CN106291535A - A kind of obstacle detector, robot and obstacle avoidance system - Google Patents
A kind of obstacle detector, robot and obstacle avoidance system Download PDFInfo
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- CN106291535A CN106291535A CN201610581017.XA CN201610581017A CN106291535A CN 106291535 A CN106291535 A CN 106291535A CN 201610581017 A CN201610581017 A CN 201610581017A CN 106291535 A CN106291535 A CN 106291535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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Abstract
The invention provides a kind of obstacle detector, robot and obstacle avoidance system, this device includes: radar range finding device, image acquisition device and information fusion device；Radar range finding device and image acquisition device are connected with information fusion device；The range information of preceding object thing measured by radar range finding device, and transmit this range information to information fusion device, image acquisition device gathers forward image, and it is transferred to information fusion device, information fusion device carries out fusion treatment to this image and range information, determine obstacle information, and export this obstacle information, in the present invention, radar range finding device and image acquisition device detect preceding object thing information jointly, the detection angles of image acquisition device is bigger, and radar range finding device is able to detect that some barriers that image acquisition device cannot detect or accuracy of detection is the highest, therefore, it is possible to preceding object thing information comprehensively detected, and avoid the multiple radar range finding devices of installation, reduce cost.
Description
Technical field
The present invention relates to detection of obstacles technical field, in particular to a kind of obstacle detector, robot and
Obstacle avoidance system.
Background technology
At present, robot, inspection car etc. have been obtained for being widely applied, in order to prevent machine in fields such as industry, lives
Device people or inspection car etc. operationally, bump against front wall or other barrier, need measuring robots or inspection car etc. to exist
During walking, whether front exists barrier.
In prior art, it is mostly to use obstacle detector based on single radar information source, but the detection of radar
Angle is the least, needs to install several in different angles, preceding object thing information, and radar valency could comprehensively be detected
Lattice are expensive, cause relatively costly.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of obstacle detector, robot and avoidance system
System, to solve prior art, installs multiple radars in different angles and causes relatively costly problem.
First aspect, embodiments provides a kind of obstacle detector, and wherein, described device includes: radar
Range finding device, image acquisition device and information fusion device；
Described radar range finding device and described image acquisition device are all connected with described information fusion device；
The range information of preceding object thing measured by described radar range finding device, and transmits described range information to described information
Merging device, described image acquisition device gathers forward image, and transmits described image to described information fusion device, described letter
Breath merges device and described image and described range information is carried out fusion treatment, determines obstacle information, and exports described barrier
Hinder thing information.
In conjunction with first aspect, embodiments provide the first possible implementation of above-mentioned first aspect, its
In, described information fusion device receives the range information of described radar range finding device transmission, and receives described image acquisition device
The image information of transmission, and according to preset order, determine obstacle information according to described image and described range information；
According to described preset order, described image determines obstacle information, when determining obstacle according to described image
During thing information, determine described obstacle information according to described range information.
In conjunction with the first possible implementation of first aspect, embodiments provide the of above-mentioned first aspect
Two kinds of possible implementations, wherein, described device also includes Inertial Measurement Unit IMU；
Described IMU is connected with described information fusion device, transmits nine axis informations of described obstacle detector to described
Information fusion device, described nine axis informations include 3-axis acceleration information, three axis angular rate information and three axle magnetic induction information；
When described information fusion device cannot determine obstacle information according to described image, according to described range information
And described nine axis informations determine described obstacle information.
In conjunction with first aspect, embodiments provide the third possible implementation of above-mentioned first aspect, its
In, described information fusion device includes receiving element, conversion element and determining element；
Described reception element is connected with described image acquisition device and described conversion element, receives described image acquisition device
The image of transmission, and transmit described image to described conversion element；
With described, described conversion element determines that element is connected, receive the image of described reception element transmission, obtain described figure
The 3-D view of picture, and transmit described 3-D view to described determining element；
The described described 3-D view determining that element receives the transmission of described conversion element, carries out image to described 3-D view
Segmentation, determines obstacle information.
