CN100493858C - Intelligent autonomous wheel type mobile robot - Google Patents
Intelligent autonomous wheel type mobile robot Download PDFInfo
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- CN100493858C CN100493858C CNB021609004A CN02160900A CN100493858C CN 100493858 C CN100493858 C CN 100493858C CN B021609004 A CNB021609004 A CN B021609004A CN 02160900 A CN02160900 A CN 02160900A CN 100493858 C CN100493858 C CN 100493858C
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Abstract
An autonomous wheel type movable intelligent robot with such functions as dynamic target tracking, target recognization, and man-machine interaction by speed is composed of the camera for providing ambient information, industrial control computer able to communicate via CAN bus to motor driver/controller, ultrasonic ring and infrared ring, and the moving mechanism controlled by motor driver/controller. The ultrasonic, infrared and visual sensors are used.
Description
Technical field
The present invention relates to the general mobile robot platform in the electromechanical integration field, particularly the intelligent independent wheeled mobile robot.
Background technology
From the notion that the Wal has just proposed industrial robot of wearing of the U.S. in 1954, U.S. AMF Inc. had developed first industrial robot in the world in 1962, and the research of Robotics has obtained considerable progress.Arm type industrial robot technology has been tending towards perfect, the mobile robot both can realize that workpiece in a big way transported at industrial circle simultaneously, again can be in non-industrial circle-service field, as the robot of conducting a sightseeing tour, rehabilitation nursing robot, amusement robot, clean robot, security robot etc., have wide practical use and market.Therefore, no matter in the field of study, still at development field, the mobile robot more and more becomes the focus of lot of domestic and international research institution research.
In the field of study, mobile robot's research direction mainly comprises: based on vision, sensor such as ultrasonic, infrared, be intended to set up the Multi-sensor Fusion strategy of dynamic environment model; Navigation and localization method; Multi-robot system and robot soccer; From the research of owner-machine cooperation etc.And above-mentioned theoretical research needs one to have good reliability and open experiment porch, comes theoretical research is verified.So developing with the industry and services field is that mobile robot platform application background, that be easy to user's secondary development has good market potential and Research Significance.
The key technology of intelligent independent wheeled mobile robot mainly comprises: robot vision, robot voice interaction technique, mobile robot control technology, mechanics of communication, moveable robot movement mechanism and control method thereof, sensor technology etc.
Robot vision be one emerging and develop subject rapidly, it is very important for the intelligent robot technology.For the mobile robot, active vision system is an important perception " organ ".The key issue of mobile robot visual is the real-time problem that image is handled.Because the speed of Computer Image Processing is slow, has influenced the application of robotic vision system.
Summary of the invention
The purpose of this invention is to provide a kind of real-time DSP image processor, effectively and rapidly to pick out path and barrier etc., and make image processing, control and motion planning parallel processing,, make system have good transient state and steady-state characteristic to guarantee realizing real-time visual servo control.
For achieving the above object, a kind of intelligent independent wheeled mobile robot comprises:
Video camera is for robot provides its external information of place environment;
Industrial computer communicates with motor-driven/controller, sonac ring, infrared sensor ring respectively by bus CAN, and wherein, described sonac ring is 16;
Motion is controlled by motor-driven/controller.
Robot of the present invention can carry out automatic obstacle avoiding according to sonac, infrared sensor and vision sensor, utilizes vision sensor to carry out dynamic target tracking, target signature identification.In addition, this robot also has voice people-machine interactive function.The monitor staff can directly carry out voice control to robot by wireless Mike.Simultaneously, robot can talk, greet each other and introduce myself etc. with the people.
Description of drawings
Fig. 1 is the autonomous wheeled robot structure chart of the present invention, 1 expression stabilizer among the figure, 2 expression servomotors, 3 expression encode axis wheel wheel hubs, 4 expression driving wheel wheel hubs, 5 expression dc brushless motors, 6 expression shaft encoders, 7 expression main drive wheels;
Fig. 2 is cylindrical hole of the present invention position geometry figure, 21 expression cylindrical holes among the figure, 22 expressions, ten hexagons, 23 expression equilateral triangles;
Fig. 3 is a system of the present invention control chart.
