CN107272711A - A kind of robot with 3D scan functions - Google Patents
A kind of robot with 3D scan functions Download PDFInfo
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- CN107272711A CN107272711A CN201710695026.6A CN201710695026A CN107272711A CN 107272711 A CN107272711 A CN 107272711A CN 201710695026 A CN201710695026 A CN 201710695026A CN 107272711 A CN107272711 A CN 107272711A
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- 238000000034 method Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 4
- 230000000875 corresponding effect Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Include 3D scanners, control module, sensing module and performing module the invention provides a kind of robot with 3D scan functions；The 3D scanners and the sensing module collect exogenous data information, and the data message being collected into sends the control module processing to, and the control module controls the performing module to perform corresponding action after accurate operational is handled.The information data that a kind of robot with 3D scan functions of the present invention is collected into by 3D scanners and sensing module, handled by control module with SLAM algorithms, it is accurately positioned and navigation feature so that robot has, while energy avoiding barrier so that robot has the characteristics of more intelligent, more humane, practicality is stronger.
Description
Technical field
The present invention relates to belong to robot field, and in particular to a kind of robot with 3D scan functions.
Background technology
At present, robotic vision positioning and navigation feature be mainly be by means of distinctive mark object, special color,
Where special sensor etc. judges robot oneself, and how judgement removes target point.Existing this robot vision is determined
Position and requirement of the navigation feature to residing environment are higher, if residing environment is varied from, and can cause vision positioning and lead
The application condition for function of navigating is big, it may appear that robot runs the route of wrong planning, can not find road, returns less than starting point, or even can send out
Raw robot harm people, thing and itself the problems such as, be now badly in need of a kind of equipment of invention to solve Robot visual location and navigation work(
The problem of error of energy is big.
The content of the invention
To overcome the problem of error of prior art Robot visual location and navigation feature is big, the invention provides one kind
Robot with 3D scan functions.
A kind of robot with 3D scan functions of the present invention includes 3D scanners, control module, sensing module and execution
Module；The 3D scanners and the sensing module collect exogenous data information, and the data message being collected into sends the control to
Resume module processed, the control module controls the performing module to perform corresponding action after accurate operational is handled.
Preferably, the 3D scanners include projection module and acquisition module；The projection module is by a series of encoded lights
Grid project to the surface of target object, and the acquisition module is taken pictures to the target object, while the acquisition module is to figure
Piece is modulated output to the control module.
Preferably, a kind of control method of the robot with 3D scan functions, is realized as follows：
1) a series of body surface of environment where coding gratings are projected to robot by projection module described in, by described
Acquisition module is taken pictures to the object, and the acquisition module is modulated output to picture to the main control module.
2) is performed algorithm and the image progress modulated is handled by the main control module becomes a cloud data formation point cloud
Storehouse.
3) data messages such as the acceleration being collected into, speed, direction, walking mileage are sent to institute by sensing module described in
State control module.
4) the state-of-the-art algorithm that control module execution PCL technologies described in are provided is filtered to cloud data, model is estimated
Meter, resurfacing, algorithm computing, while the data transmitted to the sensing module are handled, the data knot that both are handled
It is combined, finally builds the 3D maps of local environment.
5) control module described in controls the optimal path of the performing module Execution plan, reached according to the 3D maps of structure
To vision positioning and the function of navigation.
Preferably, the algorithm that the control module is performed is SLAM algorithms, and the control module is adopted to the 3D scanners
The data of collection carry out reduction scanning density and extract data, deleting duplicated data, filtering process.
Compared with prior art, a kind of robot with 3D scan functions of the present invention passes through 3D scanners and sensing module
The information data being collected into, is handled by control module with SLAM algorithms so that robot, which has, to be accurately positioned and lead
Boat function, while energy avoiding barrier so that robot has the characteristics of more intelligent, more humane, practicality is stronger.
Brief description of the drawings
Fig. 1 is a kind of block diagram of the robot with 3D scan functions of the present invention.
11,3D scanners；111, projection module；112, acquisition module；12, control module；13, sensing module；14, perform
Module.
Embodiment
In order that the purpose of the present invention, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and embodiment,
The present invention will be described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Referring to Fig. 1, a kind of robot 1 with 3D scan functions of the present invention including 3D scanners 11, control module 12,
Sensing module 13 and performing module 14；The 3D scanners 11 and the sensing module 13 collect exogenous data information, are collected into
Data message send the control module 12 to and handle, the control module 12 is after accurate calculation process, and control is described
Performing module 14 performs corresponding action；The 3D scanners 11 include projection module 111 and acquisition module 112, described to throw
Shadow module 111 projects to a series of coding gratings on the surface of target object, and described 112 pairs of target objects of acquisition module are carried out
Take pictures, while the acquisition module 112 is modulated output to picture to the control module 12.
A kind of control method of the robot 1 with 3D scan functions of the present invention is realized as follows：
1) a series of body surface of environment where coding gratings are projected to robot by projection module 111 described in, by institute
State 112 pairs of objects of acquisition module to take pictures, the acquisition module 112 is modulated picture output to the main control module
13。
2) algorithm that is performed by the main control module 13 becomes cloud data and formed to the image progress processing modulated
Point cloud storehouse.Because existing 3D scanning techniques precision is up to 0.030 millimeter, 0.050 millimeter of resolution ratio, and also it is every in these clouds
Individual point has a different attribute in space, such as color, three-dimensional coordinate, normal vector etc., with these substantial amounts of accumulation of point, the control
Molding block 12 needs data to be processed to become very huge, so the burden in order to reduce the control module 12, the control mould
The data of 12 pairs of the block 3D scanners collection carry out reduction scanning density and extract data, deleting duplicated data, filtering process.
