CN106313051B - A kind of ultrasonic 3D scanning system applied to robot - Google Patents
A kind of ultrasonic 3D scanning system applied to robot Download PDFInfo
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- CN106313051B CN106313051B CN201610915152.3A CN201610915152A CN106313051B CN 106313051 B CN106313051 B CN 106313051B CN 201610915152 A CN201610915152 A CN 201610915152A CN 106313051 B CN106313051 B CN 106313051B
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- control unit
- turntable
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- ultrasonic probe
- robot
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- 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)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of ultrasonic 3D scanning systems applied to robot, for acquiring the obstacle information in robot local environment, the system includes ultrasonic sensor group, turntable, ultrasound control unit, electric machine assembly, turning table control unit and scanner control unit, the ultrasonic sensor group includes multiple ultrasonic probes, the ultrasonic probe is evenly distributed on the outside of turntable, the ultrasonic probe is connected to ultrasound control unit, the electric machine assembly connection turntable, the turning table control unit connection electric machine assembly, the ultrasound control unit and turning table control unit is connected to scanner control unit, the scanner control unit is connected to robot main control module.Compared with prior art, the present invention is with cost is relatively low, real-time is high, flexible stabilization, high reliability.
Description
Technical field
The present invention relates to a kind of robot obstacle-avoiding scanning systems, sweep more particularly, to a kind of ultrasonic 3D applied to robot
Retouch system.
Background technique
Intelligent mobile robot is an important research field of robot, and avoidance is that intelligent mobile robot is most basic
Function.Common mobile robot obstacle detection usually utilizes visual sensor, infrared sensor, laser sensor and ultrasound
Wave sensor is realized.Ultrasonic sensor by measurement sound source and barrier between two-way time obtain between them away from
From.Compared with infrared sensor, ultrasonic sensor can not only detect the presence of barrier, and can obtain barrier with
The distance between robot, the robot that is more convenient for make avoidance decision and determine track route.Compared with visual sensor, ultrasound
Wave sensor has many advantages, such as that information processing rate is fast, Processing Algorithm is simple, is not limited by light condition.With laser sensor phase
Than, ultrasonic sensor is at low cost, hardware realization is simple, therefore, ultrasonic sensor as a kind of typical distance measuring sensor,
It is widely used to the fields such as Mobile Robot Obstacle Avoidance, positioning, environmental modeling at present.
In order to realize avoidance, sensor allows for detecting a continuum around robot, and region is bigger, machine
Device people is more to the cognition of place external environment, is more advantageous to its planning walking path, also is easy if region is discontinuous
Existing dead angle, increases a possibility that robot collides.The prior art generallys use one group of multiple ultrasonic sensor and is distributed in
Robot fuselage forebody point or surrounding, but since its dispersion angle is certain, there are multiple blind areas, it can for dynamic barrier
Undetectable situation can be will appear and robot is caused to collide damage.Also have using ultrasonic sensor and other sensings
Device such as infrared sensor, visual sensor etc. is in conjunction with using, but there are higher cost, hardware and control system is more complex etc. lacks
Point.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be applied to robot
Ultrasonic 3D scanning system.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of ultrasonic 3D scanning system applied to robot, for acquiring the letter of the barrier in robot local environment
Breath, the system include ultrasonic sensor group, turntable, ultrasound control unit, electric machine assembly, turning table control unit and scanner control
Unit, the ultrasonic sensor group include multiple ultrasonic probes, and the ultrasonic probe is evenly distributed on the outside of turntable, described
Ultrasonic probe be connected to ultrasound control unit, the electric machine assembly connection turntable, the turning table control list
The member connection electric machine assembly, the ultrasound control unit and turning table control unit are connected to scanner control unit,
The scanner control unit is connected to robot main control module；
Scanner control unit issues work order, turning table control unit control to turning table control unit and ultrasound control unit
Electric machine assembly work processed, electric machine assembly drive turntable to be rotated, and ultrasound control unit controls the ultrasound in ultrasonic sensor group
Probe carries out detection of obstacles and the obstacle information that will test is sent to scanner control unit, and then is sent to robot master
Control module.
