冯国栋, 刘敏, 王国利. 实现机器人随动的红外感知方法[J]. 机器人, 2012, 34(1): 104-109.
引用本文: 冯国栋, 刘敏, 王国利. 实现机器人随动的红外感知方法[J]. 机器人, 2012, 34(1): 104-109.
FENG Guodong, LIU Min, WANG Guoli. Infrared Motion Sensing for Human-Following with Mobile Robots[J]. ROBOT, 2012, 34(1): 104-109.
Citation: FENG Guodong, LIU Min, WANG Guoli. Infrared Motion Sensing for Human-Following with Mobile Robots[J]. ROBOT, 2012, 34(1): 104-109.

实现机器人随动的红外感知方法

Infrared Motion Sensing for Human-Following with Mobile Robots

  • 摘要: 结合机器人随动任务对人体运动定位的需求,提出一种分层递阶结构的红外运动感知模式,及基于热释电红外传感器的物理实现方法.在传感模型方面,采用两层递阶结构的感知模式:底层为由多个几何传感单元构成的几何传感层,在机器人视野内实现多视角运动目标的方位测量:上层为协作感知层,用来组织底层各几何传感单元的协作,实现运动目标的定位测量.在物理实现方面,底层组合热释电红外传感阵列与菲涅尔透镜组,构建运动目标方位角测量所需的几何传感单元:上层以最小二乘优化准则作为融合多视角方位测量信息的手段,获得运动目标的位置信息.移动机器人随动实验结果验证了所提出感知方法的有效性.较多视角光学视觉传感技术,该方法在传感效率、对光照和环境变化的稳健性、低成本和低功耗等方面具有不可替代的优势.

     

    Abstract: Considering the requirements for target localization of human-following robots,a hierarchical infrared motion sensing paradigm and its physical implementation using pyroelectric infrared(PIR) sensors are presented.From the perspective of sensing model,the proposed sensing paradigm is structured in two tiers.The bottom tier is the geometric sensing tier,and it is composed of geometric sensing units,which offer multi-view bearing measurements of a moving target within the field of view(FOV) of a robot.The upper tier is the cooperative sensing tier,and it coordinates the geometric sensing units at the bottom tier to localize the moving target.From the perspective of physical implementation,at the bottom tier,the geometric sensing units for measuring the bearing information of the moving target are constructed by combining PIR sensors and Fresncl lens arrays.At the upper tier,the least square optimization is used to fuse the multi-view bearing measurements to obtain the position information of the moving target.The experimental results are given to validate the proposed sensing method in the context of human-following with mobile robots.Compared with the multi-view optical vision techniques,the proposed method has irreplaceable advantages of high sensing efficiency,robustness to illumination and background changes, low-cost and low energy consumption.

     

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