，所述主控制器1在接收到的竖向尺寸小于等于所述竖向尺寸阈值且纵向尺寸小于等于所述纵向尺寸阈值时，进入机器跨越模式，在接收到的竖向尺寸小于等于所述竖向尺寸阈值且纵向尺寸大于所述纵向尺寸阈值且横向尺寸小于等于所述横向尺寸阈值时，或在接收到的竖向尺寸大于所述竖向尺寸阈值时且接收到的横向尺寸小于等于所述横向尺寸阈值时，进入机器绕过模式，在接收到的竖向尺寸大于所述竖向尺寸阈值时且接收到的横向尺寸大于所述横向尺寸阈值时，发送障碍物报警信号。Wherein, in the intelligent obstacle surmounting mode of the main controller 1, when the received vertical size of the main controller 1 is smaller than or equal to the vertical size threshold and the vertical size is smaller than or equal to the vertical size threshold, Enter the machine spanning mode, when the received vertical size is less than or equal to the vertical size threshold and the vertical size is greater than the vertical size threshold and the horizontal size is less than or equal to the horizontal size threshold, or when the received vertical size is greater than When the vertical size threshold is set and the received horizontal size is less than or equal to the horizontal size threshold, enter the machine bypass mode; when the received vertical size is greater than the vertical size threshold and the received horizontal size is greater than When the horizontal size threshold is reached, an obstacle warning signal is sent.
其中，所述无线通信设备6还可以用于接收用户的移动终端无线发送的控制指令，以通过所述主控制器1控制所述驱动机构3对所述服务机器人的驱动，所述无线通信设备6可选择通过移动通信网络与所述用户的移动终端建立双向无线通信链路，所述移动通信网络可为GPRS移动通信网络、3G移动通信网络和4G移动通信网络中的一种，以及所述可充电锂电池为所述服务机器人提供供电电源，并与所述主控制器1连接以在所述主控制器1控制下为所述服务机器人提供节电管理，所述服务机器人可为修理机器人、运输机器人、清洗机器人、保安机器人、救援机器人和监护机器人中的一种。Wherein, the wireless communication device 6 can also be used to receive control instructions wirelessly sent by the user's mobile terminal, so as to control the drive mechanism 3 to drive the service robot through the main controller 1, the wireless communication device 6. Optionally establish a two-way wireless communication link with the mobile terminal of the user through a mobile communication network, the mobile communication network may be one of the GPRS mobile communication network, 3G mobile communication network and 4G mobile communication network, and the The rechargeable lithium battery provides power supply for the service robot, and is connected with the main controller 1 to provide power saving management for the service robot under the control of the main controller 1, and the service robot can be a repair robot , transportation robot, cleaning robot, security robot, rescue robot and guardian robot.
另外，小波滤波算法是基于小波分析的一种算法，小波分析是一种新兴的数学分支，他是泛函数、Fourier分析、调和分析、数值分析的结合体；在应用领域，特别是在信号处理、图像处理、语音处理以及众多非线性科学领域，他被认为是继Fourier分析之后的又一有效的时频分析方法。小波变换与Fourier变换相比，是一个时间和频域的局域变换，因而能有效地从信号中提取信息，通过伸缩和平移等运算功能对函数或信号进行多尺度细化分析，解决了Fourier变换不能解决的许多困难问题。In addition, the wavelet filtering algorithm is an algorithm based on wavelet analysis. Wavelet analysis is a new branch of mathematics. It is a combination of functional functions, Fourier analysis, harmonic analysis, and numerical analysis; in the application field, especially in signal processing , image processing, speech processing and many nonlinear scientific fields, he is considered to be another effective time-frequency analysis method after Fourier analysis. Compared with the Fourier transform, the wavelet transform is a local transform in the time and frequency domains, so it can effectively extract information from the signal, perform multi-scale refinement analysis on functions or signals through operations such as scaling and translation, and solve the Fourier transform. There are many difficult problems that transformations cannot solve.
另外，机器人，指的是一般由执行机构、驱动装置、检测装置和控制系统和复杂机械等组成的系统。In addition, a robot refers to a system generally composed of an actuator, a drive device, a detection device, a control system, and complex machinery.
执行机构，即机器人本体，其臂部一般采用空间开链连杆机构，其中的运动副(转动副或移动副)常称为关节，关节个数通常即为机器人的自由度数。根据关节配置型式和运动坐标形式的不同，机器人执行机构可分为直角坐标式、圆柱坐标式、极坐标式和关节坐标式等类型。出于拟人化的考虑，常将机器人本体的有关部位分别称为基座、腰部、臂部、腕部、手部(夹持器或末端执行器)和行走部(对于移动机器人)等。The actuator, that is, the robot body, its arm generally adopts a space open-chain linkage mechanism, in which the kinematic pair (revolving pair or moving pair) is often called a joint, and the number of joints is usually the number of degrees of freedom of the robot. According to different joint configuration types and motion coordinate forms, robot actuators can be divided into rectangular coordinates, cylindrical coordinates, polar coordinates and joint coordinates. For anthropomorphic considerations, the relevant parts of the robot body are often referred to as base, waist, arm, wrist, hand (gripper or end effector) and walking part (for mobile robots), etc.