The turntable is spherical turntable, and the ultrasonic probe is evenly distributed on spherical turntable outer surface.
The ultrasonic probe distribution mode specifically:
Using horizontal plane where the spherical turntable centre of sphere, as benchmark face, the surrounding on the datum level along spherical turntable is uniformly distributed
N number of ultrasonic probe, N number of ultrasonic probe form lateral ultrasonic probe group, N number of ultrasonic probe are extended to spherical
The different height of turntable constitutes the longitudinally disposed longitudinal ultrasonic probe group of M group, and then shared M × N number of ultrasonic probe is distributed in
Spherical turntable outer surface.
The ultrasonic probe includes transmitter, receiver and trigger controller, and the I/O port of the trigger controller connects
Ultrasound control unit is connect, the trigger controller is also connected with the transmitter and receiver；
Each ultrasonic probe triggers distance measuring method by the I/O port of trigger controller and measures at a distance from the barrier in environment,
And scanner control unit is sent to using the distance as obstacle information.
The electric machine assembly includes turntable motor, motor driver and encoder, described in the turntable motor connection
Turntable, the turntable motor also passes through the encoder connection turning table control unit, the turning table control
The unit turntable motor described by the motor driver connection；
The instruction that turning table control unit receives encoder is decoded, and is converted to the control signal of control motor operation, electricity
Machine driver carries out corresponding actions according to control signal driving turntable motor, and then carries out 360 ° of turntable horizontal direction rotations.
The ultrasound control unit and turning table control unit scanner control described by bluetooth module communication connection
Unit processed.
The scanner control unit robot main control module described by the connection of RS485 serial communication.
The workflow of the system specifically:
Step 1: system initialization after robot booting, revolving table position school zero；
Step 2: turntable starts to rotate, and all ultrasonic probes trigger simultaneously, and timing starts, and sampling starts；
Step 3: the echo-signal of all ultrasonic probes received is sent to scanner control list by ultrasound control unit
Turntable current time rotation angle information is sent to scanner control unit by bluetooth by member, turning table control unit；
Step 4: scanner control unit calculates the barrier of each ultrasonic probe according to the echo-signal of ultrasonic probe
The head angle information of all ultrasonic probes is calculated according to turntable angle information, then stores current time for range information
Information, obstacle distance information and head angle information；
Step 5: step 3~step 4 is repeated in next sampling instant；
In above-mentioned workflow, the data of storage are sent to machine by interval scan device control unit at regular intervals
People's main control module.
Compared with prior art, the present invention has the advantage that
(1) using the obstacle information in the ultrasonic sensor group real-time detection robot local environment on the outside of turntable, it is
Robot carries out indoor 3D modeling and provides effective information, guarantees mobile robot quick avoidance and safety walking in time, cost compared with
It is low, real-time is high, flexible stabilization, high reliablity；
(2) distribution mode of the ultrasonic probe on the outside of turntable realize certain altitude space laterally 360 ° without dead angle detect
Barrier, guarantees that blind area is minimum in the case where popping one's head in minimum number, effectively realizes the barrier letter in robot local environment
The detection of breath；
(3) ultrasonic probe triggers the measurement that distance measuring method measures distance between ultrasonic probe and barrier by I/O port, real
The effective position of existing barrier, improves the reliability of robot obstacle-avoiding.
Detailed description of the invention
Fig. 1 is the functional block diagram of ultrasonic 3D scanning system of the invention；
Fig. 2 is that ultrasonic probe of the present invention arranges diagrammatic top view；
Fig. 3 is that ultrasonic probe of the present invention arranges diagrammatic side view；
Fig. 4 is the obstacle detection range schematic diagram of ultrasound 3D scanning system of the invention.
