CN105004368B - A kind of collision checking method of autonomous robot, apparatus and system - Google Patents
A kind of collision checking method of autonomous robot, apparatus and system Download PDFInfo
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- CN105004368B CN105004368B CN201510367447.7A CN201510367447A CN105004368B CN 105004368 B CN105004368 B CN 105004368B CN 201510367447 A CN201510367447 A CN 201510367447A CN 105004368 B CN105004368 B CN 105004368B
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Abstract
This application discloses a kind of collision checking method of autonomous robot, apparatus and system, this method, apparatus and system is calculated the acceleration information of acquisition and angular velocity data, the attitude information of autonomous robot is obtained by data fusion, the coordinate that autonomous robot is obtained by coordinate transform compares force information, then table lookup operation is carried out to default fuzzy reasoning table according to the attitude information and coordinate ratio force information, so as to obtain the collision situation of the autonomous robot, and then corresponding measure is enough taken according to the collision situation, to ensure that autonomous robot being capable of normal work.
Description
Technical field
The application is related to robotic technology field, more specifically to a kind of collision checking method of autonomous robot,
Apparatus and system.
Background technology
With the continuous improvement of people's living standards, the autonomous machine of back work can be provided for family or other places
People is received by increasing people.The problem of self-help machine people more or less can run into collision in use, works as hair
Raw collision rift, which needs to take appropriate measures in time, to be avoided influenceing its normal work, therefore detection is in time to collision situation progress
Ensure the prerequisite of its normal work.
The content of the invention
In view of this, the application provides a kind of collision checking method of autonomous robot, apparatus and system, for collision
Situation is judged, the foundation of corresponding measure is taken after being collided as it, to ensure its normal work.
To achieve these goals, it is proposed that scheme it is as follows：
A kind of collision checking method of autonomous robot, including following operation：
Acceleration information and angular velocity data to the autonomous robot carry out data fusion, obtain the autonomous machine
The attitude information of people；
Specific force conversion is carried out to the acceleration information, obtains the ratio force information of the autonomous robot；
Coordinate transform is carried out than force information by described, each axial coordinate is obtained and compares force information；
Using the attitude information and coordinate ratio force information as foundation is compared, foundation and default mould are compared by described
Paste rule list is compared to obtain the collision situation of the autonomous robot.
Optionally, it is described that data fusion is carried out to the acceleration information and the angular velocity data, including：
Kalman filtering processing is carried out to the acceleration information and the angular velocity data, to carry out data fusion.
Optionally, it is described that the comparison foundation is compared with default fuzzy reasoning table to obtain the autonomous robot
Collision situation, including：
Believe by multiple preset posture information thresholds of the attitude information and the fuzzy reasoning table, by the coordinate specific force
Cease with multiple preset coordinate specific force information thresholds of the fuzzy reasoning table respectively compared with, according to obtaining comparative result
Collision situation.
Optionally, it is described to carry out coordinate transform than force information by described, each axial coordinate is obtained than force information, bag
Include：
Eulerian angles coordinate transform is carried out than force information by described, obtains each axial coordinate specific force under earth coordinates
Information.
Optionally, in addition to：
Crash site is obtained according to the positional information of the autonomous robot and the collision situation.
A kind of collision detecting device of autonomous robot, including data fusion module, specific force conversion module, coordinate transform mould
Block and table look-up module, wherein：
The data fusion module is used to carry out data fusion to the acceleration information and the angular velocity data, obtains
The attitude information of the autonomous robot；
The specific force conversion module carries out specific force conversion to the acceleration information, obtains the specific force of the autonomous robot
Information；
The coordinate transformation module is used to carry out coordinate transform than force information by described, obtains each axial coordinate specific force
Information；
The table look-up module is used for using the attitude information and coordinate ratio force information as foundation is compared, by the ratio
To according to being compared with default fuzzy reasoning table to obtain the collision situation of the autonomous robot.
Optionally, the data fusion module is Kalman filtering module.
Optionally, the table look-up module is used to believe multiple preset postures of the attitude information and the fuzzy reasoning table
Cease threshold value, distinguish the coordinate multiple preset coordinate specific force information thresholds more listed than in force information and the fuzzy reasoning table
It is compared, the collision situation is obtained according to comparative result.
