CN105751216A - Method for determining security and feasibility of instruction of mobile robot - Google Patents

Abstract

The invention discloses a method for determining the security and feasibility of an instruction of a mobile robot. The method comprises the following steps: with the robot as an origin A of a coordinate system, acquiring coordinates of others in a direction of an instruction sent by an authorizer; selecting a person of others, who is closest to the authorizer, and calculating an included angle theta between a connecting line of coordinates C of the person who is closest to the authorizer and the origin and a connecting line of coordinates B of the authorizer and the origin; calculating a protecting angel alpha of the authorizer and a protecting angle beta of the person who is closest to the authorizer; when the angle phi of the direction of the instruction sent by the authorizer satisfies a preset safety condition, determining that the instruction provided by the authorizer is safe and feasible. According to the method disclosed by the invention, active avoidance of others in a path of robot instruction execution can be avoided, the possibility of touching pedestrians who carry bulky goods when the robot moves can be avoided, the safety performance of the robot is increased, and the intelligence level of the robot is improved.

Description

The determination methods of mobile apparatus people's instruction secure feasibility

Technical field

The present invention relates to mobile apparatus people field, particularly relate to the determination methods of mobile apparatus people's instruction secure feasibility.

Background technology

In complex indoor environment, such as Modern Laboratory, transportation logistics factory etc., mobile apparatus people is commonly used to replacement personnel and performs simple, dangerous, repeated task, to save substantial amounts of cost of human resources.In the indoor environment that Row control is loaded down with trivial details especially, as, in chemical laboratory, the utilization of mobile apparatus people can reduce scientific research personnel and contact the chance of dangerous materials, the accuracy of experiment can not only be ensured, and accident occurrence probability can be effectively reduced.

Man-machine interaction is the intelligentized important component part of mobile apparatus people, nowadays, the mankind are from by touch, such as media such as mouse, keyboard, buttons, machine carries out instruction develop into and assign various assignment instructions by the utilization of various sensors (such as sound transducer, infrared sensor etc.) to machine.The appearance of Microsoft's Kinect sensor, makes man-machine interaction mode step again major step, and under the interactive interface based on Kinect sensor exploitation, the person inherently can become controller.But people control robot move time; due to the sight line of people or the change of environment make people not predict circuit that robot moves whether safety; thus in order to ensure in robot traveling process, it is to avoid the pedestrian of touching carrying large piece article, it is necessary to a kind of method that can carry out instruction secure judgement.

Summary of the invention

Present invention aim at providing the determination methods of a kind of mobile apparatus people's instruction secure feasibility, to solve the technical problem being likely to touch the pedestrian of carrying large piece article when robot moves.

For achieving the above object, the invention provides the determination methods of a kind of mobile apparatus people's instruction secure feasibility, comprise the following steps:

S1: with the initial point A of the artificial coordinate system of machine, obtains instruction that donor sends towards other people upper coordinate；

S2: select people nearest from donor in other people, calculates from the angle theta between coordinate C and coordinate B and the line of initial point of initial point line and donor of the nearest people of donor；

S3: calculate the degree of protection α of donor and from the degree of protection β of the nearest people of donor；

S4: the instruction sent as donor towards angleWhen meeting preset security condition, it is determined that the instruction secure that donor provides can perform.

Further improvements in methods as the present invention:

Preferably, angle is worked asWhen being not 0, preset security condition is

Preferably, after step S4 completes, method also includes:

S5: if the instruction that sends of donor towards angleMeetJudging that the instruction that donor provides can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform, and waits next step instruction；

S6: if the instruction that sends of donor towards angleMeetThe people obtained from close to mandate person-time finds in robot:

S601: if do not found from the people close to mandate person-time, then it represents that instruction can not perform, and robot stops, and provides feedback information and informs that donor's instruction can not perform；

S602: if had from the people close to mandate person-time, obtain the coordinate D from the people close to mandate person-time, it is judged that ∠ BAD and ∠ BAC relation；

S603: if ∠ BAD < ∠ BAC andThen continually look for obtaining from the people close to donor's distance the 3rd, judge by step S601 to step S603 method in like manner；

S604: until the instruction that sends of donor has traveled through towards upper everyone.

