CN201565952U - Wheeled Intelligent Autonomous Mobile Service Robot - Google Patents

Abstract

The utility model discloses a wheeled intelligent autonomous mobile service robot, which is divided into an upper part and a lower part arranged on a chassis, including: a control system, a motion mechanism, an embedded single-board computer, a pan-tilt camera and a sensor; the motion mechanism, through Motor drive and/or controller for control; industrial computer, connected to the motor drive and/or controller through the serial port; PTZ camera, control the orientation and angle of the PTZ camera through the serial port, provide the environment information around the robot, and collect it The information of the robot is connected to the embedded computer through the image acquisition card; the sensors are set on the upper and lower parts of the robot, and are connected to the embedded computer after information processing; the upper and lower parts of the robot are folded and connected through the upper connecting plate and the lower connecting There is a horizontal folding axis and/or insertion and insertion between the boards; the robot can realize autonomous obstacle avoidance based on ultrasonic sensors, which improves the ability of positioning, navigation and map construction in some non-artificial environments.

Description

Wheeled Intelligent Autonomous Mobile Service Robot

technical field

The utility model relates to an intelligent mobile service robot platform of electromechanical integration and computer technology, in particular to an autonomous intelligent mobile robot.

Background technique

The United States, Germany, the United Kingdom and other developed countries in Europe and the United States started the research and development of service robot products in the mid-1970s. The workstation robots and carry-on robots they developed were one of the more successful service robots that entered the market at that time. In the early 1990s, the European Union proposed the TIDE program, which aims to promote technology research and development to meet social and industrial requirements, improve the quality of life of the disabled and the elderly, and improve the development level of the European industrial and service market. In the 21st century, the French Academy of Sciences and the German Federal Research Institute respectively proposed the Bobea and GURP plans to actively promote the research of service robots. The US government's support for service robots focuses on combat robots and anti-terrorism robots. The "Nurse Assistant" robot launched in the widely used in hospitals.

In our country, the research of robot technology itself started relatively late, and the research of intelligent service robot has a big gap with the advanced level in the world. In recent years, with the extensive and in-depth research on artificial intelligence technology, the theoretical research on service robot technology in my country is gradually deepening. With the development of the economy and the sharp increase of the aging population, the demand for service robots is also increasing. For this reason, in June 2005, the Department of High-tech and Industrialization of the Ministry of Science and Technology invited relevant enterprises and industry experts in the field of advanced manufacturing and automation technology of the National 863 Program to hold a "service robot" development strategy seminar in Beijing. The expert group analyzed the domestic demand and put forward the development goals of service robots during the "Eleventh Five-Year Plan" period in consideration of the actual technical foundation of our country. Many domestic scientific research institutions have begun to study this aspect. In April 2007, following the development of the intelligent service robot "Qingqing", Harbin Institute of Technology developed a new type of intelligent service robot. leading level. But its range of activities is very limited, and it is far from the goal of high intelligence.

However, with the further development of computer technology and artificial intelligence technology, the research on intelligent mobile service robots has undeniably become an important field of robot research and has become a hot spot in the research field. The research directions mainly include machine vision, multi-sensor fusion technology, robot Navigation and positioning technology, autonomous human-computer cooperation, human-computer interaction, etc., and these research contents need an open and reliable experimental platform to prove these methods and theories in practice, so the development is based on the family A highly reliable and open robot experiment platform for services and universities has great market potential and research significance.

The key technologies of wheeled intelligent autonomous mobile robots mainly include navigation and positioning based on machine vision and tracking of moving objects, voice interaction technology based on robot platforms, control technology of mobile robots, control technology of robot motion mechanisms, sensor technology, etc.

Machine vision is a very cutting-edge technology, and it is also a hotspot in artificial intelligence research. It is also a sensor for robots to obtain a large amount of surrounding environment information. During the operation of machine vision, the amount of data is large and the real-time performance is poor, which affects the practical application of machine vision. And a lot of machine vision navigation systems based on road signs use the method of manual road signs, which is also poor in practicability.

Utility model content

The purpose of this utility model is to provide a method of using machine vision to locate and navigate in real time. Using this method, the topological map of the surrounding environment where the robot is located can be obtained in real time, mainly by using the natural salience of the machine vision to the surrounding environment when the robot roams in the environment. Identify road signs, construct topological nodes, and form a topological map of the environment.

