CN105487558A - Object following system based on mobile robot and method - Google Patents
Object following system based on mobile robot and method Download PDFInfo
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- CN105487558A CN105487558A CN201510982019.5A CN201510982019A CN105487558A CN 105487558 A CN105487558 A CN 105487558A CN 201510982019 A CN201510982019 A CN 201510982019A CN 105487558 A CN105487558 A CN 105487558A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000008569 process Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 239000002390 adhesive tape Substances 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000002310 reflectometry Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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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
- G05D1/12—Target-seeking control
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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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)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an object following system based on a mobile robot and a method. The object following system comprises a mobile robot; the mobile robot comprises a laser sensor which is used for scanning a laser reflection body and outputting the scanning result data, a sensor driving unit which is used for driving the laser sensor to rotate in a preset angle range, a relative position determination unit which is used for determining the relative position of the laser sensor and the laser reflection body according to scanning result data outputted by the laser sensor and outputting relative position data, and a motion control unit which is connected to the relative position determination unit and is used for controlling the motion of the mobile robot according to the relative position data and the set object relative position. The object following system also comprises a laser reflection body which is arranged on the object to be followed which is followed by the mobile robot for the laser sensor to scan. The invention can realize the autonomous following of the object by the robot indoor and outdoor.
Description
Technical field
The invention belongs to robot application technical field, specifically, relate to the target system for tracking based on mobile robot and method.
Background technology
In the modern life, often there will be following scene: workman in tow tool box and various consumable accessory constantly beats up and down, and overhauls or assemble production line; Peasant pushes the fruits and vegetables of car to maturation and plucks; Old man hauls shopping cart to market shopping.No matter be which kind of scene, all need people directly to contact with means of transport or transporting objects, expend energy on and muscle power, work efficiency and quality of the life lower.
The object of robot development is the conveniently mankind, and for above-mentioned scene, studying a kind of target system for tracking based on robot and method, is technical matters urgently to be resolved hurrily.
Summary of the invention
The object of this invention is to provide a kind of target system for tracking based on robot and method, realize indoor and outdoor robot independently following target.
For achieving the above object, target system for tracking provided by the invention adopts following technical proposals to be achieved:
Based on a mobile robot's target system for tracking, comprise mobile robot, described mobile robot comprises:
Laser sensor, for scanning laser reflector and exporting scanning result data;
Sensor driving unit, rotates within the scope of set angle for driving described laser sensor;
Relative position determining unit, the described scanning result data for exporting according to described laser sensor determine the relative position of described laser sensor and described laser reflector, and export station-keeping data;
Motion control unit, is connected with described relative position determining unit, for controlling the motion of mobile robot according to described station-keeping data and target setting relative position;
Described target system for tracking also comprises:
Laser reflector, for be arranged on described mobile robot to be followed follow target, for the scanning of described laser sensor.
Preferably, described laser reflector is laser reflection adhesive tape, and reflectivity is high, can identify under the various complex environment of indoor and outdoor.
Target system for tracking as above, described station-keeping data comprises described laser sensor relative to the longitudinal separation of described laser reflector and horizontal-shift angle.
Target system for tracking as above, described mobile robot also comprises:
Man-machine interaction administrative unit, for realizing the man-machine interaction of the communication of described mobile robot, display, configuration and management; And
Safe unit, detects the safe condition of described mobile robot self, perform corresponding alert process, and whether dynamic monitoring exists barrier in robot kinematics, and carry out when there is barrier dodging process for timing.
Target system for tracking as above, described mobile robot also comprises:
Communication interface unit, for the external communication of described mobile robot;
Positioning unit, for the location of described mobile robot's self-position.
For realizing aforementioned invention object, target follower method provided by the invention adopts following technical proposals to realize:
Based on a mobile robot's target follower method, described method comprises:
Adopt laser sensor to rotate within the scope of set angle, scan setting is following the laser reflector in target, and exports scanning result data;
The described scanning result data exported according to described laser sensor determine the relative position of described laser sensor and described laser reflector, and export station-keeping data;
Control the motion of mobile robot according to described station-keeping data and target setting relative position, realize following following of target to described.
