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ROS based intelligent robot following system and method

A technology of intelligent robots and computers, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high complexity, difficulty in realization, strong comprehensiveness, etc., achieve simplicity and easy implementation, overcome real-time problems, and have a clear structure Effect

Inactive Publication Date: 2019-02-19
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

Among them, visual following technology is currently the most popular direction, but its technical difficulties are many, comprehensive, high complexity, and difficult to realize, so a simple and stable solution is urgently needed to solve this problem

Method used

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  • ROS based intelligent robot following system and method
  • ROS based intelligent robot following system and method
  • ROS based intelligent robot following system and method

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Embodiment Construction

[0048] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0049]A kind of intelligent robot following system based on ROS provided by the present invention, system comprises binocular binocular camera, personal computer and omnidirectional mobile platform, wherein personal computer and binocular binocular camera are all carried on omnidirectional mobile platform; The binocular camera is used to capture the target to be followed, and the personal computer is used to process the image data obtained by the binocular camera to solve the motion control signal; the omnidirectional mobile platform is used to receive the mot...

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Abstract

The invention discloses an ROS based intelligent robot following system and method. The ROS based intelligent robot following system comprises a binocular vidicon, a personal computer and an omnibearing movable platform, wherein the personal computer and the binocular vidicon are carried on the omnibearing movable platform; the binocular vidicon is used for capturing a followed target; the personal computer is used for processing the data obtained by the binocular vidicon; and the omnibearing movable platform is used for receiving the movement control signal processed by the personal computerand making motion response. The ROS based intelligent robot following method comprises an ROS system, the KCF algorithm, a target following algorithm combined with SGBM binocular distance measurement,and the following motion control method. According to the ROS based intelligent robot following system and method, through target image information capturing, image data processing, data communication, motion control signal processing, the characteristics of the ROS system are fully utilized, the KCF algorithm is combined with binocular distance measurement, the chassis motion control is combined, and the intelligent robot following system and method are designed. According to the intelligent robot following system and method, the following performance is high, and the target can be followedin real time to prevent the target from being lost.

Description

technical field [0001] The invention belongs to the technical field of intelligent mobile robot applications, and in particular relates to a ROS-based intelligent robot following system and method. Background technique [0002] Robots have a history of less than 50 years, but they have penetrated into human life in all aspects and played a huge role in various fields. At the same time, robotics is a highly cross-cutting frontier field, involving many disciplines such as mechanics, biology, electronic engineering, control theory and control engineering, computer science, artificial intelligence, and social sciences. It is a synthesis of many cutting-edge technologies in the world today. . [0003] With the advent of the era of artificial intelligence, intelligent robots are playing an increasingly important role in daily life. A complete intelligent robot should have three elements: the first is the sensory element, which is used to understand the state of the surrounding e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1664B25J19/023
Inventor 彭锐程磊赵熙桐李婵代雅婷
Owner WUHAN UNIV OF SCI & TECH
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