Multi-sensor integration based three-dimensional environment identifying system for walker aid robot

Abstract

The invention discloses a multi-sensor integration based three-dimensional environment identifying system and a multi-sensor integrated based three-dimensional environment identifying method for a walker aid robot. The multi-sensor integration based three-dimensional environment identifying system comprises an ARM information processing module, an industrial personal computer and a lower computer motion control module, wherein the ARM information processing module sets up a three-dimensional scene reconstruction and target tracking information and transmits the same to the industrial personal computer module after processing acquired data. The industrial personal computer receives users' commands, generates a navigation map by means of a GPS (global positioning system), combines the three-dimensional scene reconstruction and target tracking information with a navigation map to generate motion path planning information and transmits the motion path planning information to the lower computer motion control module. The lower computer control module drives and controls the walker aid robot to act correspondingly according to the motion path planning information and feeds the motion information back to the industrial personal computer. The three-dimensional environment identifying system integrates multiple sensors, creates a real three-dimensional environment for the walker aid robot and generates superior motion path for the walker aid robot to safely, stably and reliably walk, target tracking is realized effectively, and intelligentization of the walker aid robot is improved.

Description

technical field [0001] The invention relates to the technical field of information engineering, in particular to a multi-sensor fusion-based three-dimensional environment recognition system and method for a walking aid robot. Background technique [0002] Walking-assisting robots are mainly aimed at the safe and autonomous actions of the elderly or disabled people with limited mobility, such as the blind. Realizing the recognition of the three-dimensional complex environment by the walker robot is one of the key technologies of the walker robot. Its effectiveness and reliability directly determine the success or failure of the practical application of the walker robot technology. [0003] Traditional walker robot technology generally uses GPS for map navigation, or uses sensors such as image processing equipment and ultrasonic waves to detect blind roads. This technology focuses on the identification and navigation of walker robot walking paths, and ignores Recognition of t...

AI Technical Summary

Problems solved by technology

However, when they arrive at their destination or perform activities in their place of activity, walking-assisting robots not only need to generate activity paths, but also recognize and track their environment. Walk or go to the mall independently with the family instead of being pushed by the family. To achieve this function, it is necessary to realize the recognition of the three-dimensional environment of the walker robot and the tracking of the target, but because GPS cannot provide Three-dimensional information, coupled with the impact of its accuracy, cannot meet this requirement only by GPS. Although the image sensor can provide information about the surrounding environment, the two-dimensional information provided cannot meet the requirements for three-dimensional environment recognition and target tracking. The traditional technology realizes the navigation function by using GPS positioning and map creation, and only realizes path planning and obstacle avoidance functions in a small environment by using image processing technology and ultrasonic technology

These technologies are not involved in providing users with target selection, target recognition, and target tracking, and cannot provide users with a good and humanized user experience. This deficiency needs to be improved and improved

[0005] In the prior art, "an intelligent guiding vehicle for the blind" is disclosed (China Invention Patent Application No. 200610088153.1). The vehicle uses an ultrasonic obstacle detection probe to detect blind roads. However, this system can only be used in places with blind roads to realize blind roads. detection and guidance, without GPS global map navigation, and without recognition and target tracking based on the three-dimensional environment

[0006] Also disclosed in the prior art is the "guiding system for blind people seeking medical treatment" (China Invention Patent Application No. 200610117532.9). Obstacle avoidance cannot be realized, and there is no path planning and recognition of the 3D environment

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