The utility model is realized by adopting the following technical means:

A wheeled intelligent autonomous mobile service robot, which is divided into an upper part and a lower part arranged on a chassis, including: a control system, a motion mechanism, an embedded single-board computer, a pan-tilt camera, and a sensor; the motion mechanism is driven by a motor and/or The controller is used for control; the industrial computer is connected to the motor drive and/or controller through the serial port; the pan-tilt camera is used to control the orientation and angle of the pan-tilt camera through the serial port, to provide the environmental information around the robot, and the collected information is collected through the image The card is connected to the embedded single-board computer; the sensors are set on the upper and lower parts of the robot, and are connected to the embedded computer after information processing; the upper and lower parts of the robot are folded and connected through the upper and lower connecting plates, between the upper and lower connecting plates Equipped with horizontal folding axis and/or push-in;

The aforesaid sensors are distributed in such a way that the bottom five form a semicircle, and the top two are arranged side by side.

The aforementioned sensors are distributed on five prisms that bisect 180°, each occupying a range of 36°.

The left and right sides of the aforementioned chassis are equipped with DC brushed servo motors inheriting encoders and reducers, and a universal follower wheel is respectively installed on the vertical line of the driving wheel axis.

Compared with the prior art, the utility model has the following obvious advantages and beneficial effects:

The robot of the utility model can realize autonomous obstacle avoidance according to the ultrasonic sensor, roam in the environment, record the surrounding environment information through the pan-tilt camera at the same time, construct the topological map of the environment, and can also realize the identification and tracking of specific targets. In addition, the robot has good The human-computer interaction function of the robot can be controlled by voice through the microphone carried by the robot itself, as well as short conversations and self-introduction. The ability of positioning, navigation and map building in some non-man-made environments has been improved, making the robot's range of activities from indoors to wider outdoors, which also provides a theoretical basis and some methods for robots to better serve humans.

Description of drawings

Fig. 1 is the overall appearance diagram of the wheeled intelligent autonomous mobile service robot of the present invention;

Fig. 2 is the folding mechanism of the utility model wheeled intelligent autonomous mobile service robot;

Fig. 3 is a schematic block diagram of the control system of the wheeled intelligent autonomous mobile service robot of the present invention.

Detailed ways

As shown in Figure 1, the wheeled intelligent autonomous mobile service robot ROBUT-I belongs to the general service robot experimental platform. The main robot ultrasonic sensor is composed of upper and lower parts, and the lower part is composed of five ultrasonic sensors to form a semicircle (part 7 in the figure). , can realize obstacle detection within the range of 180° in front. Since the home service robot itself is high, it is possible to encounter obstacles in the air, so two parallel ultrasonic sensors (part 6 in the figure) are also installed on the upper part of the robot. The judgment and avoidance of high-altitude obstacles have been realized.

Another feature of the robot is that the robot adopts a folding mechanism, as shown in Figure 2, so that the robot can be easily folded during handling and storage, which is beneficial to handling and storage; the movement mechanism of the robot consists of two driving wheels and two Composed of universal driven wheels, the driving wheel is driven by a motor integrated with a reducer and an encoder. In order to ensure that the robot can still maintain a good grip when passing through potholes, a suspension system is designed so that the driving wheel can always be maintained. Grip, the driving mode of the robot adopts the differential drive of two wheels, the driving wheel is the component 2 in Figure 1, it can move forward and backward at will, change the direction quickly, and can also rotate around its own center of mass with zero radius, so that it can It is easy to enter and exit narrow places. The appearance of the robot is shown in Figure 1. It is mainly a service robot. The structure of the chassis is very suitable for the service robot. The center of gravity is low and the operation is relatively stable. Too much impact is more conducive to the stability of the robot. In addition, the robot's control system adopts a distributed structure, and the robot's sensor data processing and servo motion control are all processed in parallel by independent DSPs, which is conducive to enhancing the real-time performance of the robot so that it can respond quickly to complex situations in the surrounding environment , to enhance the safety of the robot.