In figure, 1 is ultrasonic sensor group, and 2 be turntable, and 3 be ultrasound control unit, and 4 be electric machine assembly, and 5 be turning table control
Unit, 6 be scanner control unit, and 7 be robot main control module, and 41 be turntable motor, and 42 be motor driver, and 43 be coding
Device, 8 be bluetooth module, and 9 be RS485 serial ports, and 10 be power management module.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of ultrasonic 3D scanning system applied to robot, for acquiring in robot local environment
Obstacle information, the system include ultrasonic sensor group 1, turntable 2, ultrasound control unit 3, electric machine assembly 4, turning table control unit
5 and scanner control unit 6, ultrasonic sensor group 1 includes multiple ultrasonic probes, and ultrasonic probe is evenly distributed on 2 outside of turntable,
Ultrasonic probe is connected to ultrasound control unit 3, and electric machine assembly 4 connects turntable 2, and turning table control unit 5 connects electric machine assembly 4,
Ultrasound control unit 3 and turning table control unit 5 are connected to scanner control unit 6, and scanner control unit 6 is connected to machine
People's main control module 7；Scanner control unit 6 issues work order, turntable control to turning table control unit 5 and ultrasound control unit 3
Unit 5 processed controls electric machine assembly 4 and works, and electric machine assembly 4 drives turntable 2 to be rotated, and ultrasound control unit 3 controls ultrasonic sensing
Ultrasonic probe in device group 1 carries out detection of obstacles and the obstacle information that will test is sent to scanner control unit 6, in turn
It is sent to robot main control module 7.Ultrasound control unit 3 and turning table control unit 5 pass through the communication connection scanning of bluetooth module 8
Device control unit 6.Scanner control unit 6 communicates to connect robot main control module 7 by RS485 serial ports 9.Ultrasound control unit
3, turning table control unit 5 and scanner control unit 6 are respectively provided with power management module 10.
In the present embodiment, turntable 2 is spherical turntable, and ultrasonic probe is evenly distributed on spherical turntable outer surface.Ultrasonic probe
Distribution mode specifically: using horizontal plane is benchmark face where the spherical turntable centre of sphere, along the surrounding of spherical turntable on the datum level
It is uniformly distributed N number of ultrasonic probe, N number of ultrasonic probe forms lateral ultrasonic probe group, N number of ultrasonic probe is extended to spherical turntable
Different height, constitute the longitudinally disposed longitudinal ultrasonic probe group of M group, so shared M × N number of ultrasonic probe be distributed in it is spherical
Turntable outer surface.It is illustrated in figure 2 ultrasonic probe arrangement diagrammatic top view, N number of ultrasonic probe on datum level is depicted in figure,
It is R that N number of ultrasonic probe, which forms radius,HCircumference, N number of ultrasonic probe is denoted as ultrasonic probe 11, ultrasonic probe 12, ultrasonic probe
13 ..., ultrasonic probe 1N, similarly the longitudinally disposed longitudinal ultrasonic probe group of M group be denoted as ultrasonic probe M1, ultrasonic probe M2,
Ultrasonic probe M3 ..., ultrasonic probe MN.3 groups of longitudinally disposed longitudinal ultrasonic probe groups, i.e., above-mentioned M are provided in the present embodiment
=3, therefore Fig. 3 is that ultrasonic probe of the present invention arranges diagrammatic side view.
Ultrasonic probe includes transmitter, receiver and trigger controller, and the I/O port connection ultrasound control of trigger controller is single
Member 3, trigger controller is also connected with transmitter and receiver；Each ultrasonic probe triggers distance measuring method by the I/O port of trigger controller
Measurement is sent to scanner control unit 6 at a distance from the barrier in environment, and using the distance as obstacle information.Ultrasound
Control unit 3 provides the high level signal of minimum 10 μ s, pops one's head in and sends the square wave of 8 40kHz automatically, has detected whether letter automatically
Number return, when having detected signal return, a high level is exported to ultrasound control unit 3 by I/O port, high level is lasting
Time be exactly ultrasonic wave from the time t for being emitted to return.Calculation processing module in scanner control unit 6 can be counted according to t
Distance s, the s=vt/2 of barrier are calculated, wherein v is the aerial spread speed of sound wave.