In conjunction with first aspect, embodiments provide the 4th kind of possible implementation of above-mentioned first aspect, its
In, described radar range finding device, described image acquisition device and described information fusion device are respectively mounted on circuit boards.
In conjunction with first aspect, embodiments provide the 5th kind of possible implementation of above-mentioned first aspect, its
In, described device also includes global position system GPS device and/or big-dipper satellite positioning devices；
Described GPS device and described big-dipper satellite positioning devices are all connected with described information fusion device, position described barrier
Hinder the current location of analyte detection device, and transmit described current location to described information fusion device.
In conjunction with first aspect, embodiments provide the 6th kind of possible implementation of above-mentioned first aspect, its
In, described image acquisition device includes one or more photographic head.
In conjunction with first aspect, embodiments provide the 7th kind of possible implementation of above-mentioned first aspect, its
In, described radar range finding device is radar sensor；
Described radar sensor can 360 ° of rotations.
Second aspect, embodiments provides a kind of robot, wherein, described robot include robot body,
Control the obstacle detector described in element and above-mentioned first aspect；
Described control element is connected with described obstacle detector and described robot body respectively, receives described obstacle
The obstacle information of analyte detection device transmission, generates robot ambulation control signal according to described obstacle information, and transmits institute
State robot ambulation control signal to described robot body.
Described obstacle detector and described control element are installed on described robot body.
The third aspect, embodiments provides a kind of obstacle avoidance system, wherein, described system include long-range host computer and
Robot described in above-mentioned second aspect；
Described long-range host computer and the wireless connections of described robot, receive the obstacle information of described robotic transfer, root
Generate robot ambulation control signal according to described obstacle information, and transmit described robot ambulation control signal to described machine
People.
Embodiments providing a kind of obstacle detector, robot and obstacle avoidance system, this detection of obstacles fills
Putting and include radar range finding device, image acquisition device and information fusion device, radar range finding device and image acquisition device are common
Detection preceding object thing information, the detection angles of image acquisition device is relatively big, and radar range finding device is able to detect that image is adopted
Some barriers that collection device cannot detect or accuracy of detection is the highest, therefore, it is possible to comprehensively detect that preceding object thing is believed
Breath, and avoid the multiple radar range finding devices of installation, reduce cost.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 shows the structural representation of a kind of obstacle detector that the embodiment of the present invention 1 provided；
Fig. 2 shows the second structural representation of a kind of obstacle detector that the embodiment of the present invention 1 provided；
Fig. 3 shows the structural representation of a kind of robot that the embodiment of the present invention 2 provided；
Fig. 4 shows the structural representation of a kind of obstacle avoidance system that the embodiment of the present invention 3 provided.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the present invention rather than whole embodiments.Generally real with the present invention illustrated described in accompanying drawing herein
The assembly executing example can be arranged with various different configurations and design.Therefore, below to the present invention's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Execute example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
In view of existing obstacle detector, it is mostly to use single radar information source, but the detection angles of radar
The least, need to install several in different angles, preceding object thing information could comprehensively be detected, and radar price is held high
Expensive, cause relatively costly.Based on this, embodiments provide a kind of obstacle detector, robot and obstacle avoidance system,
It is described below by embodiment.
Embodiment 1
Embodiments provide a kind of obstacle detector, radar range finding device and image acquisition device in this device
Part detects preceding object thing information simultaneously, and it is bigger that image acquisition device surveys detection angles, it is possible to preceding object comprehensively detected
Thing information, it is to avoid installation multiple radar range finding device, reduces cost.
