Two-wheel self-balancing follow service robot based on depth information and panoramic information

Abstract

The invention relates to a two-wheel self-balancing following service robot based on depth information and panoramic information. Including mobile phone client, robot body, storage box cover, touch display screen, wheels, side end cover, depth camera, fisheye camera; the client is installed on the smartphone; the robot body includes control module, power module, voice recognition module; the depth camera is located at the front of the robot body; the fisheye camera is located at the front and both sides of the robot body. The invention is mainly aimed at outdoor environments, such as shopping malls, stations and airports, etc., and can realize target recognition, self-balancing, load following, automatic obstacle avoidance, dynamic map construction, intelligent path planning, multi-robot collaborative operation, GPS positioning, automatic driving, etc. Function. The invention adopts the combination of depth information and panoramic information, and does not need to be followed by an additional positioning device; the main body of the robot has a built-in GPS global positioning system to assist the robot in navigation, positioning and other functions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a two-wheeled self-balancing service robot that can follow the human body based on depth information and panoramic information. Background technique [0002] The International Federation of Robotics (IFR) can classify service robots for personal / family use into the following categories: domestic service robots, robots for helping the elderly and the disabled, and robots for education and entertainment. Among personal / family service robots, housekeeping service robots refer to robots that can replace people to complete some daily household service work, and can perform anti-theft monitoring, sanitation, item handling, home appliance control, as well as time and wake-up, household statistics, etc. However, the main working place of housekeeping service robots is indoors. Although the relatively successful commercialization of housekeeping service robots on the market is not high, their functi...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent CN 105563451 A discloses an intelligent following robot. This patent requires the target human body to wear a special positioning device. The robot follows by finding the position of the positioning device. The wireless signal transmission is unstable and easily disturbed by the environment. At the same time, the robot Adopting the crawler mobile method, the weight and volume are relatively large, and the power required is relatively high.

Chinese patent CN 106054897 A discloses a robot that can follow the human body. This patent adopts a combination of image processing and infrared processing to identify the following target, but the infrared signal is easily interfered by various heat sources, light sources, radio frequency radiation, and thermal airflow. ; and the passive infrared signal has poor penetration, and the infrared radiation of the human body is easily blocked; when the ambient temperature is high and close to the human body temperature, the detection and sensitivity will drop significantly, which will cause short-term failure

Chinese patent CN105751217 A discloses a following robot equipped with Bluetooth positioning automatic following technology, using Bluetooth ranging and Bluetooth positioning modules, but because the Bluetooth transmission protocol is the same as other 2.4G devices, they all share the signal of this frequency band, especially in In the outdoor environment, the interference between signals will be serious. At the same time, the Bluetooth protocol is not a free technology. Any manufacturer using this technology must pay the patent fee to the Bluetooth Special Interest Group, and this part The cost will also be reflected in the robot cost

Images