The specific embodiment
As shown in Figure 1, autonomous wheeled mobile robot CASIA-I belongs to general intelligent mobile robot system, its outstanding feature is to adopt in the configuration design positive 16 prisms---class cylinder, this shape makes robot be easy to lock onto target, take into account the installation of sonac simultaneously, make its investigative range cover robot 360 ° scope all around, and the redundancy of information is arranged; Another outstanding feature of this robot is to adopt the left and right sides, chassis that two servo drive wheels that are integrated with dc brushless motor and photo electric axis encoder have been installed in the motion design.Wherein, photoelectric encoder is used for dead-reckoning, makes robot can determine the relative position of self.A stabilizer on the perpendicular bisector of two driving wheel axis, respectively is equipped with in both sides, front and back on its chassis.Because quadrature may appear in the direction of robot time rotational stabilizer and robot motion's direction, the frictional force that puts on the stabilizer that rotates freely can hinder its motion, and then causes position error.We have installed the DC servo motor that is used to lead respectively on two stabilizers, when normal force is loaded on the stabilizer, the motor on the stabilizer will be made response, make stabilizer rotate a very little angle, to break away from the above-mentioned deadlock state of mechanism.When passing through slope or pit for the assurance robot, driving wheel remains with concavo-convex ground and contacts well and motion reposefully, also on two stabilizers, suspension has been installed, the design of this robot moving mechanism make robot can advance, retreat, promptly change the current direction of motion, can realize in narrow space moving freely apace and around self barycenter with the no-radius rotation.Compare with traditional wheeled mobile robot in the past, the design of this robot moving mechanism has reduced energy consumption, and load capacity is stronger, has increased how much Area of bearing on chassis and the stationarity of motion; In addition, this platform has adopted separately independently tasks such as DSP (digital signal processor) the parallel processing mobile robot's of system SERVO CONTROL, sensor signal processing, automatic obstacle avoiding, path planning, realizes the purpose of quick perception environment of robot and planning action in real time.
As shown in Figure 2, adopt positive 16 prisms---class cylinder in the configuration design, this shape makes robot be easy to lock onto target, takes into account the installation of sonac simultaneously, makes its investigative range cover robot 360 ° scope all around, and the redundancy of information is arranged.The skeleton of entire machine people's platform is the upper surface (see figure 2) that equilateral triangle is fixed in the chassis by three stainless steel tubes.Its internal mechanical structure adopts vertical superposing type to arrange.4 remote infrared sensor ring, sonac ring, chassis that become positive 16 limit shapes in shape, closely the infrared sensor ring is placed (not shown) successively from top to bottom.It is outside for being sprayed with the shell of sapphire metallic paint.Design of shell has adopted 8 iron plates of being processed into " V " type to being connected into positive 16 limit shapes.
As shown in Figure 3, intelligent independent mobile robot of the present invention comprises: electronic systems such as motion, sensor-based system, voice system, power-supply system, monitoring system constitute.Its concrete electronic system is embodied as:
The driving wheel power supply of power supply: CASIA-I is by two voltage 12V, and the 24VDC that the series connection of the rechargeable battery of capacity 7.2Ah obtains provides.The operating voltage 12V and the 5V of vehicle-mounted main control computer and ancillary equipment thereof (as ccd video camera, LCD, sonac ring, infrared sensor ring) are directly provided or by providing after the conversion of dc source modular converter by the rechargeable battery of the 3rd same parameter.
Built-in industrial control machine: the small and exquisite built-in industrial control machine of volume is as the main processing unit of onboard system.This industrial computer is furnished with PC-104 and PC-104+ bus, image pick-up card, wireless network card, Intel PII processor and 256M RAM.This vehicle-mounted industrial computer and DC electric machine controller, DC motor driver, sonac ring and infrared ring disposable plates are carried out communication by the CAN bus.In addition, this industrial computer is also bowed by facing upward up and down of ccd video camera of RS-232 serial ports control, horizontally rotates and parameter such as autozoom.
DC electric machine controller and driver: electric machine controller adopts two specially designed motion actuators PMD to control the position and the speed of 2 dc brushless motors.When a PMD calculates and respectively when two driving wheel motors send pulsewidth modulation (PWM) signal, another PMD realizes the communication between controller and the primary processor every now and then; The major part of driver is the field-effect transistor that the H bridging connects, and it turns to according to the robot needs, controls rotating speed of motor by the voltage and current of the pwm signal after amplifying through amplification controller, and then the speed and the direction of control and actuation movement module.
Image pick-up card and bottom DSP image processor: after the analog video signal that image pick-up card imports the CCD camera into is quantified as digital video signal, sends in the bottom vision processor based on DSP and handle, can accelerate the processing and the identification of visual information.
