CN106313046A - Multi-level obstacle avoidance system of mobile robot - Google Patents
Multi-level obstacle avoidance system of mobile robot Download PDFInfo
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- CN106313046A CN106313046A CN201610853175.6A CN201610853175A CN106313046A CN 106313046 A CN106313046 A CN 106313046A CN 201610853175 A CN201610853175 A CN 201610853175A CN 106313046 A CN106313046 A CN 106313046A
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- sensor
- obstacle avoidance
- avoidance system
- mobile robot
- main control
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multi-level obstacle avoidance system of a mobile robot. On the basis of the hierarchy idea, a mini computer, a laser radar device, various sensors and controller modules thereof are combined to form a three-level intelligent obstacle avoidance system of the mobile robot. According to the system, the various sensors and the laser radar device carry out combined measurement, the shortcomings of the various sensors and the laser radar device can be complemented, and therefore the accuracy of the whole intelligent obstacle avoidance system can be improved. Meanwhile, the priority of the multi-level obstacle avoidance system is strictly partitioned, whether obstacles exist is judged level by level in the order from high to low according to the priority, the problem that correct action instructions cannot be given to the robot in time when data hazards of the various sensors and the laser radar device occur can be avoided, and the whole l intelligent obstacle avoidance system can have high instantaneity on the premise of guaranteeing high measurement accuracy.
Description
Technical field
The invention belongs to mobile robot technology field, be specifically related to setting of a kind of multistage obstacle avoidance system of mobile robot
Meter.
Background technology
Growing along with robotics, the application of robot is more and more extensive, almost penetrates into all spectra.Move
Mobile robot is an important branch in robotics, divides by structure, generally can be divided into wheeled, the sufficient formula of lower limb, crawler type, sucker
Formula and compound machine people.Wherein, wheeled mobile robot controls simple due to it, and motion stabilization and energy utilization rate are high
Feature application is relatively broad.
In the relation technological researching of mobile robot, it is real intelligent and the most autonomous that airmanship is that it realizes
The key technology of movement.The target of navigation research is exactly that the intervention Xia Shi robot of nobody on purpose moves and completes specific
Task, carries out specific operation.The navigation mode of mobile robot is a lot, have inertial navigation, vision guided navigation, based on sensing data
Navigation, satellite navigation etc..
Intelligent barrier avoiding system is the core of Mobile Robotics Navigation technology, in existing mobile robot, and its intelligent barrier avoiding
System generally uses single nonvisual sensor (such as ultrasonic sensor, infrared sensor, touch sensor etc.) or collection
The simple combination of middle sensor realizes, and does not take the thought of classification to plan whole intelligent barrier avoiding system, and i.e. each passes
The division of priority is not had between sensor, cannot be in time to robot when the data between each sensor so can be caused to clash
Make correct action instruction, so that the real-time of intelligent barrier avoiding system is poor.
Summary of the invention
The invention aims to solve that prior art does not has priority between each sensor of intelligent barrier avoiding system
Division, cause the problem that the real-time of intelligent barrier avoiding system is poor, it is proposed that the multistage obstacle avoidance system of a kind of mobile robot.
The technical scheme is that the multistage obstacle avoidance system of mobile robot, including Mini computer, chassis master control molding
Block, laser radar and at least one sensor assembly, chassis main control module respectively with Mini computer and each sensor
Module communicates to connect, and Mini computer also communicates to connect with laser radar, and each sensor assembly includes a sensor controller
And communicating some sensors of connection, sensor includes bumper sensor, ultrasonic sensor and optoelectronic distance
Sensor, sensor controller and the communication connection of chassis main control module；
Mini computer, chassis main control module, the sensor controller of each sensor assembly and all bumpers pass
Sensor collectively forms one-level obstacle avoidance system, Mini computer, chassis main control module, the sensor controller of each sensor assembly
And all ultrasonic sensors and optoelectronic distance sensor collectively form two grades of obstacle avoidance systems, Mini computer and laser radar altogether
With constituting three grades of obstacle avoidance systems.
Preferably, the priority of obstacle avoidance system is: one-level obstacle avoidance system ＞ tri-grades of obstacle avoidance systems of bis-grades of obstacle avoidance system ＞.
Preferably, chassis main control module is connected with Mini compunlcation by RS422 serial ports.
Preferably, chassis main control module is by controlling with the sensor of each sensor assembly respectively by CAN
Device communicates to connect.
Preferably, Mini computer is communicated to connect with laser radar by USB.