Optionally, in addition to crash site computing module, wherein：
The crash site computing module is used to be obtained according to the positional information and the collision situation of the autonomous robot
To crash site.
A kind of collision detecting system of autonomous robot, including inertial sensor and as described in any one of claim 6~9
Collision detecting device, wherein：
The inertial sensor is used to obtain the acceleration information and the angular velocity data.
It can be seen from the above technical proposal that this application discloses a kind of collision checking method of autonomous robot, device
And the acceleration information of acquisition and angular velocity data are calculated, obtained by data fusion by system, this method, apparatus and system
To the attitude information of autonomous robot, the coordinate of autonomous robot is obtained than force information by coordinate transform, then according to the appearance
State information and coordinate ratio force information carry out table lookup operation to default fuzzy reasoning table, so as to obtain the collision of the autonomous robot
Situation, and then corresponding measure is enough taken according to the collision situation, to ensure that autonomous robot being capable of normal work.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of application, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of the collision checking method for autonomous robot that the embodiment of the present application provides；
Fig. 2 is a kind of flow chart of the collision checking method for autonomous robot that another embodiment of the application provides；
Fig. 3 is a kind of schematic diagram of the collision detecting device for autonomous robot that the another embodiment of the application provides；
Fig. 4 is a kind of schematic diagram of the collision detecting device for autonomous robot that the another embodiment of the application provides；
Fig. 5 is a kind of schematic diagram of the collision detecting system for autonomous robot that the another embodiment of the application provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of the application protection.
Embodiment one
Fig. 1 is a kind of flow chart of the collision checking method for autonomous robot that the embodiment of the present application provides.
As shown in figure 1, the collision checking method that the present embodiment provides comprises the following steps：
S101：Calculate the attitude information of autonomous robot.
After the acceleration information and angular velocity data of the autonomous robot is obtained, both are subjected to data fusion, obtained
The attitude information of autonomous robot.
Acceleration information is acceleration information in three axial directions, and angular velocity data is the angular speed number on three axial directions
According to.Then data fusion is carried out by Kalman filtering algorithm, so as to obtain the attitude information.
S102：Specific force conversion is carried out to acceleration information.
Specific force conversion is carried out to acceleration information, preferably by the acceleration information on three above-mentioned axial directions.Calculated,
Obtain the ratio force information on three axial directions.Specific force is multiplied by acceleration of gravity equal to acceleration, for characterizing in three axial directions
Stressing conditions.
S103：Coordinate system transformation will be carried out than force information.
This is subjected to angular coordinate conversion than force information, is preferably transformed to its coordinate system by Eulerian angles coordinate transformation method
Characterize the ratio force information under the earth coordinates of actual geographic position, for the ease of difference, by after conversion than force information conduct
Geodetic coordinates compares force information.
S104：Collision situation is obtained according to default fuzzy reasoning table.
The fuzzy reasoning table is the two-dimentional number table obtained according to engineering practice, is believed including multiple preset postures
Threshold value and multiple default geodetic coordinates specific force information thresholds, in addition to multiple collision situations compareed with above-mentioned two parameter are ceased,
The collision situation includes preceding colliding and lift idle running to collision, backward collision, left-hand collision, dextrad.
When being tabled look-up to the fuzzy reasoning table, attitude information and multiple preset posture information thresholds are carried out one respectively
One contrast, and simultaneously contrasts geodetic coordinates than force information and multiple preset posture information thresholds one by one, when the attitude information and
A certain preset posture information threshold matches, and the geodetic coordinates compares force information than force information and a certain default geodetic coordinates simultaneously
When threshold value matches, then judge now to occur and meanwhile with a certain preset posture information threshold and a certain default geodetic coordinates ratio
The corresponding collision situation of force information threshold value.So that it is determined that current autonomous robot is which type of collision occurs.
It can be seen from the above technical proposal that a kind of collision checking method of autonomous robot is present embodiments provided, should
Method is calculated the acceleration information of acquisition and angular velocity data, and the posture that autonomous robot is obtained by data fusion is believed
Then breath, the coordinate for obtaining autonomous robot by coordinate transform compare force information than force information according to the attitude information and coordinate
Table lookup operation is carried out to default fuzzy reasoning table, so as to obtain the collision situation of the autonomous robot, and then enough touched according to this
The situation of hitting takes corresponding measure, to ensure that autonomous robot being capable of normal work.
