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WO2018148877A1 - Robot intelligent à double caméra et son procédé de commande - Google Patents

Robot intelligent à double caméra et son procédé de commande Download PDF

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Publication number
WO2018148877A1
WO2018148877A1 PCT/CN2017/073583 CN2017073583W WO2018148877A1 WO 2018148877 A1 WO2018148877 A1 WO 2018148877A1 CN 2017073583 W CN2017073583 W CN 2017073583W WO 2018148877 A1 WO2018148877 A1 WO 2018148877A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
user
module
intelligent robot
image
Prior art date
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.)
Ceased
Application number
PCT/CN2017/073583
Other languages
English (en)
Chinese (zh)
Inventor
骆丽娜
聂云
刘新华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Qianhai Zocom Information Technology Co Ltd
Original Assignee
Shenzhen Qianhai Zocom Information Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Qianhai Zocom Information Technology Co Ltd filed Critical Shenzhen Qianhai Zocom Information Technology Co Ltd
Priority to PCT/CN2017/073583 priority Critical patent/WO2018148877A1/fr
Publication of WO2018148877A1 publication Critical patent/WO2018148877A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the field of robot control, and in particular to a dual camera intelligent robot and a control method thereof.
  • robots are becoming more and more popular. With the miniaturization and cost reduction of robots, they have gradually entered the family life of ordinary users. For example, depending on the function of the robot, it can be generally divided into a cleaning robot, a window cleaning robot, a service robot, a care robot, and the like.
  • robots may lack effective interaction with users. For example, the robot cannot get back to the user in time.
  • the intelligent robot has a single camera direction and limited field of view.
  • the present invention provides a dual camera intelligent robot, comprising: a communication module, configured to communicate with a user's mobile terminal, and receive a user instruction, wherein the user instruction includes a current environment image of the user; a camera navigation module and a second camera navigation module, configured to locate a current location of the intelligent robot by using a captured image of the camera, and to locate a current location of the user by using the current environment image, wherein the first camera navigates
  • the module is configured to acquire a front image
  • the second camera navigation module is configured to collect an upper image
  • the control module is configured to selectively activate the first camera navigation module and the second camera navigation module, according to the smart robot
  • the current position and the current position of the user are used for navigation processing, and a motor control signal is generated; and a motor module for walking in accordance with the navigation route according to the motor control signal.
  • the communication module is a Bluetooth communication module.
  • the communication module is an infrared communication module.
  • the camera navigation module includes: an image acquisition unit configured to acquire an image by using a camera; a positioning unit configured to match the acquired image and map data and perform positioning of a current location; and a map storage unit, Used to store the map data and form a map.
  • control module includes: a user instruction receiving unit, configured to receive the user instruction from the mobile terminal; a camera selection unit, configured to selectively activate the first camera navigation module and the a second camera navigation module; a navigation processing unit, configured to perform navigation processing according to a current location of the intelligent robot and a current location of the user; and an underlying motor control unit configured to generate the motor control signal.
  • the present invention also provides a control method for a dual camera intelligent robot, comprising: communicating with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environment image of the user; using a first camera navigation module and Acquiring an image of the second camera navigation module to locate a current location of the smart robot, and using the current environment image to locate a current location of the user, wherein the first camera navigation module is configured to collect a front image, the first a second camera navigation module is configured to acquire an upper image; selectively activate the first camera navigation module and the second camera navigation module, perform navigation processing according to a current location of the smart robot and a current location of the user, and Generating a motor control signal; and walking in accordance with the navigation path in accordance with the motor control signal.
  • the step of communicating with the user's mobile terminal includes communicating using a Bluetooth module.
  • the step of communicating with the user's mobile terminal includes communicating using an infrared module.
  • the step of locating the current location of the smart robot with the captured image of the camera, and locating the current location of the user using the current environment image comprises: capturing an image with a camera; matching the Acquiring images and map data and performing local location positioning; and storing the map data and forming a map.
  • the dual camera intelligent robot and the control method thereof provided by the invention can be adaptively switched in two camera navigation modes to adapt to different usage scenarios.
  • FIG. 1 is a block diagram of a dual camera intelligent robot in accordance with an embodiment of the present invention.
  • FIG. 2 is a block diagram of the control module of Figure 1.
  • Figure 3 is a block diagram of the first and second camera navigation modules of Figure 1.
  • FIG. 4 is a flow chart showing a control method of a dual camera intelligent robot according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a dual camera intelligent robot 100 in accordance with an embodiment of the present invention.
