CN111516777A - Robot trolley and obstacle identification method thereof - Google Patents
Robot trolley and obstacle identification method thereof Download PDFInfo
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- CN111516777A CN111516777A CN202010258647.XA CN202010258647A CN111516777A CN 111516777 A CN111516777 A CN 111516777A CN 202010258647 A CN202010258647 A CN 202010258647A CN 111516777 A CN111516777 A CN 111516777A
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Abstract
The embodiment of the invention provides a robot trolley and an obstacle identification method thereof. The robot trolley comprises a memory, a processor, a trolley body, wheels, a motor, a current sampling circuit and a distance sensor; the method comprises the steps of judging whether an obstacle exists in the advancing direction of the robot trolley according to the driving current value of a motor, judging whether at least one of distance measurement values of distance sensors parallel to the central connecting line of a left wheel and a right wheel is smaller than an obstacle detection distance threshold value through presetting an obstacle detection distance threshold value, and judging whether the obstacle exists in the advancing direction of the robot trolley. According to the invention, the distance measurement of the distance sensor and the motor current detection are integrated on the robot trolley, so that the obstacle discovery is realized, the problem of a blind zone caused by the obstacle identification by only depending on the distance sensor is solved, the obstacle position is estimated and judged by the obstacle identification method, the applicability is wider, the cost is lower, and the function is more comprehensive.
Description
Technical Field
Embodiments of the present invention relate generally to the field of robot obstacle recognition, and more particularly, to a robot cart and an obstacle recognition method thereof.
Background
The robot is a basic function of the robot intellectualization, and the technology is widely applied to autonomous navigation robots and fire-fighting patrol detection robots at present. The accuracy of the recognition and judgment of the obstacle recognition characteristics by the robot determines the reliability of the application functions of the upper layer of the robot.
At present, the identification and judgment of the robot obstacle are mainly realized by three technologies: distance sensor, laser radar, degree of depth camera. The laser radar measures distance data of a plurality of directions based on a laser beam plane scanning mode, so that a wider measuring area can be covered, but the laser radar is expensive, and the power consumption volume is larger than that of a common single-point ranging sensor. The depth camera extracts the feature information of the obstacle from the image through a binocular imaging technology and an image vision processing method, and the method has the largest coverage range, but has larger power consumption and lower precision. The distance sensor is used for measuring the linear distance from the robot to the obstacle and has the advantages of small size, low power consumption and high precision, but the single distance sensor covers a small measuring range, has less data volume and has a large visual angle blind area. Obstacles such as thin rods standing on the ground cannot be detected by the distance sensor.
Disclosure of Invention
According to an embodiment of the invention, a robot trolley and an obstacle identification scheme thereof are provided. The distance sensor is fused with the distance measurement and the motor current detection on the robot trolley, so that the obstacle is found, the problem of a blind area caused by the fact that the obstacle is identified by only relying on the distance sensor is solved, the obstacle position is estimated and judged by an obstacle identification method, the applicability is wider, the cost is lower, and the function is more comprehensive.
In a first aspect of the invention, there is provided a robotic trolley comprising: a memory and a processor, further comprising:
the robot trolley comprises a trolley body and a front panel, wherein the front panel is vertical to the ground and the travelling direction of the robot trolley;
the wheels are symmetrically arranged on the vehicle body; the wheels comprise a left side wheel and a right side wheel, and the left side wheel and the right side wheel can independently rotate along the axial direction relative to the vehicle body;
the motor is arranged in the vehicle body, is connected with the processor and receives the driving signal sent by the processor; the number of the motors is at least two, and each motor is independently connected with a wheel on one side and used for driving the connected wheel;
the current sampling circuit is arranged in the vehicle body and is connected with the processor; the number of the current sampling circuits is at least two, and each current sampling circuit is connected with one motor respectively and used for collecting the motor driving current value of the connected motor and sending the motor driving current value to the processor;
the distance sensor is arranged on a front panel of the vehicle body, is connected with the processor, and acquires a distance signal and sends the distance signal to the processor; the distance sensors are at least three, connecting lines of the three distance sensors form a right-angled triangle, and one right-angled side is parallel to the connecting line of the centers of the left wheel and the right wheel.
