CN105413131A - Automatic obstacle avoiding method for golf caddie robot - Google Patents
Automatic obstacle avoiding method for golf caddie robot Download PDFInfo
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- CN105413131A CN105413131A CN201410480465.1A CN201410480465A CN105413131A CN 105413131 A CN105413131 A CN 105413131A CN 201410480465 A CN201410480465 A CN 201410480465A CN 105413131 A CN105413131 A CN 105413131A
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Abstract
The invention discloses an automatic obstacle avoiding method, and particularly relates to an automatic obstacle avoiding method for a golf caddie robot. The automatic obstacle avoiding method includes the steps that an ultrasonic information obtaining unit obtains information of the distance between the robot and the nearest object, and S1 is assigned to the distance information; the information obtaining unit obtains information of the distance and the azimuth angle between the robot and a remote control inductor, S2 is assigned to the distance information, and alpha is assigned to the azimuth angle information; an obstacle avoiding instruction is generated after the three information assignments are compared and calculated through an obstacle avoiding controller; the obstacle avoiding instruction is transmitted to a differential controller for obstacle avoiding; the information is obtained again to judge whether the robot bypasses the obstacle or not. The automatic obstacle avoiding method can achieve the automatic obstacle avoiding function and has the advantages of being good in obstacle avoiding performance, high in error-tolerant rate and the like, and therefore the robot can achieve the automatic obstacle avoiding function under the low-power-consumption condition.
Description
Technical field
The present invention relates to automatic obstacle-avoiding control method, particularly a kind of golf caddie robot that can independently follow the tracks of proposes automatic obstacle-avoiding control method.
Background technology
Mobile robot keep away barrier motion be an important topic always, realize keep away barrier method mainly contains supersonic evades bonds, vision keeps away barrier, sonac, laser keep away barrier, proximity scnsor, microwave radar etc.That current supersonic evades bonds realizes is convenient, it is simple to calculate, be easy to accomplish real-time control, and can reach practical requirement in certainty of measurement, therefore becomes conventional barrier-avoiding method.China is as great powers in the world, also one seat must be occupied in high-tech area, the intellectuality of future automobile is that development of automobile industry is inevitable, the application that research ultrasonic wave is kept away on barrier at intelligent vehicle in this case has far reaching significance, and this has important function by the research of the following intelligent automobile of China at world's high-tech area position oneself at the forefront.
Summary of the invention
In order to achieve the above object, the present invention proposes a kind of automatic obstacle-avoiding method of golf caddie robot.
The object of the embodiment of the present invention is to provide a kind of automatic obstacle-avoiding method of golf caddie robot, can realize the function of automatic obstacle-avoiding under low-power consumption condition.
According to an aspect of the embodiment of the present invention, provide a kind of automatic obstacle-avoiding method, be applied to golf caddie robot, described automatic obstacle-avoiding method comprises: obtained and nearest object distance information by ultrasound information acquiring unit, this range information assignment is S
1; Information acquisition unit obtains the distance and bearing angle information with remote control inductor, and this range information assignment is S
2, this azimuth information assignment is α; Above-mentioned three information assignment, via after the comparison operation of avoidance obstacle device, generate and keep away barrier instruction; Keep away barrier command to carry out keeping away barrier to differential controller; Again obtain above-mentioned information disturbance in judgement whether to walk around.The present invention can realize automatic obstacle avoidance functions, has and keeps away good, the serious forgiveness advantages of higher of barrier performance, make robot can realize the function of automatic obstacle-avoiding under low-power consumption condition.
Above-mentioned, obtained and nearest object distance information by ultrasound information acquiring unit, wherein ultrasound information acquiring unit comprises:
Odometer, is configured to obtain the range information with nearest object;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described range information.
Comprise from the positional information of remote control inductor acquisition above-mentioned: range information and azimuth information.
Above-mentioned, obtain positional information by information acquisition unit, wherein information acquisition unit comprises:
Odometer, is configured to obtain the range information with remote control inductor;
Goniometer, is configured to obtain the azimuth information with remote control inductor;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described distance and bearing angle information.
Above-mentioned, work as S
1=S
2time, keep away barrier program stopped and run.
Above-mentioned, as azimuth information α < 5 °, controller is out of service.
Be 0.1s in above-mentioned range information renewal frequency, the time interval namely at every turn again obtaining range information is 0.1s.
Be 0.1s at above-mentioned range information and azimuth information renewal frequency, namely each time interval again obtaining range information and azimuth information is 0.1s.
The odometer of low precision and the goniometer of low precision is counted at above-mentioned odometer and described angle.
By the automatic obstacle-avoiding method according to the embodiment of the present invention, golf perambulator can realize in-plant automatic obstacle avoidance functions under the low-power consumption condition not needing accurate distance and azimuth information.And have and keep away good, the serious forgiveness advantages of higher of barrier performance.
Accompanying drawing illustrates:
Fig. 1 is barrier-avoiding method principle schematic of the present invention; Fig. 2 is barrier-avoiding method schematic flow sheet of the present invention.
Detailed description of the invention:
Now by reference to the accompanying drawings the present invention is described further.
According to an aspect of the embodiment of the present invention, provide a kind of automatic obstacle-avoiding method, be applied to golf caddie robot, described automatic obstacle-avoiding method comprises: obtained and nearest object distance information by ultrasound information acquiring unit, this range information assignment is S
1; Information acquisition unit obtains the distance and bearing angle information with remote control inductor, and this range information assignment is S
2, this azimuth information assignment is α; Above-mentioned three information assignment, via after the comparison operation of avoidance obstacle device, generate and keep away barrier instruction; Keep away barrier command to carry out keeping away barrier to differential controller; Again obtain above-mentioned information disturbance in judgement whether to walk around.
