CN109176539A - Autonomous positioning robot based on Kinect - Google Patents
Autonomous positioning robot based on Kinect Download PDFInfo
- Publication number
- CN109176539A CN109176539A CN201810974406.8A CN201810974406A CN109176539A CN 109176539 A CN109176539 A CN 109176539A CN 201810974406 A CN201810974406 A CN 201810974406A CN 109176539 A CN109176539 A CN 109176539A
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- China
- Prior art keywords
- kinect
- autonomous positioning
- robot
- control cabinet
- support plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the autonomous positioning robots based on Kinect, comprising: robot body and the control system being arranged in robot body；Robot body includes: Kinect device, IP Camera, control cabinet, battery layers and the differential platform of four-wheel；Support plate is provided with right above control cabinet, it is connected between the center of support plate and the upper surface of control cabinet by shaft, Kinect device and IP Camera are fixed on the upper surface of support plate, the lower end of shaft is connected with the driving motor of control box house, driving motor being capable of drive shaft rotation, drive support plate rotation, the autonomous positioning robot overcomes robot in the prior art inadequate using the precision of GPS positioning, it is only applicable to interior, the mode that map is manually entered limits the working range of robot, and existing robot is not comprehensive enough to the acquisition of environmental information, the problem of causing the environmental map poor accuracy of building.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of autonomous positioning robot based on Kinect.
Background technique
With the development of industrial automation, machine intelligence is received more and more attention, and intelligent robot therein is even more
It is acknowledged as following mainstream development direction.And robot will once move, just inevitably involve understanding to environment,
Path planning, autonomous positioning, avoidance and anticollision etc., it goes without saying that understanding and robot autonomous localization to environment are other
The basis of function and primary research direction.
Robot in the prior art generally realizes robot autonomous localization using GPS, known using being manually entered
Environmental map and fabric structure figure replace robot autonomous study and building map, but the precision of GPS positioning is inadequate, and
And be only applicable to interior, the mode that map is manually entered limits the working range of robot, for outdoor variation environment not
It is applicable in；And existing robot is not comprehensive enough to the acquisition of environmental information, causes the environmental map poor accuracy of building.
Therefore it provides a kind of can analyze the environment being presently in use, it is established that environmental map, and make
Robot can determine the current location of oneself in the map at any time.To drive robot to carry out stablizing movement, Er Qieke
Comprehensively to obtain environmental information, construct accurate environmental map the autonomous positioning robot based on Kinect be the present invention urgently
Problem to be solved.
Summary of the invention
In view of the above technical problems, real the purpose of the present invention is overcoming robot in the prior art that GPS is generally used to come
Existing robot autonomous localization replaces robot autonomous study using known environmental map and fabric structure figure is manually entered
With building map, but the precision of GPS positioning is inadequate, and is only applicable to interior, and the mode that map is manually entered limits machine
The working range of device people, it is not applicable for the environment of outdoor variation；And existing robot is inadequate to the acquisition of environmental information
Comprehensively, the problem of causing the environmental map poor accuracy of building, so that provide one kind can analyze current institute in use
The environment at place, it is established that environmental map, and make robot at any time and can determine the current location of oneself in the map.To
Driving robot carries out stablizing movement, and can comprehensively obtain environmental information, construct accurate environmental map based on
The autonomous positioning robot of Kinect.
To achieve the goals above, described to be based on the present invention provides the autonomous positioning robot based on Kinect
The autonomous positioning robot of Kinect includes: robot body and the control system that is arranged in the robot body；Wherein,
The robot body includes: Kinect device, IP Camera, control cabinet, battery layers and the differential platform of four-wheel；It is described
Support plate is provided with right above control cabinet, by turning between the center of the support plate and the upper surface of the control cabinet
Axis is connected, and the Kinect device and IP Camera are fixed on the upper surface of the support plate, the lower end of the shaft and institute
The driving motor for stating control box house is connected, and the driving motor can drive the shaft rotation, drive the support plate
Rotation, the battery layers are fixed on the lower surface of the control cabinet, and the lower surface of the battery layers is connected with by telescopic mast
The differential platform of four-wheel, the set-up of control system is in the control cabinet；The Kinect device and the IP Camera
For acquiring the environmental information around robot, the control system analyzes the environmental information of acquisition and executes SLAM
Program realizes environmental map building and autonomous positioning, and the movement of the differential platform of the four-wheel is controlled by serial ports route；Institute
It states and is provided with battery pack in battery layers, for providing the electric energy of system operation.