Preferably, described laser reflector is laser reflection adhesive tape.
Target follower method as above, described station-keeping data comprises described laser sensor relative to the longitudinal separation of described laser reflector and horizontal-shift angle.
Target follower method as above, controls the motion of mobile robot, specifically comprises according to described station-keeping data and target setting relative position:
According to the speed of described laser sensor relative to the Distance geometry target setting distance controlling mobile robot of described laser reflector; And
Relative to the horizontal-shift angle of described laser reflector and target setting deviation angle differential adjustment is carried out to described mobile robot according to described laser sensor or front-wheel steer angle regulates.
Compared with prior art, advantage of the present invention and good effect are: target system for tracking provided by the invention and follower method, by arranging laser sensor on mobile robot, laser reflector is set following in target, known and the relative position of following target by laser sensor real time scan laser reflector, and then can follow in real time following target according to relative position, system architecture is simple, it is convenient to lay and apply, laser sensor sweep velocity is fast, positioning precision is high, be suitable for indoor, following from major heading under outdoor various complex environment.
After reading the specific embodiment of the present invention by reference to the accompanying drawings, the other features and advantages of the invention will become clearly.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the target system for tracking embodiment that the present invention is based on mobile robot;
Fig. 2 is the process flow diagram of the target follower method embodiment that the present invention is based on mobile robot.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in further detail.
Refer to Fig. 1, this figure is depicted as the structured flowchart of the target system for tracking embodiment that the present invention is based on mobile robot.
As shown in Figure 1, the target system for tracking of this embodiment includes mobile robot 10 and laser reflector 20.Wherein, mobile robot 10 comprises:
Laser sensor 11, is arranged on the assigned address of mobile robot, for scanning laser reflector 20, and exports scanning result data.
Sensor driving unit 12, rotate within the scope of set angle for driving laser sensor 11, such as, driving laser sensor 11 rotates in the angular range of 270 °, the sweep limit of expansion of laser light sensor 11, the real-time that raising target is followed and Position location accuracy.
Relative position determining unit 13, is connected with laser sensor 11, for the relative position of the scanning result data determination laser sensor 11 exported according to laser sensor 11 and the laser reflector 20 scanned, and exports station-keeping data.
Motion control unit 14, be connected with relative position determining unit 13, the motion of mobile robot is controlled for the station-keeping data exported according to relative position determining unit 13 and the target setting relative position prestored, and then, realize mobile robot to following independently following of target, and with follow target and keep target setting relative position.
And laser reflector 20 can be one or more, what be set to that mobile robot will follow follows in target, scans for the corresponding construction on mobile robot.Wherein, laser reflector 20 is preferably laser reflection adhesive tape, and not only reflectivity is high, and laser sensor 11 is not subject to the interference of external environmental light line when scanning, and scanning accuracy is high, and laser reflection adhesive tape be convenient to follow in target fixing.
The target system for tracking of said structure, by performing the software program of setting, realizes following independently following of target according to the method flow of Fig. 2.
As preferred embodiment, in this embodiment, target system for tracking can also comprise:
Man-machine interaction administrative unit 15, for realizing the man-machine interaction of the communication of mobile robot, display, configuration and management.
Safe unit 16, for the safe condition of timing shift detection mobile robot self, perform corresponding alert process, and whether dynamic monitoring exists barrier in robot kinematics, and carries out when there is barrier dodging process.
Communication interface unit 17, as CAN interface, USB interface, serial ports, network interface etc., for the external communication of mobile robot.Such as, the positional information of externally transmission self; Realize the function such as lifting, carrying additional on mobile robot.
