CN101763119B - Obstacle avoidance aiding method based on teleoperation mobile robot - Google Patents
Obstacle avoidance aiding method based on teleoperation mobile robot Download PDFInfo
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- CN101763119B CN101763119B CN2009102630813A CN200910263081A CN101763119B CN 101763119 B CN101763119 B CN 101763119B CN 2009102630813 A CN2009102630813 A CN 2009102630813A CN 200910263081 A CN200910263081 A CN 200910263081A CN 101763119 B CN101763119 B CN 101763119B
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Abstract
The invention discloses an obstacle avoidance aiding method based on teleoperation mobile robot. The teleoperation mobile robot in the invention enters a work field under long-distance wireless control of an operator, and transmits information of the work field back to a local operating platform via wireless transmission; the mobile robot is provided with ultrasonic and infrared distance-measuring equipment to measure the distance between the robot and the surrounding obstacles; the mobile robot is also provided with a camera for monitoring field situation and transmitting the field picture to the local operating platform. When encountering an obstacle, the mobile robot firstly sets a motion speed according to the distance from the obstacle and alarms the local operating platform; a local operator can analyze the obstacle according to the field picture information and the vehicle-borne sensor information, and decides to take obstacle avoidance measures or compel the robot to break the obstacle. The invention has the advantages of human-robot cooperation and flexible obstacle avoidance, and can be applied for a mobile robot working in on a complex work field to perform automatic local avoidance aid.
Description
Technical field
The present invention relates to mobile robot technology and complex environment monitoring field.A kind of obstacle avoidance aiding method based on remote operating mobile robot has specifically been proposed.
Background technology
Along with the development of mobile robot technology, mobile robot's automatic obstacle avoiding ability has a very wide range of applications as the basic function of protecting robot security's work.But, be covered with the situation of barrier around often running into the mobile robot that complex environment is executed the task.Some barrier can't break through or cross, and some barrier then is easy to break through or cross.Present mobile robot's automatic obstacle avoiding function can't be differentiated the concrete condition of barrier and can only select all to dodge, this largely limit the automatic obstacle avoiding mobile robot ability of executing the task at complex environment.Abandon mobile robot's automatic obstacle avoiding ability fully and adopt manual control can waste the powerful sensing ability of mobile robot itself, waste operating personnel's energy also reduces mobile robot's work efficiency.The barrier ability of keeping away of utilizing the mobile robot is as the obstacle avoidance aiding means, warns and slows down assurance safety for operating personnel provide.Operating personnel can make judgement to the barrier attribute through the working site image information of passing back, and decision is dodged, broken through obstacle and still utilizes the mechanical arm removing obstacles.The mobile robot based on distant operation for work under complicated circumstances not known adopts obstacle avoidance aiding method; Can be under the prerequisite that guarantees the robot security; Alleviate operating personnel's work load; Increase work efficiency, and accomplish breakthrough and the removing obstacles work that the automatic obstacle avoiding robot can not accomplish.
Summary of the invention
The present invention seeks to provides a kind of obstacle avoidance aiding method based on remote operating mobile robot to the defective that prior art exists; Use this invention guaranteeing under robot security's the prerequisite; Alleviate operating personnel's work load; Increase work efficiency, and accomplish breakthrough and the removing obstacles work that the automatic obstacle avoiding robot can not accomplish.
The present invention adopts following technical scheme for realizing above-mentioned purpose:
The present invention is based on the obstacle avoidance aiding method of remote operating mobile robot; It is characterized in that: at least one group of distance measuring sensor group and at least two video cameras are installed on remote operating mobile robot; The distance measuring sensor group is installed in the front end of remote operating mobile robot, is used to measure the distance on barrier and the remote operating mobile robot moving direction; Video camera is installed on the support and mechanical arm front end of remote operating mobile robot, is used to take the distant view image and the barrier close shot image of remote operating mobile robot working site; Said remote operating mobile robot is according to the distant view image and the barrier close shot image clean-up barrier of the distance on the said moving direction, working site.
Described obstacle avoidance aiding method based on remote operating mobile robot; It is characterized in that: operating personnel get into the working site through local operating platform control remote operating mobile robot; When remote operating mobile robot is advanced, utilize the image of first video camera floor and pass image back this locality; Utilize stadimeter to obtain remote operating mobile robot on its direct of travel and the distance between barrier; The speed of remote operating mobile robot being advanced according to the distance size limits, and sends corresponding alarm to local operating platform.