Embodiment two
After the collision situation of autonomous robot is detected, if after the place that the collision situation occurs can also be accessed,
Just corresponding measures to keep clear can be taken according to the concrete condition in its residing space, for example, encounter can take after wall turn around or
Retreat, can select to be directed across or turn to avoid when smaller barrier is encountered, therefore, present invention also provides with
Under embodiment to determine crash site.
Fig. 2 is a kind of flow chart of the collision checking method for autonomous robot that another embodiment of the application provides.
The collision checking method that the present embodiment provides is partially improved on the basis of a upper embodiment, the stream of completion
Journey figure is as shown in Figure 2.
S201：Calculate the attitude information of autonomous robot.
After the acceleration information and angular velocity data of the autonomous robot is obtained, both are subjected to data fusion, obtained
The attitude information of autonomous robot.
Acceleration information is acceleration information in three axial directions, and angular velocity data is the angular speed number on three axial directions
According to being designated as.Then data fusion is carried out by Kalman filtering algorithm, so as to obtain the attitude information.
S202：Specific force conversion is carried out to acceleration information.
Specific force conversion is carried out to acceleration information, i.e., the acceleration information on three above-mentioned axial directions is calculated, obtained
Ratio force information on to three axial directions.Specific force is multiplied by acceleration of gravity equal to acceleration, for characterize in three axial directions by
Power situation.
S203：Coordinate system transformation will be carried out than force information.
This is subjected to angular coordinate conversion than force information, is preferably transformed to its coordinate system by Eulerian angles coordinate transformation method
Characterize the ratio force information under the earth coordinates of actual geographic position, for the ease of difference, by after conversion than force information conduct
Geodetic coordinates compares force information.
S204：Collision situation is obtained according to default fuzzy reasoning table.
The fuzzy reasoning table is the two-dimentional number table obtained according to engineering practice, is believed including multiple preset postures
Threshold value and multiple default geodetic coordinates specific force information thresholds, in addition to multiple collision situations compareed with above-mentioned two parameter are ceased,
The collision situation includes preceding colliding and lift idle running to collision, backward collision, left-hand collision, dextrad.
S205：Judge crash site.
Autonomous robot is typically provided with the odometer for reflecting its positional information for exporting, including left side encoder and the right side
Side encoder.The fact that autonomous robot is in movement geographical location information can be just obtained according to the positional information, works as generation
Geographical location information during collision is the crash site.
So as to which the autonomous robot just can take corresponding avoidance or Disposal Measures according to crash site with local environment.
Embodiment three
Fig. 3 is a kind of schematic diagram of the position detecting device for autonomous robot that the another embodiment of the application provides.
As shown in figure 3, the position detecting device that the present embodiment provides includes data fusion module 10, specific force conversion module
20th, coordinate transformation module 30 and table look-up module 40.
Data fusion module 10 is used for acceleration information and angular velocity data according to the autonomous robot, then incite somebody to action both
Data fusion is carried out, obtains and exports the attitude information of autonomous robot.
Acceleration information is acceleration information in three axial directions, and angular velocity data is the angular speed number on three axial directions
According to.Then data fusion is carried out by Kalman filtering algorithm, so as to obtain and export the attitude information, corresponding notebook data melts
Matched moulds block 10 is Kalman filtering module.
Specific force conversion module 20 is used to carry out specific force conversion, i.e., three exported data fusion module 10 to acceleration information
Acceleration information on individual axial direction is calculated, and obtains the ratio force information on three axial directions.Specific force is multiplied by gravity equal to acceleration
Acceleration, for characterizing stressing conditions in three axial directions.
Coordinate transformation module 30 is used to this carrying out coordinate transform than force information, preferably carries out Eulerian angles coordinate transform,
I.e. by its coordinate system transformation to characterize the ratio force information under the earth coordinates of actual geographic position, for the ease of difference, will become
Ratio force information after changing compares force information as geodetic coordinates.
Table look-up module 40 is used to obtain collision situation according to default fuzzy reasoning table.
