CN114185356A - Method and device for intelligently identifying obstacles and controlling robot to pass through obstacles - Google Patents
Method and device for intelligently identifying obstacles and controlling robot to pass through obstacles Download PDFInfo
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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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a method for intelligently identifying obstacles and controlling a robot to pass through the obstacles, which comprises the following steps: step S1, the robot acquires the current environment map, and plans a walking path after receiving the working instruction; step S2: in the process that the robot moves according to the walking path, acquiring size data information of an obstacle in an area in front of the robot; step S3: judging the size of a front obstacle, comparing the size value of the obstacle with a preset value, and determining whether the robot can pass through the obstacle according to the size value of the obstacle and the preset value; if the size value of the obstacle is smaller than the preset value, the main controller judges that the mobile robot can pass through the obstacle, and selects a wheel hub motor speed value passing through the obstacle. The robot has the advantages that the size of the obstacle is judged in advance, the speed of the hub motor is reduced to enable the robot to stably pass through, impact on the motor when the motor passes through the obstacle at an excessive speed is reduced, and safety of the motor and equipment in the robot body is protected.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for intelligently identifying obstacles and controlling a robot to pass through the obstacles and a device for intelligently identifying the obstacles and controlling the robot to pass through the obstacles.
Background
The intelligent robot is more and more widely used in daily life, such as a hotel service robot, a meal delivery robot, a killing robot and the like. These robots all have a common problem: when a short barrier or a ditch sill is met, whether the barrier can pass through or not can not be found and judged in time, and when the robot passes through the barrier or the ditch is cut, the robot can not make effective actions to avoid falling, so that the robot can pass through blind attempts, and finally the robot can be damaged by falling. The following two cases are common: 1. because the size of the obstacle cannot be judged in advance, the robot still passes through the obstacle at the speed of flat ground quickly, and then the hub motor is subjected to huge impact when contacting the obstacle, so that the hub motor is damaged or other components and articles in the equipment are damaged; 2. if the robot passes through the obstacle quickly at the speed of a flat ground, the obstacle is too large in size, and the hub wheel hub cannot pass over the obstacle to slip in situ, so that the hub motor odometer information is messy, the robot is positioned and lost in the current environment map, and the robot cannot continue to work.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for intelligently identifying an obstacle and controlling a robot to pass through the obstacle, comprising:
step S1, the robot acquires the current environment map and determines the position of the robot in the environment map, the robot receives the work instruction of the cloud service end, and the robot plans the walking path after receiving the work instruction;
step S2: in the process that the robot moves according to the walking path, acquiring size data information of an obstacle in an area in front of the robot;
step S3: judging the size of a front obstacle, comparing the size value of the obstacle with a preset value, and determining whether the robot can pass through the obstacle according to the size value of the obstacle and the preset value; if the size value of the obstacle is larger than or equal to the preset value, the main controller judges that the mobile robot cannot pass through the obstacle, and replans a walking path; if the size value of the obstacle is smaller than the preset value, the main controller judges that the mobile robot can pass through the obstacle, and selects a wheel hub motor speed value passing through the obstacle.
Preferably, the obstacle size data information is an actual obstacle height value, and the preset value is a preset obstacle height value.
Preferably, the obstacle size data information is obtained by scanning with a depth camera, the depth camera acquires point cloud data of the obstacle, and the obstacle height value is acquired according to the point cloud data.
Preferably, when the main controller judges that the obstacle size value is greater than or equal to the preset value, the main controller issues an instruction suggesting that the vehicle travels around the obstacle.
Preferably, when the main controller judges that the size value of the obstacle is smaller than the preset value, the main controller sends an instruction for reducing the speed of the hub motor and adjusts the posture of the robot so that a connecting line between two hubs of the robot is parallel to the obstacle, and the relationship between the height of the obstacle and the speed of the hub motor is as follows: v = 0.5-hx 0.02, where V is the speed of the in-wheel motor and h is the obstacle height value.