The lower part of the robot adopts a wheeled mobile platform, and the upper part adopts a humanoid shape, which can give full play to the characteristics of the easy control of the wheeled structure and the strong operating ability of the humanoid structure, and also meets the purpose of the service robot serving people. In order to solve the problem of robot It may be blocked by half-height obstacles (such as a large four-legged table), and the lower ultrasonic sensor may not be able to detect the table legs, so that the robot may pass under the table. In this way, danger will occur. In order to avoid this If this happens, we have made a special design for the layout of the robot’s sensors, almost forming a spatial network. The two sensors arranged in the upper part can be used to solve the above situation, and the sensors in the lower part are distributed on five independent iron plates. , these five iron plates divide the angle of 180° into five parts, each with an angle of 36°, as shown in part 7 in Figure 1.

As shown in Figure 2, the diagram shows the folding mechanism of the wheeled intelligent autonomous mobile service robot ROBUT-I, in which the lower connecting plate 8 is used to connect with the chassis, while the upper connecting plate 11 is used to connect with the upper body of the robot. The folding principle is The movement and fixation of the movable part (part 10 in Fig. 2) are realized mainly through the pulling and inserting of the folding shaft (part 9 in Fig. 2). Function of shaft and fixed pin. This not only simplifies the structure, but also makes it more convenient to use.

Figure 3 shows that the wheeled intelligent autonomous mobile service robot of the present invention includes: a motion mechanism, a sensor system, a voice system, a power supply system, a vision system, a monitoring system, and the like. The implementation of the specific electronic system is as follows:

Power supply: The power supply provided by ROBUT-I is provided by two 12V lead-acid storage batteries connected in series, and its capacity is 12Ah, which can basically be guaranteed. The operating voltage of the camera) is 12V and 5V, which are provided by two batteries after converting the voltage.

Embedded single-board computer: adopts intel965GM chipset, T6500 processor and 1G memory, with high performance and low power consumption. The industrial computer is equipped with two gigabit network cards and PC104+ data bus. The industrial computer is connected through a serial port The sensor system, motor drive/controller and control parameters such as pitch angle, rotation angle and automatic zoom of the pan-tilt camera.

DC motor drive/controller: The motor control system consists of a motion control card and two servo drives. The upper computer sends commands such as forward, backward, and rotation to the motion control card through the RS-422 serial port, and then the motion control card controls the servo driver to demodulate the pulse width modulation signal to control the rotation speed and direction of the motor. Thereby driving the motion mechanism to realize various actions to ensure the completion of the robot task.

PTZ camera and image acquisition card: The environmental information collected by the PTZ camera is sent back to the host computer through the image acquisition card, and the powerful data processing and computing functions of the host computer are used to process the image data, which enhances the real-time response of the robot, and can Complete complex algorithms such as recognition.

Ultrasonic sensors and DSP information processing: The sensor system of ROBUT-I is a space network and a cloud network composed of five ultrasonic rings at the bottom (part 7 in Figure 1) and two side-by-side ultrasonic sensors at the top (part 6 in Figure 1). camera, photoelectric encoder, gyroscope. Accelerometer composition. The ultrasonic sensor mainly completes the detection of obstacles 180° in front of the ROBUT-I chassis and directly in front of the space, so as to ensure that the robot will not be damaged by hitting some obstacles. The pan-tilt camera mainly completes the extraction of visual information, which can Functions such as free rotation and automatic focus can complete tasks such as active visual positioning, navigation and moving target tracking.

DC motor drive/controller: The motor drive of the robot is composed of a motion control card based on the ARM structure and two servo drivers. The gyroscope and accelerometer are integrated on the motion control card, which is mainly used for robot pose acquisition and steering Precision control, and the optical encoder is integrated on the motor, which is mainly used to measure the relative moving distance of the robot, and its information is mainly used to construct the map and complete the dead reckoning in the positioning of the robot navigation.

Human-machine voice interaction module: In order to enhance the human-computer interaction performance of the robot, we have also developed a human-machine voice interaction module. A microphone is connected to the single-board embedded computer, which is mainly used for receiving voice commands and information, and can control the robot to move forward and backward. Or rotate a certain angle and other actions, it can also realize the functions of brief greetings between man and machine or the self-introduction of the robot.

