CN106842956B - Obstacle Avoidance and system - Google Patents
Obstacle Avoidance and system Download PDFInfo
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- CN106842956B CN106842956B CN201710159883.4A CN201710159883A CN106842956B CN 106842956 B CN106842956 B CN 106842956B CN 201710159883 A CN201710159883 A CN 201710159883A CN 106842956 B CN106842956 B CN 106842956B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
Disclose a kind of Obstacle Avoidance and system.This method can include：Based on ultrasound information and infrared information, voltage signal data is obtained, and draw voltage signal curve；Based on voltage signal curve, voltage signal membership function is obtained；Fuzzy Threshold is set, determines the fuzzy set of voltage signal；Fuzzy set based on voltage signal, the membership function of distance is obtained, and then obtain the fuzzy set of distance；Fuzzy set based on distance, the fuzzy rule of acquisition speed, for robot obstacle-avoiding.The present invention more simply accurately realizes robot autonomous avoidance, improves the service life of robot by multiple fuzzy logic processes.
Description
Technical field
The present invention relates to robot field, more particularly, to a kind of Obstacle Avoidance and system.
Background technology
At present, the sweeping robot of increasing family selection intelligence comes for family's floor cleaning service.Sweep the floor cleaning
Robot inevitably runs into barrier during clean up task is completed, it may occur however that collision even falls phenomenon.
The intelligent cleaning of sweeping robot is realized, its avoidance obstacle is one of key issue.Fed back according to sweeping robot user, mesh
The avoidance effect of most of sweeping robots in preceding market is not ideal enough, and independence is inadequate, generally requires human assistance and realizes certain
A little barriers detour.In addition, when designing sweeping robot avoidance obstacle algorithm, intelligent algorithm is intelligent more due to its
Favored to get over by researchers, wherein, FUZZY ALGORITHMS FOR CONTROL designs fuzzy controller, tool according to human experience and decision-making
There is great operability.But with increasing for fuzzy controller input, for example in order that robot obtains more accurately ring
Environment information, number of sensors increase, and the quantity of fuzzy control rule is also more and more huger, design complexities increase.Therefore, having must
Develop a kind of Obstacle Avoidance and system.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and be not construed as recognizing or imply known to those skilled in the art existing of the information structure in any form
Technology.
The content of the invention
The present invention proposes a kind of Obstacle Avoidance and system, and it can be simpler by multiple fuzzy logic processes
It is single accurately to realize robot autonomous avoidance, improve the service life of robot.
According to an aspect of the invention, it is proposed that a kind of Obstacle Avoidance.Methods described can include：Based on ultrasound
Ripple information and infrared information, voltage signal data is obtained, and draw voltage signal curve；Based on voltage signal curve, electricity is obtained
Press signal membership function；Fuzzy Threshold is set, determines the fuzzy set of voltage signal；Fuzzy set based on voltage signal,
The membership function of distance is obtained, and then obtains the fuzzy set of distance；Fuzzy set based on distance, acquisition speed obscure
Rule, for robot obstacle-avoiding.
Preferably, the voltage signal membership function is：
Wherein, ViRepresent voltage signal data, VmaxRepresent the upper end threshold value of voltage signal data, VminRepresent voltage signal
Data lower end threshold value.
Preferably, the voltage signal data includes：Left side voltage signal data, the right voltage signal data, front electricity
Press signal data, rear voltage signal data and lower section voltage signal data.
Preferably, the distance includes：Left side obstacle distance, the right obstacle distance, front obstacle distance, rear
Obstacle distance and lower section ground clearance.
Preferably, the speed includes：Average speed and angular speed.
According to another aspect of the invention, it is proposed that a kind of robot obstacle-avoiding system, the system can include：Sensing is single
Member, for obtaining ultrasound information and infrared information, and then obtain voltage signal data；Computing unit, for drawing voltage letter
Number curve, voltage signal membership function is obtained, and then determine the fuzzy set of the voltage signal；Based on the voltage signal
Fuzzy set, obtain the membership function of distance, and then obtain the fuzzy set of the distance；It is fuzzy based on the distance
Set, the fuzzy rule of acquisition speed；Control process unit, for setting Fuzzy Threshold, based on the fuzzy rule of the speed,
Control the robot obstacle-avoiding.
Preferably, the sensing unit includes infrared sensor and ultrasonic sensor.
Preferably, the voltage signal membership function is：
Wherein, ViRepresent voltage signal data, VmaxRepresent the upper end threshold value of voltage signal data, VminRepresent voltage signal
Data lower end threshold value.
Preferably, the voltage signal data includes：Left side voltage signal data, the right voltage signal data, front electricity
Press signal data, rear voltage signal data and lower section voltage signal data.