Preferably, when the robot passes through the obstacle, the inclination angle data information of the robot body is obtained, the detected inclination angle value is compared with the safe inclination angle value, and whether the robot needs to adjust the posture of crossing the obstacle is determined according to the sizes of the detected inclination angle value and the safe inclination angle value; if the detected inclination angle value is larger than the safe inclination angle value, the main controller controls the robot to suspend passing through the obstacle, the robot needs to adjust the posture, the posture of the robot passing through the obstacle is adjusted according to the detected inclination angle value, and the robot passes through the obstacle again; if the inclination angle value is less than or equal to the safe inclination angle value, the robot does not need to adjust the posture, and the robot passes through the obstacle parallel posture and moves according to the walking path in the step S1.
Preferably, the safe inclination angle value is a preset value determined by the gyroscope according to an actual inclination test before the robot passes over the obstacle, and the detected inclination angle value is measured by the gyroscope when the robot passes over the obstacle.
Preferably, the gyroscope is used for acquiring a tilt angular velocity of the robot, and the main controller further includes an integration unit for integrating the tilt angular velocity to obtain a detected tilt angle value and a safe tilt angle value.
Preferably, the adjusting of the posture of the robot passing through the obstacle includes rotating the robot body by an angle so that the two hubs of the robot respectively pass through the obstacle in sequence. The two hubs of the robot do not contact with the obstacle at the same time and cross over the obstacle successively, because when the two hubs of the robot contact with the obstacle and cross over the obstacle at the same time, the posture of the robot is integrally inclined backwards, so that the robot can fall backwards, and when a single hub respectively passes over the obstacle, the robot only can roll, and the roll angle is smaller than the backward inclination angle.
Still disclose the device that intelligent recognition barrier and control robot passed through the barrier, including robot body, barrier size measurement spare, robot inclination measurement spare and main control unit, robot body upper portion is fixed with barrier size measurement spare, the inside robot inclination measurement spare that is fixed with of robot body, barrier size measurement spare is used for scanning the high data that lie in the robot the place ahead barrier on the robot body walking path, robot inclination measurement spare is used for measuring the inclination data of robot body.
Preferably, the robot body includes robot housing and drive unit, drive unit includes wheel hub, drive arrangement and supporting seat, drive arrangement and wheel hub fixed connection, wheel hub rotates with the supporting seat to be connected, drive unit is provided with two sets ofly.
The method and the device for intelligently identifying the obstacles and controlling the robot to pass through the obstacles, which are manufactured by the technical scheme of the invention, have the following beneficial effects:
(1) the robot can detect the front obstacle in advance, and can judge the passability of the obstacle in advance according to the size of the obstacle, so that the problem that the robot tries to pass through the obstacle before blinding according to the original traveling path is solved, and the passing rate of the robot is improved;
(2) the size of the obstacle is judged in advance, if the main controller judges that the obstacle can pass through, the speed of the hub motor is reduced, so that the robot can stably pass through, the impact on the motor when the motor passes through the obstacle at an excessively high speed is reduced, the safety of the motor and equipment in the robot body is protected, and the problem that the robot is positioned and lost in a current environment map due to the fact that the robot cannot pass through the obstacle, so that the hub motor idles, calculation of a hub motor odometer is influenced, and the robot can not pass through the obstacle is solved;
(3) when the robot passes through the barrier under main control unit's instruction, gather by the gyroscope and detect inclination when reducing in-wheel motor's speed, if when robot body inclination is greater than safe inclination scope, the robot postpones to cross the barrier, comes the gesture of readjusting the robot body through the rotational speed that changes different drive arrangement, tries again through the barrier, has avoided the robot to fall down because of crossing the barrier.