Positioning unit 18, as GPS locator, inertial navigation locating device etc., for realizing the location of mobile robot 10 self-position.And then, by the location to mobile robot's self-position, realizing the location to following target, being suitable for the nurse of old man, child.
Refer to Fig. 2, this figure is depicted as the process flow diagram of the target follower method embodiment that the present invention is based on mobile robot, specifically, is the method for following based on the part-structure realize target of the system for tracking of Fig. 1 embodiment.
As shown in Figure 2, this embodiment realizes comprising the steps: based on the target follower method of mobile robot
Step 31: adopt laser sensor to rotate within the scope of set angle, scan setting is following the laser reflector in target, and exports scanning result data.
Before realization is followed, laser reflector is set following in target.Such as, human body be followed, then want the assigned address on follower's body, laser reflector is set as back.Preferably, laser reflector is higher, the general laser reflection adhesive tape for blank sheet of paper reflectivity about 3 times of reflectivity, and light source is insensitive to external world, is not subject to the interference of external environment, and scanning accuracy is high.
After target follows beginning, open mobile robot, the sensor driving unit driving laser sensor in robot set angle scope, as 270 ° within the scope of rotate, real time scan is carried out to laser reflector.After scanning laser reflector, export scanning result data.
By choose reasonable and arrange laser sensor and laser reflector, easily control laser sensor and only identify the laser reflector of specifying, improve recognition accuracy.
Step 32: the scanning result data determination laser sensor exported according to laser sensor and the relative position of laser reflector, and export station-keeping data.
After getting scanning result data, filtering process is carried out to data, filtering interfering.Then, to the data analysis process being positioned at set distance range, calculate laser sensor and the station-keeping data of laser reflector scanned.Specifically, station-keeping data comprises laser sensor relative to the longitudinal separation of laser reflector and horizontal-shift angle.Filtering and analyzing and processing are carried out to scanning result data, obtains laser sensor and can adopt prior art to realize relative to the longitudinal separation of laser reflector and the process of horizontal-shift angle, in this no limit and concrete elaboration.
Step 33: the motion controlling mobile robot according to station-keeping data and target setting relative position, realizes following following of target.
Step 32 obtains the station-keeping data of laser sensor relative to laser reflector, has also namely known the mobile robot at laser sensor place and the current relative position of following target at laser reflector place.And, before performance objective is followed, be previously stored with target setting relative position mobile robot, also, follow in process in target, mobile robot with follow target and remain on this target setting relative position.Such as, by the man-machine interaction administrative unit of mobile robot, following distance can be preset and follow deviation angle, forming target setting relative position.
Follow in process at real-time target, controlling the motion of mobile robot according to the current relative position data calculated and the target setting relative position stored, realizing following target following within the scope of target setting relative position.Specifically, the motion control of mobile robot is comprised: according to the speed of laser sensor relative to the target setting distance controlling mobile robot in the Distance geometry target setting relative position of laser reflector, make mobile robot remain at target setting distance with the distance of following target; Relative to the target setting deviation angle in the horizontal-shift angle of laser reflector and target setting relative position differential adjustment (mobile robot of wheel driving structure of two) is carried out to mobile robot according to laser sensor or front-wheel steer angle regulates (mobile robot of front-wheel drive structure), make mobile robot remain at target setting deviation angle with the horizontal-shift angle of following target.
Adopt above-mentioned target system for tracking and target follower method, laser sensor is adopted to coordinate laser reflector to carry out motion control in real time to robot, good stability, method is simple, be convenient to realize, follow precision high, be applicable to the application of the conglomeraties such as overhaul of the equipments, automatic replenishing, agricultural avocation harvesting.
Above embodiment only in order to technical scheme of the present invention to be described, but not is limited; Although with reference to previous embodiment to invention has been detailed description, for the person of ordinary skill of the art, still can modify to the technical scheme described in previous embodiment, or equivalent replacement is carried out to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of the present invention's technical scheme required for protection.