  • the dual camera intelligent robot 100 can include a communication module 102 for communicating with a user's mobile terminal to receive user instructions, wherein the user instructions include the user's current environmental image (eg, including multiple The ceiling image of the location feature point).
  • the communication module can be a Bluetooth communication module.
  • the communication module can be an infrared communication module.
  • the dual camera intelligent robot 100 may further include a first camera navigation module 108 and a first camera navigation module 110 for positioning the smart robot 100 by using the captured image of the camera. a front position, and utilizing the current environment image to locate a current location of the user.
  • the first camera navigation module 108 is configured to collect a front image
  • the second camera navigation module 110 is configured to collect an upper image.
  • the dual camera intelligent robot 100 may further include a control module 106 for selectively activating the first camera navigation module 108 and the second camera navigation module 110 according to the current location of the intelligent robot and the current location of the user To perform navigation processing and generate motor control signals.
  • a control module 106 for selectively activating the first camera navigation module 108 and the second camera navigation module 110 according to the current location of the intelligent robot and the current location of the user To perform navigation processing and generate motor control signals.
  • the dual camera intelligent robot 100 may further include a motor module 104 for walking in accordance with the navigation route in accordance with the motor control signal.
  • the control module 106 can include a user instruction receiving unit 202 for receiving the user instruction from the mobile terminal, and a navigation processing unit 204 for determining a current location of the smart robot and The current position of the user is used for navigation processing; the bottom motor control unit 206 is configured to generate the motor control signal; and the camera selection unit 208 is configured to selectively activate the first camera navigation module and the second camera Navigation module.
  • FIG. 3 is a block diagram of the first camera navigation module 108 and the second camera navigation module 110 of FIG.
  • the camera navigation module 108/110 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the acquired image and map data and perform positioning of a current location And a map storage unit 306 for storing the map data and forming a map.
  • FIG. 4 is a flow chart of a method 400 of controlling a dual camera intelligent robot in accordance with an embodiment of the present invention.
  • the dual camera intelligent robot control method 400 can include the following steps:
  • Step 410 Communicate with a user's mobile terminal to receive a user instruction, wherein the user instruction includes a current environment image of the user.
  • the step 410 of communicating with the user's mobile terminal may include: Communicate with the Bluetooth module.
  • the step 410 of communicating with a user's mobile terminal can include communicating using an infrared module.
  • Step 420 locating a current location of the intelligent robot by using acquired images of the first camera navigation module and the second camera navigation module, and locating the current location of the user by using the current environment image, wherein the first camera The navigation module is configured to acquire a front image, and the second camera navigation module is configured to acquire an upper image.
  • step 420 can include: capturing an image with a camera; matching the acquired image with map data and performing positioning of a current location; and storing the map data and forming a map,
  • Step 430 Selectively activate the first camera navigation module and the second camera navigation module, perform navigation processing according to the current position of the intelligent robot and the current position of the user, and generate a motor control signal.
  • Step 440 Follow the navigation route according to the motor control signal.
  • the dual camera intelligent robot and the control method thereof provided by the present invention can be adaptively switched in two camera navigation modes to adapt to different usage scenarios.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot intelligent à double caméra. Le robot intelligent à double caméra comprend : un module de communication, utilisé pour communiquer avec un terminal mobile d'un utilisateur, et recevoir une instruction de l'utilisateur; un premier module de navigation à caméra et un deuxième module de navigation à caméra, utilisé pour localiser la position actuelle du robot intelligent au moyen d'images collectées par les caméras, et pour localiser la position actuelle de l'utilisateur au moyen d'images de l'environnement actuel, le premier module de navigation à caméra étant utilisé pour collecter une image avant, et le deuxième module de navigation à caméra étant utilisé pour collecter une image supérieure; un module de commande, utilisé pour démarrer sélectivement le premier module de navigation à caméra et le deuxième module de navigation à caméra, et générer un signal de commande de moteur; et un module de moteur, utilisé pour marcher conformément au signal de commande de moteur et à un itinéraire de navigation. Au moyen du robot intelligent à double caméra et d'un procédé de commande de celui-ci selon la présente invention, une commutation automatique peut être effectuée dans un mode de navigation à caméras doubles, de façon à s'adapter à différents scénarios d'utilisation.
PCT/CN2017/073583 2017-02-15 2017-02-15 Robot intelligent à double caméra et son procédé de commande Ceased WO2018148877A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073583 WO2018148877A1 (fr) 2017-02-15 2017-02-15 Robot intelligent à double caméra et son procédé de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073583 WO2018148877A1 (fr) 2017-02-15 2017-02-15 Robot intelligent à double caméra et son procédé de commande

