CN112327871A - Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method - Google Patents
Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method Download PDFInfo
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- CN112327871A CN112327871A CN202011304048.3A CN202011304048A CN112327871A CN 112327871 A CN112327871 A CN 112327871A CN 202011304048 A CN202011304048 A CN 202011304048A CN 112327871 A CN112327871 A CN 112327871A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention relates to an intelligent trolley, a self-obstacle-avoiding method and a remote control obstacle-avoiding method thereof, wherein the intelligent trolley comprises a trolley body, a controller, an ultrasonic sensor, an infrared sensor, a motor unit and wheels are arranged on the trolley body, and the ultrasonic sensor is used for detecting whether an obstacle exists in front of the trolley and the distance between the obstacle and the trolley and transmitting the detected information to the controller; the infrared sensor is used for detecting whether barriers exist in front of the left side and the right side of the trolley or not and transmitting detected information to the controller; the controller outputs corresponding control signals to the motor unit according to all the received detection information, and the motor unit drives the wheels to complete the forward, backward and steering operations. Compared with the prior art, the invention enlarges the detection range, improves the obstacle avoidance success rate, can autonomously finish the moving process again after avoiding obstacles, and can be connected with the client through the cloud deck camera, thereby realizing the purpose of remotely and accurately controlling the obstacle avoidance.
Description
Technical Field
The invention relates to the technical field of artificial intelligent trolleys, in particular to an intelligent trolley, a self-obstacle-avoiding method and a remote control obstacle-avoiding method thereof.
Background
The intelligent vehicle is as a type of intelligent mobile robot, it is nimble to have the action, convenient operation's advantage, intelligent vehicle can remove according to predetermined route, for avoiding removing the in-process and taking place the collision accident, usually need keep away the barrier design to intelligent vehicle, the tradition way is that the sensor that can detect the barrier is installed on intelligent vehicle, the data message who utilizes the sensor to detect, by the operating condition of intelligent vehicle internal control ware control motor, make intelligent vehicle stop moving, if need continue to accomplish the moving process, then need the artificial intelligent vehicle that restarts, there are two kinds of problems in this kind of mode: 1. the obstacle detection speed is low, the range is small, and the obstacle avoidance success rate is low; 2. the trolley can not automatically finish the moving process again after avoiding the obstacle; 3. and the obstacle avoidance operation cannot be accurately controlled.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an intelligent trolley, a self-obstacle-avoiding method thereof and a remote control obstacle-avoiding method thereof, so as to expand the detection range, improve the obstacle-avoiding success rate, automatically complete the moving process again after avoiding obstacles and realize the purpose of accurately controlling the obstacle avoidance.
The purpose of the invention can be realized by the following technical scheme: an intelligent trolley comprises a trolley body, wherein a controller, an ultrasonic sensor, an infrared sensor, a motor unit and wheels are mounted on the trolley body, the ultrasonic sensor, the infrared sensor and the motor unit are respectively connected with the controller, the motor unit is also connected with the wheels, and the ultrasonic sensor is used for detecting whether an obstacle exists in front of the trolley and the distance between the obstacle and the trolley and transmitting the detected information to the controller;
the infrared sensors are used for detecting whether barriers exist in front of the left side and the right side of the trolley or not and transmitting detected information to the controller;
and the controller outputs corresponding control signals to the motor unit according to all the received detection information, and the motor unit drives the wheels to finish forward, backward and steering operations.
Furthermore, a cloud deck camera is mounted on the trolley body and connected with a client, the client is connected with the controller, and the cloud deck camera is used for collecting picture data in the movement process of the trolley and transmitting the collected picture data to the client;
the client is used for receiving the control instruction from the user and transmitting the control instruction of the user to the controller.
Further, the client is provided with a microphone and a voice recognizer, and the microphone is used for collecting a control instruction input by a user through voice;
the voice recognizer is respectively connected with the microphone and the controller and is used for converting voice input into corresponding digital signals and transmitting the digital signals to the controller.
Further, the infrared sensors are installed at both sides of the ultrasonic sensor.
Further, the installation included angle between infrared sensor and the ultrasonic sensor is 45 °.
A self-obstacle avoidance method of an intelligent trolley comprises the following steps:
s1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
s2, detecting whether obstacles exist in the front of the trolley and the front of the left side and the right side of the trolley by the ultrasonic sensor and the infrared sensor respectively, and transmitting the detected information to the controller respectively;
and S3, judging whether the trolley needs to change the moving direction according to the information detected by the ultrasonic sensor and the infrared sensor by the controller, outputting a corresponding control instruction to the motor unit, and driving the wheels to move by the motor unit.
