CN112050813B - Laser navigation system for anti-riot one-zone mobile robot - Google Patents
Laser navigation system for anti-riot one-zone mobile robot Download PDFInfo
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- CN112050813B CN112050813B CN202010792183.0A CN202010792183A CN112050813B CN 112050813 B CN112050813 B CN 112050813B CN 202010792183 A CN202010792183 A CN 202010792183A CN 112050813 B CN112050813 B CN 112050813B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The application relates to a laser navigation system for an anti-riot one-zone mobile robot, which comprises a route identification module, a navigation module and a navigation module, wherein the route identification module is used for responding cruise information input from the outside and generating a cruise route; the driving module is used for responding to the cruising route and controlling the robot to move according to the cruising route; the obstacle recognition module is used for sending out warning information when an obstacle appears in front of the robot, and the driving module controls the robot to stop moving when receiving the warning information; the judging module is used for judging whether the height of the barrier is higher than the safety height input by the outside or not when the warning information is received, if so, the judging module sends bypassing information, and when the driving module receives the bypassing information, the driving module controls the robot to bypass the barrier and continue to move along the cruising route after bypassing the barrier; if the result is negative, the cruising information is sent out, and the driving module controls the robot to move continuously when receiving the cruising information. The method and the device have the effect of automatically judging and processing the emergency situation in the navigation process.
Description
Technical Field
The application relates to the field of robot control, in particular to a laser navigation system for an anti-riot one-zone mobile robot.
Background
For the inspection of some dangerous places, such as a substation area, high-voltage arcs are everywhere and are very dangerous for inspection personnel; therefore, in order to ensure the safety of these areas, a corresponding robot is usually used to implement the inspection function.
The related inspection robot is generally provided with a motion control system, a visual navigation system and an inspection visual system, wherein the motion control system and the visual navigation system are in communication connection with the inspection visual system; the method comprises the following steps: (1) the inspection camera of the inspection visual system acquires an inspection image in real time and judges the type of an obstacle according to the inspection image; (2) the visual navigation system shoots a visual navigation image in front in real time and preprocesses the image; extracting and identifying the characteristics of the preprocessed target object to obtain the type of the target object; (3) after the type of the target object is determined, the distance between the target object and the inspection robot body is measured by the visual navigation system and the motion control system, and positioning is realized; (4) and the visual navigation system sends the corresponding obstacle crossing strategy to the motion control system according to the type of the target object, so that the inspection robot can complete obstacle crossing.
In view of the above-mentioned related art, the inventor considers that there is a defect that the handling method for the emergency in the navigation process is too dependent on manual operation.
Disclosure of Invention
In order to realize automatic judgment and processing of sudden situations in the navigation process, the application provides a laser navigation system for an anti-riot first-zone mobile robot, which adopts the following technical scheme:
a laser navigation system for a riot-prevention one-zone mobile robot, comprising:
the input module is used for inputting information;
the route identification module is used for responding cruise information input from the outside and generating a cruise route;
the driving module is used for responding to the cruising route and controlling the robot to move according to the cruising route;
the obstacle recognition module is used for sending out warning information when an obstacle appears in front of the robot, and the driving module controls the robot to stop moving when receiving the warning information;
the judging module is used for judging whether the height of the barrier is higher than the safety height input by the outside when the warning information is received,
if the judgment result is yes, the judgment module sends bypassing information, and when the driving module receives the bypassing information, the driving module controls the robot to bypass the obstacle and continue to move along the cruising route after bypassing the obstacle;
if the judgment result is negative, the cruising information is sent out, and the driving module controls the robot to move continuously when receiving the cruising information.
Through adopting above-mentioned technical scheme, the robot is when removing according to the route of cruising, if meet the barrier, can carry out the judgement of barrier height earlier, the safe height of external input is the height that the robot can pass through promptly, if the barrier height is less than safe height, then the robot can directly push away from the barrier, keep the route of cruising to remove, if the barrier height is higher than safe height, then the robot can select the detour mode to walk around the barrier, thereby, can judge the barrier condition and deal with by oneself through the robot, thereby, can effectively reduce the dependence of robot to the manual work at the in-process of cruising, promote the degree of automation of robot.