Publications (1)

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WO2018148877A1 true WO2018148877A1 (fr) 2018-08-23

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100152945A1 (en) * 2008-12-17 2010-06-17 Samsung Electronics Co., Ltd. Apparatus and method of localization of mobile robot
CN104748738A (zh) * 2013-12-31 2015-07-01 深圳先进技术研究院 室内定位导航方法和系统
CN105549585A (zh) * 2015-12-07 2016-05-04 江苏木盟智能科技有限公司 机器人导航方法及系统
CN105571583A (zh) * 2014-10-16 2016-05-11 华为技术有限公司 一种用户位置定位方法以及服务器
CN105865471A (zh) * 2016-04-01 2016-08-17 深圳安迪尔智能技术有限公司 一种机器人导航的方法及导航机器人
CN106041950A (zh) * 2016-06-24 2016-10-26 深圳市前海康启源科技有限公司 家用机器人控制系统及方法
CN106168805A (zh) * 2016-09-26 2016-11-30 湖南晖龙股份有限公司 基于云计算的机器人自主行走的方法
CN106289187A (zh) * 2016-07-20 2017-01-04 广东大仓机器人科技有限公司 一种通过图像识别实现机器人室内定位的方法
CN106338287A (zh) * 2016-08-24 2017-01-18 杭州国辰牵星科技有限公司 基于天花板的室内移动机器人视觉定位方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100152945A1 (en) * 2008-12-17 2010-06-17 Samsung Electronics Co., Ltd. Apparatus and method of localization of mobile robot
CN104748738A (zh) * 2013-12-31 2015-07-01 深圳先进技术研究院 室内定位导航方法和系统
CN105571583A (zh) * 2014-10-16 2016-05-11 华为技术有限公司 一种用户位置定位方法以及服务器
CN105549585A (zh) * 2015-12-07 2016-05-04 江苏木盟智能科技有限公司 机器人导航方法及系统
CN105865471A (zh) * 2016-04-01 2016-08-17 深圳安迪尔智能技术有限公司 一种机器人导航的方法及导航机器人
CN106041950A (zh) * 2016-06-24 2016-10-26 深圳市前海康启源科技有限公司 家用机器人控制系统及方法
CN106289187A (zh) * 2016-07-20 2017-01-04 广东大仓机器人科技有限公司 一种通过图像识别实现机器人室内定位的方法
CN106338287A (zh) * 2016-08-24 2017-01-18 杭州国辰牵星科技有限公司 基于天花板的室内移动机器人视觉定位方法
CN106168805A (zh) * 2016-09-26 2016-11-30 湖南晖龙股份有限公司 基于云计算的机器人自主行走的方法

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