Further, the step S2 specifically includes the following steps:
s21, detecting whether an obstacle exists in front of the trolley by the ultrasonic sensor, if so, transmitting distance data between the current obstacle and the trolley to the controller, otherwise, returning to the step S1;
s22, detecting whether an obstacle exists in front of the left side or the right side of the trolley by the infrared sensor, if so, transmitting the information of the detected obstacle to the controller, otherwise, returning to the step S1.
Further, the step S3 specifically includes the following steps:
s31, judging whether the distance data between the current obstacle and the trolley is smaller than a preset distance threshold value or not by the controller, if so, outputting a backward steering instruction to the motor unit to enable the wheels to correspondingly move, and otherwise, returning to the step S1;
and S32, the controller judges whether the obstacle is positioned in the front left or right according to the information of the detected obstacle output by the infrared sensor, if the obstacle is detected in the front left, a right turning command is output to the motor unit to enable the wheels to move correspondingly, and if the obstacle is detected in the front right, a left turning command is output to the motor unit to enable the wheels to move correspondingly.
Further, the reverse steering command is specifically: firstly, carrying out backward operation according to preset time, and then carrying out left steering or right steering operation.
A remote control obstacle avoidance method for an intelligent trolley comprises the following steps:
t1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
t2, the pan-tilt camera transmits the image data collected in real time to the client;
t3, checking the current driving picture of the intelligent trolley by the user through the client, and if the driving picture has an obstacle, inputting a voice control instruction to the client by the user;
t4, converting the voice control instruction into a corresponding digital control instruction by the client, and transmitting the digital control instruction to the controller;
and T5, outputting corresponding control command to the motor unit by the controller according to the received digital control command, and enabling the wheels to move correspondingly to avoid the obstacle.
Compared with the prior art, the invention has the following advantages:
firstly, the invention can comprehensively detect whether the obstacles exist in the front of the trolley and the front of the left side and the right side through the combination of the ultrasonic sensor and the infrared sensor, thereby expanding the detection range, ensuring the accuracy and the success rate of avoiding the obstacles subsequently, and simultaneously utilizing the controller to output corresponding control instructions to ensure that the trolley can automatically avoid the obstacles and continuously move after meeting the obstacles.
The cloud platform camera is arranged on the trolley, and is connected with the client side and the controller, so that the cloud platform camera can transmit the trolley driving pictures acquired in real time to the client side, a user can intuitively and conveniently master the current moving state of the trolley at a remote end and can directly input a voice control instruction to control the movement of the trolley, and the purpose of accurately controlling and avoiding obstacles is achieved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent vehicle according to the present invention;
FIG. 2 is a flow chart of a method for self-obstacle avoidance of an intelligent vehicle according to the present invention;
FIG. 3 is a schematic diagram of the working flow of the detection of the ultrasonic sensor in the embodiment;
FIG. 4 is a schematic diagram of the working flow of the infrared sensor detection in the embodiment;
FIG. 5 is a flow chart of a method for remotely controlling obstacle avoidance by an intelligent vehicle according to the present invention;
FIG. 6 is a flowchart illustrating operation of the voice remote control according to an embodiment;
the notation in the figure is: 1. the system comprises a controller, 2, an ultrasonic sensor, 3, an infrared sensor, 4, a motor unit, 5, wheels, 6, a holder camera, 7 and a client.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, an intelligent trolley comprises a trolley body, wherein a controller 1, an ultrasonic sensor 2, an infrared sensor 3, a motor unit 4 and wheels 5 are installed on the trolley body, the ultrasonic sensor 2, the infrared sensor 3 and the motor unit 4 are respectively connected with the controller 1, the motor unit 4 is also connected with the wheels 5, the ultrasonic sensor 2 is used for detecting whether an obstacle exists in front of the trolley and the distance between the obstacle and the trolley and transmitting the detected information to the controller 1, ultrasonic waves are mechanical waves with frequency exceeding 20kHz, and in order to enable the intelligent trolley to automatically avoid obstacles to walk, the ultrasonic sensor is used for acquiring the distance information between the trolley and the obstacle in time;
the infrared sensor 3 is used for detecting whether obstacles exist in front of the left side and the right side of the trolley or not and transmitting detected information to the controller 1, the infrared sensor obstacle avoidance principle is that reflection or shielding of transmitted infrared light by a detected object is utilized, a photoelectric circuit gating circuit is used for judging whether obstacles exist or not, signals are received by an infrared receiver and are subjected to reverse amplification by an operational amplifier, signal output is changed from default high level to low level to indicate that the obstacles exist, corresponding signals are output to the controller at the same time, and the controller correspondingly controls the work of a motor unit to achieve obstacle avoidance;
the controller 1 outputs corresponding control signals to the motor unit 4 according to all the received detection information, and the motor unit 4 drives the wheels 5 to complete the forward, backward and steering operations.