Further, still include the multi-axis gyroscope, set up in the automobile body, connect the treater gathers the angle value of pitching of robot trolley, send to the treater.
Furthermore, the number of the wheels, the motors and the current sampling circuits is the same.
In a second aspect of the present invention, there is provided an obstacle recognition method for a robot cart of the first aspect. The method comprises the following steps:
step 1: presetting a current threshold, collecting a motor driving current value of each current sampling circuit, and if the motor driving current value is greater than the current threshold, blocking the trolley body in the travelling direction of the trolley by an obstacle; otherwise, executing step 2;
step 2: presetting an obstacle detection distance threshold, acquiring distance measurement values of distance sensors of the robot trolley, which are parallel to a central connecting line of a left wheel and a right wheel, if at least one distance measurement value is smaller than the obstacle detection distance threshold, an obstacle exists in the advancing direction of the robot trolley, and the distance from the robot trolley is the distance measurement value; and if the two distance measurement values are not smaller than the obstacle detection distance threshold value, no obstacle exists in the travelling direction of the trolley, and the step 1 is returned.
Further, still include:
when the motor driving current value is larger than the current threshold value, if the motor driving current values are the same, all the vehicle bodies right ahead in the travelling direction of the trolley are blocked by the obstacles, and/or
The left and right vehicle bodies right in front of the trolley in the advancing direction are blocked by the barriers;
and if the motor driving current values are different, the side of the vehicle body where the wheel corresponding to the larger motor driving current value is located is the side blocked by the obstacle.
Further, still include:
and collecting distance measurement values of distance sensors perpendicular to a connecting line of the centers of the left wheel and the right wheel, wherein if the distance measurement values are different, a slope exists in front of the travelling direction of the trolley.
Further, the slope of the slope has the following magnitude:
S＝arctan(m/(A-B))+n
wherein S is the gradient of the slope; m is the distance between the distance sensors perpendicular to the connecting line of the centers of the two wheels; a is a distance measurement value of a sensor above a distance sensor perpendicular to a connecting line of centers of the two wheels; b is a distance measurement value of a sensor below the distance sensor vertical to a connecting line of the centers of the two wheels; n is a correction parameter.
In a third aspect of the invention, an electronic device is provided. The electronic device includes: a memory having a computer program stored thereon and a processor implementing the method according to the second aspect above when executing the program.
In a fourth aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method as according to the second aspect of the invention.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
FIG. 1 shows a robotic cart configuration diagram according to an embodiment of the present invention;
FIG. 2 shows a flow diagram of a robotic vehicle obstacle identification method according to an embodiment of the invention;
FIG. 3 shows a schematic of a slope gradient calculation according to an embodiment of the invention;
FIG. 4 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present invention;
wherein, 1 is the front panel, 2 is the left side wheel, 3 is the right side wheel, 4 is first distance sensor, 5 is the second distance sensor, 6 is the third distance sensor, 7 is the slope, A is the distance value that the second distance sensor measured, B is the distance value that the third distance sensor measured.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
According to the invention, the distance measurement of the distance sensor and the motor current detection are integrated on the robot trolley, so that the obstacle discovery is realized, the problem of a blind zone caused by the fact that the obstacle identification is carried out by only relying on the distance sensor is solved, the obstacle position is estimated and judged by the obstacle identification method, the applicability is wider, the cost is lower, and the function is more comprehensive.
Fig. 1 shows a robot car structure diagram according to an embodiment of the present invention.
As shown in fig. 1, the robot cart comprises a memory and a processor, wherein the memory is used for storing computer programs and is a memory part for storing various data information; the processor interprets the computer instructions and processes the data in the computer software to perform at least one obstacle identification method. The robot trolley further comprises:
the vehicle body comprises a front panel 1, and the front panel 1 is perpendicular to the ground and the traveling direction of the robot trolley.