The sensor-based system of sensor: CASIA-I is the sonac ring that 16 sonacs is housed by, two infrared sensor rings that 16 infrared sensors are housed respectively, monocular colourful CCD video camera and photoelectric encoder.In view of the detection angle of single sonac is 30 °, we adopt 16 sonacs to constitute the sonac ring of 360 ° of investigative ranges.The detection range of this sonac ring is 0.5～10m; Because of the sonac ring at 0.5m with the interior detection blind area that exists, for remedying its detection blind area and increasing information redundancy, we have developed two kinds of infrared sensor rings, investigative range is respectively 0.01～0.5m and 0.4～0.9m; The monocular vision sensor of CASIA-I adopts SONY EVI-D31 ccd video camera, and this video camera is integrated with to face upward up and down and bows, horizontally rotates and function such as autozoom, can finish tasks such as active vision location, navigation and target identification.The control of video camera is that the vehicle-mounted embedded type industrial computer is realized by the RS232 serial communication; The optic axis encoder, be used for measuring the relative distance that the mobile robot moves, it passes to motor servo controller with the driving wheel rotation data that records as feedback signal, and the rotating speed of controlling left and right sidesing driving wheel according to the path that robot planned is to reach the purpose of the motion of controlling robot.
LCD: assembled a LCD on the CASIA-I, as the mutual display device between programmer and the robot.By LCD, the monitor staff can observe the state of on-vehicle battery and the real-time vision scene in robot the place ahead.Scene image after image pick-up card will quantize is real-time transmitted to LCD and goes up demonstration.
CAN bus card: in order to realize real-time communication between each module of robot interior.We adopt the CAN bus of industrial standard to connect each operational module, to realize the real-time communication between each module.
Wireless communication module: for realizing robot and monitor staff's real-time, interactive, be furnished with wireless LAN card on the CASIA-I, realize the voice of robot are controlled, also can send other work orders by wireless transmission.Otherwise, robot can through wireless transmission with real-time vision scene and image handle, infrared and supersonic sounding result is transmitted back to master station, so that the monitor staff further assigns a task, realized man-machine preferably harmony.
Speech control module: for realizing good man-machine interaction, we have developed speech control module, on host computer, be connected to microphone and carry out speech communication by wireless transmission and CASIA-I, can control the distance that robot advances or retreats appointment, and the certain angle of left rotation and right rotation or around self barycenter rotation etc.Loudspeaker also is housed on the robot moving platform, and some brief self-introductions can be done by robot, can greet each other between people-machine and carry out brief dialogue.
We are on the basis of analyzing that both at home and abroad existing all kinds of mobile robots and correlation technique thereof are investigated, by solving the key technology of aspects such as password identification and phonetic synthesis, vision guided navigation and dynamically tracking, multi-sensor information fusion, real-time adaptive Navigation Control, overcome the some shortcomings that existing intelligent mobile robot exists, thereby succeeded in developing a kind of mobile robot who has vision and password navigation feature and can carry out interactive voice with the people.Solution along with this technology, security when the intelligence machine person to person coexists will obtain bigger raising, the application of robot will become and be more prone to, and can give full play to the high performance accuracy of people's high intelligence and robot, can not tired advantage separately, finish the complicated operations task jointly.
The motion of mobile robot CASIA-I of the present invention, electronic system and hierarchy of control structure.This platform provides experiment porch for the research of aspects such as the autonomous system Multi-sensor Fusion algorithm further carried out, motion control, vision guided navigation.Opening that this platform is good and extensibility are for user's secondary development provides assurance.
Embodiment
The overall performance index of intelligent independent wheeled mobile robot CASIA-I is:
Outward appearance: positive 16 prisms
Motion platform diameter: 0.45m, wheelspan: 0.4m, height: 0.8m is heavy: 45kg, load: 80kg
Maximum linear speed: 0.8m/s, maximum angular rate: 2.6rad/s, no-radius rotation
Motor: dc brushless motor, DC servo motor
Wheel train structure: two main drive wheels, two stabilizer quadrature arrangement
Sensor-based system: infrared at a distance, sonac, closely three sensing rings of infrared sensor are distributed in three layers of upper, middle and lowers successively, and each layer sensor ring formed by 16 corresponding sensors, and evenly covers 360 ° of directions.In addition, the monocular vision sensor-based system is equipped with at the robot top.Each sensor ring and vision system all are furnished with separately independently dsp processor, can realize the real-time processing and the action response of sensing data.
Vehicle-mounted main control computer: Pentium II 266MHz CPU, 256Mb RAM, PC/104+BUS built-in industrial control machine
Control system: the modularization open control system is made up of sensor-based system, control system and three subsystems with Open architecture of planning system.Carry out real-time communication by the CAN bus between each subsystem.
Wireless telecommunication system: the WLAN that the developer can be by 10/100M is issued an order and is read the sensing data that vehicle-mounted main control computer is passed ground upper monitoring machine back to robot.
The interactive voice module: the developer can carry out interactive voice by wireless microphone and robot, assigns motion command to robot; Can greet each other between people-machine; In addition, some brief self-introductions also can be done by robot.