Preferably, in step S2, the computing formula of angle theta is as follows:

$\mathrm{\&theta;}={\cos }^{-1}\left(\frac{{\stackrel{\&OverBar;}{AB}}^2+{\stackrel{\&OverBar;}{AC}}^2-{\stackrel{\&OverBar;}{BC}}^2}{2\&CenterDot;\stackrel{\&OverBar;}{AB}\&CenterDot;\stackrel{\&OverBar;}{AC}}\right)---\left(3\right)$

Preferably, the computing formula of the degree of protection α of donor is:

$\mathrm{\&alpha;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AB}}\right)---\left(4\right)$

Computing formula from the degree of protection β of the nearest people of donor is:

$\mathrm{\&beta;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AC}}\right)---\left(5\right)$

Wherein, r is default guard space.

Preferably, the distance of r is not less than 1/2nd of robot width.

Preferably, in step S4, when the instruction that donor sends can not immediately arrive at towards angleTime, determine angle according to following conditionSize:

S401: when θ-alpha-beta ≠ 0, then

S402: when θ-alpha-beta=0, then it represents that instruction can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform；Continue to travel through from small to large instruction by distance towards upper everyone.

Preferably, the initial point of coordinate system is the body-sensing sensing station that robot obtains image, and the coordinate of people is the coordinate of human body central point.

The method have the advantages that

1, the determination methods of mobile apparatus people's instruction secure feasibility of the present invention, while improving safety, avoid robot instruction perform path on other people carry out actively dodging robot, avoid the pedestrian being likely to touch carrying large piece article when robot moves, add the security performance of robot, and improve the intelligence degree of robot.

2, in a preferred approach, the determination methods of mobile apparatus people's instruction secure feasibility of the present invention, the best course while robot can perform instruction results, in energy intelligent selection instruction redundancy.

Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.Below with reference to accompanying drawings, the present invention is further detailed explanation.

Accompanying drawing explanation

The accompanying drawing constituting the part of the application is used for providing a further understanding of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the schematic flow sheet of the determination methods of mobile apparatus people's instruction secure feasibility of the preferred embodiment of the present invention；

The instruction secure feasibility that Fig. 2 is the preferred embodiment of the present invention judges various point locations schematic diagram；

Another instruction secure feasibility that Fig. 3 is the preferred embodiment of the present invention judges various point locations schematic diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.

Referring to Fig. 1, the determination methods of mobile apparatus people's instruction secure feasibility of the present invention, comprise the following steps:

S1: with the initial point A of the artificial coordinate system of machine, obtains instruction that donor sends towards other people upper coordinate；

S2: select people nearest from donor in other people, calculates from the angle theta between coordinate C and coordinate B and the line of initial point of initial point line and donor of the nearest people of donor；

S3: calculate the degree of protection α of donor and from the degree of protection β of the nearest people of donor；

S4: the instruction sent as donor towards angleWhen meeting preset security condition, it is determined that the instruction secure that donor provides can perform.

Pass through above-mentioned steps, robot can actively dodge donor's instruction instruction towards the people being above likely to be encountered, while safety being improved, avoid robot instruction perform path on other people carry out actively dodging robot, avoid the pedestrian being likely to touch carrying large piece article when robot moves, add the security performance of robot, and improve the intelligence degree of robot.

In actual applications, on the basis of above-mentioned steps, the determination methods of mobile apparatus people's instruction secure feasibility of the present invention also can increase following steps and be optimized, and is exemplified below:

The determination methods of mobile apparatus people's instruction secure feasibility of the present embodiment, comprises the following steps:

S1: with the initial point A of machine artificial coordinate system the body-sensing sensing station of image (initial point of coordinate system obtain for robot), obtains instruction that donor sends towards upper other people coordinate the coordinate of human body central point (coordinate of people be).

S2: select people nearest from donor in other people:

Referring to Fig. 2, make coordinate B (x₁,y₁,z₁), C point (x₂,y₂,z₂) and D point (x₃,y₃,z₃).Then, first determine which people is nearest from donor, namely calculate the length (space coordinates is in equatorial projection distance) of line segment BC and BD respectively:

$\stackrel{\&OverBar;}{BC}=\sqrt{{(x_1-x_2)}^2+{(z_1-z_2)}^2}---\left(1\right)$

$\stackrel{\&OverBar;}{BD}=\sqrt{{(x_1-x_3)}^2+{(z_1-z_3)}^2}---\left(2\right)$

And compare size, select the shortest line segment, in fig. 2 we assume that C from B closer to.