As an embodiment of the present invention, the robot car is required to have at least one front panel 1, and the front panel 1 is used for connecting the left wheel and the right wheel and is used for carrying electronic devices such as a distance sensor; although there is no special requirement on the shape of the front panel 1, the front panel 1 carries the distance sensor, so according to the relative position of the distance sensor, the front panel 1 is required to be perpendicular to the ground during the traveling process of the robot trolley and to be perpendicular to the traveling direction of the robot trolley at the same time, so as to ensure that the distance sensor is in a collectable position.
The wheels are symmetrically arranged on the vehicle body; the wheels comprise a left wheel 2 and a right wheel 3, and the left wheel 2 and the right wheel 3 can independently rotate along the axial direction relative to the vehicle body.
The left wheel 2 and the right wheel 3 are connected at two ends of the front panel 1 and are symmetrical along the central axis of the front panel 1. The wheels comprise at least two wheels, namely a left wheel 2 and a right wheel 3; as another embodiment of the present invention, the number of the wheels may be four, which are respectively a front left wheel, a front right wheel, a rear left wheel and a rear right wheel; the front left wheel and the front right wheel are connected through the front panel, and the rear left wheel and the rear right wheel are connected through the rear panel. Each wheel is individually axially rotatable. Thereby, the motor driving current value corresponding to each wheel can be fed back individually.
The motor is arranged in the vehicle body, is connected with the processor and receives the driving signal sent by the processor; the motor is two at least, and every motor connects one side wheel alone, drives the wheel that connects.
The motors correspond to the wheels, namely each wheel is connected with a unique driving motor, so that each wheel can be driven by the corresponding motor to rotate independently. The wheels at the left side and the right side of the trolley are respectively driven by two motors which work independently and do not interfere with each other when in work,
the current sampling circuit is arranged in the vehicle body and is connected with the processor; the current sampling circuit is at least two, and each current sampling circuit is respectively connected with one motor, is used for collecting the motor driving current value of the connected motor and sending the motor driving current value to the processor.
The current sampling circuit is in one-to-one correspondence with the motors, collects motor driving current values in the motors corresponding to the wheels and is used for judging whether the motor driving current values are the same or not, and the numerical values are mainly used for judging whether the wheels cause sudden increase of the current numerical values due to rotation blockage when the trolley walks so as to judge whether the robot trolley is blocked by obstacles or not.
The distance sensor is arranged on a front panel of the vehicle body, is connected with the processor, and acquires a distance signal and sends the distance signal to the processor; the distance sensors are at least three, connecting lines of the three distance sensors form a right-angled triangle, and one right-angled side is parallel to the connecting line of the centers of the left wheel and the right wheel.
The distance sensor can be a laser distance sensor, the distance measuring range of the sensor is more than 2 meters, the precision is less than 10 millimeters, and the linear distance between an obstacle in front of the distance sensor and the trolley can be measured.
As an embodiment of the present invention, the robot dolly includes two wheels, a left wheel and a right wheel, respectively, which are connected through a front panel. Three distance sensors are mounted on the front panel, in the three distance sensors, a connecting line of a first distance sensor 4 and a second distance sensor 5 is parallel to a connecting line of a left wheel 2 and a right wheel 3, and a third distance sensor 6 is arranged right above or below one of the first distance sensor 4 and the second distance sensor 5, so that the three distance sensors form a right triangle, and the three distance sensors are three vertexes of the right triangle.
By providing the distance sensor in this manner, the read value of the distance sensor can be used for recognizing the obstacle. For example, the distance measurements by the first and second distance sensors 4, 5 may reflect the distance of a car obstacle to the left and right side of the car. The presence of a slope can be reflected by the second and third distance sensors 5, 6.
Further, as an embodiment of the present invention, it is preferable that the robot vehicle further includes a multi-axis gyroscope, which is disposed in the vehicle body, connected to the processor, and configured to acquire a pitch angle value of the robot vehicle and send the acquired pitch angle value to the processor.
The multi-axis gyroscope is used for measuring the pitching angle value of the trolley during walking to judge whether the trolley is in a climbing or obstacle crossing state currently. As an embodiment of the present invention, the multi-axis gyroscope may be a three-axis gyroscope, and can simultaneously determine the position, the movement track, and the acceleration in 6 directions; and judging the motion state of the robot trolley by measuring the angular speed.