The fuzzy reasoning table is the two-dimentional number table obtained according to engineering practice, is believed including multiple preset postures
Threshold value and multiple default geodetic coordinates specific force information thresholds, in addition to multiple collision situations compareed with above-mentioned two parameter are ceased,
The collision situation includes preceding colliding and lift idle running to collision, backward collision, left-hand collision, dextrad.
Table look-up module 40 to the fuzzy reasoning table when tabling look-up, respectively by attitude information and multiple preset posture information
Threshold value is contrasted one by one, and simultaneously contrasts geodetic coordinates one by one than force information and multiple preset posture information thresholds, when this
Attitude information matches with a certain preset posture information threshold, and the geodetic coordinates is sat than force information and a certain default the earth simultaneously
Mark specific force information threshold is when matching, then judge now to occur simultaneously with a certain preset posture information threshold and this certain preset
The corresponding collision situation of geodetic coordinates specific force information threshold.So that it is determined that current autonomous robot is which type of occurs to touch
Hit.
It can be seen from the above technical proposal that a kind of collision detecting device of autonomous robot is present embodiments provided, should
Device is calculated the acceleration information of acquisition and angular velocity data, and the posture that autonomous robot is obtained by data fusion is believed
Then breath, the coordinate for obtaining autonomous robot by coordinate transform compare force information than force information according to the attitude information and coordinate
Table lookup operation is carried out to default fuzzy reasoning table, so as to obtain the collision situation of the autonomous robot, and then enough touched according to this
The situation of hitting takes corresponding measure, to ensure that autonomous robot being capable of normal work.
Example IV
Fig. 4 is a kind of schematic diagram of the collision detecting device for autonomous robot that the another embodiment of the application provides.
The reasons why being illustrated with embodiment two, in order that autonomous robot can be adopted according to the concrete condition in its residing space
Corresponding measures to keep clear is taken, such as encounters to take after wall and turns around or retreat, can be with when smaller barrier is encountered
Selection is directed across or turned to avoid, and crash site computing module 50 is also additionally arranged on the basis of a upper embodiment.
The crash site computing module 50 is used to obtain it when mobile according to the positional information that its odometer 100 exports
Real-time geographical locations information, and the collision situation that table look-up module 40 obtains is combined this with the real-time geographical locations information
Crash site.So that the autonomous robot just can take corresponding avoidance or disposal to arrange according to crash site with local environment
Apply.
Embodiment five
Fig. 5 is a kind of schematic diagram of the collision detecting system for autonomous robot that the another embodiment of the application provides.
As shown in figure 5, the collision detecting system that the present embodiment provides includes the collision detection dress that above example is provided
200 are put, is also additionally arranged the inertial sensor 60 for obtaining above-mentioned acceleration information and angular velocity data on this basis.
The inertial sensor 60 is arranged on the relevant position of autonomous robot, for the motion conditions according to autonomous robot
Its acceleration information and angular velocity data are obtained, and is output to collision detecting device 200.Collision detecting device 200 then utilizes should
Acceleration information and angular velocity data carry out the calculating of collision situation.
The system is carried out for collision detection compared to using the method for multiple crash sensors, due to its collision detection energy
Power is inversely proportional with object volume, it is therefore desirable to many crash sensors carry out detection object collision situation, for process and into
All it is larger burden for this, and the system only needs an inertial sensor and is realized using collision detecting device can
Collision checking function, so as to simplify process and reduce overall cost.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.To the upper of the disclosed embodiments
State bright, professional and technical personnel in the field is realized or using the application.A variety of modifications to these embodiments are to ability
It will be apparent for the professional and technical personnel in domain, generic principles defined herein can not depart from the application's
In the case of spirit or scope, realize in other embodiments.Therefore, the application be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (8)
1. a kind of collision checking method of autonomous robot, it is characterised in that including following operation：
Acceleration information and angular velocity data to the autonomous robot carry out data fusion, obtain the autonomous robot
Attitude information；
Specific force conversion is carried out to the acceleration information, obtains the ratio force information of the autonomous robot；
Coordinate transform is carried out than force information by described, each axial coordinate is obtained and compares force information；
Using the attitude information and coordinate ratio force information as foundation is compared, foundation and default fuzzy rule are compared by described
Then table is compared to obtain the collision situation of the autonomous robot；
It is described that the comparison foundation is compared with default fuzzy reasoning table to obtain the collision situation of the autonomous robot,
Including：
By multiple preset posture information thresholds of the attitude information and the fuzzy reasoning table, by the coordinate than force information with
Multiple preset coordinate specific force information thresholds of the fuzzy reasoning table are compared respectively, and the collision is obtained according to comparative result
Situation.