The invention has the beneficial effects as follows: the present invention uses the thought of classification, by Mini computer, laser radar, various biography
Sensor and the combination of controller module thereof, construct three grades of mobile robot intelligent barrier avoiding systems.The present invention uses various sensing
Device and laser radar are combined measuring, it is possible to the shortcoming of every kind of sensor and laser radar is carried out complementation, thus carries
The precision of high whole intelligent barrier avoiding system.Meanwhile, the present invention has strictly divided the priority of obstacle avoidance system at different levels, and according to excellent
First level order from high to low determines whether there is barrier step by step and exists, it is to avoid the data between each sensor and laser radar
In time robot cannot be made when clashing the situation of correct action instruction, ensureing that there is relatively high measurement accuracy
Make whole intelligent barrier avoiding system have higher real-time under premise simultaneously.
Accompanying drawing explanation
Fig. 1 is the mobile robot multistage obstacle avoidance system structured flowchart of the embodiment of the present invention.
Fig. 2 is the mobile robot multistage obstacle avoidance system work decision flowchart of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are further described.
The invention provides the multistage obstacle avoidance system of a kind of mobile robot, including Mini computer, chassis main control module, swash
Optical radar and at least one sensor assembly, in the embodiment of the present invention, as it is shown in figure 1, the multistage obstacle avoidance system of mobile robot
Including two sensor assemblies, i.e. first sensor module and the second sensor assembly.
Wherein, first sensor module is arranged at mobile robot chassis-body front, including first sensor controller
And five ultrasonic sensors communicating connection are (the first ultrasonic sensor, the second ultrasonic sensor, the 3rd ultrasonic
Wave sensor, the 4th ultrasonic sensor and the 5th ultrasonic sensor), two optoelectronic distance sensor (the first optoelectronic distance
Sensor and the second optoelectronic distance sensor) and a bumper sensor (the first bumper sensor).Second ultrasound wave
Sensor, the first optoelectronic distance sensor, the first ultrasonic sensor, the second optoelectronic distance sensor and the 3rd supersonic sensing
Device is crisscross arranged in car body dead ahead the most successively, and the 4th ultrasonic sensor is arranged on car body the near front wheel, and five surpasses
Sonic sensor is arranged on car body off-front wheel, and the first bumper sensor is arranged in car body front end bumper.
Second sensor assembly includes the second sensor controller and communicates four ultrasonic sensors of connection
(the 6th ultrasonic sensor, the 7th ultrasonic sensor, the 8th ultrasonic sensor and the 9th ultrasonic sensor), two light
Electrical distance sensor (the 3rd optoelectronic distance sensor and the 4th optoelectronic distance sensor) and a bumper sensor (second
Bumper sensor).8th ultrasonic sensor, the 3rd optoelectronic distance sensor, the 4th optoelectronic distance sensor and nine surpass
Sonic sensor is crisscross arranged in car body dead astern the most successively, and the 6th ultrasonic sensor is arranged at car body left rear wheel
On, the 7th ultrasonic sensor is arranged on car body off hind wheel, and the second bumper sensor is arranged on body rear end bumper.
Chassis main control module is connected with Mini compunlcation by RS422 serial ports, and chassis main control module passes through
CAN respectively with first sensor controller, the second sensor controller communication link, Mini computer is by USB and laser thunder
Reach communication connection.Chassis main control module has been mainly used in the mutual conversion of RS422 serial ports and CAN agreement, Mini electricity
Brain, for gathering the data of laser radar and receiving the data of each sensor that chassis main control module obtains, is kept away according to intelligence
The priority of barrier system carries out independent navigation, monitors and show running status and the fortune of current mobile robot final control system
Line parameter.
In the embodiment of the present invention, Mini computer, chassis main control module, first sensor controller, the second sensor control
Device processed and the first bumper sensor, the second bumper sensor collectively form one-level obstacle avoidance system.First bumper sensing
Device and the second bumper sensor all use touch sensor.The priority of one-level obstacle avoidance system is the highest, the most once the first insurance
Thick stick sensor or the second bumper sensor detect bumper contact object, and no matter whether remaining sensor or laser radar are examined
Having measured barrier, Mini computer all can control mobile robot at once and stop mobile.