Electric machine assembly 4 includes turntable motor 41, motor driver 42 and encoder 43, and turntable motor 41 connects turntable 2, is turned
Platform motor 41 also connects turning table control unit 5 by encoder 43, and turning table control unit 5 connects turntable by motor driver 42
Motor 41；The instruction that turning table control unit 5 receives encoder 43 is decoded, and is converted to the control signal of control motor operation,
Motor driver 42 carries out corresponding actions according to control signal driving turntable motor 41, and then carries out 360 ° of 2 horizontal direction of turntable
Rotation.360 ° of dynamic without dead angle detection is to be rotated by turntable 2 and ultrasonic probe distribution comes in fact in a certain range around robot
Existing, therefore turntable 2 needs to carry out 360 ° of level rotations.
The Scan Architecture of robot longitudinal region relies on shape between vertical sonde to form an angle realization, not due to vertical sonde
Scanning, so longitudinal blind area exists in robot initial position.By this structure, robot in the process of walking can be with 360 °
Without dead angle static state avoidance, if but encounter dynamic barrier, barrier may also enter the blind area, can not be detected.Laterally across
360 ° of 2 level of turntable rotations and ultrasonic probe, which are distributed, can be achieved s around robotmaxIt is visited without dead angle for 360 ° of dynamic in distance range
Scanning is surveyed, is realized for robot and provides effective information, s to the effective evacuation and map structuring of dynamic disordermaxDepending on being used
Ultrasonic probe maximum detectable range.
In conclusion the obstacle detection range of ultrasound 3D scanning system of the invention is as shown in Fig. 4, Fig. 4 (a) is level
Investigative range, Fig. 4 (b) are vertical coverage, and dash area is effective scope of detection, and H is that ultrasonic probe is longitudinal in Fig. 4 (b)
The height of the scanning in region.
The workflow of the system specifically:
Step 1: system initialization after robot booting, 2 position school zero of turntable；
Step 2: turntable 2 starts to rotate, and all ultrasonic probes trigger simultaneously, and timing starts, and sampling starts；
Step 3: the echo-signal of all ultrasonic probes received is sent to scanner control by ultrasound control unit 3
Turntable 2 current time rotation angle information is sent to scanner control unit 6 by bluetooth by unit 6, turning table control unit 5；
Step 4: scanner control unit 6 calculates the obstacle of each ultrasonic probe according to the echo-signal of ultrasonic probe
Object range information the head angle information of all ultrasonic probes is calculated according to 2 angle information of turntable, when then storing current
Carve information, obstacle distance information and head angle information；
Step 5: step 3~step 4 is repeated in next sampling instant；
In above-mentioned workflow, the data of storage are sent to machine by interval scan device control unit 6 at regular intervals
Device people main control module 7, wherein the data format of each sampling instant record are as follows: " time serial number: probe serial number: head angle:
Obstacle distance ", 8 integer values of serial number of popping one's head in, time serial number, head angle and obstacle distance are 64 integer values,
That is long types value.Clear within the scope of certain probe detection is found after such as handling, then obstacle distance information is recorded as complete zero.