Drawings
FIG. 1 is a flow chart of a method for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the invention;
FIG. 2 is a flow chart of a method for intelligently identifying obstacles and controlling a robot to obtain height data of the obstacles;
FIG. 3 is a schematic view of a camera coordinate system for a method of intelligently recognizing obstacles and controlling a robot to pass through the obstacles according to the present invention;
FIG. 4 is a top view of the apparatus for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the present invention;
FIG. 5 is a side view of the apparatus for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the present invention;
FIG. 6 is a flow chart of measuring and detecting a safety angle when passing an obstacle according to the method of intelligently identifying obstacles and controlling a robot to pass the obstacles of the present invention;
FIG. 7 is a flowchart of a method for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the invention, wherein a gyroscope obtains a tilt angle of the robot;
FIG. 8 is a perspective view of the apparatus for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the present invention;
FIG. 9 is a right side view of the apparatus for intelligently identifying obstacles and controlling a robot to pass through the obstacles according to the present invention;
in the figure, 1, a robot body; 11. a robot housing; 12. a drive unit; 121. a hub; 122. a drive device; 123. a supporting seat; 2. an obstacle size measuring member; 3. a robot tilt angle measurement member; 4. an obstacle.
Detailed Description
For a better understanding of the present invention, the present invention will be further described with reference to the following embodiments and accompanying drawings, as shown in fig. 1-2, a method for intelligently recognizing obstacles and controlling a robot to pass through the obstacles, comprising:
step S1, the robot acquires the current environment map and determines the position of the robot in the environment map, the robot receives the work instruction of the cloud service end, and the robot plans the walking path after receiving the work instruction;
step S2: in the process that the robot moves according to the walking path, acquiring size data information of an obstacle in an area in front of the robot;
step S3: judging the size of a front obstacle, comparing the size value of the obstacle with a preset value, and determining whether the robot can pass through the obstacle according to the size value of the obstacle and the preset value; if the size value of the obstacle is larger than or equal to the preset value, the main controller judges that the mobile robot cannot pass through the obstacle, and replans a walking path; if the size value of the obstacle is smaller than the preset value, the main controller judges that the mobile robot can pass through the obstacle, and selects a wheel hub motor speed value passing through the obstacle. The robot is removing the operation in-process, the barrier size data message that is located the robot the place ahead in the fixed degree of depth camera real-time scanning robot walking route in robot upper portion, and give main control unit with this data message transmission, main control unit compares barrier size value and default, and then judge whether the robot can pass through the barrier, judge the passability of barrier in advance, the problem of going the barrier probing to pass through before having avoided the robot blindly, the current efficiency of robot has been improved, the possibility of toppling over because of meetting and can not pass through the barrier has been reduced to the robot in-process of advancing.
The obstacle size data information is an actual obstacle height value, and the preset value is a preset obstacle height value. If the height of the obstacle is too high, the appearance of the robot can be damaged when the robot passes through the obstacle, even the robot cannot topple over due to the obstacle, therefore, the depth camera is used for scanning the front situation of the robot, the height information of the obstacle is recorded, the data is transmitted to the main controller, and the main controller makes a decision whether to proceed according to the original proceeding path or not.
The obstacle size data information is obtained by scanning through a depth camera, the depth camera obtains point cloud data of the obstacle, and the obstacle height value is obtained according to the point cloud data. When the robot moves, the front depth camera continuously scans front state information and transmits image information to the main controller, and the main controller acquires point cloud data of one frame from a video stream shot by the depth camera for processing; performing point cloud segmentation by using a region growing algorithm and taking an included angle between a point cloud curvature and a normal vector as a threshold value, and separating cloud blocks of other points on the ground and the ground; solving the distance from the highest point of the cloud block at other points to the normal vector direction of the ground plane; and obtaining the height data of the obstacle in front of the robot.
When the main controller judges that the size value of the obstacle is larger than or equal to the preset value, the main controller sends a command for suggesting to bypass the obstacle to drive; bypassing the obstacle can be achieved by varying the rotational speed of the individual hub motors. When the main controller judges that the size value of the obstacle is smaller than the preset value, the main controller sends an instruction for reducing the speed of a hub motor and adjusts the posture of the robot according to the coordinate value of the obstacle scanned by the depth camera in a camera coordinate system so that the connecting line between two hubs of the robot is parallel to the obstacle, specifically, the connecting line between the centers of the two hubs is parallel to the obstacle, namely, the robot crosses the obstacle in the posture right opposite to the obstacle, the posture of the robot is adjusted back again after crossing the obstacle, so that the robot still runs according to the original running path, and the relation between the height of the obstacle and the running speed of the robot is as follows:
V=0.5-h×0.02，
wherein V is the speed of the hub motor of the machine and h is the height value of the obstacle.