Claims (9)
1. based on a mobile robot's target system for tracking, comprise mobile robot, it is characterized in that, described mobile robot comprises:
Laser sensor, for scanning laser reflector and exporting scanning result data;
Sensor driving unit, rotates within the scope of set angle for driving described laser sensor;
Relative position determining unit, the described scanning result data for exporting according to described laser sensor determine the relative position of described laser sensor and described laser reflector, and export station-keeping data;
Motion control unit, is connected with described relative position determining unit, for controlling the motion of mobile robot according to described station-keeping data and target setting relative position;
Described target system for tracking also comprises:
Laser reflector, for be arranged on described mobile robot to be followed follow target, for the scanning of described laser sensor.
2. target system for tracking according to claim 1, is characterized in that, described laser reflector is laser reflection adhesive tape.
3. target system for tracking according to claim 1, is characterized in that, described station-keeping data comprises described laser sensor relative to the longitudinal separation of described laser reflector and horizontal-shift angle.
4. target system for tracking according to claim 1, is characterized in that, described mobile robot also comprises:
Man-machine interaction administrative unit, for realizing the man-machine interaction of the communication of described mobile robot, display, configuration and management; And
Safe unit, detects the safe condition of described mobile robot self, perform corresponding alert process, and whether dynamic monitoring exists barrier in robot kinematics, and carry out when there is barrier dodging process for timing.
5. target system for tracking according to claim 1, is characterized in that, described mobile robot also comprises:
Communication interface unit, for the external communication of described mobile robot;
Positioning unit, for the location of described mobile robot's self-position.
6. based on a mobile robot's target follower method, it is characterized in that, described method comprises:
Adopt laser sensor to rotate within the scope of set angle, scan setting is following the laser reflector in target, and exports scanning result data;
The described scanning result data exported according to described laser sensor determine the relative position of described laser sensor and described laser reflector, and export station-keeping data;
Control the motion of mobile robot according to described station-keeping data and target setting relative position, realize following following of target to described.
7. target follower method according to claim 6, is characterized in that, described laser reflector is laser reflection adhesive tape.
8. target follower method according to claim 6, is characterized in that, described station-keeping data comprises described laser sensor relative to the longitudinal separation of described laser reflector and horizontal-shift angle.
9. target follower method according to claim 8, is characterized in that, controls the motion of mobile robot, specifically comprise according to described station-keeping data and target setting relative position:
According to the speed of described laser sensor relative to the Distance geometry target setting distance controlling mobile robot of described laser reflector; And
Relative to the horizontal-shift angle of described laser reflector and target setting deviation angle differential adjustment is carried out to described mobile robot according to described laser sensor or front-wheel steer angle regulates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510982019.5A CN105487558A (en) | 2015-12-24 | 2015-12-24 | Object following system based on mobile robot and method |
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| CN201510982019.5A CN105487558A (en) | 2015-12-24 | 2015-12-24 | Object following system based on mobile robot and method |
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Cited By (7)
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| CN106056633A (en) * | 2016-06-07 | 2016-10-26 | 速感科技（北京）有限公司 | Motion control method, device and system |
| CN106227204A (en) * | 2016-07-08 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | Car-mounted device and for controlling the system of automatic driving vehicle, method and apparatus |
| CN108121359A (en) * | 2016-11-29 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of shopping robot |
| CN108733080A (en) * | 2017-12-28 | 2018-11-02 | 北京猎户星空科技有限公司 | A kind of state switching method and device |
| CN109102542A (en) * | 2018-08-01 | 2018-12-28 | 上海主线科技有限公司 | Vehicle positioning method under a kind of suspension bridge based on reflective strip |
| CN109406633A (en) * | 2018-12-13 | 2019-03-01 | 北方民族大学 | A kind of mechanical structure fatigue damage detection device and application method |
| CN115185260A (en) * | 2021-04-01 | 2022-10-14 | 广州视睿电子科技有限公司 | Robot control method, system and device |
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Cited By (7)
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