Mobile robot based on three-freedom-degree vision platform and control method of mobile robot

A mobile robot and vision platform technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of single structure, inability to regularly and automatically monitor the safety status of mobile robots, and inability to make full use of them

Inactive Publication Date: 2017-09-12
CHINA UNIV OF MINING & TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Nowadays, the visual system of mobile robots has a single structure. Usually, multiple visual sensors are placed outside the mobile robot to obtain the surrounding environment information, or a single visual sensor such as a panoramic camera is used to obtain local information.
At the same time, existing mobile robots lack visual equipment to monitor their own safety conditions, and cannot regularly and

Method used

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  • Mobile robot based on three-freedom-degree vision platform and control method of mobile robot
  • Mobile robot based on three-freedom-degree vision platform and control method of mobile robot
  • Mobile robot based on three-freedom-degree vision platform and control method of mobile robot

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Such as Figure 1-4 , a mobile robot based on a three-degree-of-freedom visual platform, including a three-degree-of-freedom visual platform 1, a mobile robot body 2, a laser radar 3, an Arduino board 4, an industrial computer 5, and an inertial measurement unit IMU6; wherein:

[0033] The three-degree-of-freedom vision platform 1 is placed on the robot main body 2. The three-degree-of-freedom vision platform 1 includes a telescopic platform, a rotating platform, and a pitching platform. RGB-D cameras 27 are installed on the pitching platform. The telescopic platform, the rotating platform, and the pitching platform use The RGB-D camera 27 realizes three degrees of freedom in telescoping, rotating and pitching;

[0034] The bottom of the mobile robot main body 2 is provided with wheels; the laser radar 3 is fixed on the front end of the robot main body 2, and t...

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Abstract

The invention discloses a mobile robot based on a three-freedom-degree vision platform and a control method of the mobile robot. The mobile robot comprises the three-freedom-degree vision platform, a mobile robot body, laser radar, an Arduino plate, an industrial personal computer and an IMU. The three-freedom-degree vision platform is arranged on the robot body and comprises a telescopic platform, a rotation platform and a pitching platform, and the pitching platform is provided with an RGB-D camera; the laser radar is fixed to the front end of the robot body, and the Arduino plate, the industrial personal computer and the IMU are arranged on the robot body; and the RGB-D camera, the laser radar and the IMU conduct information transmission with the industrial personal computer. According to the mobile robot, through the three-freedom-degree vision platform, the three-dimensional space of the mobile robot can be observed, the special target is recognized, and meanwhile the body condition of the mobile robot can be regularly monitored.

Description

technical field [0001] The invention relates to the field of robots and controls, in particular to a mobile robot based on a three-degree-of-freedom vision platform and a control method thereof. Background technique [0002] With the advancement of science and technology, mobile robots are more and more widely used in industrial, military and other fields. In many cases, the information of the workspace of the mobile robot is complex and unknown. If a mobile robot wants to realize autonomous navigation, it first needs to be able to detect the unknown working environment in detail, grasp the surrounding environment information, and then plan the path, automatically avoid obstacles and navigate according to the image information around the working environment. The vision system is a key component of mobile robots and plays an irreplaceable role. [0003] Nowadays, the visual system of mobile robots has a single structure. Usually, multiple visual sensors are placed outside t...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J9/16
Inventor 朱华陈常李鹏由韶泽李猛钢赵勇
Owner CHINA UNIV OF MINING & TECH
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