Preferably, the distance includes：Left side obstacle distance, the right obstacle distance, front obstacle distance, rear
Obstacle distance and lower section ground clearance；The speed includes：Average speed and angular speed.
Its advantage is：The sensor-based system being combined using infrared sensing with supersonic sensing, lift the standard of data
Exactness；By multiple fuzzy logic processes, robot autonomous avoidance is accurately simply more realized, improve robot uses the longevity
Life.
Methods and apparatus of the present invention has other characteristics and advantage, and these characteristics and advantage are attached from what is be incorporated herein
It will be apparent in figure and subsequent embodiment, or by the accompanying drawing being incorporated herein and subsequent specific reality
Apply in mode and stated in detail, these the drawings and specific embodiments are provided commonly for explaining the certain principles of the present invention.
Brief description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in exemplary embodiment of the invention, identical reference number
Typically represent same parts.
Fig. 1 shows the flow chart of the step of Obstacle Avoidance according to the present invention.
Fig. 2 shows the schematic diagram of the voltage signal membership function according to an embodiment of the invention.
Fig. 3 shows the schematic diagram of the sensing unit according to an embodiment of the invention.
Embodiment
The present invention is more fully described below with reference to accompanying drawings.Although the side of being preferable to carry out of the present invention is shown in accompanying drawing
Formula, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, there is provided these embodiments be in order that the present invention is more thorough and complete, and can be by the scope of the present invention intactly
It is communicated to those skilled in the art.
Embodiment 1
Fig. 1 shows the flow chart of the step of Obstacle Avoidance according to the present invention.
In this embodiment, can be included according to the Obstacle Avoidance of the present invention：Step 101, based on ultrasonic wave
Information and infrared information, voltage signal data is obtained, and draw voltage signal curve；Step 102, based on voltage signal curve,
Obtain voltage signal membership function；Step 103, Fuzzy Threshold is set, determines the fuzzy set of voltage signal；Step 104, base
In the fuzzy set of voltage signal, the membership function of distance is obtained, and then obtains the fuzzy set of distance；And step 105,
Fuzzy set based on distance, the fuzzy rule of acquisition speed, for robot obstacle-avoiding.
The embodiment is more simply accurately realized robot autonomous avoidance, improved by multiple fuzzy logic processes
The service life of robot.
The following detailed description of the specific steps of the Obstacle Avoidance according to the present invention.
In one example, based on ultrasound information and infrared information, voltage signal data is obtained, and draw voltage signal
Curve.
In one example, based on voltage signal curve, voltage signal membership function is obtained.
In one example, voltage signal membership function is：
Wherein, ViRepresent voltage signal data, VmaxRepresent the upper end threshold value of voltage signal data, VminRepresent voltage signal
Data lower end threshold value.
In one example, voltage signal data includes：Left side voltage signal data, the right voltage signal data, front
Voltage signal data, rear voltage signal data and lower section voltage signal data.
In one example, Fuzzy Threshold is set, determines the fuzzy set of voltage signal.
Fig. 2 shows the schematic diagram of the voltage signal membership function according to an embodiment of the invention.
Specifically, the ultrasound information and infrared information obtained based on sensing unit, obtains voltage signal data, and draw
Voltage signal curve, and then it is formula (1) to calculate voltage signal membership function.ForVmin≤Vi≤
Vmax, Fuzzy Threshold M is set0So that formula (1) is further：
Then the fuzzy set of voltage signal is formula (3)：
Wherein, M (Vi) represent voltage signal fuzzy set.
Wherein, voltage signal data includes：Left side voltage signal data, the right voltage signal data, front voltage signal
Data, rear voltage signal data and lower section voltage signal data, therefore, the fuzzy set for the voltage signal tried to achieve includes：It is left
The set of polygonal voltage signal ambiguity, the right voltage signal fuzzy set, front voltage signal fuzzy set, rear voltage signal obscure
Set and lower section voltage signal fuzzy set.
In one example, the fuzzy set based on voltage signal, the membership function of distance is obtained, and then obtains distance
Fuzzy set.
In one example, distance includes：Left side obstacle distance, the right obstacle distance, front obstacle distance, after
Square obstacle distance and lower section ground clearance.
Specifically, can be according to voltage signal because the voltage signal of sensing unit output has corresponding relation with distance
Fuzzy set, the membership function for obtaining distance is formula (4)：
Wherein, F (Li) represent distance membership function, and then obtain distance fuzzy set be formula (5)：
Wherein, M (Li) represent distance fuzzy set.
Wherein, distance includes：Left side obstacle distance, the right obstacle distance, front obstacle distance, rear obstacle
Distance and lower section ground clearance, therefore, the fuzzy set for the distance tried to achieve includes：The left side is apart from fuzzy set, the right apart from mould
Paste set, front range ambiguity set, rear range ambiguity set and lower section range ambiguity set.