Preferably, the route identification module specifically includes:
the information conversion submodule is used for converting cruise information input from the outside into a cruise route;
the information classification submodule is used for identifying a straight line and a turning line in the cruising route;
the map generation submodule is used for calling the cruise information and generating a corresponding aerial view map;
the linear drawing submodule is used for calling a linear line in the cruise information and drawing the linear line on the aerial view map;
the turning drawing submodule is used for calling a turning route in the cruise information and drawing the turning route on the aerial view map;
the fine tuning sub-module is used for judging whether the turning route is an arc route or not, and if the judgment result is negative, converting the corresponding turning route into a route which is arranged in an arc shape;
the range demarcation submodule is used for drawing the geo-fences on the two sides of the straight line route and the turning route according to the given width input by the outside world and marking the geo-fences as the detonable areas;
the direction drawing submodule is used for marking the direction of the cruising route, wherein the direction can be in one-way or two-way circulation;
and the map storage submodule is used for storing the aerial view map drawn with the cruising route and the detonable area.
Through adopting above-mentioned technical scheme, when carrying out the route discernment, on the one hand, can adjust the route part of turning in the route of cruising for being curved route through the fine setting submodule piece, more accord with the moving means of robot, can ensure the stability that the robot removed along the route, on the other hand, through the range demarcation submodule piece, can give the scope of dodging for the robot dodges the barrier, when meetting the barrier, the robot can carry out the barrier and dodge the detour within the restriction of geofence, when the robot can't apply for the intervention of manual assistance again when walking around the barrier in the geofence, can effectively reduce the degree of dependence of robot to the manpower.
Preferably, the driving module specifically includes:
the route writing sub-module is used for calling a bird's-eye view map drawn with a cruising route and a detonable area and writing the bird's-eye view map into the robot processor;
the starting point confirmation submodule is used for controlling the robot to move to the starting point position of the cruising route;
the normal control submodule is used for controlling the robot to move along the cruising route;
the abnormity control submodule is used for controlling the robot to stop moving when the warning information is received, and controlling the robot to move along the edge of the obstacle until the robot returns to the cruising route when the detour information is received;
the abnormal shutdown submodule is used for controlling the robot to stop moving and sending abnormal information when the robot moves to the boundary of the bypassing area;
the cruising sub-module is used for controlling the robot to continue moving along the cruising route when the cruising information is received;
and the termination submodule is used for controlling the robot to stop moving when the robot moves to the end point of the cruising route along the cruising route.
Through adopting above-mentioned technical scheme, when carrying out robot control, under the normal condition, the robot removes along the route of cruising, when detecting the barrier, cooperation judgement module carries out the barrier state and judges to adjust the mobile state of robot through unusual shutdown submodule piece, unusual control submodule piece and continuation of the journey submodule piece respectively, thereby control the robot and cross the barrier.
Preferably, the robot monitoring system further comprises a feedback module for outputting a bird's eye view map marked with the real-time position of the robot when the abnormality information is received.
Through adopting above-mentioned technical scheme, when receiving abnormal information, explain this moment the robot can't cross or walk around the barrier, at this moment, output bird's-eye view map can make things convenient for operating personnel to look over the position of robot to clear up the barrier, in time the motion of manual intervention robot.
Preferably, the feedback module specifically includes:
the abnormal response submodule is used for calling the position of the robot and the position of the robot when the robot is separated from the cruising route when the abnormal information is received, and generating real-time position information;
the abnormity marking sub-module is used for copying the aerial view map, marking real-time position information on the aerial view map, and drawing a straight line segment between the position of the robot and the position of the robot when the robot is separated from the cruising route;
and the information sending submodule is used for calling the aerial view map drawn with the straight line segment and outputting the aerial view map.