Furthermore, the number of the wheels, the motors and the current sampling circuits is the same. Each wheel corresponds to a motor for driving, and each motor corresponds to a current sampling circuit for sampling the driving current value of the motor.
As a second aspect of the present invention, a fault obstacle identification method is proposed, and fig. 2 shows a flowchart of an obstacle identification method of a robot cart according to an embodiment of the present invention.
The barrier is a tangible object which can block the trolley from normally advancing. Obstacles generally fall into two categories, the first category of obstacles being detectable by the distance sensors of the robot trolley, such as walls, boxes, etc., and such obstacles being characterized by a certain volume which allows the distance sensors to detect. A second type of obstacle, which is characterized by a slim structure and cannot be detected by the distance sensor of the robot car, is not detected by the distance sensor of the robot car, such as a pole standing on the ground, etc. Aiming at the second obstacle, the motor driving current of the robot trolley is required to be acquired through the current sampling circuit, and whether the robot trolley meets the obstacle or not in the advancing process is judged according to the change of the motor driving current value. Therefore, the obstacle identification method comprises the following steps:
step 1: presetting a current threshold value, collecting a motor driving current value of each current sampling circuit, and if the motor driving current value is larger than the current threshold value, blocking the trolley body in the travelling direction of the trolley by an obstacle.
The motor driving current value of each current sampling circuit represents whether the wheel is blocked or not in the traveling process, and when one wheel is blocked, the current value of the motor corresponding to the wheel rises. According to the principle, a current threshold is preset, and the current threshold can be set independently and is used for eliminating the influence of small fluctuation of the driving current of the motor on the judgment process. And judging whether the motor driving current value exceeds a preset current threshold value or not by collecting the motor driving current value of each current sampling circuit. It should be noted that each current sampling circuit described herein collects motor driving current values of the motors corresponding to the left-side wheel and the right-side wheel on the corresponding front panel in the traveling direction of the cart. And if the robot trolley has four wheels in total, namely a front left wheel, a front right wheel, a rear left wheel and a rear right wheel, when the trolley travels, only the front left wheel and the front right wheel are collected, and whether the motor driving current values corresponding to the front left wheel and the front right wheel exceed the preset current threshold value is judged.
As an embodiment of the present invention, if the motor driving current value exceeds a preset current threshold value, it may be determined that an obstacle exists in the traveling direction of the robot car and the obstacle comes into contact with a car body.
It can be further determined that when the motor driving current value is greater than the current threshold value, the motor driving current value is compared, and if the motor driving current value is the same, there are two cases, the first case is that the obstacle is a wall surface, a plane obstacle, a transverse obstacle, etc., and the obstacle can be stopped right in front of the trolley, so that both the left side wheel and the right side wheel of the trolley cannot advance, and the motor driving current value of the same size is increased. In the second case, the obstacle blocks both the left and right sides of the vehicle body, so that both the left and right wheels of the robot car cannot travel, and the same motor drive current value is increased.
If the motor driving current values are different in size, different situations can exist, for example, in the first situation, the obstacle is in contact with one side of the trolley and blocks the side of the trolley right ahead of the travelling direction of the wheels on the side, the wheels on the blocking side cannot travel at the moment, the motor driving current value is increased sharply, and the motor driving current value after sharp increase is larger than the motor driving current value of the corresponding motor of the wheels on the other side. As an embodiment of the present invention, if the motor driving current value of the motor corresponding to the left wheel is greater than the motor driving current value of the motor corresponding to the right wheel, it indicates that the obstacle is in contact with the left body of the robot cart and obstructing the left body of the cart. Correspondingly, if the motor driving current value of the motor corresponding to the right wheel is larger than that of the motor corresponding to the left wheel, the obstacle is in contact with the right vehicle body of the robot trolley and blocks the right vehicle body of the trolley.
In the second case, the obstacle is in contact with both the left and right sides of the vehicle, but only one side wheel is blocked and cannot travel, while the other side vehicle body is in contact with the obstacle but not in front contact, i.e., the obstacle is blocked in front of the side of the vehicle, at this time, the side wheel can travel but receives a resistance in a certain side direction, and the resistance increases the motor driving current value of the corresponding motor of the side wheel, exceeds a preset current threshold value, but is smaller than the motor driving current value of the corresponding motor of the wheel which is blocked and cannot travel on the other side.