Positioning and navigation module based on natural landmarks: This robot can use natural landmarks for navigation and positioning and construct topological maps of the environment, making full use of the characteristics of large amounts of information in visual sensors. This is also the development trend of mobile robot positioning and navigation. This system is no longer Using artificial targets, it is possible to perform movements and tasks in a more complex and non-artificial environment, and to build a topological map of the environment it has traveled through, and to use the map to achieve path planning and robot positioning and navigation.

Overall performance index of wheeled intelligent autonomous mobile service robot:

Appearance: The lower part is a motion platform, and the upper part is a humanoid robot, as shown in Figure 1.

Motion platform parameters: width: 40cm, length: 70cm, height: 120cm, weight: 35kg, load: 20kg.

Maximum linear velocity: 1m/s, maximum angular velocity: 3rad/s, zero radius rotation.

Motor: DC brushed servo motor.

Gear train structure: two main drive wheels, two balance theory orthogonal arrangements (components 1 and 2 in Figure 1, wherein 2 is the driving wheel, and 1 is the follower universal wheel).

Sensor system: a semicircle composed of five ultrasonic sensors and a space array composed of two side by side (parts 6 and 7 in Figure 1, wherein part 6 is two side-by-side ultrasonic sensors, and part 7 is an ultrasonic semicircle composed of five sensors. Ring), which can effectively detect obstacles in the 180° range in front of the robot chassis and in front of the space, and has an independent DSP processor, which can reduce the burden of data processing on the host computer, and can realize real-time processing of sensor data and action response; The motion control card integrates gyroscopes and accelerometers, which can effectively ensure the accuracy of the robot's motion state and rotation angle, and ensure that the robot can move forward according to the planned path.

Vehicle-mounted main control computer: embedded single-board computer, core2 T6500 processor, 1G RAM, PC104+ bus, RS485/422/232 serial port embedded industrial computer.

Control system: The core of the control system is the embedded single-board computer, which coordinates and integrates various independent modular systems; the modular system mainly includes: sensor system, motion control system and vision system, etc., each system through Serial port and embedded single-board computer for real-time communication. All information is fused by the embedded single-board computer to complete the final decision.

Salient natural landmark navigation system: The salient natural landmark navigation system can realize the autonomous roaming of the robot in the location environment, extract the prominent natural landmark calibration nodes in the environment, construct the topological map of the location environment, and realize the navigation in the environment according to the topological map and path planning.

Voice interaction module: developers can realize the voice control of the robot through the microphone carried by the robot itself and can complete a short human-robot dialogue. In addition, the robot can make some brief self-introductions.

The manipulation of the mobile robot can be realized by issuing voice commands. The sensor system is composed of ultrasonic sensors, pan-tilt cameras and photoelectric encoders, and can realize the construction of environmental topological maps and map-based navigation in unknown environments through visual sensors. Positioning and path planning, the robot has a good human-computer interaction function, and can have short conversations and self-introduction with people.

Claims (4)

1. A wheeled intelligent autonomous mobile service robot is divided into an upper part and a lower part arranged on the chassis, including: a control system, a motion mechanism, an industrial computer, a pan-tilt camera and a sensor; it is characterized in that: The motion mechanism is controlled by a motor drive and/or a controller; The embedded single-board computer is connected to the motor drive and/or controller through a serial port; Described pan-tilt camera controls the orientation and angle of the pan-tilt camera through the serial port, provides environmental information around the robot, and the information it collects is connected to the embedded computer through the image acquisition card; The sensors are arranged on the upper and lower parts of the robot, and are connected to the embedded computer after information processing; The upper part and the lower part of the robot are folded and connected through the upper connecting plate and the lower connecting plate, and a horizontal folding axis and/or insertion and insertion are arranged between the upper and lower connecting plates. 2. The wheeled intelligent autonomous mobile service robot according to claim 1, characterized in that: five sensors are distributed in the lower part to form a semicircle, and the upper two are arranged side by side. 3. The wheeled intelligent autonomous mobile service robot according to claim 1, wherein the sensors are distributed on five prisms that bisect 180°, each occupying a range of 36°. 4. The wheeled intelligent autonomous mobile service robot according to claim 1, characterized in that: the left and right sides of the chassis are equipped with DC brushed servo motors inheriting encoders and reducers, each on the vertical line of the drive wheel axis. Install a universal follower wheel.

Images