As it is shown in figure 1, the obstacle detector that the embodiment of the present invention provides, adopt including radar range finding device 110, image
Collection device 120 and information fusion device 130；
Radar range finding device 110 and image acquisition device 120 are all connected with information fusion device 130；
The range information of preceding object thing measured by radar range finding device 110, and transmits this range information to information fusion device
Part 130, image acquisition device 120 gathers forward image, and transmits this image to information fusion device 130, information fusion device
130 pairs of above-mentioned images and range information carry out fusion treatment, determine obstacle information, and export this obstacle information.
The range information of above-mentioned preceding object thing refers to the distance of preceding object thing distance obstacle detector, above-mentioned
Radar range finding device 110 can be laser radar range device, can be microwave radar range device, it is also possible to be ultrasound wave thunder
Reaching range finding device etc., the embodiment of the present invention does not limit the concrete kind of above-mentioned radar range finding device 110, wherein, laser thunder
Reaching range finding device to emission laser, microwave radar range device is to emission microwave, and ultrasonic radar range finding device is to outgoing
Penetrate ultrasound wave, i.e. as a example by emission laser, thunder will be introduced with radar range finding device 110 for laser radar range device below
Reach the detailed process that range finding device 110 measures the range information of preceding object thing, radar range finding device 110 can in real time or periodically to
Front launch laser, and launch laser moment start timing, laser is propagated in atmosphere, when laser run into barrier it
After can immediately return come, the receptor of radar range finding device 110 receives reflected signal and stops timing the most immediately, and laser is at sky
Spread speed in gas is 3 × 108M/s, according to the time of timer record, can calculate Laser emission by following formula
Point arrives the distance between preceding object thing, and wherein, laser emission point is exactly the position at radar range finding device 110 place, i.e. obstacle
The position at analyte detection device place.
S=(3 × 108)t/2
Wherein, in above-mentioned formula, S is the distance of laser emission point distance barrier, i.e. radar range finding device 110 distance
The distance of barrier, t is the time being issued to receive reflected signal from laser of timer record.
If there is not barrier in front or radar range finding device 110 is not detected by preceding object thing information, radar
Range finding device 110 would not receive reflected signal, i.e. radar range finding device 110 and be not measured by the distance letter of preceding object thing
Breath.
When radar range finding device 110 detects the range information of preceding object thing, measurement is arrived by radar range finding device 110
Preceding object thing and radar range finding device 110 between range information be sent to information fusion device 130.
Above-mentioned radar range finding device 110 is in addition to the range information of detection barrier, it is also possible to detection detection of obstacles dress
Put the information such as the distance range rate of barrier, position relation between barrier and obstacle detector.
Above-mentioned image acquisition device 120 can be continuously shot the image in road ahead, obtains dynamic continuous print image information,
And the image information of acquisition is changed into the image of YUV (Luma and Chroma, YUV) form, and will turn
The image transmitting of chemical conversion yuv format is to information fusion device 130, or above-mentioned image acquisition device 120 can also be by acquisition
Image is converted into the image of other form, and the embodiment of the present invention does not limit the concrete form of the above-mentioned image being converted into.
When information fusion device 130 receive image acquisition device 120 transmission image and radar range finding device 110 transmit
Barrier range information after, image and range information are carried out fusion treatment, determine obstacle information, and export this barrier
Hinder thing information.
Wherein, above-mentioned obstacle information include barrier be what and obstacle distance obstacle detector away from
From.
The information fusion device 130 image to receiving and range information carry out fusion treatment, specifically include: when information is melted
After clutch part 130 receives the image of image acquisition device 120 transmission, from image, extract obstacle information, if image
In there is not obstacle information, and information fusion device 130 is also not received by the barrier of radar range finding device 110 transmission
Range information, then be judged as that front does not exist barrier, if there is not obstacle information in image, but receives radar range finding
The range information of the barrier of device 110 transmission, then be defined as barrier letter by the range information that radar range finding device 110 transmits
Breath；If information fusion device 130 extracts obstacle information from the image of image acquisition device 120 transmission received,
And be not received by the range information of barrier of radar range finding device 110 transmission, then the obstacle information extracted is determined
For preceding object thing information, if receiving the obstacle information of radar range finding device 110 transmission, the then obstacle that basis extracts
Thing information and the range information received, determine preceding object thing information jointly.