The process of determining the height of the obstacle is as follows: as shown in fig. 3 to 5, a camera coordinate system OXYZcam is established with an optical center of the depth camera as an origin and an optical axis as a Z axis, a robot coordinate system oxxyz is established with a point on a support base of the robot as an origin, OXYimg is a physical image plane coordinate system, K is a camera internal reference matrix, θ 1 is a horizontal field angle, θ 2 is a vertical field angle,
the coordinates of a certain point in space under the camera coordinate system, that is, the coordinates of a certain point on the obstacle under the camera coordinate system in fig. 3 are Pc (Xc, Yc, Zc), and the coordinates of the point on the physical image plane P '(X', Y ', Z') and the coordinates of the point on the pixel plane P (u, v) are obtained by projection,
is the coordinate of a point in space under the robot coordinate system,
is the depth value of the three-dimensional point C in the camera coordinate system,
for the transformation of the camera coordinate system into the robot coordinate system, according to a formula
And formula
Calculated to obtain
The distance between the cloud block of a certain point and the normal vector direction of the ground plane can be calculated according to the matrix, the distance between each point cloud block and the normal vector direction of the ground plane is compared, and the maximum distance value can be obtained, wherein the distance value is the height value of the obstacle.
If main control unit judges that can pass through the barrier, through reducing wheel hub motor speed, improve wheel hub motor's torsion to make the robot more powerful pass through the barrier, and can not lead to wheel hub motor and barrier to produce strong impact because of the speed is too fast, cause wheel hub motor to damage or robot to damage. The principle analysis of increasing the torque of the in-wheel motor by reducing the speed is as follows:
from equation 1: p = F × V, and P = F × V,
wherein, P is power; f is force; v is the speed of the hub motor;
and equation 2: t = F x R, and T = F x R,
wherein T is torque; f is a torsion; r is the action radius;
it can be known that, when the power P is constant, the speed V of the hub motor is in inverse proportion to the force F; when the acting radius, namely the wheel diameter R is constant, the torque T and the torque F are in a direct proportion relation; then, from equation 1 and equation 2, equation 3 can be derived:
P=T×V/R，
wherein, P is power; f is force; v is the speed of the hub motor; r is the action radius; therefore, in the embodiment, in the robot power system, since the power P of the in-wheel motor of the robot and the wheel diameter R are constant values, the speed V of the in-wheel motor is in inverse proportion to the torque T; therefore, when the robot runs and encounters an obstacle, the robot needs to pass by, the torque of the motor needs to be increased, and the speed of the hub motor needs to be reduced;
through a large amount of tests, on the premise of ensuring the stability of the robot, the test results are as follows:
| height of obstacle h (mm) | Speed v (m/s) of the motor | Results |
| 0 | 0.5 | Smoothly pass through |
| 0-5 | 0.4 | Smoothly pass through |
| 5-10 | 0.3 | Smoothly pass through |
| 10-15 | 0.2 | Smoothly pass through |
| 15-20 | 0.1 | Smoothly pass through |
| 20-25 | 0.1 | With a certain probability, pass through smoothly |
According to the test results, the relationship between the height of the in-wheel motor smoothly crossing the obstacle and the speed of the in-wheel motor is as follows:
when the obstacle is judged to be higher than 20mm, the detour is recommended;
when the obstacle is below 20mm, V = 0.5-hx 0.02; wherein V is the motor speed; h is the height of the barrier;
in the above analysis, the height of the obstacle was 20mm, which is a preset value.