2. collision checking method as claimed in claim 1, it is characterised in that the acceleration number of degrees to the autonomous robot
Data fusion is carried out according to angular velocity data, including：
Kalman filtering processing is carried out to the acceleration information and the angular velocity data, to carry out data fusion.
3. collision checking method as claimed in claim 1, it is characterised in that described to carry out coordinate change than force information by described
Change, obtain each axial coordinate than force information, including：
Eulerian angles coordinate transform is carried out than force information by described, obtains each axial coordinate specific force letter under earth coordinates
Breath.
4. the collision checking method as described in any one of claims 1 to 3, it is characterised in that also include：
Crash site is obtained according to the positional information of the autonomous robot and the collision situation.
A kind of 5. collision detecting device of autonomous robot, it is characterised in that including data fusion module, specific force conversion module,
Coordinate transformation module and table look-up module, wherein：
The data fusion module is used to carry out data fusion to acceleration information and angular velocity data, obtains the autonomous machine
The attitude information of people；
The specific force conversion module carries out specific force conversion to the acceleration information, obtains the specific force letter of the autonomous robot
Breath；
The coordinate transformation module is used to carry out coordinate transform than force information by described, obtains each axial coordinate specific force letter
Breath；
The table look-up module is used for using the attitude information and coordinate ratio force information as comparing foundation, by the comparison according to
According to being compared to obtain the collision situation of the autonomous robot with default fuzzy reasoning table；
The table look-up module is used for by multiple preset posture information thresholds of the attitude information and the fuzzy reasoning table, by institute
State coordinate than force information and multiple preset coordinate specific force information thresholds listed in the fuzzy reasoning table respectively compared with, root
The collision situation is obtained according to comparative result.
6. collision detecting device as claimed in claim 5, it is characterised in that the data fusion module is Kalman filtering mould
Block.
7. the collision detecting device as described in claim 5 or 6, it is characterised in that also including crash site computing module, its
In：
The crash site computing module is used to be touched according to the positional information and the collision situation of the autonomous robot
Hit place.
8. a kind of collision detecting system of autonomous robot, it is characterised in that including inertial sensor and such as claim 5~7
Collision detecting device described in any one, wherein：
The inertial sensor is used to obtain the acceleration information and the angular velocity data.
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| DE102015224641A1 (en) * | 2015-12-08 | 2017-06-08 | Kuka Roboter Gmbh | A method for detecting a collision of a robot arm with an object and robot with a robot arm |
| CN107038874B (en) * | 2017-06-01 | 2024-01-23 | 广东工业大学 | Traffic accident monitoring method and device |
| CN111750873A (en) * | 2019-03-26 | 2020-10-09 | 东元电机股份有限公司 | Mobile platform picture data correction system |
| CN112033398B (en) * | 2020-07-24 | 2023-01-06 | 美智纵横科技有限责任公司 | Collision detection system and method for sweeping robot |
| SE2250611A1 (en) * | 2022-05-20 | 2023-11-21 | Husqvarna Ab | Autonomous work tool and method for operation thereof |
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| JP4389001B1 (en) * | 2009-01-06 | 2009-12-24 | 有限会社レプトリノ | Force sensor and motion sensor |
| DE102010044644B4 (en) * | 2010-09-07 | 2018-12-27 | Robert Bosch Gmbh | Method for collision detection for a drive unit |
| CN102554939B (en) * | 2010-12-30 | 2014-12-10 | 沈阳新松机器人自动化股份有限公司 | Method and device for collision protection of industrial robot |
| CN102426391B (en) * | 2011-09-05 | 2014-06-11 | 华南理工大学 | Method for determining whether there is collision during robot operation |
| CN104269075B (en) * | 2014-10-14 | 2016-09-21 | 武汉理工大学 | Navigation mark based on multiple sensors collision monitoring system |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518055, 16, B1 building, Nanshan Zhiyuan 1001, Taoyuan Road, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |
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