CN109940620A - A kind of Intelligent exploration robot and its control method - Google Patents
A kind of Intelligent exploration robot and its control method Download PDFInfo
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Abstract
The invention belongs to the technical fields of intelligent control, disclose a kind of Intelligent exploration robot, including remote control table, the remote control table is connected with the processor of robot, the processor and 2D processing module, 3D processing module, motion-control module is connected, 2D processing module is used to carry out laser scanning and processing to level terrain, 3D processing module is used to carry out vision shooting and processing to robot local environment, motion-control module is for controlling the switching of robot traveling mode and acquiring to object, processor is for receiving laser intelligence, image information constructs corresponding cartographic information, and the target area that remote control table issues, traveling mode switching command, travelling route planning and traveling mode switching are carried out to robot, remote control table is for receiving cartographic information, image information and user setting Object, object is carried out to the image information of target area and is identified and positioned, further instruction is issued to processor according to recognition result.
Description
Technical field
The present invention relates to the technical field of intelligent control more particularly to a kind of Intelligent exploration robot and its control methods.
Background technique
Multi-functional exploring robot can be used in scene outdoors, such as the exploration or monitoring of road, in true ring
Under border with human interaction, and with the development of industrial automation, in this respect using and demand it is more more and more intense, market is gradually
Expand.In recent years, industrial robot demand is increased sharply at home, China's independent navigation gondola sales amount sustainable growth.
Meanwhile people more fast and easily do shopping on the net, China Logistics industry has just welcome comprehensive outburst.
To ensure that material, product are delivered to specified website in a short time in logistics, manufacturing, it is necessary to dependent on not
Know tired storage robot.In the past, such task amount is completed, needs to arrange several skilled employees at least to cooperate
It completes, and not can guarantee production efficiency by manpower operation, this just needs the large-scale application of wisdom logistics, to cope with the object to explode
Stream demand, therefore, the large-scale application of intelligent storage robot is just starting the upsurge of wisdom logistics.
But nowadays it is few and most for an exploration specific environment area, robot to be applicable in scene for outdoor exploration humanoid robot
Domain, so that it can not be applicable in dynamic large scene.
Summary of the invention
The present invention provides a kind of Intelligent exploration robot and its control methods, solve existing exploring robot function list
One, it is only capable of the problems such as coping with specific environment.
The present invention can be achieved through the following technical solutions:
A kind of Intelligent exploration robot, including remote control table, the processor of the remote control table and robot
Be connected, the processor is connected with 2D processing module, 3D processing module, motion-control module, the 2D processing module be used for pair
Level terrain carries out laser scanning, and handles the laser intelligence of acquisition, and the 3D processing module is used for institute, robot
The environment at place carries out vision shooting, and handles the image information of acquisition, and the motion-control module is for controlling machine
The switching of people's traveling mode and acquisition to object,
The processor is used to receive laser intelligence, image information constructs corresponding cartographic information, and long-range control is flat
Target area that platform issues, traveling mode switching command carry out travelling route planning to robot and traveling mode switch, institute
Remote control table is stated for receiving the object information of cartographic information, image information and user setting, to target area
Image information carries out object and identifies and positions, and issues further instruction to processor according to recognition result.
Further, the processor constructs simple cartographic information for receiving laser intelligence, and it is multiple to receive image information building
Miscellaneous cartographic information, the traveling mode include that wheeled traveling and sufficient formula are advanced, and wheeled advance corresponds to simple cartographic information,
The foot formula, which is advanced, corresponds to complicated cartographic information, and user is according to image information by remote control table to issuing under processor
Progressive die formula switching command.
Further, 2D map is arranged in the simple cartographic information, and the complexity cartographic information is set as 3D map.
Further, the robot includes chassis, and four differential driving wheels are arranged in the bottom surface on the chassis, and top surface is provided with
A pedipulator is respectively arranged in mechanical arm, quadrangle, and the pedipulator is provided with 12 freedom degrees, and four pedipulators are packed up
When, four differential driving wheels land, and robot uses wheeled traveling；When four pedipulator expansion, four pedipulators land,
Robot is advanced using sufficient formula；The mechanical arm setting is there are four freedom degree, the pedestal including top surface is arranged in, the pedestal energy
Enough rotations, are provided with large arm, and the large arm is connected with one end of forearm, and the other end of the forearm is connected with gripper,
The gripper is used for the crawl of object.
It further, further include the sensor module being connected with processor, the sensor module is for obtaining institute, robot
The environmental information at place, the remote control table receives environmental information by processor, and passing environmental information is combined to carry out
Ambient condition analysis forms visualization change curve.