Preferably, the upper surface portion of the support plate, which is recessed downwards, forms the fixation that matches with the Kinect device
Slot is provided with multiple fixing sucking disks in the fixing groove.
Preferably, the control system includes: central processing unit and memory, and the Kinect device, the network are taken the photograph
Picture head, the memory and the battery pack are connected with the central processing unit respectively, and the memory is to the centre
The environmental map data of reason device building are stored.
Preferably, the control system further includes human body sensor, and human body sensor human body for identification is identifying
In the case where human body, the central processing unit controls the peripheral motor that the differential platform of the four-wheel surrounds the human body, so that
The Kinect device collect the data around the human body, by central processing unit realize constructing environment map and
Autonomous positioning.
Preferably, the lateral surface of the control cabinet is hingedly provided with hidden door, the back side of the hidden door and the control cabinet
The inside of body is connected.
Preferably, display is embedded on the hidden door, the hidden door and the central processing unit are electrically connected, for showing
The information of the central processing.
Preferably, the display is touch LCD screen.
Preferably, the platform of the differential platform four motorized wheels of the four-wheel, and the driving wheel that platform side is arranged in is
Surface is laid with the rubber wheel of antiskid raised strip.
Preferably, the IP Camera is at least arranged two, and is arranged at intervals on the upper surface of the Kinect device,
Binocular vision sensing equipment is constituted after calibration.
Preferably, the material of the robot body is wood.
According to the above technical scheme, the autonomous positioning robot provided by the invention based on Kinect when in use, utilizes
Environmental information around the Kinect device and IP Camera acquisition robot, recycles the control system to execute
SLAM algorithm realizes environmental map building and autonomous positioning；And robot of the invention is using described in support plate driving
Kinect device and the IP Camera are rotated, to obtain the environmental information around robot, structure more fully hereinafter
The environmental map built is also more acurrate.Autonomous positioning robot provided by the invention based on Kinect overcomes machine in the prior art
Device people generally realizes robot autonomous localization using GPS, using known environmental map and fabric structure figure is manually entered
Robot autonomous study and building map are replaced, but the precision of GPS positioning is inadequate, and is only applicable to interior, artificial defeated
The mode for entering map limits the working range of robot, not applicable for the environment of outdoor variation；And existing robot
It is not comprehensive enough to the acquisition of environmental information, cause building environmental map poor accuracy the problem of.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the knot of the autonomous positioning robot based on Kinect provided in a kind of preferred embodiment of the invention
Structure schematic diagram；
Fig. 2 is propped up in the autonomous positioning robot based on Kinect provided in a kind of preferred embodiment of the invention
The structural scheme of mechanism of fagging；
Fig. 3 is controlled in the autonomous positioning robot based on Kinect provided in a kind of preferred embodiment of the invention
The structural schematic diagram of system processed.
Description of symbols
Differential 2 telescopic mast of platform of 1 four-wheel
3 hidden door, 4 display
5 control 6 support plates of cabinet
7 network shooting 8Kinect equipment
9 battery layers, 10 shaft
11 fixing groove, 12 fixing sucking disk
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " upper and lower, inside and outside " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
As depicted in figs. 1 and 2, the present invention provides the autonomous positioning robots based on Kinect, described to be based on Kinect
Autonomous positioning robot include: robot body and the control system that is arranged in the robot body；Wherein, the machine
Device human body includes: Kinect device 8, IP Camera 7, control cabinet 5, battery layers 9 and the differential platform 1 of four-wheel；It is described
The surface of control cabinet 5 is provided with support plate 6, leads between the center of the support plate 6 and the upper surface of the control cabinet 5
It crosses shaft 10 to be connected, the Kinect device 8 and IP Camera 7 are fixed on the upper surface of the support plate 6, the shaft 10
Lower end with it is described control cabinet 5 inside driving motor be connected, the driving motor can drive 10 rotation of shaft, band
It moves the support plate 6 to rotate, the battery layers 9 are fixed on the lower surface of the control cabinet 5, the lower surface of the battery layers 9
It is connected with the differential platform 1 of four-wheel by telescopic mast 2, the set-up of control system is in the control cabinet 5；The Kinect is set
It is used to acquire the environmental information around robot, environmental information of the control system to acquisition for 8 and the IP Camera 7
SLAM program is analyzed and executed, realizes environmental map building and autonomous positioning, and by described in the control of serial ports route
The movement of the differential platform of four-wheel；It is provided with battery pack in the battery layers 9, for providing the electric energy of system operation.