Described obstacle avoidance aiding method based on remote operating mobile robot is characterized in that: said according to be provided with apart from size the restriction and alarming method be:
If said distance is not then done any restriction to the robot pace greater than maximum gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; If this distance is less than the maximum gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time and greater than medium gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; The gait of march that then limits remote operating mobile robot is below the medium gait of march, and sends near rudimentary alarm to local operating platform; If this distance is less than the medium gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time and greater than slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; The gait of march that then limits remote operating mobile robot is below the slow speed, and sends near intermediate alarm to local operating platform; If this distance is less than the slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time then control remote operating mobile robot and halt, and send near high level alarm to local operating platform.
Described obstacle avoidance aiding method based on remote operating mobile robot is characterized in that: the method for said cleaning barrier is following:
After barrier, operating personnel observe the barrier of working site through the image that video camera is passed back, the mode of advancing of decision remote operating mobile robot: detour and dodge or force one's way through the barrier or utilize the mechanical arm removing obstacles; Dodge if selecting detours, then change the remote operating mobile robot direct of travel, still use conventional obstacle avoidance aiding method; If select to force one's way through the barrier, then operating personnel manually switch to the pattern of forcing one's way through the barrier with the remote operating mobile robot traveling mode; If the selection removing obstacles, then operating personnel use conventional obstacle avoidance aiding method to continue to advance after utilizing the removing obstacles of barrier close shot image manual control machine tool arm.
Described obstacle avoidance aiding method based on remote operating mobile robot; It is characterized in that: the said pattern of forcing one's way through the barrier is that the gait of march of restriction remote operating mobile robot is below the slow speed; And send near the high level alarm and the pattern alarm that forces one's way through the barrier to local operating platform; After break through accomplishing be teleoperation robot on its direct of travel and the distance between barrier reuse obstacle avoidance aiding method before during greater than the slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; But the pattern alarm of forcing one's way through the barrier is not removed, and the pattern alarm that forces one's way through the barrier of barrier mode release is avoided in operating personnel's manual switchover.
The present invention compared with prior art, the present invention has following advantage:
The present invention is platform with the remote operating mobile robot; By remote operating mobile robot sensor acquired disturbance thing information; Different classifications are provided with speed and give the alarm according to the barrier degree of closeness; Which kind of measure operating personnel also can take according to the field condition decision, both can alleviate remote operating mobile robot operating personnel's work load, can overcome the problem of automatic obstacle avoiding mobile robot operational difficulties under complex environment again.In addition, mechanical arm is housed on the remote operating mobile robot, simple obstacle thing that can the site clearing.Mobile robot's behaviour decision making means of this man-machine interaction have under complex environment simply, fast, advantage such as practicality, very be adapted at the remote operating mobile robot use of work complex environment under.
Description of drawings
Fig. 1 is local operating platform of the present invention and remote operating mobile robot wireless telecommunications synoptic diagram.
Fig. 2 is an overall construction drawing of the present invention.
The robotic end operating process synoptic diagram of the present invention that Fig. 3 is.
Operating personnel's operating process synoptic diagram of the present invention that Fig. 4 is.
Embodiment
Hereinafter is an example with one group of distance measuring sensor group and two video cameras, in conjunction with accompanying drawing and specific embodiment the obstacle avoidance aiding method that the present invention is based on remote operating mobile robot is described in detail.
As shown in Figure 1, be local operating platform of the present invention and remote operating mobile robot wireless telecommunications synoptic diagram.
As shown in Figure 2, comprise remote operating mobile robot car body 5, be installed in the distance measuring sensor group 1 of remote operating mobile robot car body front end, first video camera 4, mechanical arm 3 on the tailstock support, be installed in second video camera 2 of mechanical arm top based on the obstacle avoidance aiding method of remote operating mobile robot.
Wherein the functional description of each several part is following:
(1) the remote operating mobile robot car body 5: based on the mobile robot of distant operation, include motion control device, network radio station, Flame Image Process and transmitting device etc.
(2) the distance measuring sensor group 1: be used to measure remote operating mobile robot in the distance on the direct of travel and between barrier.
(3) first video cameras 4: be used for the on-the-spot image information of collecting work, pass local operating platform back through Flame Image Process on the remote operating mobile robot and transmitting device.
(4) mechanical arm 3: be used for the simple obstacle thing is carried out cleaning work.
(5) second video cameras 2: be used for closely gathering the mechanical arm image information in front and pass local operating platform back through Flame Image Process on the remote operating mobile robot and transmitting device.