In addition, a cloud deck camera 6 is further installed on the trolley body, the cloud deck camera 6 is connected with a client 7, the client 7 is connected with the controller 1, and the cloud deck camera 6 is used for collecting picture data in the trolley moving process and transmitting the collected picture data to the client 7; the client 7 is used for receiving a control instruction from a user and transmitting the control instruction to the controller 1, and in order to realize remote voice control, the client 6 is provided with a microphone and a voice recognizer, and the microphone is used for collecting the control instruction input by the user; the voice recognizer is respectively connected with the microphone and the controller and is used for converting voice input into corresponding digital signals and transmitting the digital signals to the controller.
The intelligent vehicle is applied to practice, and the self-obstacle avoidance method for automatically avoiding obstacles is shown in fig. 2 and comprises the following steps:
s1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
s2, ultrasonic sensor and infrared sensor detect respectively whether there is the barrier in dolly dead ahead and left and right sides place ahead to transmit the information that detects respectively to the controller, it is specific:
s21, detecting whether an obstacle exists in front of the trolley by the ultrasonic sensor, if so, transmitting distance data between the current obstacle and the trolley to the controller, otherwise, returning to the step S1;
s22, detecting whether an obstacle exists in front of the left side or the right side of the trolley by the infrared sensor, if so, transmitting the information of the detected obstacle to the controller, otherwise, returning to the step S1;
s3, the controller judges whether the trolley needs to change the moving direction according to the information detected by the ultrasonic sensor and the infrared sensor, and outputs a corresponding control instruction to the motor unit, and the motor unit drives the wheels to move, specifically:
s31, judging whether the distance data between the current obstacle and the trolley is smaller than a preset distance threshold value or not by the controller, if so, outputting a backward steering instruction to the motor unit to enable the wheels to correspondingly move, and otherwise, returning to the step S1;
and S32, the controller judges whether the obstacle is positioned in the front left or right according to the information of the detected obstacle output by the infrared sensor, if the obstacle is detected in the front left, a right turning command is output to the motor unit to enable the wheels to move correspondingly, and if the obstacle is detected in the front right, a left turning command is output to the motor unit to enable the wheels to move correspondingly.
The working process of detecting the obstacle by using the ultrasonic sensor is as shown in fig. 3, in the embodiment, the distance threshold value between the obstacle and the trolley is set to be 30cm, and the backward steering instruction is set to firstly backward for 50ms and then turn to the left, or to turn to the right after successively backward for 50 ms; the working process of detecting the obstacle by using the infrared sensor is as shown in fig. 4, whether the obstacle exists in the front of the left side and the front of the right side is sequentially judged, and corresponding steering control is performed.
The invention also provides a remote control obstacle avoidance method of the intelligent trolley based on the intelligent trolley, as shown in fig. 5, the method comprises the following steps:
t1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
t2, the pan-tilt camera transmits the image data collected in real time to the client;
t3, checking the current driving picture of the intelligent trolley by the user through the client, and if the driving picture has an obstacle, inputting a voice control instruction to the client by the user;
t4, converting the voice control instruction into a corresponding digital control instruction by the client, and transmitting the digital control instruction to the controller;
and T5, outputting corresponding control command to the motor unit by the controller according to the received digital control command, and enabling the wheels to move correspondingly to avoid the obstacle.
Through the moving state of long-range speech control dolly, can realize more accurate purpose of keeping away the barrier, wherein, pronunciation remote control's work flow is shown in fig. 6, in practical application, can adopt smart mobile phone or computer as the customer end, if adopt smart mobile phone to operate, then convenient and fast more, can keep being connected arbitrary place at dolly and smart mobile phone, carry out speech control to the dolly, send the removal of voice command control dolly more accurately.
In conclusion, the multi-sensor intelligent vehicle overcomes the problem that the detection direction of the sensors is single, the multi-sensor can be used for detecting the obstacle in a wider range to avoid the collision between the edge of the intelligent vehicle and the obstacle, so that the self-obstacle-avoiding function of the intelligent vehicle is better completed, and the controller is used for outputting corresponding control instructions to the motor unit to enable the intelligent vehicle to autonomously move again after the obstacle is avoided;
according to the invention, the cloud deck camera and the client are utilized, so that the movement of the trolley can be remotely controlled, and the obstacle avoidance accuracy of the trolley is further ensured.