Owing to the detection angles of radar range finding device 110 is the least, so in some cases, front can not be detected
Obstacle information, therefore, a radar range finding device 110 can not comprehensively detect the obstacle information in front, therefore schemes
As sampler 120 and radar range finding device 110 coordinate the range information of detection preceding object thing, image acquisition device 120
Detection angles is relatively big, and radar range finding device 110 is able to detect that some barriers that image acquisition device 120 can not detect,
Such as spoken parts in an opera wall, therefore the embodiment of the present invention can comprehensively detect the obstacle information in front, it is to avoid installs multiple radar
Range finding device 110, reduces cost.
The obstacle detector that the embodiment of the present invention provides can be applied and robot, inspection car and unmanned plane etc..
Above-mentioned image acquisition device 120 includes one or more photographic head.
Above-mentioned multiple can be two, the numerical value such as three, the most above-mentioned image acquisition device 120 can be monocular cam,
Or binocular camera, it is also possible to be many mesh photographic head.
Above-mentioned radar range finding device 110 can be radar sensor, and can 360 ° of rotations, so sensed by rotating radar
Device can detect the range information of the barrier in multiple directions.
In embodiments of the present invention, information fusion device 130 receives the range information of radar range finding device 110 transmission, and
Receive the image information of image acquisition device 120 transmission, and according to preset order, determine according to above-mentioned image and range information
Obstacle information；
Above-mentioned preset order is for determine obstacle information according to image, when determining obstacle information according to image
Time, determine obstacle information according to range information.
In embodiments of the present invention, image and the thunder of image acquisition device 120 transmission is received when information fusion device 130
After the range information of the barrier reaching range finding device 110 transmission, first image is processed, from image, extract barrier
Information, if cannot extract obstacle information from image, at this moment, further according to the distance letter of radar range finding device 110 transmission
Breath determines obstacle information；
Or, if what information fusion device 130 extracted from the image of image acquisition device 120 transmission received
Barrier is unintelligible, comparison is fuzzy, when i.e. credibility is poor, needs the range information according to radar range finding device 110 transmission
Determine obstacle information.
Wherein, information fusion device 130, according to the image received, determines obstacle information, especially by receiving unit
Part 131, conversion element 132 and determine what element 133 realized, therefore, information fusion device 130 is in order to determine obstacle
Thing information, specifically includes: receives element 131, conversion element 132 and determines element 133, as shown in Figure 2；
Receive element 131 to be connected with image acquisition device 120 and conversion element 132, receive image acquisition device 120 and transmit
Image, and transmit this image to conversion element 132；
Conversion element 132 with determine that element 133 is connected, receive above-mentioned reception element 131 transmission image, obtain this image
3-D view, and transmit this 3-D view give determine element 133；
Determine that element 133 receives the 3-D view of above-mentioned conversion element 132 transmission, this 3-D view is carried out image and divides
Cut, determine obstacle information.
In embodiments of the present invention, image acquisition device 120 is understood in real time or the image information of taken at regular intervals road ahead, and
The image information collected is converted into yuv format, and the image information of transmission yuv format is to information fusion device 130, and information is melted
The receiving element 131 and can receive the image of image acquisition device 120 transmission of clutch part 130, and by the image transmitting that receives to
Conversion element 132, conversion element 132 obtains the 3-D view of the image received.
Wherein, the detailed process of the 3-D view that conversion element 132 obtains the image received is:
After conversion element 132 receives and receives the image that element 131 transmits, this image is moved to and image acquisition device
On 120 same positions, owing to, in shooting process, using wide angle shot, the edge meeting distortion of the image therefore shot, because of
This, will be corrected the edge of image, the image after being corrected, and according to the image after correction and photo-geometry, calculates
Publish picture as in the distance of obstacle distance image acquisition device 120, and the height on obstacle distance ground, i.e. obtain out to scheme
As sampler 120 is as the three-dimensional coordinate of the barrier of initial point, thus obtain the 3-D view of this image.
