CN106239507A - A kind of pathfinding robot system and method automatically - Google Patents
A kind of pathfinding robot system and method automatically Download PDFInfo
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- CN106239507A CN106239507A CN201610668648.5A CN201610668648A CN106239507A CN 106239507 A CN106239507 A CN 106239507A CN 201610668648 A CN201610668648 A CN 201610668648A CN 106239507 A CN106239507 A CN 106239507A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention provides a kind of pathfinding robot system and method for searching automatically, it is characterised in that described system includes: total activation system, path planning system, kinetic control system, robot and sensor senses system；Described total activation system signal respectively is connected to sensor senses system and path planning system；Described path planning system signal respectively is connected to master control dispatching system and kinetic control system；Described kinetic control system signal respectively is connected to robot and path planning system；Described robot signal respectively is connected to kinetic control system and sensor senses system.The present invention has the advantages such as automatic pathfinding, automatic obstacle-avoiding and intellectuality.
Description
Technical field
The present invention relates to robot field, particularly to one automatic pathfinding robot system and method.
Background technology
The appearance of robot and development drastically increase the labor efficiency of industrial or agricultural, profoundly change the life of the mankind
Looks.The progress of robotics and application are 20th century to automatically control the most convictive achievement, are in the highest meaning in the present age
Automatization.Last century, the fifties was born First robot in the world in the U.S., from this robot real come into people
Life.Along with correlation techniques such as computer technology, super large-scale integration, control theory, artificial intelligence, sensors
Development, a brand-new stage is also stepped in the research to robotics.From programmable, teaching playback industrial machine in early days
People is to having certain sensing and the robot of the ability of adaptation, then to being equipped with multiple advanced sensors, has the robot of intelligence, machine
The research that device people learns experienced by from simple to complexity, function singleness to diverse in function, expands to military affairs from industry manufacture field and detects
Examine, nuclear industry, Aero-Space, service trade, medical apparatus and instruments, genetic engineering, community service, the process in the field such as amusement.The mankind
Exploration field to universe, " courage " number of the U.S. logs in Mars and automatically detects, China's " Chang'e I " lunar orbiting exploration, generation
The table high-tech level of current robot.At foreseeable future, robotics will in the application of every field
More extensively, deeply..
Mobile robot is the most representational a kind of robot.It has concentrated sensor technology, mechanical engineering, electronics work
Journey, automation control engineering, view synthesis, the multi-disciplinary achievement in research such as computer vision and artificial intelligence, represent
The overachievement of electromechanical integration.Therefore, multi-crossed disciplines and the robotics that formed is studied also into brand-new rank
Section.Mobile robot has important dual-use value, and it also has under rugged environment and the most widely should
With.Such as: remove mines robot automatically, for the underwater robot of deep seafloor exploration, unpiloted intelligent vehicle, coal in mine
Exploration robot of charcoal excavator and oil and natural gas etc..
Mobile robot wants to move towards practicality must have competent motor system, reliable navigation system, accurate
Perception and the ability having the most safely but also working together with people with open arms, moving the intelligent of robot in addition is also to determine
The key factor of its application prospect.In general, intelligent robot should possess perception, thinking and dexterous action three interaction
Basic function, the index evaluating a mobile robot degree of intelligence includes the conditions such as autonomy, adaptability and interactivity.From
Main property refers to that robot oneself can determine job step and working method according to task and ambient environmental conditions；Adaptability
Refer to that robot has the ability (main by study) adapting to complex work environment, not only can identify and measure the thing of surrounding
Body, goes back the ability of Rational Solutions surrounding and task to be performed, and makes the ability such as correct judgement operation and movement；Hand over
Mutually property is the basis that intelligence produces, include alternately machine human and environment, between machine person to person and robot three kinds, relate generally to
The acquisition of information, process and understand.
Summary of the invention
In consideration of it, the invention provides a kind of pathfinding robot system and method automatically, the present invention have automatic pathfinding, from
The dynamic advantage such as avoidance and intellectuality.
