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WO2018148874A1 - Robot intelligent basé sur une navigation par caméra et son procédé de commande - Google Patents

Robot intelligent basé sur une navigation par caméra et son procédé de commande Download PDF

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Publication number
WO2018148874A1
WO2018148874A1 PCT/CN2017/073571 CN2017073571W WO2018148874A1 WO 2018148874 A1 WO2018148874 A1 WO 2018148874A1 CN 2017073571 W CN2017073571 W CN 2017073571W WO 2018148874 A1 WO2018148874 A1 WO 2018148874A1
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WO
WIPO (PCT)
Prior art keywords
user
intelligent robot
camera
mobile terminal
navigation
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/CN2017/073571
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English (en)
Chinese (zh)
Inventor
骆丽娜
聂云
金岩
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/CN2017/073571 priority Critical patent/WO2018148874A1/fr
Publication of WO2018148874A1 publication Critical patent/WO2018148874A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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 an intelligent robot based on camera navigation 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 present invention provides an intelligent robot based on camera navigation, comprising: a communication module, configured to communicate with a user's mobile terminal, receive a user instruction, and feed back a corresponding instruction result to the mobile terminal, wherein
  • the user instruction includes returning a user position from the current location of the intelligent robot to the mobile terminal, the user instruction further including a current environment image of the user; and a camera navigation module configured to locate by using the captured image of the camera a current location of the intelligent robot, and using the current environment image to locate a current location of the user; a control module configured to 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 the command result; and a motor module for walking in accordance with the navigation route in accordance with 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 navigation processing unit, configured to be based on a current location of the smart robot and the user a current position for performing navigation processing; an underlying motor control unit for generating the motor control signal; and an instruction result generating unit for generating the instruction result accordingly.
  • the present invention also provides an intelligent robot control method based on camera navigation, comprising: communicating with a user's mobile terminal to receive a user instruction, wherein the user instruction includes returning from the current location of the intelligent robot to the mobile terminal a user location, the user instruction further including a current environment image of the user; using a captured image of the camera to locate a current location of the smart robot, and using the current environment image to locate a current location of the user; Performing navigation processing on the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the command result; and walking according to the navigation route according to the motor control signal, and feeding back corresponding command results The mobile terminal.
  • 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 intelligent robot based on camera navigation provided by the invention and the control method thereof can effectively realize the interaction operation between the user and the robot, and the current position of the intelligent robot is fast in response to the user instruction. Quickly and accurately return to the user location of the mobile terminal.
  • FIG. 1 is a block diagram of an intelligent robot based on camera navigation in accordance with an embodiment of the present invention.
  • FIG. 2 is a block diagram of the control module of Figure 1.
  • FIG. 3 is a block diagram of the camera navigation module of FIG. 1.
  • FIG. 4 is a flow chart showing a method for controlling an intelligent robot based on camera navigation according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a smart camera 100 based on camera navigation in accordance with an embodiment of the present invention.
  • the camera-based intelligent robot 100 may include a communication module 102 for communicating with a user's mobile terminal (not shown), receiving user instructions, and feeding back corresponding instruction results to the mobile terminal.
  • the user instructions may include returning a user location from the current location of the intelligent robot to the mobile terminal, the user instructions may further include a current environmental image of the user (eg, a ceiling image including a plurality of location feature points) ).
  • the communication module can be a Bluetooth communication module.
  • the communication module can be an infrared communication module.
  • the camera navigation based intelligent robot 100 may further include a camera navigation module 108 for The current position of the intelligent robot 100 is located using the captured image of the camera, and the current location of the user is located using the current environmental image.
  • the intelligent robot 100 based on camera navigation may further include a control module 106 for performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the instruction result.
  • a control module 106 for performing navigation processing according to the current position of the intelligent robot and the current position of the user, and generating a motor control signal and the instruction result.
  • the intelligent robot 100 based on camera navigation may further include a motor module 104 for walking in accordance with the navigation route according to the motor control signal.
  • 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 instruction result generating unit is configured to generate the instruction result accordingly.
  • FIG. 3 is a block diagram of the camera navigation module 108 of FIG.
  • the camera navigation module 108 may include: an image acquisition unit 302 for acquiring an image by using a camera; a positioning unit 304, configured to match the collected image and map data and perform positioning of a current position;
  • the map storage unit 306 is configured to store the map data and form a map.
  • FIG. 4 is a flow diagram of a smart robot control method 400 based on camera navigation in accordance with an embodiment of the present invention.
  • the intelligent robot control method 400 based on camera navigation may include the following steps:
  • Step 410 Communicate with a user's mobile terminal, receiving a user instruction, where the user instruction includes returning a user location from the current location of the intelligent robot to the mobile terminal, the user instruction further including the user's current Environmental image.
  • the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
  • the step 410 of communicating with the user's mobile terminal may include: Communicate with the infrared module.
  • Step 420 Locating the current position of the intelligent robot by using the captured image of the camera, and using the current environment image to locate the current location of the user.
  • the step of using the captured image of the camera to locate the current location of the intelligent robot and using the current environment image to locate the current location of the user may include: capturing images using a camera; matching The captured image and map data are positioned for current location; and the map data is stored and a map is formed.
  • Step 430 Perform navigation processing according to the current location of the intelligent robot and the current location of the user, and generate a motor control signal and the instruction result.
  • Step 440 Follow the navigation route according to the motor control signal, and feed back the corresponding command result to the mobile terminal.
  • the camera-based intelligent robot and the control method thereof provided by the invention can effectively realize the interaction operation between the user and the robot, and quickly and accurately return from the current position of the intelligent robot to the user position of the mobile terminal in response to the user instruction. .