After conversion element 132 gets the 3-D view of the image received, it is transferred to determine unit by this 3-D view
Part 133, determines that this 3-D view is carried out image segmentation by element 133, and extracts the foreground layer in this image, in this image
Foreground layer i.e. barrier, compares the barrier extracted with the object of storage in information bank, thus judges barrier
What is, such that obtain the distance of obstacle distance image acquisition device 120, meanwhile, also learns that this barrier is assorted
, determine this obstacle information.
During owing to obstacle information cannot be extracted when the image transmitted according to image acquisition device 120, only according to thunder
Reaching the range information of range finding device 110 transmission, the obstacle information determined is not very accurate, therefore, in order to improve according to thunder
The range information reaching range finding device 110 transmission determines the accuracy of obstacle information, the obstacle quality testing that the embodiment of the present invention provides
Survey device and also include IMU (Inertial Measurement Unit, Inertial Measurement Unit)；
IMU is connected with information fusion device 130, and nine axis informations of transmission obstacle detector are to information fusion device
130, this nine axis information includes 3-axis acceleration information, three axis angular rate information and three axle magnetic induction information；
When information fusion device 130 cannot determine obstacle information according to above-mentioned image, according to above-mentioned range information
And nine axis information determine obstacle information.
Three axles in above-mentioned 3-axis acceleration information, three axis angular rate information and three axle magnetic induction information refer to space
Three coordinate axess.
In embodiments of the present invention, above-mentioned IMU includes acceleration transducer, angular-rate sensor and magnetic induction sensor,
And velocity sensor obtains the 3-axis acceleration information of obstacle detector, angular-rate sensor obtains obstacle detector
Three axis angular rate information, and magnetic induction sensor obtain obstacle detector magnetic induction information, IMU will obtain obstacle
Nine axis informations of analyte detection device are transferred to information fusion device 130, and nine axis informations received are entered by information fusion device 130
Row Integral Processing, obtains the directional information of obstacle detector, and combine radar range finding device 110 transmission barrier away from
From information, determining the position of barrier, the position of the barrier so obtained is more accurate.
Nine axis informations received are integrated processing by above-mentioned information fusion device 130, and detailed process is as follows:
The 3-axis acceleration of the obstacle detector that the information fusion device 130 acceleration transducer to receiving is measured
It is integrated in preset time period, obtains the speed of this obstacle detector, the speed to the obstacle detector obtained
Degree is integrated again in preset time period, obtains the distance that obstacle detector in this preset time period moves, equally
, three axis angular rates of the obstacle detector that the angular-rate sensor received is measured are amassed in preset time period
Point, obtain the move angle of obstacle detector in preset time period, and the earth magnetism letter measured according to magnetic induction sensor
Breath can obtain obstacle detector direction change information in preset time period, therefore permissible according to above-mentioned nine axis informations
Determine the position that obstacle detector is present accurately.
Wherein, above-mentioned preset time period can be 2S, 5S etc., and the embodiment of the present invention does not limit above-mentioned preset time period
Concrete numerical value.
Obstacle detector in order to make the embodiment of the present invention provide should use more convenient, above-mentioned radar range finding device
110, image acquisition device 120 and information fusion device 130 are respectively mounted on circuit boards, make detection of obstacles card, work as application
When occasions such as robot, inspection car and unmanned planes, can directly above-mentioned detection card be inserted.
Foregoing circuit plate can be PCB (Printed Circuit Board, printed circuit board) plate.
In order to the real time position of obstacle detector is precisely located out, the barrier that the embodiment of the present invention provides
Detection device also includes that GPS (Global Positioning System, global positioning system) device and/or big-dipper satellite are fixed
Position device；
GPS device and big-dipper satellite positioning devices are all connected with information fusion device 130, orient obstacle detector
Current location, and transmit this current location to information fusion device 130.