The technical solution used in the present invention is as follows:
A kind of pathfinding robot system automatically, it is characterised in that described system includes: master control dispatching system, path planning system,
Kinetic control system, robot and sensor senses system；Described total activation system signal respectively is connected to sensor senses system
System and path planning system；Described path planning system signal respectively is connected to master control dispatching system and kinetic control system；Institute
State kinetic control system signal respectively and be connected to robot and path planning system；Described robot signal respectively is connected to motion
Control system and sensor senses system.
Using technique scheme, the robot Pathfinding system of the present invention is various by sensor senses robot body
Data, each item data perceived is analyzed and merges by master control dispatching system, sends analyzing the data after merging to road
Footpath planning system, path planning system is according to the motion of the data guided robot body sended over.
Described path planning system, is used for using path planning algorithm path planning；Described kinetic control system, for root
According to the result of path planning, control the motion of robot；Described sensor senses system, for perception ambient conditions；Institute
State total activation system, for by sensor senses to data carry out information fusion, construct the description of residing local environment.
Using technique scheme, the path planning system of the present invention is according to built-in path planning algorithm planning robot
The operation of body.
Described sensor senses system includes: velocity sensor, acceleration transducer, gravity sensor, angular transducer
And crash sensor；The data obtained, for obtaining the speed data of robot, are sent to master control tune by described velocity sensor
Degree system；Described acceleration transducer, for obtaining the acceleration information of robot, sends the acceleration information obtained to always
Control dispatching patcher；Described gravity sensor, for obtaining the gravimetric data information of robot, sends the gravimetric data obtained extremely
Master control dispatching system；Described angular transducer, for obtaining the angle-data of robot, sends the angle-data obtained to always
Control dispatching patcher；Whether described crash sensor, touched barrier for measuring robots.
Described master control dispatching system includes: analysis and processing unit and data integrated unit；Described analysis and processing unit, is used for
Each sensing data received is grouped, corresponding sensing data is divided into one group；Described data fusion
Unit, for the result according to analysis and processing unit analyzing and processing, carries out data packing by the sensing data being divided into a group,
Packed data are sent to path planning system.
A kind of pathfinding robot method for searching automatically, it is characterised in that said method comprising the steps of:
Step 1: system start-up, the data message of sensor sense measuring robots body and the data message of surrounding, will inspection
The data message surveyed sends to master control dispatching system；
Step 2: the data message that sensor is sended over by master control dispatching system carries out data analysis and data fusion；To merge
Data after packing send to path planning system；
Step 3: each group of data that path planning system comes according to packing carry out path planning, the motion road of planning robot
Line, guided robot avoiding obstacles；
Step 4: the path planning order that kinetic control system sends over according to path planning system, controls robot body
Motion, then jumps to step 1 and continues executing with.
The moving line of described road strength planning system planning robot, the method for guided robot avoiding obstacles include with
Lower step:
Step 1: path planning system proceeds by initiation parameter；
Step 2: judge whether to arrive at, if it is, terminate path planning, if it is not, then perform step 3；
Step 3: continue the programming commands of read path planning system, it may be judged whether have barrier, if it is, carry out barrier
Identify, avoiding obstacles；If it is not, then directly carry out step 4；
Step 4: judge whether to need to turn, if planning department's security standpoint, turn, before then carrying out straight line
OK.
The recognition methods of three dimensions barrier is included with following steps by described robot:
Step 1: preset actual coordinates and robot coordinate system, and determine the relation between them；
Step 2: set obstacle figure proportionate relationship between robot size, sets the reality represented between obstacle figure amount pixel
Distance is:, robot is a length of:, then robot size in obstacle figure is:
Step 3: use the four-way average gradient of each pixel to calculate the gradient of each pixel in elevation map；Computing formula
As follows:
;
Step 4: calculate 30 jiaos of corresponding Grad；
Step 5: draw preliminary obstacle figure according to equation below:；
Step 6: obstacle figure carries out expansion process and the medium filtering of Digital Image Processing, makes nearer barrier point be connected to one
Rise, thus obtain the obstacle figure for path planning.