Mini computer, chassis main control module, first sensor controller, the second sensor controller and all ultrasonic
Wave sensor and optoelectronic distance sensor collectively form two grades of obstacle avoidance systems.Ultrasonic sensor can detect a range of
Object, but it is difficult to detect the object of tubular surface, and the detection of optoelectronic distance sensor is not affected by object surface shape,
But one-dimensional object can only be detected.Due to the complementarity of both pluses and minuses, therefore the method being crisscross arranged is used to constitute two grades
Obstacle avoidance system.The priority of two grades of obstacle avoidance systems is only second to one-level obstacle avoidance system, arbitrary ultrasonic sensor or photoelectricity
Range sensor detects that mobile robot direction of advance has barrier, and no matter whether laser radar has detected barrier,
Mini computer can reduce the movement velocity of robot at once and make the motion of avoiding barrier, can the most again advise simultaneously
Draw route.
Mini computer and laser radar collectively form three grades of obstacle avoidance systems.Laser radar is received by laser transmitter, optics
Machine, turntable and information processing system etc. form, and from operation principle, do not have basic difference with microwave radar: in real time to rule
It is scanned (in the embodiment of the present invention, sweep spacing is 100ms) in the range of drawing path direction 240 °, forms the reality of scanning area
Time point cloud chart, after making suitably to process, so that it may obtain peripheral obstacle for information about, such as target location (distance and angle), fortune
Dynamic state (speed, vibration and attitude) and shape, Mini computer (mainly produces according to target location further according to target related information
Raw Artificial Potential Field) control to move the action of robot.Although the priority of three grades of obstacle avoidance systems is minimum, but owing to laser radar has
There are the advantages such as resolution is high, volume is little, light weight, active jamming rejection ability are strong, overwhelming majority situation can be tackled, it is possible to front
Two-stage obstacle avoidance system plays supplementary effect, makes whole intelligent barrier avoiding system have more accurate perception to surrounding.
The priority of obstacle avoidance systems at different levels is: one-level obstacle avoidance system ＞ tri-grades of obstacle avoidance systems of bis-grades of obstacle avoidance system ＞.Such as Fig. 2
Shown in, as a example by robot moves forward, the workflow of the present invention be discussed in detail below:
S1, mobile robot are moved forward by navigation path；
S2, the first bumper sensor judge whether to contact object, if then Mini computer is by robot speed's zero setting, no
Then enter step S3；
S3, triggering the first to the 5th ultrasonic sensor send ultrasound wave and wait echo, detect first, second light simultaneously
The pin situation of change of electrical distance sensor；
S4, data to each ultrasonic sensor and photoelectric sensor process, and estimate the barrier in region big
Position approximate is put；
S5, triggering laser radar send laser beam and are scanned, and form the real-time point cloud chart of scanning area；
S6, laser radar point cloud data is processed, produce Artificial Potential Field according to target location；
The obstacle information that S7, two grades, three grades obstacle avoidance systems of fusion obtain, it may be judged whether barrier detected, if then
Mini computer reduces the movement velocity of robot and makes the motion of avoiding barrier, programme path the most again,
Otherwise enter step S8；
S8, mobile robot continue to press navigation path and advance.
When robot is moved rearwards by, the operation principle of multistage obstacle avoidance system is identical with when moving forward.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright principle, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area
It is each that those of ordinary skill can make various other without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Planting concrete deformation and combination, these deform and combine the most within the scope of the present invention.
Claims (5)
1. move the multistage obstacle avoidance system of robot, it is characterised in that include Mini computer, chassis main control module, laser radar
And at least one sensor assembly；Described chassis main control module respectively with Mini computer and each sensor assembly communication
Connecting, described Mini computer also communicates to connect with laser radar；Each described sensor assembly includes a sensor controller
And communicate some sensors of connection；Described sensor includes bumper sensor, ultrasonic sensor and photoelectricity
Range sensor；Described sensor controller and the communication connection of chassis main control module；
Described Mini computer, chassis main control module, the sensor controller of each sensor assembly and all bumpers pass
Sensor collectively forms one-level obstacle avoidance system；Described Mini computer, chassis main control module, the sensor control of each sensor assembly
Device processed and all ultrasonic sensors and optoelectronic distance sensor collectively form two grades of obstacle avoidance systems；Described Mini computer is with sharp
Optical radar collectively forms three grades of obstacle avoidance systems.
The multistage obstacle avoidance system of mobile robot the most according to claim 1, it is characterised in that the priority of obstacle avoidance system
For: one-level obstacle avoidance system ＞ tri-grades of obstacle avoidance systems of bis-grades of obstacle avoidance system ＞.