The obstacle detector that the embodiment of the present invention provides can only include GPS device, or only includes big-dipper satellite
Positioning devices, it is also possible to simultaneously include GPS device and big-dipper satellite positioning devices.
GPS device and big-dipper satellite positioning devices all can orient the current location of obstacle detector, and will location
The current location of the obstacle detector gone out is transferred to information fusion device 130, and information fusion device 130 is according to orienting
Current location judges the particular location of obstacle detector accurately.
The obstacle detector that the embodiment of the present invention provides, including radar range finding device, image acquisition device and information
Merging device, radar range finding device and image acquisition device detect preceding object thing information, the detection of image acquisition device jointly
Angle is relatively big, and radar range finding device is able to detect that some barriers that image acquisition device cannot detect or accuracy of detection is the highest
Hinder thing, therefore, it is possible to preceding object thing information comprehensively detected, and avoid multiple detections of radar device is installed, reduce into
This.
Embodiment 2
Embodiments provide a kind of robot, as it is shown on figure 3, the robot that the embodiment of the present invention provides includes machine
The obstacle detector 330 that device human body 310, control element 320 and embodiment 1 provide；
Control element 320 to be connected with obstacle detector 330 and robot body 310 respectively, receive detection of obstacles
The obstacle information of device 330 transmission, generates robot ambulation control signal according to this obstacle information, and transmits this robot
Travelling control signal is to robot body 310；
Obstacle detector 330 and control element 320 are installed on robot body 310.
If needing the obstacle information in measuring robots body 310 front, then need above-mentioned obstacle detector
330 dead aheads being arranged on robot body 310, if need detection is the obstacle information of robot body 310 both sides,
Then needing to be arranged on obstacle detector 330 both sides of robot body 310, obstacle detector 330 is in robot
Concrete installation site on body 310 can be configured according to actual application scenarios, and the embodiment of the present invention does not limit above-mentioned
The obstacle detector 330 installation site on robot body 310.
In embodiments of the present invention, when robot ambulation, obstacle detector 330 can detect the obstacle in front in real time
Thing information, and be transferred to the obstacle information detected control element 320, control element 320 and receive detection of obstacles dress
After putting the obstacle information of 330 transmission, adjust the running route of robot body 310 according to obstacle information, to control machine
Human body 310 avoiding barrier, such as, when obstacle detector 330 detects that 100 meters of front exists barrier, and should
When barrier is stone, controlling element 320 can generate a control signal according to this obstacle information, controls robot body
310 turned left before 100 meters of front or turn right, to hide preceding object thing.
Wherein, above-mentioned obstacle information includes what the distance of obstacle distance robot body 310 and barrier be.
Wherein, during above-mentioned obstacle detector 330 side's obstacle information before detection, in obstacle detector 330
Image acquisition device can constantly gather road ahead image, radar range finding device can constantly measure preceding object thing distance letter
Breath, information fusion device determines obstacle information according to the range information of the image gathered and barrier.
The robot that the embodiment of the present invention provides, including robot body, controls element and obstacle detector, its
In, obstacle detector includes that image acquisition device and radar range finding device, image acquisition device and radar range finding device are altogether
With detection preceding object thing information, the detection angles of image acquisition device is relatively big, and radar range finding device is able to detect that image
Some barriers that sampler cannot detect or accuracy of detection is the highest, therefore, it is possible to comprehensively detect that preceding object thing is believed
Breath, and avoid multiple detections of radar device is installed, reduce cost.
Embodiment 3
Embodiments providing a kind of obstacle avoidance system, as shown in Figure 4, this system includes long-range host computer 410 and reality
Execute the robot 420 that example 2 provides；
Remotely host computer 410 and robot 420 wireless connections, receive the obstacle information of robot 420 transmission, according to this
Obstacle information generates robot ambulation control signal, and transferring robot travelling control signal is to robot 420.