Through adopting above-mentioned technical scheme, when feeding back, draw the straightway between the position of robot and the position when the robot breaks away from the route of cruising on the bird's-eye view map, can make things convenient for operating personnel to confirm the distance volume that the robot removed for avoiding the barrier, make things convenient for operating personnel to judge the barrier size to equipment or barrier removal instrument that the adjustment was carried.
Preferably, the driving module further includes:
and the breakpoint reconnection submodule is used for responding reconnection information input from the outside, controlling the robot to return to the position, corresponding to the abnormal information, of the robot when the robot is separated from the cruising route and sending cruising information.
Through adopting above-mentioned technical scheme, after the barrier is clear away, operating personnel sends reconnection information, alright reconnect submodule piece control robot through the breakpoint and remove to the position that breaks away from the route of cruising, at this moment, send continuation of journey information, alright utilize continuation of journey submodule piece control robot to continue to move to the guarantee robot can complete efficient continuation execution task of cruising.
Preferably, the method further comprises the following steps:
and the pre-release module is used for calling the aerial view map drawn with the cruising route and the detouring area and outputting the aerial view map.
Through adopting above-mentioned technical scheme, before control robot removes, send aerial view map to personnel in the region, can make things convenient for personnel to dodge the robot route of cruising to the probability that personnel or barrier appear on the route of cruising of reduction robot.
Preferably, the route identifying module further includes:
the information acquisition submodule is used for responding to the abnormal point information input from the outside and drawing the abnormal point information on the aerial view map;
the information judgment submodule is used for judging whether the abnormal point information is superposed with the cruising route or not, and if the judgment result is yes, marking the abnormal point information as route adjustment information;
and the route adjusting submodule is used for calling the route adjusting information and changing the cruising route at the position of the route adjusting information into a route which bypasses the corresponding position of the route adjusting information in an arc shape.
Through adopting above-mentioned technical scheme, when the robot removed, whether barrier appears near the route of cruising can be confirmed to operating personnel, if operating personnel discovers the barrier in advance, then operating personnel accessible abnormal point information's mode feeds back to the system to, the system can adjust the route of cruising of robot through route adjustment submodule, thereby reduces the probability that the robot met the barrier, improves the stability and the high efficiency that the robot was cruising.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the robot can be allowed to judge and analyze the state of the barrier by itself, the barrier which can be avoided can be processed by itself, and the cruise task can be automatically completed;
2. the method and the device can improve the reasonability of the cruise route planning and the obstacle avoidance efficiency by combining with information feedback of operators, so that a more reasonable and stable cruise route can be formulated.
Drawings
FIG. 1 is an overall system diagram of an embodiment;
FIG. 2 is a system flow diagram of a highlighted route identification module in an embodiment;
FIG. 3 is a system flow diagram of a highlight driver module in an embodiment.
Description of reference numerals: 100. an input module; 200. a route identification module; 210. an information conversion submodule; 220. an information classification submodule; 230. a map generation submodule; 231. a line drawing submodule; 232. a turn mapping submodule; 233. a fine tuning submodule; 240. an information acquisition submodule; 241. an information judgment submodule; 242. a route adjustment submodule; 250. a range delineation sub-module; 260. a direction drawing submodule; 270. a map storage submodule; 300. a pre-release module; 400. a drive module; 410. a route write submodule; 420. a starting point confirmation submodule; 430. a normal control submodule; 440. an abnormality control sub-module; 441. an abnormal shutdown submodule; 442. a breakpoint reconnection submodule; 443. a endurance sub-module; 450. a termination submodule; 500. an obstacle identification module; 600. a judgment module; 700. an output module; 800. a feedback module; 810. an exception response submodule; 820. an anomaly marking submodule; 830. and the information sending submodule.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses a laser navigation system for an anti-riot first-zone mobile robot, referring to fig. 1 and 2, including:
the input module 100 includes an input device such as a keyboard for inputting information.