In one example, the fuzzy set based on distance, the fuzzy rule of acquisition speed, for robot obstacle-avoiding.
In one example, speed includes：Average speed and angular speed.
Specifically, can be with the fuzzy rule of the acquisition speed such as institute of table 1 according to the fuzzy set and experience of each distance
Show.
The fuzzy rule of the speed of table 1
Wherein, Z0 represents straight trip, and N1 represents descending, and P1 represents, and P2 represents to turn right, and T0 is represented to stop or retreated, its
In, angle that is descending, turning left, turn right can be judged according to the real time data of sensing unit, when angular speed is T0, be called
Rear range ambiguity set judges that robot stops or retreated.Those skilled in the art can be set as the case may be.
It will be understood by those skilled in the art that the purpose of the description to embodiments of the present invention is only for exemplarily above
Illustrate the beneficial effect of embodiments of the present invention, be not intended to embodiments of the present invention being limited to given any show
Example.
Embodiment 2
According to the embodiment of the present invention, there is provided a kind of robot obstacle-avoiding system, the system can include：Sensing is single
Member, for obtaining ultrasound information and infrared information, and then obtain voltage signal data；Computing unit, for drawing voltage letter
Number curve, voltage signal membership function is obtained, and then determine the fuzzy set of voltage signal；Fuzzy set based on voltage signal
Close, obtain the membership function of distance, and then obtain the fuzzy set of distance；Fuzzy set based on distance, acquisition speed
Fuzzy rule；Control process unit, for setting Fuzzy Threshold, the fuzzy rule based on speed, control machine people's avoidance.
The embodiment uses the sensor-based system that infrared sensing is combined with supersonic sensing, lifts the degree of accuracy of data；
By multiple fuzzy logic processes, robot autonomous avoidance is accurately simply more realized, improves the service life of robot.
In one example, sensing unit includes infrared sensor and ultrasonic sensor.
In one example, voltage signal data includes：Left side voltage signal data, the right voltage signal data, front
Voltage signal data, rear voltage signal data and lower section voltage signal data.
Fig. 3 shows the schematic diagram of the sensing unit according to an embodiment of the invention.
Specifically, sensing unit can include：Left side sensing unit 1, the right sensing unit 2, front sensing unit 3, after
Square sensing unit 4 and lower section sensing unit (not shown), each sensing unit is including at least one infrared sensor and at least
One ultrasonic sensor, for obtain left side voltage signal data, the right voltage signal data, front voltage signal data,
Rear voltage signal data and lower section voltage signal data.
In one example, voltage signal membership function is：
Wherein, ViRepresent voltage signal data, VmaxRepresent the upper end threshold value of voltage signal data, VminRepresent voltage signal
Data lower end threshold value.
In one example, distance includes：Left side obstacle distance, the right obstacle distance, front obstacle distance, after
Square obstacle distance and lower section ground clearance；Speed includes：Average speed and angular speed.
It will be understood by those skilled in the art that the purpose of the description to embodiments of the present invention is only for exemplarily above
Illustrate the beneficial effect of embodiments of the present invention, be not intended to embodiments of the present invention being limited to given any show
Example.
Using example
For ease of understanding the scheme of embodiment of the present invention and its effect, a concrete application example given below.Ability
Field technique personnel should be understood that the example only for the purposes of understanding the present invention, and its any detail is not intended in any way
The limitation present invention.
Certain robot is provided with five groups of sensing units, respectively positioned at the left side of robot, the right, front, rear and lower section,
Every group of sensing unit includes an infrared sensor and a ultrasonic sensor.Fig. 3 shows one according to the present invention
The schematic diagram of the sensing unit of embodiment, its intermediate cam represent infrared sensor, and rectangle represents ultrasonic sensor.
Fig. 2 shows the schematic diagram of the voltage signal membership function according to an embodiment of the invention.
The ultrasound information and infrared information obtained according to sensing unit, computing unit obtain voltage signal data, set
Fuzzy Threshold M0=0.5, the upper end threshold value of voltage signal data is 3V, and voltage signal data lower end threshold value is 1V, and then is calculated
The fuzzy set of voltage signal is：
Wherein, the fuzzy set of voltage signal includes：Left side voltage signal fuzzy set, the right voltage signal fuzzy set
Conjunction, front voltage signal fuzzy set, rear voltage signal fuzzy set and lower section voltage signal fuzzy set.Believed according to voltage
Number fuzzy set, the fuzzy set for obtaining distance is：
Wherein, the fuzzy set of distance includes：The left side is apart from fuzzy set, the right apart from fuzzy set, front apart from mould
Paste set, rear range ambiguity set and lower section range ambiguity set.The fuzzy set of each distance is substituted into the speed mould of table 1
Paste rule, result is sent to control process unit, and control process unit is according to the course of action of output control robot to keep away
Barrier.