Above-mentioned long-range host computer 410 can be mobile phone, PAD (portable android device), computer etc..
Above-mentioned long-range host computer 410 and robot 420 wireless connections, these wireless connections can be that wireless network connects, than
Such as the connection of WI-FI (Wireless-Fidelity, Wireless Fidelity) network, 3G (3rd-Generation, 3G (Third Generation) Moblie
Technology) network connection etc..
Above-mentioned simply citing lists several network and connects, and does not limit the concrete kind that network connects.
Above-mentioned long-range host computer 410 can connect with a robot 420, it is also possible to connects with multiple robots 420, on
State Fig. 4 and simply depict long-range host computer 410 and the situation of robot 420 connection, do not limit and long-range host computer
The concrete number of 410 robots 420 connected, the concrete number of the robot 420 being connected with long-range host computer 410 can be to appoint
Meaning numerical value.
In embodiments of the present invention, robot 420 being provided with obstacle detector, obstacle detector can be in real time
The obstacle information in measuring robots 420 front, and by the distance information transmission of preceding object thing that detects to the most upper
Machine 410, long-range host computer 410 generates robot ambulation control signal according to the obstacle information received, and transmits this machine
People's control signal of walking is to corresponding robot 420, to control robot 420 avoiding barrier.
Wherein, the route map of robot 420 can be stored in long-range host computer 410, when long-range host computer 410 connects
After receiving the obstacle information of robot 420 transmission, according to the route map automatic adjusting machine of obstacle information and robot
The running route of device people 420, transferring robot travelling control signal gives corresponding robot 420, contrasts controlling robot 420
Barrier.
Remotely host computer 410 can store machine list, includes each robot machine couple in robot list
The route map answered and robot numbering, when long-range host computer 410 receive robot 420 transmission this robot 420 transport
After obstacle information on walking along the street line, transfer out the working line of this robot 420 correspondence according to the numbering of this robot 420
Figure, generates robot ambulation control signal according to the obstacle information of this route map and correspondence.
Management personnel can also control robot 420 by long-range host computer 410 and hide obstacle, when long-range host computer 410
After receiving the obstacle information of robot 420 transmission, management personnel believe according to route map and the barrier of robot 420
Breath transmission of control signals gives corresponding robot 420, to control robot 420 avoiding barrier.
The obstacle avoidance system that the embodiment of the present invention provides, including long-range host computer and robot, robot is provided with obstacle
Analyte detection device, image acquisition device and radar range finding device in obstacle detector detect preceding object thing letter jointly
Breath, the detection angles of image acquisition device is relatively big, and radar range finding device be able to detect that image acquisition device cannot detect or
Some barriers that person's accuracy of detection is the highest, therefore, it is possible to preceding object thing information comprehensively detected, and avoid installation many
Individual detections of radar device, reduces cost, and hides preceding object thing by long-range host computer remote control robot, be not required to
Want field control machine people, easy to operate.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertically ",
Orientation or the position relationship of the instruction such as " level ", " interior ", " outward " they are based on orientation shown in the drawings or position relationship, or this
The orientation usually put or position relationship when bright product uses, be for only for ease of the description present invention and simplifying describe rather than
Instruction or hint indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore can not
It is interpreted as limitation of the present invention.Describe additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing, and be not understood that
For instruction or hint relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " arrange ",
" install ", " being connected ", " connection " should be interpreted broadly, and connect for example, it may be fixing, it is also possible to be to removably connect, or one
Body ground connects；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to indirect by intermediary
It is connected, can be the connection of two element internals.For the ordinary skill in the art, can be with in concrete condition understanding
State term concrete meaning in the present invention.