When the motor driving current values of the motors corresponding to the left side wheel and the right side wheel in the traveling direction of the robot trolley are both smaller than the current threshold value, it is indicated that the robot trolley is not blocked by the first type and/or the second type of obstacles currently, and at this time, whether the first type of obstacles exist in the traveling direction of the robot trolley needs to be further judged, so that the step 2 is continuously executed.
Step 2: presetting an obstacle detection distance threshold, acquiring distance measurement values of distance sensors of the robot trolley, which are parallel to a central connecting line of a left wheel and a right wheel, if at least one distance measurement value is smaller than the obstacle detection distance threshold, an obstacle exists in the advancing direction of the robot trolley, and the distance from the robot trolley is the distance measurement value; and if the two distance measurement values are not smaller than the obstacle detection distance threshold value, no obstacle exists in the travelling direction of the trolley, and the step 1 is returned.
In an embodiment of the present invention, the distance sensor is a laser distance sensor, and when the laser distance sensor works, a laser diode is first aligned with a target to emit a laser pulse. The laser light is scattered in all directions after being reflected by the target. Part of the scattered light returns to the sensor receiver, is received by the optical system and is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function therein, and thus it can detect an extremely weak optical signal. The time from the emission of the light pulse to the return to be received is recorded and processed, i.e. the target distance can be determined.
A first distance sensor, a second distance sensor and a third distance sensor are arranged on a front panel in the traveling direction of the robot trolley. The connecting line of the first distance sensor and the second distance sensor is parallel to the connecting line of the left side wheel and the right side wheel, the third distance sensor is arranged right above or right below one of the first distance sensor and the second distance sensor, so that the three distance sensors form a right triangle, and the three distance sensors are three vertexes of the right triangle.
Because the first distance sensor and the second distance sensor are at the same horizontal position relative to the traveling direction of the trolley, the distance measurement values acquired by the two distance sensors are the same when no obstacle exists in the traveling direction of the robot trolley. If the distance measurements are different, this indicates that there is an obstacle in the direction of travel of the robot trolley and that the distance to the robot trolley is the distance measurement.
Since the detection distance of the laser distance sensor tends to be long, and an obstacle far from the traveling direction of the robot car is not generally regarded as an obstacle, in the above embodiment, it is preferable to preset an obstacle detection distance threshold, that is, to specify a detection range regarded as an obstacle. If one distance measurement value is smaller than a preset obstacle detection distance threshold value, judging that an obstacle exists in the traveling direction of the robot trolley, and judging that the obstacle is on the side with the smaller distance measurement value according to the size of the obtained distance measurement value. Similarly, if the distance measurement value is not less than the preset obstacle detection distance threshold, it indicates that although the distance sensor can detect the object in the traveling direction of the robot trolley, the object is far away from the robot trolley, and cannot obstruct the robot trolley, and the object is not considered as an obstacle.
And (4) returning to the step 1 after the judgment, and judging the second type of obstacles again. Therefore, the real-time circulating obstacle judgment is realized in the advancing process of the robot trolley.
Further, when both distance measurements are less than the obstacle detection distance threshold, if the two distance measurements are the same, the obstacle is directly in front of the direction of travel of the trolley;
if the distance measurement values are different, the obstacle is in front of the travelling direction of the trolley and is arranged on the side of the trolley body corresponding to the distance sensor with the smaller distance measurement value.
By further judging the size of the distance measurement value, when the obstacle in the traveling direction of the robot trolley is roughly judged, the approximate position of the obstacle in the traveling direction of the robot trolley can be further judged, and a more accurate obstacle identification result is provided.
As an embodiment of the present invention, it is preset that the obstacle detection distance threshold is 6 meters, and at this time, the distance measurement values of the first distance sensor and the second distance sensor are both 4 meters, and it can be determined that an obstacle exists 4 meters right in front of the vehicle.