Use above technical scheme, present invention produces following beneficial effect:
1, automatic pathfinding: the automatic pathfinding robot of the present invention can be by built-in automatic path planning systems organization oneself
Action path；Need not manually operate, just oneself can run and carry out pathfinding.
2, automatic obstacle-avoiding: the automatic pathfinding robot of the present invention obstacle avoidance algorithm by built-in improvement, it is possible to avoid advancing
During barrier, automatic pathfinding algorithm.
3, intelligence degree is high: the automatic pathfinding robot automatic sensing environmental data of the present invention, automatically counts
According to fusion, automatically carry out the function such as path planning and avoidance.
Accompanying drawing explanation
Fig. 1 is a kind of automatic pathfinding robot system and the system structure schematic diagram of method of the present invention.
Fig. 2 is a kind of automatic pathfinding robot system and the path planning process schematic diagram of method for searching of the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary), unless specifically stated otherwise,
By other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalence or similar characteristics.
The embodiment of the present invention 1 provides a kind of pathfinding robot system automatically, system structure as shown in Figure 1:
A kind of pathfinding robot system automatically, it is characterised in that described system includes: master control dispatching system, path planning system,
Kinetic control system, robot and sensor senses system；Described total activation system signal respectively is connected to sensor senses system
System and path planning system；Described path planning system signal respectively is connected to master control dispatching system and kinetic control system；Institute
State kinetic control system signal respectively and be connected to robot and path planning system；Described robot signal respectively is connected to motion
Control system and sensor senses system.
Using technique scheme, the robot Pathfinding system of the present invention is various by sensor senses robot body
Data, each item data perceived is analyzed and merges by master control dispatching system, sends analyzing the data after merging to road
Footpath planning system, path planning system is according to the motion of the data guided robot body sended over.
Described path planning system, is used for using path planning algorithm path planning；Described kinetic control system, for root
According to the result of path planning, control the motion of robot；Described sensor senses system, for perception ambient conditions；Institute
State total activation system, for by sensor senses to data carry out information fusion, construct the description of residing local environment.
Using technique scheme, the path planning system of the present invention is according to built-in path planning algorithm planning robot
The operation of body.
Described sensor senses system includes: velocity sensor, acceleration transducer, gravity sensor, angular transducer
And crash sensor；The data obtained, for obtaining the speed data of robot, are sent to master control tune by described velocity sensor
Degree system；Described acceleration transducer, for obtaining the acceleration information of robot, sends the acceleration information obtained to always
Control dispatching patcher；Described gravity sensor, for obtaining the gravimetric data information of robot, sends the gravimetric data obtained extremely
Master control dispatching system；Described angular transducer, for obtaining the angle-data of robot, sends the angle-data obtained to always
Control dispatching patcher；Whether described crash sensor, touched barrier for measuring robots.
Described master control dispatching system includes: analysis and processing unit and data integrated unit；Described analysis and processing unit, is used for
Each sensing data received is grouped, corresponding sensing data is divided into one group；Described data fusion
Unit, for the result according to analysis and processing unit analyzing and processing, carries out data packing by the sensing data being divided into a group,
Packed data are sent to path planning system.
The embodiment of the present invention 2 provides the method for searching of a kind of automatic pathfinding robot:
A kind of pathfinding robot method for searching automatically, it is characterised in that said method comprising the steps of:
Step 1: system start-up, the data message of sensor sense measuring robots body and the data message of surrounding, will inspection
The data message surveyed sends to master control dispatching system；
Step 2: the data message that sensor is sended over by master control dispatching system carries out data analysis and data fusion；To merge
Data after packing send to path planning system；
Step 3: each group of data that path planning system comes according to packing carry out path planning, the motion road of planning robot
Line, guided robot avoiding obstacles；
Step 4: the path planning order that kinetic control system sends over according to path planning system, controls robot body
Motion, then jumps to step 1 and continues executing with.
