Intelligent service robot for autonomously operating box type elevator

Abstract

According to the intelligent service robot system of the autonomous operation box type elevator, a laser radar sensor is connected with a PC end, a robot base is connected with the PC end, and a hardware platform comprises a robot intelligent moving platform, a mechanical arm elevator key pressing device and a computer visual recognition positioning device; the industrial personal computer is connected with the embedded controller, and the embedded controller is connected with the driving wheel and an end effector of the mechanical arm; an object recognition detection module of the industrial personal computer provides elevator position information for a movement module, the elevator moves to an elevator opening through the movement module, then elevator key pixel coordinates are provided for a coordinate system conversion module through the object recognition detection module for coordinate conversion, and then the elevator key pixel coordinates are output. The mechanical arm motion module adjusts the pose of a mechanical arm by receiving coordinate information, provided by the coordinate system conversion module, of elevator keys under a mechanical arm base coordinate system, then the key module carries out key pressing by receiving a key pressing result judged by the object detection module, and the mechanical arm compliance control module controls the key pressing force of an object.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to an intelligent service robot for autonomously operating a box elevator. Background technique [0002] Box elevator is a common infrastructure in life. People can understand the running status of the elevator through the elevator display screen, and operate the basic actions of the elevator such as up, down, door opening and closing through the control buttons. However, autonomously operating elevators like humans is a challenging task for intelligent service robots. [0003] In the search process of existing materials, no literature on intelligent service robots that independently operate box elevators has been found. For the intelligent service robot to operate the elevator autonomously, there are some technical problems as follows: first, how should the system respond to the dynamic obstacle when the robot moves autonomously to the elevator entrance, so as to avo...

AI Technical Summary

Problems solved by technology

For the autonomous operation of elevators by intelligent service robots, there are some technical problems as follows: First, how should the system respond when facing dynamic obstacles in the process of autonomous movement of the robot to the elevator entrance, so as to avoid sending collisions with dynamic obstacles; Second, how to judge the running status of the elevator and determine the position of the elevator buttons after arriving at the elevator entrance, and how to operate the robot arm in order to use the elevator correctly

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