3) data messages such as sensing module described in 13 is collected into acceleration, speed, direction, walking mileage are sent to
The control module 12.
4) control module 12 described in perform the state-of-the-art algorithm that PCL technologies provide cloud data is filtered, model
Estimation, resurfacing, SLAM algorithms, while the data transmitted to the sensing module 13 are handled, finally build residing ring
The 3D maps in border.
5) control module 12 described in controls the optimal road of the Execution plan of performing module 14 according to the 3D maps of structure
Footpath, reaches the function of vision positioning and navigation.
A kind of robot with 3D scan functions of the present invention is compared using 3D scanning techniques formation local 3D maps, realization
High-precision positioning and navigation, the function of intelligent planning route.A kind of robot with 3D scan functions of the present invention is sharp simultaneously
With the local 3D maps of 3D scanning techniques formation, it is not necessary to walked with complicated sensor come guided robot, environment is wanted
Ask also not high, it is not necessary to increase distinctive mark thing and carry out guided robot；So that robot is more intelligent, more humane, control machine
People becomes easier to, practicality is stronger.
A kind of robot with 3D scan functions of the present invention has certain advance programme path, and front is learnt in advance
Barrier.Robot is allowed to automatically adjust speed according to the surrounding environment 3D maps learnt in advance, to suddenly appearing in robot road
The mobile object in footpath makes the reaction of avoiding of rapid sensitive, effectively solves to cause machine due to the big inertia that brake occurs suddenly
People is to object and the grievous injury problem of itself, while also solve that robot occurs because can not find significant object is inclined
From target point, route is can not find, finally needs people to carry out the problem of assist people gives route for change.
Compared with prior art, a kind of robot with 3D scan functions of the present invention passes through 3D scanners and sensing module
The information data being collected into, is handled by control module with SLAM algorithms so that robot, which has, to be accurately positioned and lead
Boat function, while energy avoiding barrier so that robot has the characteristics of more intelligent, more humane, practicality is stronger.
The foregoing is only present pre-ferred embodiments, be not intended to limit the invention, it is all principle of the present invention it
Interior made any modification, equivalent substitution and improvement etc. all should be comprising within protection scope of the present invention.
Claims (4)
1. a kind of robot with 3D scan functions, it is characterised in that：It includes 3D scanners, control module, sensing module
And performing module；The 3D scanners and the sensing module collect exogenous data information, and the data message being collected into is sent to
The control module processing, the control module controls the performing module to perform corresponding after accurate operational is handled
Action.
2. a kind of robot with 3D scan functions as claimed in claim 1, it is characterised in that：The 3D scanners include
Projection module and acquisition module；The projection module projects to a series of coding gratings on the surface of target object, the collection
Module is taken pictures to the target object, while the acquisition module is modulated output to picture to the control module.
3. a kind of control method of the robot with 3D scan functions, it is characterised in that：It realizes as follows,
1) a series of body surface of environment where coding gratings are projected to robot by projection module described in, by the collection
Module is taken pictures to the object, and the acquisition module is modulated output to picture to the main control module.
2) is performed algorithm and the image progress modulated is handled by the main control module becomes a cloud data formation point cloud storehouse.
3) data messages such as the acceleration being collected into, speed, direction, walking mileage are sent to the control by sensing module described in
Molding block.
4) the state-of-the-art algorithm that control module execution PCL technologies described in are provided is filtered to cloud data, model is estimated,
Resurfacing, algorithm computing, while the data transmitted to the sensing module are handled, the data that both are handled are combined
Together, the 3D maps of local environment are finally built.
5) control module described in controls the optimal path of the performing module Execution plan, reaches and regard according to the 3D maps of structure
Feel the function of positioning and navigation.
4. a kind of control method of the robot with 3D scan functions as claimed in claim 3, it is characterised in that：The control
The algorithm that molding block is performed is SLAM algorithms, and it is close that the data that the control module is gathered to the 3D scanners carry out reduction scanning
Degree and extraction data, deleting duplicated data, filtering process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695026.6A CN107272711A (en) | 2017-08-15 | 2017-08-15 | A kind of robot with 3D scan functions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695026.6A CN107272711A (en) | 2017-08-15 | 2017-08-15 | A kind of robot with 3D scan functions |
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| CN107272711A true CN107272711A (en) | 2017-10-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112422938A (en) * | 2020-11-19 | 2021-02-26 | 上海赛因斯文化科技有限公司 | Intelligent projector system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020201A (en) * | 2016-07-13 | 2016-10-12 | 广东奥讯智能设备技术有限公司 | Mobile robot 3D navigation and positioning system and navigation and positioning method |
| CN106705964A (en) * | 2017-01-06 | 2017-05-24 | 武汉大学 | Panoramic camera fused IMU, laser scanner positioning and navigating system and method |
| CN107000608A (en) * | 2014-11-26 | 2017-08-01 | 爱信精机株式会社 | Moving body |
-
2017
- 2017-08-15 CN CN201710695026.6A patent/CN107272711A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107000608A (en) * | 2014-11-26 | 2017-08-01 | 爱信精机株式会社 | Moving body |
| CN106020201A (en) * | 2016-07-13 | 2016-10-12 | 广东奥讯智能设备技术有限公司 | Mobile robot 3D navigation and positioning system and navigation and positioning method |
| CN106705964A (en) * | 2017-01-06 | 2017-05-24 | 武汉大学 | Panoramic camera fused IMU, laser scanner positioning and navigating system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112422938A (en) * | 2020-11-19 | 2021-02-26 | 上海赛因斯文化科技有限公司 | Intelligent projector system |
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Application publication date: 20171020 |
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