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WO2018148878A1 - Robot intelligent pouvant ajuster de manière adaptative un champ visuel, et procédé de commande associé - Google Patents

Robot intelligent pouvant ajuster de manière adaptative un champ visuel, et procédé de commande associé Download PDF

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Publication number
WO2018148878A1
WO2018148878A1 PCT/CN2017/073586 CN2017073586W WO2018148878A1 WO 2018148878 A1 WO2018148878 A1 WO 2018148878A1 CN 2017073586 W CN2017073586 W CN 2017073586W WO 2018148878 A1 WO2018148878 A1 WO 2018148878A1
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WO
WIPO (PCT)
Prior art keywords
user
field
camera
module
intelligent robot
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/CN2017/073586
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English (en)
Chinese (zh)
Inventor
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/CN2017/073586 priority Critical patent/WO2018148878A1/fr
Publication of WO2018148878A1 publication Critical patent/WO2018148878A1/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 with adaptive field of view 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 an intelligent robot for adaptive adjustment of a field of view, comprising: a communication module for communicating with a user's mobile terminal to receive user instructions, wherein the user instruction includes the current environment of the user An image navigation module, configured to use a captured image of the camera to locate a current location of the intelligent robot, and use the current environment image to locate a current location of the user; a field of view adjustment module, the camera navigation module Adjusting the field of view of the camera to a first field of view mode facing forward or a second field of view mode facing upwards, the field of view adjustment module being a mechanical axial rotation structure; and a control module for setting the field of view adjustment module Adjusting the camera field of view of the camera navigation module, 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 a motor module for The machine controls the signal and follows the navigation route.
  • a communication module for communicating with a user's mobile terminal to receive user instructions, wherein the user instruction includes the current environment of
  • 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; and a field of view selecting unit configured to set the field of view adjustment module to display the camera
  • the camera field of view of the navigation module is adjusted to a front facing first field of view mode or an upward facing second field of view mode; a navigation processing unit for navigating according to the current position of the intelligent robot and the current position of the user Processing; an underlying motor control unit for generating the motor control signal.
  • the present invention also provides a method for controlling an intelligent robot of visual field adaptive adjustment, comprising: communicating with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and utilizing a mechanical axis Adjusting the camera field of view to a front facing first field of view mode or an upward facing second field of view mode to the rotating structure; utilizing the captured image of the camera to locate the current position of the intelligent robot, and utilizing the current environment image Positioning the current location of the user; performing navigation processing according to the current location of the intelligent robot and the current location of the user, and generating a motor control signal; and walking according to the navigation route according to 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 Captured images and map data and set the current position Bits; and storing the map data and forming a map.
  • the intelligent robot with adaptive field of view provided by the invention and the control method thereof can be adaptively switched in two field modes to adapt to different usage scenarios.
  • FIG. 1 is a block diagram of an intelligent robot for field of view adaptive adjustment 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 control method of an intelligent robot for visual field adaptive adjustment according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of an intelligent robot 100 for field of view adaptive adjustment in accordance with an embodiment of the present invention.
  • the visual field adaptively adjusted 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, , a ceiling image containing multiple location feature points).
  • the communication module can be a Bluetooth communication module.
  • the communication module can be an infrared communication module.
  • the visual field adaptively adjusted intelligent robot 100 may further include a camera navigation module 110 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 field of view adaptively adjusted intelligent robot 100 may further include a field of view adjustment module 108 that adjusts the camera field of view of the camera navigation module 110 to a front facing first field of view mode or an upward facing second field of view mode, the view
  • the field adjustment module 108 is a mechanical axially rotating structure.
  • the field of view adaptively adjusted intelligent robot 100 may further include a control module 106 for setting the field of view adjustment module 108 to adjust the camera field of view of the camera navigation module 110 (eg, facing forward or facing upward), Navigation processing is performed according to the current position of the intelligent robot and the current position of the user, and a motor control signal is generated.
  • a control module 106 for setting the field of view adjustment module 108 to adjust the camera field of view of the camera navigation module 110 (eg, facing forward or facing upward), Navigation processing is performed according to the current position of the intelligent robot and the current position of the user, and a motor control signal is generated.
  • the field of view adaptively adjusted 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 field of view selection unit 208 is configured to set the field of view adjustment module to the camera navigation module The camera field of view is adjusted to a front facing first field of view mode or an upward facing second field of view mode.
  • FIG. 3 is a block diagram of the camera navigation module 110 of FIG.
  • the camera navigation module 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;
  • the map storage unit 306 is configured to store the map data and form a map.
  • FIG. 4 is a flow chart of a method 400 of controlling an intelligent robot for field of view adaptive adjustment in accordance with an embodiment of the present invention.
  • control method 400 of the visual field adaptively adjusted intelligent robot may include the following steps. Step:
  • Step 410 Communicate with a user's mobile terminal, receiving a user instruction, wherein the user instruction includes a current environmental image of the user, and adjusting a camera field of view to a front-facing first field of view mode by using a mechanical axial rotation structure Or the second field of view mode facing up.
  • the step 410 of communicating with a user's mobile terminal can include communicating using a Bluetooth module.
  • the step 410 of communicating with a user's mobile terminal can include communicating using an 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.
  • 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 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.
  • Step 440 Follow the navigation route according to the motor control signal.
  • the intelligent field of view field adaptive adjustment provided by the present invention and the control method thereof can be adaptively switched in two field of view modes to adapt to different usage scenarios.