Then calculate from the angle theta between coordinate C and coordinate B and the line of initial point of initial point line and donor of the nearest people of donor.The computing formula of angle theta is as follows:

$\mathrm{\&theta;}={\cos }^{-1}\left(\frac{{\stackrel{\&OverBar;}{AB}}^2+{\stackrel{\&OverBar;}{AC}}^2-{\stackrel{\&OverBar;}{BC}}^2}{2\&CenterDot;\stackrel{\&OverBar;}{AB}\&CenterDot;\stackrel{\&OverBar;}{AC}}\right)---\left(3\right)$

Wherein,

S3: calculate the degree of protection α of donor and from the degree of protection β of the nearest people of donor.The computing formula of the degree of protection α of donor is:

$\mathrm{\&alpha;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AB}}\right)---\left(4\right)$

Computing formula from the degree of protection β of the nearest people of donor is:

$\mathrm{\&beta;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AC}}\right)---\left(5\right)$

Wherein, r is default guard space.Namely robot by people at one's side time leave the distance of r, minima is 1/2nd robot width, and user can pass through to regulate the size of r and set level of security.In order to ensure in robot traveling process, it is to avoid the pedestrian of touching carrying large piece article, each pedestrian being preset a safe distance, is similar to and pedestrian has overlapped a protective cover, robot at least must keep this distance size with pedestrian.

S4: the instruction sent as donor towards angleWhen meeting preset security condition, it is determined that the instruction secure that donor provides can perform, namely reach the level of security preset.When the instruction that donor sends can immediately arrive at towards angleTime (when the instruction of donor has directly given angle), preset security condition isRobot want safety avoid donor B point and the right C point, then the orientation angle of the right advance of robot should between α and (θ-β).

S5: if the instruction that sends of donor towards angleMeetJudging that the instruction that donor provides can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform, and waits next step instruction.

S6: if the instruction that sends of donor towards angleMeetThe people obtained from close to mandate person-time finds in robot:

S601: if do not found from the people close to mandate person-time, then it represents that instruction can not perform, and robot stops, and provides feedback information and informs that donor's instruction can not perform；

S602: if had from the people close to mandate person-time, obtain the coordinate D from the people close to mandate person-time, it is judged that ∠ BAD and ∠ BAC relation；

S603: if ∠ BAD < ∠ BAC and(in Fig. 3 D point), then continually look for obtaining from the people close to donor's distance the 3rd, judges by step S601 to step S603 method in like manner；

S604: until the instruction that sends of donor has traveled through towards upper everyone.

That is: if ∠ BAD > ∠ is BAC (in Fig. 2 D point), then similar steps when repeating the above about closest people, similar calculating θ again₁, γ₁And γ₂。

${\mathrm{\&gamma;}}_1={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AC}}\right)---\left(6\right)$

${\mathrm{\&gamma;}}_2={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AD}}\right)---\left(7\right)$

${\mathrm{\&theta;}}_1={\cos }^{-1}\left(\frac{{\stackrel{\&OverBar;}{AD}}^2+{\stackrel{\&OverBar;}{AC}}^2-{\stackrel{\&OverBar;}{CD}}^2}{2\&CenterDot;\stackrel{\&OverBar;}{AD}\&CenterDot;\stackrel{\&OverBar;}{AC}}\right)---\left(8\right)$

Wherein,

If then judging θ+γ₁> φ > θ-β, then represent that instruction performs dangerous, it is not possible to perform, and feed back to donor.

If θ is+θ₁-γ₂≥φ≥θ+γ₁, then represent that donor's instruction can perform, perform instruction.

If φ > θ is+θ₁-γ₂, then continue above-mentioned similar steps, first find except C, D point from people nearest for B, then proceed to repeat to judge.Until all people on the right side of donor of traversal or it has been determined that instruction cannot perform.