As shown in fig. 6-7, when the robot passes through an obstacle, the inclination angle data information of the robot body is obtained, the detected inclination angle value is compared with the safe inclination angle value, and whether the robot needs to adjust the posture of crossing the obstacle is determined according to the detected inclination angle value and the safe inclination angle value; if the detected inclination angle value is larger than the safe inclination angle value, the main controller controls the robot to suspend passing through the obstacle, the robot needs to adjust the posture, the posture of the robot passing through the obstacle is adjusted according to the detected inclination angle value, and the robot passes through the obstacle again; if the value of the inclination angle is less than or equal to the value of the safe inclination angle, the robot passes through the obstacle in a posture parallel to the obstacle and moves along the traveling path in step S1 without adjusting the posture. The detection range of the depth camera is
When the robot passes through the obstacle according to the original walking path, and the wheel hub motor crosses the obstacle according to the relation between the height of the obstacle and the running speed of the robot, the initial postures of the robot when crossing the obstacle are different, so that the inclination angle of the robot body when crossing the obstacle is inconsistent. Therefore, whether the inclination angle of the robot meets the safety requirements or not when the robot crosses the obstacle is judged through the gyroscope, the obstacle crossing posture of the robot can be adjusted in real time, the robot is prevented from falling down, and the robot is better protected.
The safe inclination angle value is a preset value determined by the gyroscope according to an actual inclination test before the robot passes over the obstacle, and the detection inclination angle value is measured by the gyroscope when the robot passes over the obstacle. The gyroscope is mounted on the center line of the interior of the machine at a certain distance from the ground. The gyroscope is used for acquiring the inclination angle speed of the robot, and the main controller also comprises an integration unit which is used for integrating the inclination angle speed to obtain a detection inclination angle value and a safe inclinationThe value of the angle of declination. The specific process is as follows: the robot receives the command of crossing the obstacle and records the current posture
The gyroscope records angles in real time, when the inclination angle of the robot changes, the gyroscope acquires angular velocity data and transmits the angular velocity data to the main controller, the main controller reads the angular velocity data, the angular velocity is integrated, and the current posture is acquired
Calculating
Resolving corresponding three-axis Euler angles, respectively judging whether each axis exceeds a set threshold value, namely a set maximum value, if the angle of at least one axis exceeds the set threshold value, judging that the detected inclination angle value is larger than a safe inclination angle value, sending an instruction of stopping obstacle crossing or exiting an obstacle to the robot by the main controller, further adjusting the posture of the robot and then removing the obstacle; if each axis does not exceed the set threshold value, it is determined that the detected tilt angle value is less than or equal to the safe tilt angle value, and the master controller issues a command to the robot to continue to cross the obstacle.
When the gyroscope is used for calculating the attitude, the steps are as follows:
(1) modeling the data of a gyroscope
In order to be able to measure the value,
in order to be the true value of the value,
in order to randomly walk the noise, the noise is,
is a white noise source, and is,
the measured angle values are calculated as:
；
(2) computing using gyroscopes in continuous form
Attitude of time
(in quaternion):
wherein the content of the first and second substances,
for the measurement of the gyroscope at time t,
for the zero offset error of the gyroscope at time t,
is a white noise source, and is,
the attitude of the gyroscope at the k frame pose at the moment t is obtained;
(3) discretizing it when implemented, updating it using median (from the first one)
Frame to first
Frame):
wherein the content of the first and second substances,
is the mean value of the gyroscope at time i,
is the measurement of the gyroscope at time i,
is the mean value of the gyroscope at time i +1,
for the zero offset error of the gyroscope at time i,
the attitude of the gyroscope in the world coordinate system after the i +1 th data is integrated in the i-th frame attitude,
the attitude of the gyroscope at the ith frame pose at the ith data moment is taken as the integral quantity of the gyroscope pose;
then obtain
And comparing the calculated detection inclination angle value with the safety angle value according to the robot posture of the frame, and determining that the robot crosses the obstacle or adjusting the posture and then crossing the obstacle.
The safe inclination angle is obtained through a large number of experimental tests, and because the heights of the gravity centers of the robots are different, the safe inclination angles are also different, when the height of the gravity center is 320-350 mm, the safe inclination angle obtained through the tests is 15 degrees, and the safe angle value is the minimum angle value which can be directly crossed by the robot.
