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

Abstract

The invention relates to a two-wheel self-balancing follow service robot based on depth information and panoramic information. The two-wheel self-balancing follow service robot comprises a mobile phone client, a robot main body, a storage box cover, a touch control display screen, wheels, a side end cover, a depth camera and fisheye cameras, wherein the client is installed on a smart phone; the robot main body comprises a control module, a power module and a voice recognition module; the depth camera is positioned on the front part of the robot main body; the fisheye cameras are positioned on the front part and the two sides of the robot main body. The two-wheel self-balancing follow service robot is mainly applied to outdoor environments such as shopping malls, stations and airports, and the functions of target recognition, self-balancing, carrier following, automatic barrier avoidance, dynamic map building, smart path planning, multi-robot cooperative operation, GPS (Global Positioning System) positioning, automatic driving and the like are realized. By adopting the two-wheel self-balancing follow service robot, the depth information and the panoramic information are combined, and a followed target does not need to wear a positioning device; the GPS is embedded in the robot main body to assist the robot in navigating, positioning and implementing 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

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