Further, the 2D processing module includes A1 laser radar, and the 3D processing module includes RGB-D depth camera
Head, the sensor module include Temperature Humidity Sensor, infrared radiation sensor, life-detection instrument, gas componant detection sensing
Device, the remote control table include carrying the PC machine of ROS system, are communicated by local area network or WIFI module and processor.
A kind of control method based on Intelligent exploration robot described above, comprising the following steps:
Step 1: according to the graphical information of the 3D processing module detection in robot, user judges ground locating for robot
Whether shape is flat, and issues corresponding traveling mode to processor by remote control table and instruct；
Step 2: traveling mode instructs the processor of robot based on the received, pass through moving control module for controlling machine
People is advanced using wheeled still sufficient formula of advancing；
Step 3: the image information that laser intelligence or 3D processing module that robot is detected by 2D processing module detect
The target area for constructing cartographic information, and being issued according to remote control table instructs, and carries out travelling route planning, while by map
Information, image information are uploaded to remote control table in real time；
Step 4: reaching target area, remote control table carries out the identification of object according to object set by user
And positioning controls the acquisition that mechanical arm carries out object by processor, otherwise carries out down if discovery object and its position
One target area is instructed to processor；
Step 5: repeating step 1 to four, until the exploration of all target areas.
Further, if landform locating for robot is flat, wheeled traveling is issued to processor by remote control table
Instruction, processor is packed up by four pedipulators of moving control module for controlling, by 2D processing module to ground locating for robot
Shape carries out laser scanning, and constructs simple cartographic information according to the laser intelligence of acquisition；If with a varied topography locating for robot,
Sufficient formula traveling instruction is issued to processor by remote control table, processor passes through four pedipulators of moving control module for controlling
Expansion carries out vision shooting to landform locating for robot by 3D processing module, and is constructed again according to the image information of acquisition
Miscellaneous cartographic information, while 2D processing module stops working.
Further, the cartographic information is constructed by SLAM algorithm.
Further, the simple cartographic information corresponds to indoor environment, and the complexity cartographic information corresponds to field environment.
The present invention is beneficial to be had the technical effect that
The present invention can obtain the laser intelligence or intricately of level terrain by 2D processing module and 3D processing module
The image information of the image information of shape and its corresponding entire environment, and then corresponding cartographic information is constructed, while user is according to it
The image information of detection realizes the switching that the wheeled traveling of robot and sufficient formula are advanced, then according to the cartographic information of building and
The target area of user setting, contexture by self travel path and avoidance, furthermore it is also possible to carry out the knowledge of object to target area
It not and positions, mechanical arm is facilitated to acquire object, the extreme environment that the mankind can not reach is surveyed and studied to realize
Sampling, in particular for the area after disaster, can go deep into dangerous situation, transmit data and the position of indicator of trapped personnel, to solve lifesaving
Life provides more reliable guarantee, while robot of the invention can be with the exploration of both in-door and field environment, to cope with reality
The changeable demand of situation, and the processor of robot and remote control table are all made of Embedded System Design, to make machine
Each function of people being capable of seamless connection.
Detailed description of the invention
Fig. 1 is overall framework schematic diagram of the invention；
Fig. 2 is the simple cartographic information schematic diagram that robot of the invention constructs；
Fig. 3 is the schematic diagram that robot of the invention is advanced using sufficient formula；
Fig. 4 is the schematic diagram that robot of the invention uses wheeled traveling；
Fig. 5 is the example schematic of object of the invention identified and positioned.
Specific embodiment
With reference to the accompanying drawing and the preferred embodiment specific embodiment that the present invention will be described in detail.
As shown in Figure 1, the present invention provides a kind of Intelligent exploration robot, including remote control table, the long-range control
Platform is connected by local area network or WIFI module with the processor of robot, and the processor and 2D processing module, 3D handle mould
Block, sensor module, motion-control module are connected, which is used to carry out laser scanning to level terrain, and to obtaining
The laser intelligence taken is handled, which is used to carry out vision shooting to environment locating for robot, and to acquisition
Image information handled, the switching and acquisition to object which is used to control robot traveling mode
And label, the sensor module is for obtaining environmental information locating for robot, and the processor is for receiving laser intelligence, image
The relevant SLAM algorithm of use of information constructs corresponding cartographic information and remote control table issues target area is advanced
Pattern switching instruction carries out travelling route planning to robot and traveling mode switches, and the remote control table is for connecing
The object information for receiving cartographic information, image information and user setting carries out object knowledge to the image information of target area
It not and positions, and further instruction is issued to processor according to recognition result, while receiving environmental information, and combine passing ring
Border information carries out ambient condition analysis, forms visualization change curve, with for reference, and makes effective analysis in time.