And the route identification module 200 is used for responding to externally input cruise information and generating a cruise route.
The route identification module 200 specifically includes:
and the information conversion sub-module 210 is used for converting the route data in the externally input cruise information into the cruise route.
And the information classification submodule 220 is used for identifying a straight line and a turning line in the cruising route.
And the map generation submodule 230 is used for calling the area map in the cruise information and generating a corresponding bird's-eye view map.
And the straight line drawing submodule 231 is used for calling the straight line in the cruising route and drawing the straight line on the bird's-eye view map.
And the turning drawing submodule 232 is used for calling the turning route in the cruise information and drawing the turning route on the aerial view map.
A fine-tuning sub-module 233 for checking whether the adjacent routes on the bird's-eye view map are connected end to end, and connecting the adjacent routes with break points in the middle; and judging whether the turning route is an arc route or not, and if not, converting the corresponding turning route into a route in arc arrangement.
And the information acquisition sub-module 240 is used for drawing the abnormal point information on the aerial view map in response to the abnormal point information input from the outside.
And the information judgment submodule 241 is used for judging whether the abnormal point information is superposed with the cruising route, and if the judgment result is yes, marking the abnormal point information as the route adjustment information.
And the route adjusting submodule 242 is configured to invoke the route adjusting information, and change the cruising route at the position of the route adjusting information into a route which bypasses the corresponding position of the route adjusting information in an arc shape.
And the range-demarcating sub-module 250 is used for drawing the geo-fence according to the given width input by the outside on the two sides of the straight line route and the turning route and marking the geo-fence as the circumambulable area.
And the direction drawing submodule 260 is used for calling the direction information in the cruise information and marking the direction of the cruise route.
And a map storage sub-module 270 for storing the bird's-eye view map on which the cruising route and the detonable area are drawn.
The cruise information comprises a regional map, starting point information, end point information, route data and direction information; the direction information may be single or bidirectional. The abnormal point information includes at least one set of horizontal and vertical coordinates matched with the aerial view map. The given width is given by operator input and the given top width is in centimeters as the minimum unit of measure.
The pre-release module 300 is configured to call a bird's-eye view map on which the cruising route and the detonable area are drawn, and output the bird's-eye view map.
Therefore, the route which the robot is about to cruise can be sent to the operator through the releasing module, and the operator can conveniently avoid the robot.
And the obstacle identification module 500 is used for sending out warning information when an obstacle appears in front of the robot.
The judging module 600 is configured to judge whether the height of the obstacle is higher than a safety height input from the outside when the warning information is received:
if the determination result is yes, the determining module 600 sends the detour information.
If the determination result is negative, the determining module 600 sends the cruising information.
Referring to fig. 2 and 3, the present system further comprises:
and the driving module 400 is used for responding to the cruising route and controlling the robot to move according to the cruising route.
The driving module 400 specifically includes:
and the route writing sub-module 410 is used for calling the aerial view map drawn with the cruising route and the detonable area and writing the aerial view map into the robot processor.
And a starting point confirmation submodule 420 for controlling the robot to move to the cruising route starting point position.
A normal control sub-module 430 for controlling the robot to move along the cruise route.
And the abnormity control submodule 440 is used for controlling the robot to stop moving when the warning information is received, and controlling the robot to move along the edge of the obstacle until the robot returns to the cruising route when the detour information is received.
And the abnormal shutdown submodule 441 is used for controlling the robot to stop moving and sending abnormal information when the robot moves to the boundary of the bypassing area.
And the breakpoint reconnection submodule 442 is configured to respond to reconnection information input from the outside, control the robot to return to a position where the robot corresponding to the abnormal information is separated from the cruising route, and send cruising information.
And the cruising sub-module 443 is used for controlling the robot to continue to move along the cruising route when the cruising information is received.
A termination sub-module 450 for controlling the robot to stop moving when the robot moves along the cruise route to the end of the cruise route.