Like Fig. 3, shown in 4.Operating personnel get into the working site through local operating platform control remote operating mobile robot; When remote operating mobile robot is advanced, utilize the image of first video camera 4 floor and pass image back this locality; Utilize distance measuring sensor group 1 to obtain remote operating mobile robot on its direct of travel and the distance between barrier; The speed of remote operating mobile robot being advanced according to the distance size limits, and sends corresponding alarm to local operating platform.
The speed of in the distance size on its direct of travel and between barrier remote operating mobile robot being advanced according to the teleoperation robot that is obtained limits and gives the alarm to operating platform; Described restriction and alarming method are: if this distance is not then done any restriction to the robot pace greater than maximum gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time (product one); If this distance less than product one greater than medium gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time (product two); The gait of march that then limits remote operating mobile robot is below the medium gait of march, and sends near rudimentary alarm to local operating platform; If this distance less than product two greater than slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time (product three); The gait of march that then limits remote operating mobile robot is below the slow speed, and sends near intermediate alarm to local operating platform; If this distance less than product three the control remote operating mobile robot halt, and send near high level alarm to local operating platform.
After barrier; Operating personnel observe the barrier of working site through the image that first camera 4 and second camera 2 are passed back; The strategy of advancing of decision remote operating mobile robot detours and dodges, forces one's way through the barrier or utilize the mechanical arm removing obstacles.Dodge if selecting detours, then change the remote operating mobile robot direct of travel, the obstacle avoidance aiding method before still using; If select to force one's way through the barrier, then need operating personnel manually the remote operating mobile robot traveling mode to be switched to the pattern of forcing one's way through the barrier; If the selection removing obstacles, the obstacle avoidance aiding method before using after image manual control machine tool arm 3 removing obstacles that then need operating personnel to utilize second camera 2 to pass back continues to advance.
The remote operating mobile robot traveling mode is switched to the pattern of forcing one's way through the barrier; The described pattern of forcing one's way through the barrier is: the gait of march of restriction remote operating mobile robot is below the slow speed; And send near the high level alarm and the pattern alarm that forces one's way through the barrier to local operating platform; Be that teleoperation robot is on its direct of travel and the obstacle avoidance aiding method of the distance between barrier before reusing during greater than product three after break through accomplishing; But the pattern alarm of forcing one's way through the barrier is not removed, and operating personnel need manual switchover to avoid the barrier pattern just can remove the pattern alarm that forces one's way through the barrier.
Claims (3)
1. obstacle avoidance aiding method based on remote operating mobile robot; At least one group of distance measuring sensor group and at least two video cameras are installed on remote operating mobile robot; The distance measuring sensor group is installed in the front end of remote operating mobile robot, is used to measure the distance on barrier and the remote operating mobile robot moving direction; Video camera is installed on the support and mechanical arm front end of remote operating mobile robot, is used to take the distant view image and the barrier close shot image of remote operating mobile robot working site;
Operating personnel get into the working site through local operating platform control remote operating mobile robot; When remote operating mobile robot is advanced, utilize the image of first video camera floor and pass image back this locality; Utilize the distance measuring sensor group to obtain remote operating mobile robot on its direct of travel and the distance between barrier; The speed of remote operating mobile robot being advanced according to the distance size limits, and sends corresponding alarm to local operating platform;
It is characterized in that: said according to be provided with apart from size the restriction and alarming method be:
If said distance is not then done any restriction to the robot pace greater than maximum gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; If this distance is less than the maximum gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time and greater than medium gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; The gait of march that then limits remote operating mobile robot is below the medium gait of march, and sends near rudimentary alarm to local operating platform; If this distance is less than the medium gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time and greater than slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; The gait of march that then limits remote operating mobile robot is below the slow speed, and sends near intermediate alarm to local operating platform; If this distance is less than the slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time then control remote operating mobile robot and halt, and send near high level alarm to local operating platform.
2. the obstacle avoidance aiding method based on remote operating mobile robot according to claim 1 is characterized in that: the method for sending cleaning barrier after the high level alarm is following:
After barrier, operating personnel observe the barrier of working site through the image that video camera is passed back, the mode of advancing of decision remote operating mobile robot: detour and dodge or force one's way through the barrier or utilize the mechanical arm removing obstacles; Dodge if selecting detours, then change the remote operating mobile robot direct of travel, still use conventional obstacle avoidance aiding method; If select to force one's way through the barrier, then operating personnel manually switch to the pattern of forcing one's way through the barrier with the remote operating mobile robot traveling mode; If the selection removing obstacles, then operating personnel use conventional obstacle avoidance aiding method to continue to advance after utilizing the removing obstacles of barrier close shot image manual control machine tool arm.