The moving line of described road strength planning system planning robot, the method for guided robot avoiding obstacles include with
Lower step:
Step 1: path planning system proceeds by initiation parameter；
Step 2: judge whether to arrive at, if it is, terminate path planning, if it is not, then perform step 3；
Step 3: continue the programming commands of read path planning system, it may be judged whether have barrier, if it is, carry out barrier
Identify, avoiding obstacles；If it is not, then directly carry out step 4；
Step 4: judge whether to need to turn, if planning department's security standpoint, turn, before then carrying out straight line
OK.
The recognition methods of three dimensions barrier is included with following steps by described robot:
Step 1: preset actual coordinates and robot coordinate system, and determine the relation between them；
Step 2: set obstacle figure proportionate relationship between robot size, sets the reality represented between obstacle figure amount pixel
Distance is:, robot is a length of:, then robot size in obstacle figure is:
Step 3: use the four-way average gradient of each pixel to calculate the gradient of each pixel in elevation map；Computing formula
As follows:
;
Step 4: calculate 30 jiaos of corresponding Grad；
Step 5: draw preliminary obstacle figure according to equation below:；
Step 6: obstacle figure carries out expansion process and the medium filtering of Digital Image Processing, makes nearer barrier point be connected to one
Rise, thus obtain the obstacle figure for path planning.
The embodiment of the present invention 3 provides a kind of pathfinding robot system and method automatically, system construction drawing such as Fig. 1 institute
Show:
A kind of pathfinding robot system automatically, it is characterised in that described system includes: master control dispatching system, path planning system,
Kinetic control system, robot and sensor senses system；Described total activation system signal respectively is connected to sensor senses system
System and path planning system；Described path planning system signal respectively is connected to master control dispatching system and kinetic control system；Institute
State kinetic control system signal respectively and be connected to robot and path planning system；Described robot signal respectively is connected to motion
Control system and sensor senses system.
Using technique scheme, the robot Pathfinding system of the present invention is various by sensor senses robot body
Data, each item data perceived is analyzed and merges by master control dispatching system, sends analyzing the data after merging to road
Footpath planning system, path planning system is according to the motion of the data guided robot body sended over.
Described path planning system, is used for using path planning algorithm path planning；Described kinetic control system, for root
According to the result of path planning, control the motion of robot；Described sensor senses system, for perception ambient conditions；Institute
State total activation system, for by sensor senses to data carry out information fusion, construct the description of residing local environment.
Using technique scheme, the path planning system of the present invention is according to built-in path planning algorithm planning robot
The operation of body.
Described sensor senses system includes: velocity sensor, acceleration transducer, gravity sensor, angular transducer
And crash sensor；The data obtained, for obtaining the speed data of robot, are sent to master control tune by described velocity sensor
Degree system；Described acceleration transducer, for obtaining the acceleration information of robot, sends the acceleration information obtained to always
Control dispatching patcher；Described gravity sensor, for obtaining the gravimetric data information of robot, sends the gravimetric data obtained extremely
Master control dispatching system；Described angular transducer, for obtaining the angle-data of robot, sends the angle-data obtained to always
Control dispatching patcher；Whether described crash sensor, touched barrier for measuring robots.
Described master control dispatching system includes: analysis and processing unit and data integrated unit；Described analysis and processing unit, is used for
Each sensing data received is grouped, corresponding sensing data is divided into one group；Described data fusion
Unit, for the result according to analysis and processing unit analyzing and processing, carries out data packing by the sensing data being divided into a group,
Packed data are sent to path planning system.
A kind of pathfinding robot method for searching automatically, it is characterised in that said method comprising the steps of:
Step 1: system start-up, the data message of sensor sense measuring robots body and the data message of surrounding, will inspection
The data message surveyed sends to master control dispatching system；
Step 2: the data message that sensor is sended over by master control dispatching system carries out data analysis and data fusion；To merge
Data after packing send to path planning system；
Step 3: each group of data that path planning system comes according to packing carry out path planning, the motion road of planning robot
Line, guided robot avoiding obstacles；
Step 4: the path planning order that kinetic control system sends over according to path planning system, controls robot body
Motion, then jumps to step 1 and continues executing with.