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

Abstract

Cette invention concerne un robot intelligent basé sur une navigation par caméra. Le robot intelligent comprend : un module de communication, utilisé pour communiquer avec un terminal mobile d'un utilisateur, recevoir une instruction de l'utilisateur, et renvoyer le résultat d'instruction correspondant au terminal mobile ; un module de navigation par caméra, utilisé pour localiser la position actuelle du robot intelligent en utilisant une image capturée par la caméra, et localiser la position actuelle de l'utilisateur en utilisant une image d'environnement actuel ; un module de commande, utilisé pour effectuer un traitement de navigation en fonction de la position actuelle du robot intelligent et de la position actuelle de l'utilisateur, et générer un signal de commande de moteur et le résultat d'instruction ; et un module de moteur, utilisé pour la marche en fonction du signal de commande de moteur et d'un itinéraire de navigation. Au moyen du robot intelligent basé sur une navigation par caméra et du procédé de commande associé selon l'invention, des opérations interactives entre l'utilisateur et le robot sont efficacement mises en œuvre, et un retour de la position actuelle du robot intelligent à la position de l'utilisateur du terminal mobile est mis en œuvre rapidement et avec précision en réponse à l'instruction de l'utilisateur.
PCT/CN2017/073571 2017-02-15 2017-02-15 Robot intelligent basé sur une navigation par caméra et son procédé de commande Ceased WO2018148874A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073571 WO2018148874A1 (fr) 2017-02-15 2017-02-15 Robot intelligent basé sur une navigation par caméra et son procédé de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073571 WO2018148874A1 (fr) 2017-02-15 2017-02-15 Robot intelligent basé sur une navigation par caméra et son procédé de commande

Publications (1)

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WO2018148874A1 true WO2018148874A1 (fr) 2018-08-23

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013085085A1 (fr) * 2011-12-08 2013-06-13 Lg Electronics Inc. Appareil de déplacement automatique et procédé de commande manuelle de cet appareil
CN103869814A (zh) * 2012-12-17 2014-06-18 联想(北京)有限公司 一种终端定位和导航方法以及可移动的终端
CN105259898A (zh) * 2015-10-13 2016-01-20 江苏拓新天机器人科技有限公司 一种智能手机控制的扫地机器人
CN105302131A (zh) * 2014-07-22 2016-02-03 德国福维克控股公司 借助可自主运行的设备清洁或处理空间的方法
CN105739500A (zh) * 2016-03-29 2016-07-06 海尔优家智能科技（北京）有限公司 一种智能扫地机器人的交互控制方法及装置
CN106037589A (zh) * 2015-04-16 2016-10-26 Lg电子株式会社 机器人清洁器

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013085085A1 (fr) * 2011-12-08 2013-06-13 Lg Electronics Inc. Appareil de déplacement automatique et procédé de commande manuelle de cet appareil
CN103869814A (zh) * 2012-12-17 2014-06-18 联想(北京)有限公司 一种终端定位和导航方法以及可移动的终端
CN105302131A (zh) * 2014-07-22 2016-02-03 德国福维克控股公司 借助可自主运行的设备清洁或处理空间的方法
CN106037589A (zh) * 2015-04-16 2016-10-26 Lg电子株式会社 机器人清洁器
CN105259898A (zh) * 2015-10-13 2016-01-20 江苏拓新天机器人科技有限公司 一种智能手机控制的扫地机器人
CN105739500A (zh) * 2016-03-29 2016-07-06 海尔优家智能科技（北京）有限公司 一种智能扫地机器人的交互控制方法及装置

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