The multistage obstacle avoidance system of mobile robot the most according to claim 1, it is characterised in that described chassis main control module
It is connected with Mini compunlcation by RS422 serial ports.
The multistage obstacle avoidance system of mobile robot the most according to claim 1, it is characterised in that described chassis main control module
By being communicated to connect with the sensor controller of each sensor assembly respectively by CAN.
The multistage obstacle avoidance system of mobile robot the most according to claim 1, it is characterised in that described Mini computer passes through
USB communicates to connect with laser radar.
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| CN201610853175.6A CN106313046A (en) | 2016-09-27 | 2016-09-27 | Multi-level obstacle avoidance system of mobile robot |
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| CN201610853175.6A CN106313046A (en) | 2016-09-27 | 2016-09-27 | Multi-level obstacle avoidance system of mobile robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647768A (en) * | 2017-01-18 | 2017-05-10 | 成都黑盒子电子技术有限公司 | Spontaneous movement obstacle avoidance method of service robot |
| CN108170145A (en) * | 2017-12-28 | 2018-06-15 | 浙江捷尚人工智能研究发展有限公司 | Robot obstacle-avoiding system and its application process based on laser radar |
| CN108262745A (en) * | 2017-12-19 | 2018-07-10 | 国家电网有限公司 | Robot security's monitoring method, apparatus and system |
| CN108858226A (en) * | 2018-07-20 | 2018-11-23 | 佛山科学技术学院 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
| WO2018213959A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213963A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213962A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213960A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| CN109828587A (en) * | 2019-03-08 | 2019-05-31 | 南京康尼智控技术有限公司 | A kind of obstacle avoidance system and barrier-avoiding method |
| WO2019196313A1 (en) * | 2018-04-10 | 2019-10-17 | 平安科技（深圳）有限公司 | Robot walking obstacle detection method and apparatus, computer device, and storage medium |
| CN114415662A (en) * | 2021-12-15 | 2022-04-29 | 广州市威控机器人有限公司 | Obstacle avoidance method and device for intelligent robot |
| CN114413896A (en) * | 2022-02-25 | 2022-04-29 | 陕西弘毅正清智能科技有限公司 | Composite navigation method, device, equipment and storage medium for mobile robot |
| CN115885231A (en) * | 2020-07-09 | 2023-03-31 | 三菱电机楼宇解决方案株式会社 | Cleaning system and program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647768A (en) * | 2017-01-18 | 2017-05-10 | 成都黑盒子电子技术有限公司 | Spontaneous movement obstacle avoidance method of service robot |
| WO2018213959A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213963A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213962A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| WO2018213960A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Mobile robot obstacle avoidance apparatus and method |
| CN108262745A (en) * | 2017-12-19 | 2018-07-10 | 国家电网有限公司 | Robot security's monitoring method, apparatus and system |
| CN108170145A (en) * | 2017-12-28 | 2018-06-15 | 浙江捷尚人工智能研究发展有限公司 | Robot obstacle-avoiding system and its application process based on laser radar |
| WO2019196313A1 (en) * | 2018-04-10 | 2019-10-17 | 平安科技（深圳）有限公司 | Robot walking obstacle detection method and apparatus, computer device, and storage medium |
| CN108858226A (en) * | 2018-07-20 | 2018-11-23 | 佛山科学技术学院 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
| CN109828587A (en) * | 2019-03-08 | 2019-05-31 | 南京康尼智控技术有限公司 | A kind of obstacle avoidance system and barrier-avoiding method |
| CN115885231A (en) * | 2020-07-09 | 2023-03-31 | 三菱电机楼宇解决方案株式会社 | Cleaning system and program |
| CN115885231B (en) * | 2020-07-09 | 2024-04-30 | 三菱电机楼宇解决方案株式会社 | Cleaning system |
| CN114415662A (en) * | 2021-12-15 | 2022-04-29 | 广州市威控机器人有限公司 | Obstacle avoidance method and device for intelligent robot |
| CN114415662B (en) * | 2021-12-15 | 2023-10-17 | 广州市威控机器人有限公司 | Intelligent robot obstacle avoidance method and device |
| CN114413896A (en) * | 2022-02-25 | 2022-04-29 | 陕西弘毅正清智能科技有限公司 | Composite navigation method, device, equipment and storage medium for mobile robot |
| CN114413896B (en) * | 2022-02-25 | 2024-09-27 | 陕西弘毅正清智能科技有限公司 | Composite navigation method, device and equipment for mobile robot and storage medium |
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