The processor constructs simple cartographic information using gmapping scheduling algorithm for receiving laser intelligence, can for 2D
Figure receives image information using RGB-D SLAM scheduling algorithm and constructs complexity as shown in Fig. 2, being mainly used for the exploration of indoor environment
Cartographic information can be 3D map, be mainly used for the exploration of field environment, and traveling mode includes wheeled traveling and sufficient formula row
Into wheeled advance corresponds to simple cartographic information, and sufficient formula, which is advanced, corresponds to complicated cartographic information, and user passes through according to image information
Remote control table issues traveling mode switching command to processor, which includes being based on STM32 motion control
Circuit board and four block I/O interface expensive chips, to carry out different drive controls to the traveling of sufficient formula and wheeled traveling, thus
The working method for realizing the multi-mode of robot, has saved production cost, has expanded the application range of robot, to meet user's
Actual needs.
The robot includes chassis, four differential driving wheels is arranged in the bottom surface on chassis, top surface is provided with mechanical arm, quadrangle
Respectively one pedipulator of setting, which is provided with 12 freedom degrees, when four pedipulators are packed up, four differential driving wheels
It lands, robot can be used wheeled traveling and be advanced by differential driving wheel, as shown in Figure 3；When four pedipulators are unfolded, four
A pedipulator lands, and four differential driving wheels are propped up and are not landed, and robot can be used sufficient formula traveling and be advanced by pedipulator,
As shown in Figure 4；Each pedipulator has 12 freedom degrees that can carry out the adjustment of multiple directions simultaneously, to facilitate robot
It preferably plans travelling route, more quickly reaches target area, there are four freedom degrees, including setting to push up for mechanical arm setting
The pedestal in face, the pedestal can rotate, and be provided with large arm, which is connected with one end of forearm, the other end of forearm with
Gripper is connected, which realizes the crawl to object by horizontal open-and-close mechanism.
The 2D processing module includes A1 laser radar, which is connected by data line with single-chip microcontroller, the monolithic
The conversion for the laser data that machine is detected for A1 laser radar, convenient for being transmitted to processor.The 3D processing module includes
The chassis top of robot is arranged in RGB-D depth camera and image data buffer, the RGB-D depth camera, convenient
Front shooting to direction of travel, the image data buffer are connected by data line with RGB-D depth camera, and being used for will
The collected RGB triple channel image of RGB-D depth camera and RPI night vision cam institute is converted into multiple two-dimensional arrays and protects
Instruction to be sent or the graphics operation pre-processing instruction such as deposit.The sensor module includes gas componant detection sensor such as dioxy
Change carbon sensor, carbon monoxide transducer etc., infrared radiation sensor, life-detection instrument and Temperature Humidity Sensor, realization pair
The detection of the temperature and humidity, composition of air, infrared intensity of robot local environment.
The remote control table includes the PC machine for carrying ROS system, and the communication carried out with processor and data are transmitted
Cartographic information including having explored environment, had explored the image information of environment, had explored the composition of air of environment, infrared
The information such as radiation intensity additionally include the next step concrete action instruction that user issues, such as according to the image information of feedback, use
Family judges whether landform locating for robot is flat, and then sends wheeled still sufficient formula traveling of advancing by remote control table and refer to
It enables, object, target area etc. is for another example set.Also specific distant control function, independent navigation function break down and can not be just
When being often used, it can be worked on by remote control robot, can start and manually control node, by PC machine keyboard
QWEASDZXC key as directionkeys, believe with the map built up by the image information for cooperating RGB-D depth camera to pass back in real time
Breath, control robot work on.
The present invention also provides a kind of control methods based on Intelligent exploration robot described above, including following step
It is rapid:
Step 1: according to the graphical information that the 3D processing module of robot detects, user judges landform locating for robot
It is whether flat, and corresponding traveling mode is issued to processor by remote control table and is instructed；
Step 2: traveling mode instructs the processor of robot based on the received, pass through moving control module for controlling machine
People is advanced using wheeled still sufficient formula of advancing；
Step 3: the image information that laser intelligence or 3D processing module that robot is detected by 2D processing module detect
The target area for constructing cartographic information, and being issued according to remote control table instructs, and carries out travelling route planning, while by map
Information, image information are uploaded to remote control table in real time；
If by feedback image information user judge that landform locating for robot is flat, pass through remote control table to
Processor issues wheeled traveling instruction, and processor is packed up by four pedipulators of moving control module for controlling, and robot passes through four
A differential driving wheel is advanced, and carries out laser scanning to landform locating for robot by the A1 laser radar of 2D processing module, and
The simple cartographic information in five meters of radius is constructed by SLAM algorithm such as gmapping algorithm according to the laser intelligence of acquisition, etc.