The posture of the robot passing through the barrier is adjusted to enable the two hubs of the robot to successively and respectively cross the barrier through the rotation angle of the robot body. If the detected inclination angle value is larger than the safe inclination angle value, the main controller controls the robot to suspend to pass through the barrier, the robot needs to adjust the posture, at the moment, the hub motor on one side is kept not to be started, the hub motor on the other side rotates, or the rotating speeds of the two driving motors of the robot are different, so that the robot body rotates for 45 degrees, at the moment, the two hubs are not on the same straight line in space, and the two hubs are kept to sequentially pass through the barrier. And after passing through the obstacle, the robot posture is adjusted again to enable the walking path of the robot to be consistent with the original walking path. The inclination of 45 degrees is a set parameter, and the main purpose is to enable two hubs of the robot to not contact with the obstacle at the same time and to cross the obstacle successively, because when the two hubs of the robot contact with the obstacle and cross the obstacle at the same time, the posture of the robot is integrally inclined backwards, and the risk of falling after the robot happens. When the obstacle size is small and only a single hub of the robot passes through the obstacle when the robot passes through the obstacle, the robot only rolls, the roll angle is smaller than the backward-inclining angle and far cannot reach the backward-inclining angle of the robot, and therefore when one hub of the robot with the small obstacle size passes through the obstacle, the robot can run without adjusting the posture.
The invention also discloses a device for intelligently identifying the obstacle and controlling the robot to pass through the obstacle, which comprises a robot body 1, an obstacle size measuring piece 2, a robot inclination angle measuring piece 3 and a main controller, wherein the obstacle size measuring piece 2 is fixed on the upper part of the robot body 1, the robot inclination angle measuring piece 3 is fixed in the robot body 1, the obstacle size measuring piece 2 is used for scanning height data of an obstacle 4 positioned in front of the robot on a walking path of the robot body 1, and the robot inclination angle measuring piece 3 is used for measuring inclination angle data of the robot body 1.
Specifically, the obstacle size measuring part 2 can be selected as a depth camera, the robot inclination angle measuring part 3 can be selected as a gyroscope, when the robot runs according to a preset walking path, the depth camera continuously scans the size information of an obstacle 4 in front of the robot, the height value of the obstacle 4 is calculated according to an algorithm program, the size data is compared with a preset value, and when the size data of the obstacle 4 is larger than or equal to the preset value, the main controller judges that the robot cannot pass through the obstacle 4, plans the robot path again, and bypasses the obstacle 4. When the size data of the obstacle 4 is smaller than the preset value, the main controller judges that the robot can pass through the obstacle 4 and selects an optimal speed for passing through the obstacle 4. The gyroscope is installed inside robot body 1, detect the angle of robot body 1 slope, when the robot passes through barrier 4 with optimum speed, robot body 1's inclination angle data can be gathered through the gyroscope of dress in it, and judge the current detection inclination angle value of robot and predetermine safe inclination angle value contrast by main control unit, if the current detection inclination angle value is greater than safe inclination angle value, main control unit judges that the robot has the risk of falling, can control the robot and postpone passing through barrier 4, and the gesture that the robot passes through barrier 4 is adjusted according to the numerical value that detects inclination, try again and cross barrier 4. If the value of the current detected inclination angle is smaller than or equal to the value of the preset safe inclination angle, the robot is not influenced and normally passes through. The main controller is installed inside the robot body 1 and used for controlling the motion of the robot.