As an embodiment of the present invention, it is preset that the obstacle detection distance threshold is 6 meters, at this time, the distance measurement value of the first distance sensor is 4 meters, and the distance measurement value of the second distance sensor is 5 meters, then the obstacle is in front of the traveling direction of the cart, and is 4 meters away from one side of the cart, and is 5 meters away from the other side of the cart.
In many application scenes, the robot trolley needs certain climbing capacity, and the small-gradient robot trolley cannot be regarded as an obstacle when the robot walks. This requires the robotic vehicle to recognize the slope and have the ability to roughly estimate the slope. The distance measuring method comprises the steps of collecting distance measuring values of distance sensors perpendicular to a central connecting line of a left wheel and a right wheel, namely a second distance sensor and a third distance sensor; if the distance measurements of the second and third distance sensors are different, there is a slope in front of the direction of travel of the robot trolley.
Fig. 3 shows a schematic diagram of slope gradient calculation according to an embodiment of the invention.
As an embodiment of the invention, a distance measurement a of the second distance sensor of 15 meters and a distance measurement B of the third distance sensor of 9 meters, a ≠ B, results, which is the presence of a slope in the direction of travel of the robot trolley.
In the above-described embodiment, further, when there is a slope in the traveling direction of the robot car, it may be found that the distance measurement value a of the second distance sensor is 15 meters, the distance measurement value B of the third distance sensor is 9 meters, and the distance m between the second distance sensor and the third distance sensor may be found to be 3 meters according to the installation positions of the second distance sensor and the third distance sensor. The slope gradient magnitude S can be calculated by the following formula:
s-arctan (m/(a-B)) -arctan (3/(15-9)) -arctan 1/2-0.463648-26.5651 degrees
That is, the slope gradient magnitude S is 26.5651 degrees.
The slope gradient calculation process in this embodiment is an ideal state in which the robot cart is assumed to be parallel to the ground, that is, the robot cart does not have an angular deviation. However, in reality, due to the fluctuation of the ground, the robot trolley has a certain pitching angle, and at this time, a correction parameter needs to be formed according to the slope of the position where the robot trolley is located, so as to balance the calculation error existing in the slope calculation value of the crane. This approach presupposes that a multi-axis gyroscope, such as a three-axis gyroscope, is built into the robot trolley. The multi-axis gyroscope is arranged in the vehicle body, is connected with the processor, collects the pitching angle value of the robot trolley and sends the pitching angle value to the processor. The multi-axis gyroscope is used for measuring the pitching angle value of the trolley during walking to judge whether the trolley is in a climbing or obstacle crossing state currently. The multi-axis gyroscope can be a three-axis gyroscope and can simultaneously determine the positions, moving tracks and accelerations in 6 directions; and judging the motion state of the robot trolley by measuring the angular speed.
Therefore, as a preferred embodiment of the above embodiment, the calculation formula of the slope gradient size S may be:
S＝arctan(m/(A-B))+n
n is a correction parameter, and a certain calculation error exists in the slope value due to the measurement error of the distance sensor and the relative position of the trolley relative to the slope, so that n can be continuously modified and calibrated by reading the pitch angle parameter of the gyroscope in the climbing process of the robot, and the calculation method is more accurate in calculation under different application scenes.
In this embodiment, n is 7 degrees, i.e., the slope gradient S is 26.5651 degrees, and then 7 degrees are added, which is used as the final slope gradient 33.5651 degrees.
The invention integrates the current value of the motor and the value of the distance sensor. The low-cost sensor is used, the problem of blind area recognition caused by a traditional obstacle recognition mode which only depends on a distance sensor is solved, and the discovery of obstacles, the position estimation and judgment of the obstacles, the differentiation of the obstacles and a slope and the calculation of the slope are realized. Compared with the traditional obstacle identification method, the method has the advantages of wider applicability, lower realization cost and more comprehensive functions.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules illustrated are not necessarily required to practice the invention.
In a third aspect of the invention, an electronic device is provided, the electronic device being as shown in fig. 4.