Fig. 2 is the schematic flow sheet of the automatic obstacle-avoiding method according to the embodiment of the present invention.
The ultrasonic inductor of S1 obtains the distance S with nearest object
1, information acquisition unit obtains the distance S with remote control inductor
2with azimuth information α;
S2 is by above-mentioned S
1with S
2compare, if S
1< S
2,then be judged as that there is obstacle enters S3; If S
1≮ S
2,then be judged as that front does not have obstacle, leapfrog is to S5;
S3 now produces steering order in avoidance obstacle device, and this instruction sends to differential controller, to change golf caddie robot pose, makes α increase 5 °, increases a variables A in counter simultaneously, and assignment A=0;
The ultrasonic inductor of S4 obtains the distance S with nearest object again
1, variables A=A+1, returns S2 simultaneously;
S5 now produces advancement commands in differential controller, makes S
2reduce 0.1m;
S6 now produces steering order in avoidance obstacle device, and this instruction sends to differential controller, to change golf caddie robot pose, makes α reduce 5 °, simultaneously variables A=A-1;
S7 obtains above-mentioned S again
1, S
2,and judge S
1=S
2,if S
1≠ S
2then forward S2 to, if carry out next step;
S8 judges A=0, if A=0, terminates to keep away barrier program; If A ≠ 0, then return S6;
In this control method, do not need accurate distance and bearing information, like this, according in the golf caddie robot of the embodiment of the present invention, do not need employing to have high-precision odometer and goniometer, significantly reduce cost.Further, when memory capacity is limited, due to the positional information that information acquisition unit before do not need accumulative storage according to the control method of the embodiment of the present invention obtains, so memory space can be saved.
The present invention has been described in detail with reference to specific embodiment.But clearly, when not deviating from spirit of the present invention, those skilled in the art can perform change to embodiment and replace.In other words, the form that the present invention illustrates is open, instead of explains with being limited.Judge main idea of the present invention, appended claim should be considered.
Claims (8)
1. an automatic obstacle-avoiding method, specifically a kind of automatic obstacle-avoiding method of golf caddie robot, is characterized in that:
The first step: obtained and nearest object distance information by ultrasound information acquiring unit, this range information assignment is S
1;
Second step: information acquisition unit obtains the distance and bearing angle information with remote control inductor, and this range information assignment is S
2, this azimuth information assignment is α;
3rd step: above-mentioned three information assignment, via after the comparison operation of avoidance obstacle device, generate and keep away barrier instruction;
4th step: keep away barrier command and carry out keeping away barrier to differential controller;
5th step: again obtain above-mentioned information disturbance in judgement and whether walk around.
2. the automatic obstacle-avoiding method of a kind of golf caddie robot as claimed in claim 1, described ultrasound information acquiring unit comprises:
Odometer, is configured to obtain the range information with nearest object;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described range information.
3. the automatic obstacle-avoiding method of a kind of golf caddie robot as claimed in claim 1, described information acquisition unit comprises:
Odometer, is configured to obtain the range information with remote control inductor;
Goniometer, is configured to obtain the azimuth information with remote control inductor;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described distance and bearing angle information.
4. the automatic obstacle-avoiding method of a kind of golf caddie robot as claimed in claim 1, works as S
1=S
2time, keep away barrier program stopped and run.
5. the automatic obstacle-avoiding method of a kind of golf caddie robot as claimed in claim 1, as azimuth information α < 5 °, controller is out of service.
6. range information renewal frequency is 0.1s as claimed in claim 1, and the time interval namely at every turn again obtaining range information is 0.1s.
7. the automatic obstacle-avoiding method of a kind of golf caddie robot as claimed in claim 1, range information and azimuth information renewal frequency are set to 0.1s, and namely each time interval again obtaining range information and azimuth information is 0.1s.
8. the odometer as described in claims 2,3 and goniometer, be set to the odometer of low precision and the goniometer of low precision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480465.1A CN105413131A (en) | 2014-09-19 | 2014-09-19 | Automatic obstacle avoiding method for golf caddie robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480465.1A CN105413131A (en) | 2014-09-19 | 2014-09-19 | Automatic obstacle avoiding method for golf caddie robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105413131A true CN105413131A (en) | 2016-03-23 |
Family
ID=55491947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410480465.1A Pending CN105413131A (en) | 2014-09-19 | 2014-09-19 | Automatic obstacle avoiding method for golf caddie robot |
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|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021063247A1 (en) * | 2019-09-30 | 2021-04-08 | 北京猎户星空科技有限公司 | Obstacle avoidance method and apparatus, electronic device and storage medium |
| CN113253257A (en) * | 2021-06-22 | 2021-08-13 | 北京踏歌智行科技有限公司 | Strip mine obstacle detection method based on multi-millimeter-wave radar and vision |
-
2014
- 2014-09-19 CN CN201410480465.1A patent/CN105413131A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021063247A1 (en) * | 2019-09-30 | 2021-04-08 | 北京猎户星空科技有限公司 | Obstacle avoidance method and apparatus, electronic device and storage medium |
| CN113253257A (en) * | 2021-06-22 | 2021-08-13 | 北京踏歌智行科技有限公司 | Strip mine obstacle detection method based on multi-millimeter-wave radar and vision |
| CN113253257B (en) * | 2021-06-22 | 2021-10-22 | 北京踏歌智行科技有限公司 | Strip mine obstacle detection method based on multi-millimeter-wave radar and vision |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160323 |
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| WD01 | Invention patent application deemed withdrawn after publication |