In summary, the sensor-based system being combined using infrared sensing with supersonic sensing, the degree of accuracy of data is lifted；It is logical
Multiple fuzzy logic processes are crossed, more simply robot autonomous avoidance is accurately realized, improves the service life of robot.
It is described above the embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is also not necessarily limited to disclosed each embodiment.It is right in the case of without departing from the scope and spirit of illustrated each embodiment
Many modifications and changes will be apparent from for those skilled in the art.The choosing of term used herein
Select, it is intended to best explain the principle, practical application or the improvement to the technology in market of each embodiment, or make this technology
Other those of ordinary skill in field are understood that each embodiment disclosed herein.
Claims (10)
1. a kind of Obstacle Avoidance, including：
Based on ultrasound information and infrared information, voltage signal data is obtained, and draw voltage signal curve；
Based on the voltage signal curve, voltage signal membership function is obtained；
Fuzzy Threshold is set, determines the fuzzy set of the voltage signal；
Based on the fuzzy set of the voltage signal, the membership function of distance is obtained, and then obtains the fuzzy set of the distance
Close；
Based on the fuzzy set of the distance, the fuzzy rule of acquisition speed, for robot obstacle-avoiding.
2. Obstacle Avoidance according to claim 1, wherein, the voltage signal membership function is：
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Wherein, ViRepresent voltage signal data, VmaxRepresent the upper end threshold value of voltage signal data, VminRepresent voltage signal data
Lower end threshold value.
3. Obstacle Avoidance according to claim 2, wherein, the voltage signal data includes：Left side voltage letter
Number, the right voltage signal data, front voltage signal data, rear voltage signal data and lower section voltage signal data.
4. Obstacle Avoidance according to claim 1, wherein, the distance includes：Left side obstacle distance, the right
Obstacle distance, front obstacle distance, rear obstacle distance and lower section ground clearance.
5. Obstacle Avoidance according to claim 1, wherein, the speed includes：Average speed and angular speed.
6. a kind of robot obstacle-avoiding system, including：
Sensing unit, for obtaining ultrasound information and infrared information, and then obtain voltage signal data；
Computing unit, for drawing voltage signal curve, voltage signal membership function is obtained, and then determine the voltage signal
Fuzzy set；Based on the fuzzy set of the voltage signal, the membership function of distance is obtained, and then obtains the distance
Fuzzy set；Based on the fuzzy set of the distance, the fuzzy rule of acquisition speed；
Control process unit, for setting Fuzzy Threshold, based on the fuzzy rule of the speed, control the robot obstacle-avoiding.
7. robot obstacle-avoiding system according to claim 6, wherein, the sensing unit includes infrared sensor and ultrasound
Wave sensor.
8. robot obstacle-avoiding system according to claim 6, wherein, the voltage signal membership function is：
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9. robot obstacle-avoiding system according to claim 8, wherein, the voltage signal data includes：Left side voltage letter
Number, the right voltage signal data, front voltage signal data, rear voltage signal data and lower section voltage signal data.
10. robot obstacle-avoiding system according to claim 6, wherein, the distance includes：Left side obstacle distance, the right side
Side obstacle distance, front obstacle distance, rear obstacle distance and lower section ground clearance；The speed includes：Average speed
Degree and angular speed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108427421A (en) * | 2018-04-26 | 2018-08-21 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of intelligent distribution robot control system |
| CN109557923B (en) * | 2018-12-24 | 2021-11-02 | 湖北工业大学 | Automatic obstacle avoidance device of intelligent vehicle and control method |
| CN110108282B (en) * | 2019-05-09 | 2023-11-07 | 仲恺农业工程学院 | Multi-source information obstacle avoidance device and obstacle avoidance system |
| CN110977972B (en) * | 2019-12-03 | 2021-02-12 | 珠海格力电器股份有限公司 | Multi-joint robot collision detection method, computer-readable storage medium and robot |
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| CN103324196A (en) * | 2013-06-17 | 2013-09-25 | 南京邮电大学 | Multi-robot path planning and coordination collision prevention method based on fuzzy logic |
| KR101489298B1 (en) * | 2013-11-08 | 2015-02-04 | 충북대학교 산학협력단 | Force feedback system and method for remote control of mobile robot |
| CN106502241A (en) * | 2015-09-07 | 2017-03-15 | 北醒（北京）光子科技有限公司 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
| CN106226774A (en) * | 2016-08-26 | 2016-12-14 | 广州小瓦智能科技有限公司 | A kind of robot based on Multi-sensor Fusion location algorithm |
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