It is last it is noted that the detailed description of the invention of embodiment described above, the only present invention, in order to the present invention to be described
Technical scheme, be not intended to limit, protection scope of the present invention is not limited thereto, although with reference to previous embodiment to this
Bright it is described in detail, it will be understood by those within the art that: any those familiar with the art
In the technical scope that the invention discloses, the technical scheme described in previous embodiment still can be modified or can be light by it
It is readily conceivable that change, or wherein portion of techniques feature is carried out equivalent；And these are revised, change or replace, do not make corresponding
The essence of technical scheme departs from the spirit and scope of embodiment of the present invention technical scheme.All should contain in protection scope of the present invention
Within.Therefore, protection scope of the present invention should be as the criterion with described scope of the claims.
Claims (10)
1. an obstacle detector, it is characterised in that including: radar range finding device, image acquisition device and information fusion
Device；
Described radar range finding device and described image acquisition device are all connected with described information fusion device；
The range information of preceding object thing measured by described radar range finding device, and transmits described range information to described information fusion
Device, described image acquisition device gather forward image, and transmit described image give described information fusion device, described information is melted
Clutch part carries out fusion treatment to described image and described range information, determines obstacle information, and exports described barrier
Information.
Device the most according to claim 1, it is characterised in that described information fusion device receives described radar range finding device
The range information of transmission, and receive the image information of described image acquisition device transmission, and according to preset order, according to described figure
Picture and described range information determine obstacle information；
According to described preset order, described image determines obstacle information, when determining that barrier is believed according to described image
During breath, determine described obstacle information according to described range information.
Device the most according to claim 2, it is characterised in that described device also includes Inertial Measurement Unit IMU；
Described IMU is connected with described information fusion device, transmits nine axis informations of described obstacle detector to described information
Merging device, described nine axis informations include 3-axis acceleration information, three axis angular rate information and three axle magnetic induction information；
When described information fusion device cannot determine obstacle information according to described image, according to described range information and institute
State nine axis informations and determine described obstacle information.
Device the most according to claim 1, it is characterised in that described information fusion device includes receiving element, conversion unit
Part and determine element；
Described reception element is connected with described image acquisition device and described conversion element, receives the transmission of described image acquisition device
Image, and transmit described image give described conversion element；
With described, described conversion element determines that element is connected, receive the image of described reception element transmission, obtain described image
3-D view, and transmit described 3-D view to described determining element；
The described described 3-D view determining that element receives the transmission of described conversion element, carries out image to described 3-D view and divides
Cut, determine obstacle information.
Device the most according to claim 1, it is characterised in that described radar range finding device, described image acquisition device and
Described information fusion device is respectively mounted on circuit boards.
Device the most according to claim 1, it is characterised in that described device also include global position system GPS device and/
Or big-dipper satellite positioning devices；
Described GPS device and described big-dipper satellite positioning devices are all connected with described information fusion device, position described barrier
The current location of detection device, and transmit described current location to described information fusion device.
Device the most according to claim 1, it is characterised in that described image acquisition device includes one or more shooting
Head.
Device the most according to claim 1, it is characterised in that described radar range finding device is radar sensor；
Described radar sensor can 360 ° of rotations.
9. a robot, it is characterised in that include robot body, control described in element and any one of claim 1-8
Obstacle detector；
Described control element is connected with described obstacle detector and described robot body respectively, receives described obstacle quality testing
Survey the obstacle information of device transmission, generate robot ambulation control signal according to described obstacle information, and transmit described machine
Device people walks control signal to described robot body；
Described obstacle detector and described control element are installed on described robot body.
10. an obstacle avoidance system, it is characterised in that described system includes the robot described in long-range host computer and claim 9；
Described long-range host computer and the wireless connections of described robot, receive the obstacle information of described robotic transfer, according to institute
State obstacle information and generate robot ambulation control signal, and transmit described robot ambulation control signal to described robot.
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| CN111949016A (en) * | 2020-06-21 | 2020-11-17 | 珠海市一微半导体有限公司 | Obstacle detection method fusing laser and IMU data, chip and robot |
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