驱动装置，是驱使执行机构运动的机构，按照控制系统发出的指令信号，借助于动力元件使机器人进行动作。他输入的是电信号，输出的是线、角位移量。机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。The driving device is a mechanism that drives the actuator to move. According to the command signal sent by the control system, the robot is moved by means of the power element. Its input is electrical signal, and its output is line and angular displacement. The driving device used by the robot is mainly an electric driving device, such as a stepper motor, a servo motor, etc. In addition, there are also hydraulic, pneumatic and other driving devices.
检测装置，是实时检测机器人的运动及工作情况，根据需要反馈给控制系统，与设定信息进行比较后，对执行机构进行调整，以保证机器人的动作符合预定的要求。作为检测装置的传感器大致可以分为两类：一类是内部信息传感器，用于检测机器人各部分的内部状况，如各关节的位置、速度、加速度等，并将所测得的信息作为反馈信号送至控制器，形成闭环控制。一类是外部信息传感器，用于获取有关机器人的作业对象及外界环境等方面的信息，以使机器人的动作能适应外界情况的变化，使之达到更高层次的自动化，甚至使机器人具有某种“感觉”，向智能化发展，例如视觉、声觉等外部传感器给出工作对象、工作环境的有关信息，利用这些信息构成一个大的反馈回路，从而将大大提高机器人的工作精度。The detection device detects the motion and working conditions of the robot in real time, and feeds back to the control system as needed. After comparing with the setting information, the actuator is adjusted to ensure that the robot's action meets the predetermined requirements. Sensors used as detection devices can be roughly divided into two categories: one is internal information sensors, which are used to detect the internal conditions of each part of the robot, such as the position, speed, acceleration, etc. of each joint, and use the measured information as a feedback signal sent to the controller to form a closed-loop control. One is the external information sensor, which is used to obtain information about the robot's work object and the external environment, so that the robot's actions can adapt to changes in the external situation, so that it can achieve a higher level of automation, and even make the robot have a certain "Sensation" is developing towards intelligence. For example, external sensors such as vision and sound provide information about the working object and the working environment, and use this information to form a large feedback loop, which will greatly improve the working accuracy of the robot.
控制系统，一种是集中式控制，即机器人的全部控制由一台微型计算机完成。另一种是分散(级)式控制，即采用多台微机来分担机器人的控制，如当采用上、下两级微机共同完成机器人的控制时，主机常用于负责系统的管理、通讯、运动学和动力学计算，并向下级微机发送指令信息；作为下级从机，各关节分别对应一个CPU，进行插补运算和伺服控制处理，实现给定的运动，并向主机反馈信息。根据作业任务要求的不同，机器人的控制方式又可分为点位控制、连续轨迹控制和力(力矩)控制。Control system, one is centralized control, that is, all control of the robot is completed by a microcomputer. The other is decentralized (level) control, that is, multiple microcomputers are used to share the control of the robot. For example, when the upper and lower level microcomputers are used to jointly complete the control of the robot, the host is often used to be responsible for system management, communication, and kinematics. and dynamics calculation, and send instruction information to the lower-level microcomputer; as a lower-level slave, each joint corresponds to a CPU, performs interpolation calculation and servo control processing, realizes a given movement, and feeds back information to the host. According to the different requirements of the job tasks, the control methods of the robot can be divided into point-position control, continuous trajectory control and force (torque) control.
采用本发明的实现智能化越障的服务机器人，针对现有服务机器人的测距模式单一、越障效率较低的技术问题，结合利用超声波技术和红外线技术以提高前方目标测距的精度，同时，更全面地获得障碍物的更多尺寸信息，基于尺寸信息调整图像采集设备的位置，在准确的尺寸信息的基础上自适应地采用不同越障方案，实现服务机器人的智能化越障，减少人工干预。Adopting the service robot for realizing intelligent obstacle surmounting of the present invention, aiming at the technical problems that the existing service robot has a single ranging mode and low obstacle surmounting efficiency, ultrasonic technology and infrared technology are used in combination to improve the accuracy of distance measurement of the target in front, and at the same time , obtain more size information of obstacles more comprehensively, adjust the position of the image acquisition device based on the size information, adaptively adopt different obstacle-crossing schemes based on accurate size information, and realize the intelligent obstacle-crossing of service robots, reducing human intervention.
可以理解的是，虽然本发明已以较佳实施例披露如上，然而上述实施例并非用以限定本发明。对于任何熟悉本领域的技术人员而言，在不脱离本发明技术方案范围情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围内。It can be understood that although the present invention has been disclosed above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any person skilled in the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or be modified into equivalent changes, etc. effective example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.
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