A number of components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, or the like; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408 such as a magnetic disk, optical disk, or the like; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processing unit 401 performs the various methods and processes described above, such as the method of the second aspect of the present invention. For example, in some embodiments, the method of the second aspect of the present invention may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into the RAM403 and executed by the CPU 401, one or more steps of the method of the second aspect of the invention described above may be performed. Alternatively, in other embodiments, the CPU 401 may be configured by any other suitable means (e.g., by means of firmware) to perform the method of the second aspect of the invention.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (10)
1. A robotic cart comprising a memory and a processor, further comprising:
the robot trolley comprises a trolley body and a front panel, wherein the front panel is vertical to the ground and the travelling direction of the robot trolley;
the wheels are symmetrically arranged on the vehicle body; the wheels comprise a left side wheel and a right side wheel, and the left side wheel and the right side wheel can independently rotate along the axial direction relative to the vehicle body;
the motor is arranged in the vehicle body, is connected with the processor and receives the driving signal sent by the processor; the number of the motors is at least two, and each motor is independently connected with a wheel on one side and used for driving the connected wheel;
the current sampling circuit is arranged in the vehicle body and is connected with the processor; the number of the current sampling circuits is at least two, and each current sampling circuit is connected with one motor respectively and used for collecting the motor driving current value of the connected motor and sending the motor driving current value to the processor;
the distance sensor is arranged on a front panel of the vehicle body, is connected with the processor, and acquires a distance signal and sends the distance signal to the processor; the distance sensors are at least three, connecting lines of the three distance sensors form a right-angled triangle, and one right-angled side is parallel to the connecting line of the centers of the left wheel and the right wheel.
2. The robotic cart of claim 1, further comprising a multi-axis gyroscope disposed within the body, coupled to the processor, configured to collect pitch angle values of the robotic cart and send the values to the processor.
3. The robotic trolley of claim 1, wherein the number of wheels, motors, and current sampling circuits is the same.
4. A method for recognizing an obstacle on a robot car according to any one of claims 1 to 3, comprising:
step 1: presetting a current threshold, collecting a motor driving current value of each current sampling circuit, and if the motor driving current value is greater than the current threshold, blocking the trolley body in the travelling direction of the trolley by an obstacle; otherwise, executing step 2;
step 2: presetting an obstacle detection distance threshold, acquiring distance measurement values of distance sensors of the robot trolley, which are parallel to a central connecting line of a left wheel and a right wheel, if at least one distance measurement value is smaller than the obstacle detection distance threshold, an obstacle exists in the advancing direction of the robot trolley, and the distance from the robot trolley is the distance measurement value; and if the two distance measurement values are not smaller than the obstacle detection distance threshold value, no obstacle exists in the travelling direction of the trolley, and the step 1 is returned.
5. The method of claim 4, further comprising:
when the motor driving current value is larger than the current threshold value, if the motor driving current values are the same, all the vehicle bodies right ahead in the travelling direction of the trolley are blocked by the obstacles, and/or
The left and right vehicle bodies right in front of the trolley in the advancing direction are blocked by the barriers;
and if the motor driving current values are different, the side of the vehicle body where the wheel corresponding to the larger motor driving current value is located is the side blocked by the obstacle.
6. The method of claim 4, further comprising:
when both distance measurements are less than the obstacle detection distance threshold, if the two distance measurements are the same, the obstacle is directly in front of the trolley in the direction of travel;
if the distance measurements are different, the obstacle is in front of the direction of travel of the trolley.
7. The method of claim 4, further comprising:
and collecting distance measurement values of distance sensors perpendicular to a connecting line of the centers of the left wheel and the right wheel, wherein if the distance measurement values are different, a slope exists in front of the travelling direction of the trolley.
8. The method of claim 7, wherein the slope has a slope magnitude of:
S＝arctan(m/(A-B))+n
wherein S is the gradient of the slope; m is the distance between the distance sensors perpendicular to the connecting line of the centers of the two wheels; a is a distance measurement value of a sensor above a distance sensor perpendicular to a connecting line of centers of the two wheels; b is a distance measurement value of a sensor below the distance sensor vertical to a connecting line of the centers of the two wheels; n is a correction parameter.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 4-8.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 4 to 8.
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