3. the obstacle avoidance aiding method based on remote operating mobile robot according to claim 2; It is characterized in that: the said pattern of forcing one's way through the barrier is that the gait of march of restriction remote operating mobile robot is below the slow speed; And send near the high level alarm and the pattern alarm that forces one's way through the barrier to local operating platform; After break through accomplishing be teleoperation robot on its direct of travel and the distance between barrier reuse obstacle avoidance aiding method before during greater than the slow gait of march of remote operating mobile robot and the product of remote operating mobile robot maximum response time; But the pattern alarm of forcing one's way through the barrier is not removed, and the pattern alarm that forces one's way through the barrier of barrier mode release is avoided in operating personnel's manual switchover.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102630813A CN101763119B (en) | 2009-12-16 | 2009-12-16 | Obstacle avoidance aiding method based on teleoperation mobile robot |
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| CN2009102630813A CN101763119B (en) | 2009-12-16 | 2009-12-16 | Obstacle avoidance aiding method based on teleoperation mobile robot |
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| CN101763119A CN101763119A (en) | 2010-06-30 |
| CN101763119B true CN101763119B (en) | 2012-01-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI579669B (en) * | 2014-12-25 | 2017-04-21 | Kawasaki Heavy Ind Ltd | Automatic obstacle avoidance method and control device for arm type robot |
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| CN102393740B (en) * | 2011-08-01 | 2013-05-01 | 中国地质大学（武汉） | Robot with video acquiring and automatic obstacle avoidance functions |
| CN102621571B (en) * | 2012-03-08 | 2014-08-06 | 东南大学 | Method for distributing wireless sensor nodes for nuclear pollution detection |
| CN102880179B (en) * | 2012-09-19 | 2016-01-27 | 山东康威通信技术股份有限公司 | Multifunctional intelligent crusing robot in a kind of electric power tunnel |
| CN104460666B (en) * | 2014-10-27 | 2017-05-10 | 上海理工大学 | Robot autonomous obstacle avoidance moving control method based on distance vectors |
| CN104765367B (en) * | 2014-11-27 | 2015-12-02 | 无锡美联动线智能科技有限公司 | Realize the service robot of intelligent obstacle detouring |
| CN105223952B (en) * | 2015-09-28 | 2019-03-29 | 小米科技有限责任公司 | The control method and device of balance car |
| CN105843225B (en) * | 2016-03-31 | 2022-01-25 | 纳恩博（北京）科技有限公司 | Data processing method and equipment |
| CN108062102A (en) * | 2018-01-16 | 2018-05-22 | 苏州晨本智能科技有限公司 | A kind of gesture control has the function of the Mobile Robot Teleoperation System Based of obstacle avoidance aiding |
| WO2019144299A1 (en) * | 2018-01-23 | 2019-08-01 | 深圳市大疆创新科技有限公司 | Mobile platform speed limiting method and device, apparatus, and recording medium |
| CN108555911A (en) * | 2018-04-22 | 2018-09-21 | 北京工业大学 | Remote operating machinery arm, three-D barrier-avoiding method based on virtual thrust |
| CN108873931A (en) * | 2018-06-05 | 2018-11-23 | 北京理工雷科电子信息技术有限公司 | A kind of unmanned plane vision avoiding collision combined based on subjectiveness and objectiveness |
| CN109848968B (en) * | 2019-02-27 | 2021-04-13 | 广汽本田汽车有限公司 | Movement control method, device, equipment and system of grabbing device |
| CN109901582A (en) * | 2019-03-18 | 2019-06-18 | 深兰科技（上海）有限公司 | A kind of motion control method of robot, device, equipment and medium |
| CN112859596B (en) * | 2021-01-07 | 2022-01-04 | 浙江大学 | Nonlinear teleoperation multilateral control method considering formation obstacle avoidance |
| CN113103228B (en) * | 2021-03-29 | 2023-08-15 | 航天时代电子技术股份有限公司 | Teleoperation robot |
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- 2009-12-16 CN CN2009102630813A patent/CN101763119B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI579669B (en) * | 2014-12-25 | 2017-04-21 | Kawasaki Heavy Ind Ltd | Automatic obstacle avoidance method and control device for arm type robot |
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| CN101763119A (en) | 2010-06-30 |
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