The moving line of described road strength planning system planning robot, the method for guided robot avoiding obstacles include with
Lower step:
Step 1: path planning system proceeds by initiation parameter；
Step 2: judge whether to arrive at, if it is, terminate path planning, if it is not, then perform step 3；
Step 3: continue the programming commands of read path planning system, it may be judged whether have barrier, if it is, carry out barrier
Identify, avoiding obstacles；If it is not, then directly carry out step 4；
Step 4: judge whether to need to turn, if planning department's security standpoint, turn, before then carrying out straight line
OK.
The recognition methods of three dimensions barrier is included with following steps by described robot:
Step 1: preset actual coordinates and robot coordinate system, and determine the relation between them；
Step 2: set obstacle figure proportionate relationship between robot size, sets the reality represented between obstacle figure amount pixel
Distance is:, robot is a length of:, then robot size in obstacle figure is:
Step 3: use the four-way average gradient of each pixel to calculate the gradient of each pixel in elevation map；Computing formula
As follows:
;
Step 4: calculate 30 jiaos of corresponding Grad；
Step 5: draw preliminary obstacle figure according to equation below:；
Step 6: obstacle figure carries out expansion process and the medium filtering of Digital Image Processing, makes nearer barrier point be connected to one
Rise, thus obtain the obstacle figure for path planning.
The automatic pathfinding robot of the present invention can be by the action road of built-in automatic path planning systems organization oneself
Footpath；Need not manually operate, just oneself can run and carry out pathfinding.
The automatic pathfinding robot of the present invention obstacle avoidance algorithm by built-in improvement, it is possible to avoid the obstacle in traveling process
Thing, automatic pathfinding algorithm.
The automatic pathfinding robot automatic sensing environmental data of the present invention, automatically carries out data fusion, automatically carries out
The function such as path planning and avoidance.
The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any disclose in this manual
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (7)
1. an automatic pathfinding robot system, it is characterised in that described system includes: total activation system, path planning system,
Kinetic control system, robot and sensor senses system；Described total activation system signal respectively is connected to sensor senses system
System and path planning system；Described path planning system signal respectively is connected to master control dispatching system and kinetic control system；Institute
State kinetic control system signal respectively and be connected to robot and path planning system；Described robot signal respectively is connected to motion
Control system and sensor senses system.
2. pathfinding robot system automatically as claimed in claim 1, it is characterised in that described path planning system, is used for adopting
Use path planning algorithm path planning；Described kinetic control system, for the result according to path planning, controls the fortune of robot
Dynamic；Described sensor senses system, for perception ambient conditions；Described total activation system, for arriving sensor senses
Data carry out information fusion, construct the description of residing local environment.
3. pathfinding robot system automatically as claimed in claim 2, it is characterised in that described sensor senses system includes:
Velocity sensor, acceleration transducer, gravity sensor, angular transducer and crash sensor；Described velocity sensor, is used for
Obtain the speed data of robot, the data obtained are sent to master control dispatching system；Described acceleration transducer, is used for obtaining
The acceleration information of robot, sends the acceleration information obtained to master control dispatching system；Described gravity sensor, is used for obtaining
Take the gravimetric data information of robot, the gravimetric data obtained is sent to master control dispatching system；Described angular transducer, is used for
Obtain the angle-data of robot, the angle-data obtained is sent to master control dispatching system；Described crash sensor, is used for examining
Survey whether robot has touched barrier.
4. pathfinding robot system automatically as claimed in claim 2, it is characterised in that described master control dispatching system includes: point
Analysis processing unit and data integrated unit；Described analysis and processing unit, for carrying out each sensing data received point
Group, is divided into one group by corresponding sensing data；Described data fusion unit, at according to analysis and processing unit analysis
The result of reason, carries out data packing by the sensing data being divided into a group, sends packed data to path planning system
System.
5. a method for searching based on the automatic pathfinding robot system one of Claims 1-4 Suo Shu, it is characterised in that
Said method comprising the steps of:
Step 1: system start-up, the data message of sensor sense measuring robots body and the data message of surrounding, will inspection
The data message surveyed sends to master control dispatching system；
Step 2: the data message that sensor is sended over by master control dispatching system carries out data analysis and data fusion；To merge
Data after packing send to path planning system；
Step 3: each group of data that path planning system comes according to packing carry out path planning, the motion road of planning robot
Line, guided robot avoiding obstacles；
Step 4: the path planning order that kinetic control system sends over according to path planning system, controls robot body
Motion, then jumps to step 1 and continues executing with.