According to the above technical scheme, the autonomous positioning robot provided by the invention based on Kinect when in use, utilizes
Environmental information around the Kinect device and IP Camera acquisition robot, recycles the control system to execute
SLAM algorithm realizes environmental map building and autonomous positioning；And robot of the invention is using described in support plate driving
Kinect device and the IP Camera are rotated, to obtain the environmental information around robot, structure more fully hereinafter
The environmental map built is also more acurrate.Autonomous positioning robot provided by the invention based on Kinect overcomes machine in the prior art
Device people generally realizes robot autonomous localization using GPS, using known environmental map and fabric structure figure is manually entered
Robot autonomous study and building map are replaced, but the precision of GPS positioning is inadequate, and is only applicable to interior, artificial defeated
The mode for entering map limits the working range of robot, not applicable for the environment of outdoor variation；And existing robot
It is not comprehensive enough to the acquisition of environmental information, cause building environmental map poor accuracy the problem of.
In a preferred embodiment of the invention, the upper surface portion of the support plate 6 be recessed downwards formation with
The fixing groove 11 that the Kinect device 8 matches is provided with multiple fixing sucking disks 12, the fixing groove in the fixing groove 11
The 11 cooperation fixing sucking disks 12 make the Kinect device 8 fixedly more firm, thus the image information obtained
It is more accurate.
In a preferred embodiment of the invention, the control system includes: central processing unit and memory, institute
State Kinect device 8, the IP Camera 7, the memory and the battery pack respectively with the central processing unit phase
Even, the memory stores the environmental map data that the central processing unit constructs, thus with facilitating the environment of building
Figure is supplied to staff and carries out analysis use.
In a preferred embodiment of the invention, the control system further includes human body sensor, the human body
Sensor human body for identification, in the case where recognizing human body, the central processing unit controls the differential platform of four-wheel and encloses
Pass through center so that the Kinect device collects the data around the human body around the peripheral motor of the human body
Processor realizes constructing environment map and autonomous positioning.
In a preferred embodiment of the invention, the lateral surface of the control cabinet 5 is hingedly provided with hidden door 3,
The back side of the hidden door 3 is connected with the inside of the control cabinet 5, described in a kind of preferred embodiment of the invention
In, facilitate staff to open the control cabinet 5, the control system inside the control cabinet 5 is safeguarded and repaired.
In a preferred embodiment of the invention, on the hidden door 3 be embedded in display 4, the hidden door 3 with it is described
Central processing unit is electrically connected, and for showing the information of the central processing, the display 4 facilitates staff to obtain machine
The work state information of people, and the structure facilitates staff to install and repair display 4.
In a preferred embodiment of the invention, the display 4 is touch LCD screen, thus convenient
Staff instructs to robot input control.
In a preferred embodiment of the invention, the platform of the differential platform four motorized wheels of the four-wheel, and
The rubber wheel that the driving wheel of platform side is laid with antiskid raised strip for surface is set.Machine can be more precisely controlled in this way
It moves to device people, and can prevent robot from skidding during the motion.
In a preferred embodiment of the invention, the IP Camera 7 is at least arranged two, and is spaced setting
In the upper surface of the Kinect device 8, binocular vision sensing equipment is constituted after calibration, thus comprehensively and accurately
Obtain the environmental information around robot.