Target area to user instructs, and automatic path planning independent navigation goes to target area after receiving instruction；If passing through feedback
Image information user judge landform locating for robot unevenness, then sufficient formula row is issued to processor by remote control table
Into instruction, processor by four pedipulator expansion of moving control module for controlling, advanced by four pedipulators, passed through by robot
The RGB-D camera of 3D processing module carries out vision shooting to landform locating for robot, and detection is recycled and relocated, then
Complicated cartographic information is constructed by SLAM algorithm such as RGB-D SLAM algorithm according to the image information of acquisition, and 2D handles mould at this time
Block stops working, and the target area of user is waited to instruct, and automatic path planning independent navigation goes to target area after receiving instruction
Domain.
Step 4: reaching target area, remote control table carries out the identification of object according to object set by user
And positioning controls the acquisition that mechanical arm carries out object by processor, otherwise carries out down if discovery object and its position
One target area is instructed to processor；
After reaching target area, robot can be by the map and revised map and its image information in its five meters of radiuses
The detection data for the also sensor module for returning, while returning together, remote control table receive the inspection of sensor module
After measured data, the detection data and current detection data comparative analysis that can be returned in conjunction with before obtain environmental variance variation feelings
Condition forms visualization curve.After remote control table receives image information, it is exposed directly to user, and on backstage using such as mesh
Before the algorithm of YOLO series be widely used carry out the identification and positioning of object, as shown in figure 5, if so, then by remotely controlling
Platform issues acquisition instructions to processor, and control mechanical arm carries out the acquisition and calibration of object, otherwise, flat by remotely controlling
Platform is issued to advance to next target area to processor and be instructed.Certainly, user can also be by calling distinct program come to working as
Preceding image carries out other processing.
Step 5: repeating step 1 to four, until the exploration of all target areas.
The present invention can obtain the laser intelligence or intricately of level terrain by 2D processing module and 3D processing module
The image information of the image information of shape and its corresponding entire environment constructs corresponding cartographic information using SLAM algorithm, uses simultaneously
The image information that family is detected according to it realizes the switching that the wheeled traveling of robot and sufficient formula are advanced, then according to the ground of building
The target area of figure information and user setting, contexture by self travel path and avoidance, furthermore it is also possible to carry out mesh to target area
Mark object identifies and positions, and facilitates mechanical arm acquisition and marking target, thus realize the working method of the multi-mode of robot,
The extreme environment that can not be reached to the mankind surveys and studies sampling, in particular for the area after disaster, Ke Yishen
Enter dangerous situation, transmit data and the position of indicator of trapped personnel, provides more reliable guarantee, while robot of the invention for rescue life
Can be with the exploration of both in-door and field environment, to cope with the changeable demand of actual conditions, and the processor of robot and long-range
Control platform is all made of Embedded System Design, to enable each function seamless connection of robot.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, without departing from the principle and essence of the present invention, a variety of changes can be made to these embodiments
It more or modifies, therefore, protection scope of the present invention is defined by the appended claims.
Claims (10)
1. a kind of Intelligent exploration robot, it is characterised in that: including remote control table, the remote control table and robot
Processor be connected, the processor is connected with 2D processing module, 3D processing module, motion-control module, 2D processing mould
Block is used to carry out laser scanning to level terrain, and handles the laser intelligence of acquisition, the 3D processing module for pair
Environment locating for robot carries out vision shooting, and handles the image information of acquisition, and the motion-control module is used for
The switching of robot traveling mode and the acquisition to object are controlled,
The processor is for receiving under laser intelligence, the corresponding cartographic information of image information building and remote control table
The target area of hair, traveling mode switching command carry out travelling route planning to robot and traveling mode switch, described remote
Process control platform is used to receive the object information of cartographic information, image information and user setting, to the image of target area
Information carries out object and identifies and positions, and issues further instruction to processor according to recognition result.
2. Intelligent exploration robot according to claim 1, it is characterised in that: the processor is for receiving laser intelligence
Simple cartographic information is constructed, image information is received and constructs complicated cartographic information, the traveling mode includes wheeled traveling and sufficient formula
It advances, wheeled advance corresponds to simple cartographic information, and the foot formula, which is advanced, corresponds to complicated cartographic information, and user is according to figure
As information issues traveling mode switching command to processor by remote control table.