6. the method for searching of pathfinding robot automatically as claimed in claim 5, it is characterised in that described road strength planning system is advised
Drawing the moving line of robot, the method for guided robot avoiding obstacles comprises the following steps:
Step 1: path planning system proceeds by initiation parameter；
Step 2: judge whether to arrive at, if it is, terminate path planning, if it is not, then perform step 3；
Step 3: continue the programming commands of read path planning system, it may be judged whether have barrier, if it is, carry out barrier
Identify, avoiding obstacles；If it is not, then directly carry out step 4；
Step 4: judge whether to need to turn, if planning department's security standpoint, turn, before then carrying out straight line
OK.
7. the method for searching of pathfinding robot automatically as claimed in claim 6, it is characterised in that described robot is to three-dimensional space
Between the recognition methods of barrier include with following steps:
Step 1: preset actual coordinates and robot coordinate system, and determine the relation between them；
Step 2: set obstacle figure proportionate relationship between robot size, sets the reality represented between obstacle figure amount pixel
Distance is:, robot is a length of:, then robot size in obstacle figure is:
Step 3: use the four-way average gradient of each pixel to calculate the gradient of each pixel in elevation map；Computing formula
As follows:
;
Step 4: calculate 30 jiaos of corresponding Grad；
Step 5: draw preliminary obstacle figure according to equation below:；
Step 6: obstacle figure carries out expansion process and the medium filtering of Digital Image Processing, makes nearer barrier point be connected to one
Rise, thus obtain the obstacle figure for path planning.
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Cited By (6)
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| CN107203211A (en) * | 2017-06-19 | 2017-09-26 | 上海名护机器人有限公司 | A kind of method of robot interactive motion |
| CN107219850A (en) * | 2017-05-25 | 2017-09-29 | 深圳众厉电力科技有限公司 | A kind of automatic Pathfinding system of robot based on machine vision |
| CN110152296A (en) * | 2019-04-04 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of method and device generating target object |
| CN110281239A (en) * | 2019-06-25 | 2019-09-27 | 广州晒帝智能科技有限公司 | A kind of judgment method of robot motion's obstacle |
| CN110519703A (en) * | 2019-08-28 | 2019-11-29 | 北京易控智驾科技有限公司 | A kind of mine car Unmanned Systems |
| WO2021057909A1 (en) * | 2019-09-27 | 2021-04-01 | 苏州宝时得电动工具有限公司 | Autonomous robot, travel path planning method and apparatus thereof, and storage medium |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107219850A (en) * | 2017-05-25 | 2017-09-29 | 深圳众厉电力科技有限公司 | A kind of automatic Pathfinding system of robot based on machine vision |
| CN107203211A (en) * | 2017-06-19 | 2017-09-26 | 上海名护机器人有限公司 | A kind of method of robot interactive motion |
| CN110152296A (en) * | 2019-04-04 | 2019-08-23 | 腾讯科技（深圳）有限公司 | A kind of method and device generating target object |
| CN110152296B (en) * | 2019-04-04 | 2022-05-20 | 腾讯科技（深圳）有限公司 | Method and device for generating target object |
| CN110281239A (en) * | 2019-06-25 | 2019-09-27 | 广州晒帝智能科技有限公司 | A kind of judgment method of robot motion's obstacle |
| CN110281239B (en) * | 2019-06-25 | 2020-11-10 | 广州晒帝智能科技有限公司 | Method for judging robot dyskinesia |
| CN110519703A (en) * | 2019-08-28 | 2019-11-29 | 北京易控智驾科技有限公司 | A kind of mine car Unmanned Systems |
| WO2021057909A1 (en) * | 2019-09-27 | 2021-04-01 | 苏州宝时得电动工具有限公司 | Autonomous robot, travel path planning method and apparatus thereof, and storage medium |
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