So far, in the process of cruising of the robot, automatic obstacle avoidance processing is preferentially carried out, the robot can normally cruise under the control of the cruising sub-module 443 for the obstacles which can be directly crossed, the robot tries to bypass the obstacles which need to be bypassed, if the robot moves to the boundary of the bypassing area and still cannot bypass the obstacles, the robot stops under the control of the abnormal shutdown sub-module 441, and returns to the cruising route for continuing cruising when the operator cleans the obstacles and sends reconnection information.
The output module 700 includes an output device such as a display screen, and is used for outputting information such as a bird's-eye view map.
And a feedback module 800, configured to output the aerial view map marked with the real-time position of the robot when the abnormal information is received.
The feedback module 800 specifically includes:
and the abnormal response submodule 810 is used for calling the position of the robot and the position of the robot when the robot is out of the cruising route when the abnormal information is received, and generating real-time position information.
And an anomaly marking sub-module 820 for copying the bird's-eye view map, marking real-time position information on the bird's-eye view map, and drawing a straight line segment between the position of the robot and the position of the robot when the robot is off the cruising route.
And the information sending submodule 830 is configured to call the bird's-eye view map drawn with the straight line segment, and output the bird's-eye view map.
Therefore, when the robot cannot cross or bypass the obstacle, the robot can remind an operator of processing the obstacle in time in a mode of outputting the aerial view map. When feedback is carried out, the position of the robot is drawn on the aerial view map, and the straight line segment between the positions of the robot when the robot is separated from the cruising route can be conveniently drawn, so that the operator can conveniently confirm the distance amount of the robot for avoiding the movement of the barrier, and judge the size of the barrier, thereby adjusting the carried equipment or the barrier moving tool.
The implementation principle of the laser navigation system for the anti-riot first-zone mobile robot in the embodiment of the application is as follows: when the robot moves according to the cruising route, if the robot meets an obstacle, the height of the obstacle is judged firstly, the safety height input from the outside is the height which the robot can pass through, if the height of the obstacle is lower than the safety height, the robot can directly press the obstacle, the cruising route is kept to move, if the height of the obstacle is higher than the safety height, the robot can bypass the obstacle in a bypassing mode, in the bypassing process, if the robot moves to the boundary of the bypassing area and does not bypass the obstacle, a bird-eye view map is output, real-time position information is marked on the bird-eye view map, the operator is reminded to process the obstacle, and when the operator sends reconnection information, the robot returns to the cruising route to continue cruising operation. Therefore, the obstacle condition can be judged by the robot and can be responded to, the dependence of the robot on workers in the cruising process can be effectively reduced, and the automation degree of the robot is improved.
The present embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the operations in the above-described system embodiments.