As shown in fig. 9, the robot body 1 includes a robot housing 11 and a driving unit 12, the driving unit 12 includes a hub 121, a driving device 122 and a supporting seat 123, the driving device 122 is fixedly connected to the hub 121, the hub 121 is rotatably connected to the supporting seat 123, and two sets of the driving unit 12 are provided. Two wheel hubs 121 respectively with drive arrangement 122 fixed connection, drive arrangement 122 select to be the in-wheel motor, the start-up and the stop of in-wheel motor are controlled respectively to main control unit, when the gesture of robot body 1 needs to be changed, two in-wheel motor pivoted time difference, and then lead to robot body 1 rotation angle.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (9)
1. Method for intelligently identifying obstacles and controlling robot to pass through the obstacles, which is characterized by comprising the following steps:
step S1, the robot acquires the current environment map and determines the position of the robot in the environment map, the robot receives the work instruction of the cloud service end, and the robot plans the walking path after receiving the work instruction;
step S2: in the process that the robot moves according to the walking path, acquiring size data information of an obstacle in an area in front of the robot;
step S3: judging the size of a front obstacle, comparing the size value of the obstacle with a preset value, and determining whether the robot can pass through the obstacle according to the size value of the obstacle and the preset value;
if the size value of the obstacle is larger than or equal to the preset value, the main controller judges that the mobile robot cannot pass through the obstacle, and replans a walking path;
if the size value of the obstacle is smaller than the preset value, the main controller judges that the mobile robot can pass through the obstacle, and selects a wheel hub motor speed value passing through the obstacle;
when the robot passes through the obstacle, acquiring inclination angle data information of the robot body, comparing a detected inclination angle value with a safe inclination angle value, and determining whether the robot needs to adjust the posture of crossing the obstacle according to the sizes of the detected inclination angle value and the safe inclination angle value;
if the detected inclination angle value is larger than the safe inclination angle value, the main controller controls the robot to suspend passing through the obstacle, the robot needs to adjust the posture, the posture of the robot passing through the obstacle is adjusted according to the detected inclination angle value, and the robot passes through the obstacle again;
if the inclination angle value is less than or equal to the safe inclination angle value, the robot does not need to adjust the posture, and the robot passes through the obstacle parallel posture and moves according to the walking path in the step S1.
2. The method of claim 1, wherein the obstacle size data information is an actual obstacle height value, and the preset value is a preset obstacle height value.
3. The method for intelligently identifying obstacles and controlling a robot to pass through obstacles according to claim 2, wherein the obstacle size data information is obtained by scanning with a depth camera, the depth camera obtains point cloud data of the obstacles, and obtains the height value of the obstacles according to the point cloud data.
4. The method of claim 3, wherein when the main controller determines that the size of the obstacle is greater than or equal to a predetermined value, the main controller issues a command suggesting to drive around the obstacle;
when the main controller judges that the size value of the obstacle is smaller than the preset value, the main controller sends an instruction for reducing the speed of the hub motor and adjusts the posture of the robot so that a connecting line between two hubs of the robot is parallel to the obstacle, and the height of the obstacle and the speed of the hub motor are in a relation of: v = 0.5-hx 0.02, where V is the speed of the in-wheel motor and h is the obstacle height value.
5. A method for intelligently identifying obstacles and controlling a robot to pass through obstacles according to claim 1, characterized in that the safe inclination angle value is a preset value determined by the gyroscope according to an actual inclination test before the robot passes over the obstacle, and the detection inclination angle value is measured by the gyroscope when the robot passes over the obstacle.
6. The method of claim 5, wherein the gyroscope is used for obtaining a tilt angular velocity of the robot, and the main controller further comprises an integration unit for integrating the tilt angular velocity to obtain a detected tilt angle value and a safe tilt angle value.
7. The method of claim 6, wherein the adjusting the robot passing through the obstacle comprises rotating the robot body by an angle so that two hubs of the robot respectively pass through the obstacle in sequence.
8. The device for intelligently identifying the obstacles and controlling the robot to pass through the obstacles is characterized in that the method for intelligently identifying the obstacles and controlling the robot to pass through the obstacles comprises a robot body (1), an obstacle size measuring piece (2), a robot inclination angle measuring piece (3) and a main controller, wherein the obstacle size measuring piece (2) is fixed on the upper part of the robot body (1), the robot inclination angle measuring piece (3) is fixed in the robot body (1), the obstacle size measuring piece (2) is used for scanning height data of the obstacles in front of the robot on a walking path of the robot body, and the robot inclination angle measuring piece (3) is used for measuring inclination angle data of the robot body.
9. The device for intelligently identifying obstacles and controlling the robot to pass through obstacles according to claim 8, wherein the robot body (1) comprises a robot shell (11) and a driving unit (12), the driving unit (12) comprises a hub (121), a driving device (122) and a supporting seat (123), the driving device (122) is fixedly connected with the hub (121), the hub (121) is rotatably connected with the supporting seat (123), and the driving unit (12) is provided with two groups.
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