3. Intelligent exploration robot according to claim 2, it is characterised in that: the simple cartographic information setting 2D
Figure, the complexity cartographic information are set as 3D map.
4. Intelligent exploration robot according to claim 2, it is characterised in that: the robot includes chassis, the bottom
Four differential driving wheels are arranged in the bottom surface of disk, and top surface is provided with mechanical arm, and a pedipulator is respectively arranged in quadrangle, and the pedipulator is set
12 freedom degrees are equipped with, when four pedipulators are packed up, four differential driving wheels land, and robot uses wheeled traveling；
When four pedipulator expansion, four pedipulators land, and robot is advanced using sufficient formula；There are four certainly for the mechanical arm setting
By spending, the pedestal including top surface is arranged in, the pedestal can be rotated, and be provided with large arm, and the one of the large arm and forearm
End is connected, and the other end of the forearm is connected with gripper, and the gripper is used for the crawl of object.
5. Intelligent exploration robot according to claim 1, it is characterised in that: further include the sensor being connected with processor
Module, for obtaining environmental information locating for robot, the remote control table is connect the sensor module by processor
Environmental information is received, and passing environmental information is combined to carry out ambient condition analysis, forms visualization change curve.
6. Intelligent exploration robot according to claim 5, it is characterised in that: the 2D processing module includes A1 laser thunder
It reaches, the 3D processing module includes RGB-D depth camera, and the sensor module includes Temperature Humidity Sensor, gas componant
Detection sensor, life-detection instrument, infrared radiation sensor, the remote control table include carrying the PC machine of ROS system, are led to
It crosses local area network or WIFI module and processor communicates.
7. according to the control method based on Intelligent exploration robot described in claim 1, it is characterised in that the following steps are included:
Step 1: according to the graphical information of the 3D processing module detection in robot, user judges that landform locating for robot is
It is no flat, and corresponding traveling mode is issued to processor by remote control table and is instructed；
Step 2: traveling mode instructs the processor of robot based on the received, adopted by moving control module for controlling robot
It is advanced with wheeled still sufficient formula of advancing；
Step 3: the image that laser intelligence or 3D processing module that the processor of robot is detected by 2D processing module detect
Information architecture cartographic information, and instructed according to the target area that remote control table issues, travelling route planning is carried out, simultaneously will
Cartographic information, image information are uploaded to remote control table in real time；
Step 4: reaching target area, remote control table carries out the identification of object according to object set by user and determines
Position controls the acquisition that mechanical arm carries out object by processor, otherwise carries out next if discovery object and its position
Target area is instructed to processor；
Step 5: repeating step 1 to four, until the exploration of all target areas.
8. the control method of Intelligent exploration robot according to claim 7, it is characterised in that: if ground locating for robot
Shape is flat, then issues wheeled traveling to processor by remote control table and instruct, processor passes through moving control module for controlling
Four pedipulators are packed up, and carry out laser scanning to landform locating for robot by 2D processing module, and according to the laser of acquisition
The simple cartographic information of information architecture；If with a varied topography locating for robot, foot is issued to processor by remote control table
Formula, which is advanced, to be instructed, and processor is by four pedipulators expansion of moving control module for controlling, by 3D processing module to institute, robot
The landform at place carries out vision shooting, and constructs complicated cartographic information according to the image information of acquisition, while 2D processing module stops
Work.
9. the control method of Intelligent exploration robot according to claim 7, it is characterised in that: the cartographic information passes through
SLAM algorithm is constructed.
10. the control method of Intelligent exploration robot according to claim 8, it is characterised in that: the simple map letter
Corresponding indoor environment is ceased, the complexity cartographic information corresponds to field environment.
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Cited By (5)
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| CN112113565A (en) * | 2020-09-22 | 2020-12-22 | 温州科技职业学院 | Robot positioning system for agricultural greenhouse environment |
| CN112605999A (en) * | 2020-12-22 | 2021-04-06 | 杭州北冥星眸科技有限公司 | Robot obstacle detection method and system based on infrared deep camera technology |
| WO2022037507A1 (en) * | 2020-08-18 | 2022-02-24 | 谈斯聪 | Amphibious exploration and examination device, system and method |
| CN114924573A (en) * | 2022-06-27 | 2022-08-19 | 国网陕西省电力有限公司电力科学研究院 | Mobile robot |
| CN117414110A (en) * | 2023-12-14 | 2024-01-19 | 先临三维科技股份有限公司 | Control method, device, terminal equipment and system of three-dimensional scanning equipment |
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