Mobile robot's task is assigned and has been adopted the voice password controls.The sensor-based system that sensor-based system adopts ultrasonic sensor, infrared sensor, photoelectric encoder and number vision sensor to constitute.This mobile robot has the mutual function of good people-machine, and this interactive function can be realized by man-machine voiced interaction very intuitively.Although indivedual existing mobile robots can control with simple password, really have people-machine interactive function, can talk with the people, greet each other, the mobile robot who introduces myself etc. is still rare at home.
Claims (4)
1. intelligent independent wheeled mobile robot comprises:
Video camera is for robot provides its external information of place environment;
Industrial computer communicates with motor-driven/controller, sonac ring and infrared sensor ring respectively by bus CAN, and wherein, described sonac ring is 16 sonacs;
Motion is controlled by motor-driven/controller, and wherein, described motion profile is positive 16 prismatic.
2. by the described robot of claim 1, it is characterized in that also comprising the wireless communication module of communicating by letter with industrial computer by radio communication.
3. by the described robot of claim 1, it is characterized in that described infrared sensor ring is a closely infrared sensor of 16 remote infrared sensors and 16.
4. by the described robot of claim 1, it is characterized in that described motion comprises:
Two main drive wheels that are integrated with dc brushless motor and photo electric axis encoder have been installed in the left and right sides, chassis of robot;
Both sides, front and back on the chassis on the perpendicular bisector of two driving wheel axis, respectively are equipped with a stabilizer;
The DC servo motor that is used to lead is housed on the stabilizer.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021609004A CN100493858C (en) | 2002-12-31 | 2002-12-31 | Intelligent autonomous wheel type mobile robot |
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| CNB021609004A CN100493858C (en) | 2002-12-31 | 2002-12-31 | Intelligent autonomous wheel type mobile robot |
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| CN100493858C true CN100493858C (en) | 2009-06-03 |
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Families Citing this family (17)
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| CN1308123C (en) * | 2004-07-22 | 2007-04-04 | 上海交通大学 | Intelligent movable robot |
| KR100669892B1 (en) * | 2005-05-11 | 2007-01-19 | 엘지전자 주식회사 | Moving robot having function of avoidance obstacle and its method |
| CN100372658C (en) * | 2005-11-04 | 2008-03-05 | 天津大学 | Robot programmable infrared obstacle avoidance apparatus |
| CN101373380B (en) * | 2008-07-14 | 2011-06-15 | 浙江大学 | Humanoid robot control system and robot controlling method |
| CN102289556A (en) * | 2011-05-13 | 2011-12-21 | 郑正耀 | Supermarket shopping assistant robot |
| CN102789233B (en) * | 2012-06-12 | 2016-03-09 | 湖北三江航天红峰控制有限公司 | The integrated navigation robot of view-based access control model and air navigation aid |
| CN102716562A (en) * | 2012-06-25 | 2012-10-10 | 湖南商学院 | Autonomous land vehicle based on active fire-fighting early warning |
| CN103257605A (en) * | 2013-04-12 | 2013-08-21 | 苏州欧泰克电子科技有限公司 | Two-wheel self-balancing driving system based on embedded ARM |
| CN103458226A (en) * | 2013-06-05 | 2013-12-18 | 南京工业职业技术学院 | Video tracker |
| CN103522304B (en) * | 2013-10-28 | 2015-06-03 | 中国科学院自动化研究所 | Capsule entry method of slave robots based on master robot vision |
| CN103611649B (en) * | 2013-11-19 | 2016-03-16 | 上海思源电力电容器有限公司 | The method of device security is improved in a kind of painted line spray room |
| CN104605794A (en) * | 2014-09-23 | 2015-05-13 | 东莞市万锦电子科技有限公司 | Floor cleaning robot system |
| CN104647344B (en) * | 2015-03-18 | 2016-11-30 | 重庆交通大学 | Three-dimensional map structure Work robot |
| CN107813306B (en) * | 2016-09-12 | 2021-10-26 | 徐州网递智能科技有限公司 | Robot and motion control method and device thereof |
| CN108189003A (en) * | 2018-02-02 | 2018-06-22 | 北京华航唯实机器人科技股份有限公司 | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path |
| CN111028267B (en) * | 2019-12-25 | 2023-04-28 | 郑州大学 | Monocular vision following system and method for mobile robot |
| CN111775151A (en) * | 2020-06-28 | 2020-10-16 | 河南工业职业技术学院 | Intelligent control system of robot |
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| CN1369356A (en) * | 2002-03-21 | 2002-09-18 | 上海广茂达电子信息有限公司 | Personal robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1369356A (en) * | 2002-03-21 | 2002-09-18 | 上海广茂达电子信息有限公司 | Personal robot |
Non-Patent Citations (1)
| Title |
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| 微型全. 李振波等.机器人，第22期. 2000 * |
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