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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)
  • Manipulator (AREA)

Abstract

La présente invention a trait à un robot intelligent (100) qui peut ajuster de manière adaptative un champ visuel, et qui comprend : un module de communication (102) servant à communiquer avec un terminal mobile d'un utilisateur, et à recevoir une instruction de l'utilisateur ; un module de navigation à caméra (110) servant à localiser la position courante du robot intelligent (100) à l'aide d'images collectées par une caméra, et à localiser la position courante de l'utilisateur à l'aide d'images d'environnement courant ; un module d'ajustement de champ visuel (108) permettant d'ajuster un champ visuel de caméra du module de navigation à caméra (110) dans un mode de premier champ visuel orienté vers l'avant ou un mode de second champ visuel orienté vers le haut ; un module de commande (106) servant à effectuer un traitement de navigation en fonction de la position courante du robot intelligent et de la position courante de l'utilisateur, et à générer un signal de commande de moteur ; ainsi qu'un module moteur (104) servant à faire marcher le robot en fonction du signal de commande de moteur et d'un itinéraire de navigation. La présente invention concerne également un procédé de commande pour le robot intelligent qui peut ajuster de manière adaptative un champ visuel. À l'aide du robot intelligent et d'un procédé de commande associé, une commutation adaptative peut être effectuée dans un mode de navigation de deux champs visuels, de façon à s'adapter à différents scénarios d'utilisation.
PCT/CN2017/073586 2017-02-15 2017-02-15 Robot intelligent pouvant ajuster de manière adaptative un champ visuel, et procédé de commande associé Ceased WO2018148878A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073586 WO2018148878A1 (fr) 2017-02-15 2017-02-15 Robot intelligent pouvant ajuster de manière adaptative un champ visuel, et procédé de commande associé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/073586 WO2018148878A1 (fr) 2017-02-15 2017-02-15 Robot intelligent pouvant ajuster de manière adaptative un champ visuel, et procédé de commande associé

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WO2018148878A1 true WO2018148878A1 (fr) 2018-08-23

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109889982A (zh) * 2019-03-08 2019-06-14 芋头科技（杭州）有限公司 定位导航数据采集系统及方法
CN115279170A (zh) * 2020-01-06 2022-11-01 苏州宝时得电动工具有限公司 一种自动工作系统

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CN205229802U (zh) * 2015-12-07 2016-05-11 江苏木盟智能科技有限公司 机器人导航系统
US20160147230A1 (en) * 2014-11-26 2016-05-26 Irobot Corporation Systems and Methods for Performing Simultaneous Localization and Mapping using Machine Vision Systems
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CN105953798A (zh) * 2016-04-19 2016-09-21 深圳市神州云海智能科技有限公司 移动机器人的位姿确定方法和设备
CN106020201A (zh) * 2016-07-13 2016-10-12 广东奥讯智能设备技术有限公司 移动机器人3d导航定位系统及导航定位方法
CN106054897A (zh) * 2016-07-18 2016-10-26 旗瀚科技有限公司 一种可以进行人体跟随的机器人

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US20160147230A1 (en) * 2014-11-26 2016-05-26 Irobot Corporation Systems and Methods for Performing Simultaneous Localization and Mapping using Machine Vision Systems
KR20160100149A (ko) * 2015-02-13 2016-08-23 삼성전자주식회사 청소 로봇 및 그 제어방법
CN105352508A (zh) * 2015-10-22 2016-02-24 深圳创想未来机器人有限公司 机器人定位导航方法及装置
CN205229802U (zh) * 2015-12-07 2016-05-11 江苏木盟智能科技有限公司 机器人导航系统
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109889982A (zh) * 2019-03-08 2019-06-14 芋头科技（杭州）有限公司 定位导航数据采集系统及方法
CN115279170A (zh) * 2020-01-06 2022-11-01 苏州宝时得电动工具有限公司 一种自动工作系统
US20230337577A1 (en) * 2020-01-06 2023-10-26 Positec Power Tools (Suzhou) Co., Ltd. Automatic operation system
CN115279170B (zh) * 2020-01-06 2024-05-10 苏州宝时得电动工具有限公司 一种自动工作系统

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