It will be understood by those skilled in the art that all or part of the processes in the system implementing the embodiments described above can be implemented by the hardware associated with the instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (6)
1. A laser navigation system for a riot-prevention one-zone mobile robot, comprising:
an input module (100) for inputting information;
the route identification module (200) is used for responding to cruise information input from the outside and generating a cruise route;
the route identification module (200) specifically comprises:
the information conversion submodule (210) is used for converting cruise information input from the outside into a cruise route;
the information classification submodule (220) is used for identifying a straight line and a turning line in the cruising route;
the map generation submodule (230) is used for calling the cruise information and generating a corresponding aerial view map;
the range demarcation submodule (250) is used for drawing the geo-fences on the two sides of the straight line route and the turning route according to the given width input by the outside world, and marking the geo-fences as the circumambulable area;
a direction mapping sub-module (260) for marking directions to the cruising route, wherein the directions may be one-way or two-way loops;
a map storage sub-module (270) for storing a bird's-eye view map on which a cruising route and a detonable area are drawn;
a driving module (400) for controlling the robot to move according to the cruising route in response to the cruising route;
the driving module (400) specifically comprises:
the route writing sub-module (410) is used for calling a bird's-eye view map drawn with a cruising route and a detonable area and writing the bird's-eye view map into the robot processor;
a starting point confirmation submodule (420) for controlling the robot to move to a cruising route starting point position;
a normal control sub-module (430) for controlling the robot to move along the cruising route;
the abnormity control submodule (440) is used for controlling the robot to stop moving when the warning information is received, and controlling the robot to move along the edge of the obstacle until the robot returns to the cruising route when the detour information is received;
the abnormal shutdown submodule (441) is used for controlling the robot to stop moving and sending abnormal information when the robot moves to the boundary of the bypassing area;
a termination submodule (450) for controlling the robot to stop moving when the robot moves along the cruise route to the end of the cruise route;
the obstacle recognition module (500) is used for sending out warning information when an obstacle appears in front of the robot, and the driving module (400) controls the robot to stop moving when receiving the warning information;
a judging module (600) for judging whether the height of the barrier is higher than the safety height input by the outside when the warning information is received,
if the judgment result is yes, the judgment module (600) sends bypassing information, and when the driving module (400) receives the bypassing information, the robot is controlled to bypass the obstacle and continue to move along the cruising route after bypassing the obstacle;
if the judgment result is negative, sending the endurance information, and controlling the robot to continue moving when the driving module (400) receives the endurance information;
the feedback module (800) is used for outputting a bird's-eye view map marked with the real-time position of the robot when the abnormal information is received;
the feedback module (800) specifically comprises:
the abnormal response submodule (810) is used for calling the position of the robot and the position of the robot when the robot is separated from the cruising route when the abnormal information is received, and generating real-time position information;
an anomaly marking sub-module (820) for copying a bird's-eye view map, marking real-time position information on the bird's-eye view map, and drawing a straight line segment between the position of the robot and the position of the robot when the robot is out of the cruising route;
the information sending sub-module (830) is used for calling the aerial view map drawn with the straight line segments and outputting the aerial view map;
and the output module (700) is used for outputting information.
2. A laser navigation system for a riot-prevention one-zone mobile robot according to claim 1, characterized in that the route identification module (200) further comprises:
the straight line drawing submodule (231) is used for calling the straight line in the cruise information and drawing the straight line on the aerial view map;
the turning drawing submodule (232) is used for calling the turning route in the cruise information and drawing the turning route on the aerial view map;
and the fine tuning submodule (233) is used for judging whether the turning route is an arc route or not, and if the judgment result is negative, converting the corresponding turning route into a route in an arc setting.
3. The laser navigation system for a riot-prevention one-zone mobile robot according to claim 2, wherein the driving module (400) further comprises:
and the cruising sub-module (443) is used for controlling the robot to continue to move along the cruising route when the cruising information is received.
4. A laser navigation system for a riot-prevention one-zone mobile robot according to claim 3, characterized in that the driving module (400) further comprises:
and the breakpoint reconnection sub-module (442) is used for responding reconnection information input from the outside, controlling the robot to return to the position, corresponding to the abnormal information, of the robot when the robot is separated from the cruising route and sending cruising information.
5. The laser navigation system for a riot-prevention one-zone mobile robot according to claim 4, further comprising:
and the pre-release module (300) is used for calling the aerial view map drawn with the cruising route and the detouring area and outputting the aerial view map.
6. A laser navigation system for a riot-prevention one-zone mobile robot according to claim 4, characterized in that the route identification module (200) further comprises:
the information acquisition sub-module (240) is used for responding to the abnormal point information input from the outside and drawing the abnormal point information on the aerial view map;
the information judgment submodule (241) is used for judging whether the abnormal point information is superposed with the cruising route, and if the judgment result is yes, the abnormal point information is marked as route adjustment information;
and the route adjusting submodule (242) is used for calling the route adjusting information and changing the cruising route at the position of the route adjusting information into a route which bypasses the corresponding position of the route adjusting information in an arc shape.
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