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

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...

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 automatically monitor the safety conditions of the appearance and structure of mobile robots

In addition, the existing mobile robot control methods are backward, and the shape model of the mobile robot cannot be dynamic and matched with obstacle information in real time

Cannot make full use of the combination of mobile robot vision platform and robot task execution, path planning, and automatic obstacle avoidance

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