Claims (10)
1. An intelligent trolley comprises a trolley body and is characterized in that a controller (1), an ultrasonic sensor (2), an infrared sensor (3), a motor unit (4) and wheels (5) are mounted on the trolley body, the ultrasonic sensor (2), the infrared sensor (3) and the motor unit (4) are respectively connected with the controller (1), the motor unit (4) is further connected with the wheels (5), and the ultrasonic sensor (2) is used for detecting whether an obstacle exists in front of the trolley and the distance between the obstacle and the trolley and transmitting the detected information to the controller (1);
the infrared sensors (3) are used for detecting whether obstacles exist in front of the left side and the right side of the trolley or not and transmitting detected information to the controller (1);
the controller (1) outputs corresponding control signals to the motor unit (4) according to all the received detection information, and the motor unit (4) drives the wheels (5) to complete the forward, backward and steering operations.
2. The intelligent trolley according to claim 1, wherein the trolley body is provided with a pan-tilt camera (6), the pan-tilt camera (6) is connected with a client (7), the client (7) is connected with the controller (1), and the pan-tilt camera (6) is used for collecting picture data in the trolley moving process and transmitting the collected picture data to the client (7);
the client (7) is used for receiving the control instruction from the user and transmitting the control instruction of the user to the controller (1).
3. The intelligent trolley according to claim 2, wherein the client (7) is provided with a microphone and a voice recognizer, and the microphone is used for collecting control instructions input by a user through voice;
the voice recognizer is respectively connected with the microphone and the controller (1) and is used for converting voice input into corresponding digital signals and transmitting the digital signals to the controller (1).
4. The intelligent trolley according to claim 1, characterized in that the infrared sensors (3) are installed on both sides of the ultrasonic sensor (2).
5. An intelligent trolley according to claim 4, characterized in that the installation angle between the infrared sensor (3) and the ultrasonic sensor (2) is 45 °.
6. A self-obstacle-avoiding method using the intelligent trolley of claim 1 is characterized by comprising the following steps:
s1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
s2, detecting whether obstacles exist in the front of the trolley and the front of the left side and the right side of the trolley by the ultrasonic sensor and the infrared sensor respectively, and transmitting the detected information to the controller respectively;
and S3, judging whether the trolley needs to change the moving direction according to the information detected by the ultrasonic sensor and the infrared sensor by the controller, outputting a corresponding control instruction to the motor unit, and driving the wheels to move by the motor unit.
7. The self-obstacle-avoidance method according to claim 6, wherein the step S2 specifically includes the following steps:
s21, detecting whether an obstacle exists in front of the trolley by the ultrasonic sensor, if so, transmitting distance data between the current obstacle and the trolley to the controller, otherwise, returning to the step S1;
s22, detecting whether an obstacle exists in front of the left side or the right side of the trolley by the infrared sensor, if so, transmitting the information of the detected obstacle to the controller, otherwise, returning to the step S1.
8. The self-obstacle-avoidance method according to claim 7, wherein the step S3 specifically includes the following steps:
s31, judging whether the distance data between the current obstacle and the trolley is smaller than a preset distance threshold value or not by the controller, if so, outputting a backward steering instruction to the motor unit to enable the wheels to correspondingly move, and otherwise, returning to the step S1;
and S32, the controller judges whether the obstacle is positioned in the front left or right according to the information of the detected obstacle output by the infrared sensor, if the obstacle is detected in the front left, a right turning command is output to the motor unit to enable the wheels to move correspondingly, and if the obstacle is detected in the front right, a left turning command is output to the motor unit to enable the wheels to move correspondingly.
9. The self-obstacle-avoidance method according to claim 8, wherein the backward steering command is specifically: firstly, carrying out backward operation according to preset time, and then carrying out left steering or right steering operation.
10. A remote control obstacle avoidance method applying the intelligent vehicle as claimed in claim 2, characterized by comprising the following steps:
t1, the controller outputs a corresponding control instruction to the motor unit according to the preset path planning information, and the motor unit drives the wheels to move straightly;
t2, the pan-tilt camera transmits the image data collected in real time to the client;
t3, checking the current driving picture of the intelligent trolley by the user through the client, and if the driving picture has an obstacle, inputting a voice control instruction to the client by the user;
t4, converting the voice control instruction into a corresponding digital control instruction by the client, and transmitting the digital control instruction to the controller;
and T5, outputting corresponding control command to the motor unit by the controller according to the received digital control command, and enabling the wheels to move correspondingly to avoid the obstacle.
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Application publication date: 20210205 |