When the instruction that donor sends can not immediately arrive at towards angleTime (only provide when donor provides instruction and keep out of the way direction, it does not have provide concrete angular dimension), determine angle according to following conditionSize:

S401: when θ-alpha-beta ≠ 0, then

S402: when θ-alpha-beta=0, then it represents that instruction can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform；Continue to travel through from small to large instruction by distance towards upper everyone.As, it is assumed that θ₁-γ₂-γ₁≠ 0, thenIf same θ₁-γ₂-γ₁=0, continue Ergodic judgement, until existingOr when having traveled through everyone also without satisfiedValue, then illustrate do not have executable safe avoidance, feeds back to donor and waits next step instruction (such as direction etc. is dodged in donor's change).

In summary, the present invention is by the instruction calculating towards angle, and pedestrian arranges a safe distance, while robot can perform instruction results, and can best course in intelligent selection instruction redundancy.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (8)

1. the determination methods of mobile apparatus people's instruction secure feasibility, it is characterised in that comprise the following steps:

S1: with the initial point A of the artificial coordinate system of machine, obtains instruction that donor sends towards other people upper coordinate；

S2: select described in other people from the people that donor is nearest, calculate the angle theta between coordinate C and coordinate B and the line of initial point of initial point line and donor of the described people nearest from donor；

S3: calculate the degree of protection α of donor and the degree of protection β of the described people nearest from donor；

S4: the instruction sent as donor towards angleWhen meeting preset security condition, it is determined that the instruction secure that donor provides can perform.

2. determination methods according to claim 1, it is characterised in that when the instruction that donor sends can immediately arrive at towards angleTime, preset security condition is

3. determination methods according to claim 2, it is characterised in that after described step S4 completes, described method also includes:

S5: if the instruction that sends of donor towards angleMeetJudging that the instruction that donor provides can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform, and waits next step instruction；

S6: if the instruction that sends of donor towards angleMeetThe people obtained from close to mandate person-time finds in robot:

S601: if do not found from the people close to mandate person-time, then it represents that instruction can not perform, and robot stops, and provides feedback information and informs that donor's instruction can not perform；

S602: if had from the people close to mandate person-time, obtain the coordinate D of described people close to mandate person-time, it is judged that described ∠ BAD and ∠ BAC relation；

S603: if ∠ BAD < ∠ BAC andThen continually look for obtaining from the people close to donor's distance the 3rd, judge by step S601 to step S603 method in like manner；

S604: until the instruction that sends of donor has traveled through towards upper everyone.

4. determination methods according to any one of claim 1 to 3, it is characterised in that in described step S2, the computing formula of angle theta is as follows:

$\mathrm{\&theta;}={\cos }^{-1}\left(\frac{{\stackrel{\&OverBar;}{AB}}^2+{\stackrel{\&OverBar;}{AC}}^2-{\stackrel{\&OverBar;}{BC}}^2}{2\&CenterDot;\stackrel{\&OverBar;}{AB}\&CenterDot;\stackrel{\&OverBar;}{AC}}\right)---\left(3\right)$

5. determination methods according to any one of claim 1 to 3, it is characterised in that the computing formula of the degree of protection α of described donor is:

$\mathrm{\&alpha;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AB}}\right)---\left(4\right)$

The computing formula of the degree of protection β of the described people nearest from donor is:

$\mathrm{\&beta;}={\sin }^{-1}\left(\frac{r}{\stackrel{\&OverBar;}{AC}}\right)---\left(5\right)$

Wherein, r is default guard space.

6. determination methods according to claim 5, it is characterised in that the distance of described r is not less than 1/2nd of robot width.

7. determination methods according to claim 3, it is characterised in that in described step S4, when the instruction that donor sends can not immediately arrive at towards angleTime, determine described angle according to following conditionSize:

S401: when θ-alpha-beta ≠ 0, then

S402: when θ-alpha-beta=0, then it represents that instruction can not perform, robot stops, and provides feedback information and informs that donor's instruction can not perform；Continue to travel through from small to large described instruction by distance towards upper everyone.

8. determination methods according to claim 3, it is characterised in that the initial point of described coordinate system is the body-sensing sensing station that described robot obtains image, and the coordinate of described people is the coordinate of human body central point.