In a preferred embodiment of the invention, the material of the robot body is wood.In hardware platform
During main structure selection, once considered to weld using metal material or print using 3D printer, but it is final all by
It vetos, the reason is as follows that: although 1) 3D printing technique molding is quickly, the material of 3D printer printing is more fragile, Er Qieyou
It is printed in layer in printer, it is especially fragile to result in interlayer, and the unbearable notebook of such structure and vision pass
The weight of sensor, in addition, battery also than heavier；2) structure of metal material is enough to bear required load, but metal
The weight of frame itself is larger, and along with equipment such as computer, visual sensor, batteries, total weight has been more than that four-wheel is differential flat
The load of platform.Therefore, wooden structure is had finally chosen.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of autonomous positioning robot based on Kinect, which is characterized in that the autonomous positioning machine based on Kinect
People includes: robot body and the control system that is arranged in the robot body；Wherein,
The robot body include: Kinect device (8), IP Camera (7), control cabinet (5), battery layers (9) and
The differential platform of four-wheel (1)；Be provided with support plate (6) right above the control cabinet (5), the center of the support plate (6) with
It is connected between the upper surface of control cabinet (5) by shaft (10), the Kinect device (8) and IP Camera (7)
It is fixed on the upper surface of the support plate (6), the driving motor of the lower end of the shaft (10) and control cabinet (5) inside
It is connected, the driving motor can drive the shaft (10) rotation, drive the support plate (6) to rotate, the battery layers (9)
It is fixed on the lower surface of control cabinet (5), it is poor that the lower surfaces of the battery layers (9) by telescopic mast (2) is connected with four-wheel
Moving platform (1), the set-up of control system is in the control cabinet (5)；
The Kinect device (8) and the IP Camera (7) are used to acquire the environmental information around robot, the control
SLAM program is analyzed the environmental information of acquisition and executed to system, realizes environmental map building and autonomous positioning, and
The movement of the differential platform of the four-wheel is controlled by serial ports route；It is provided with battery pack in the battery layers (9), for providing system
The electric energy of system operation.
2. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the support plate (6)
Upper surface portion be recessed form the fixing groove (11) that matches with the Kinect device (8), the fixing groove (11) downwards
In be provided with multiple fixing sucking disks (12).
3. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the control system packet
It includes: central processing unit and memory, the Kinect device (8), the IP Camera (7), the memory and described
Battery pack is connected with the central processing unit respectively, the environmental map data that the memory constructs the central processing unit into
Row storage.
4. the autonomous positioning robot according to claim 3 based on Kinect, which is characterized in that the control system is also
Including human body sensor, human body sensor human body for identification, in the case where recognizing human body, the central processing unit
The peripheral motor that the differential platform of the four-wheel surrounds the human body is controlled, so that the Kinect device collects the human body
Around data, pass through central processing unit and realize constructing environment map and autonomous positioning.
5. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the control cabinet
(5) lateral surface is hingedly provided with hidden door (3), and the back side of the hidden door (3) is connected with the inside of control cabinet (5).
6. the autonomous positioning robot according to claim 5 based on Kinect, which is characterized in that on the hidden door (3)
It is embedded in display (4), the hidden door (3) and the central processing unit are electrically connected, for showing the information of the central processing.
7. the autonomous positioning robot according to claim 6 based on Kinect, which is characterized in that the display (4)
For touch LCD screen.
8. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the four-wheel is differential flat
The platform of platform four motorized wheels, and the driving wheel that platform side is arranged in is the rubber wheel that surface is laid with antiskid raised strip.
9. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the IP Camera
(7) at least it is arranged two, and is arranged at intervals on the upper surface of the Kinect device (8), binocular vision is constituted after calibration
Feel sensing equipment.
10. the autonomous positioning robot according to claim 1 based on Kinect, which is characterized in that the robot sheet
The material of body is wood.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974406.8A CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974406.8A CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
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| Publication Number | Publication Date |
|---|---|
| CN109176539A true CN109176539A (en) | 2019-01-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810974406.8A Pending CN109176539A (en) | 2018-08-24 | 2018-08-24 | Autonomous positioning robot based on Kinect |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| WO2017099097A1 (en) * | 2015-12-08 | 2017-06-15 | Mitsubishi Electric Corporation | Method and system for detecting and localizing object and slam method |
| CN107398900A (en) * | 2017-05-27 | 2017-11-28 | 芜湖星途机器人科技有限公司 | Active system for tracking after robot identification human body |
| CN206960959U (en) * | 2017-05-10 | 2018-02-02 | 广州汇宏品牌管理有限公司 | A kind of autonomous shipping and receiving robot |
-
2018
- 2018-08-24 CN CN201810974406.8A patent/CN109176539A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| WO2017099097A1 (en) * | 2015-12-08 | 2017-06-15 | Mitsubishi Electric Corporation | Method and system for detecting and localizing object and slam method |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN206960959U (en) * | 2017-05-10 | 2018-02-02 | 广州汇宏品牌管理有限公司 | A kind of autonomous shipping and receiving robot |
| CN107398900A (en) * | 2017-05-27 | 2017-11-28 | 芜湖星途机器人科技有限公司 | Active system for tracking after robot identification human body |
Non-Patent Citations (1)
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Application publication date: 20190111 |