Claims (6)
1. a kind of ultrasonic 3D scanning system applied to robot, for acquiring the obstacle information in robot local environment,
It is characterized in that, the system includes ultrasonic sensor group (1), turntable (2), ultrasound control unit (3), electric machine assembly (4), turntable
Control unit (5) and scanner control unit (6), the ultrasonic sensor group (1) includes multiple ultrasonic probes, and described is super
Sonic probe is evenly distributed on the outside of turntable (2), and the ultrasonic probe is connected to ultrasound control unit (3), the motor
Component (4) the connection turntable (2), turning table control unit (5) connection electric machine assembly (4), described is super
Acoustic control unit (3) and turning table control unit (5) are connected to scanner control unit (6), the scanner control unit
(6) robot main control module (7) are connected to；
The turntable (2) is spherical turntable, and the ultrasonic probe is evenly distributed on spherical turntable outer surface；
The ultrasonic probe distribution mode specifically:
Using horizontal plane where the spherical turntable centre of sphere, as benchmark face, the surrounding on the datum level along spherical turntable is uniformly distributed N number of
Ultrasonic probe, N number of ultrasonic probe form lateral ultrasonic probe group, N number of ultrasonic probe are extended to spherical turn
The different height of platform constitutes the longitudinally disposed longitudinal ultrasonic probe group of M group, and then shared M × N number of ultrasonic probe is distributed in ball
Shape turntable outer surface；
Scanner control unit (6) issues work order, turning table control to turning table control unit (5) and ultrasound control unit (3)
Unit (5) controls electric machine assembly (4) work, and electric machine assembly (4) drives turntable (2) to be rotated, ultrasound control unit (3) control
Ultrasonic probe in ultrasonic sensor group (1) carries out detection of obstacles and the obstacle information that will test is sent to scanner control
Unit (6), and then it is sent to robot main control module (7).
2. a kind of ultrasonic 3D scanning system applied to robot according to claim 1, which is characterized in that described is super
Sonic probe includes transmitter, receiver and trigger controller, and the I/O port of the trigger controller connects ultrasound control unit
(3), the trigger controller is also connected with the transmitter and receiver；
Each ultrasonic probe triggers distance measuring method by the I/O port of trigger controller and measures at a distance from the barrier in environment, and will
The distance is sent to scanner control unit (6) as obstacle information.
3. a kind of ultrasonic 3D scanning system applied to robot according to claim 1, which is characterized in that the electricity
Thermomechanical components (4) include turntable motor (41), motor driver (42) and encoder (43), and the turntable motor (41) connects institute
The turntable (2) stated, the turntable motor (41) the turning table control unit also described by encoder (43) connection
(5), the turning table control unit (5) turntable motor (41) described by motor driver (42) connection；
The instruction that turning table control unit (5) receives encoder (43) is decoded, and is converted to the control signal of control motor operation,
Motor driver (42) carries out corresponding actions according to control signal driving turntable motor (41), and then carries out turntable (2) level side
It is rotated to 360 °.
4. a kind of ultrasonic 3D scanning system applied to robot according to claim 1, which is characterized in that described is super
Acoustic control unit (3) and turning table control unit (5) pass through scanner control unit described in bluetooth module (8) communication connection
(6)。
5. a kind of ultrasonic 3D scanning system applied to robot according to claim 1, which is characterized in that described sweeps
Retouch device control unit (6) robot main control module (7) described by RS485 serial ports (9) communication connection.
6. a kind of ultrasonic 3D scanning system applied to robot according to claim 1, which is characterized in that the system
Workflow specifically:
Step 1: system initialization after robot booting, turntable (2) position school zero；
Step 2: turntable (2) starts to rotate, and all ultrasonic probes trigger simultaneously, and timing starts, and sampling starts；
Step 3: the echo-signal of all ultrasonic probes received is sent to scanner control list by ultrasound control unit (3)
Turntable (2) current time rotation angle information is sent to scanner control list by bluetooth by first (6), turning table control unit (5)
First (6)；
Step 4: scanner control unit (6) calculates the barrier of each ultrasonic probe according to the echo-signal of ultrasonic probe
Range information the head angle information of all ultrasonic probes is calculated according to turntable (2) angle information, when then storing current
Carve information, obstacle distance information and head angle information；
Step 5: step 3~step 4 is repeated in next sampling instant；
In above-mentioned workflow, the data of storage are sent to machine by interval scan device control unit (6) at regular intervals
People's main control module (7).
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| CN201610915152.3A CN106313051B (en) | 2016-10-20 | 2016-10-20 | A kind of ultrasonic 3D scanning system applied to robot |
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| CN201610915152.3A CN106313051B (en) | 2016-10-20 | 2016-10-20 | A kind of ultrasonic 3D scanning system applied to robot |
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| CN106313051A CN106313051A (en) | 2017-01-11 |
| CN106313051B true CN106313051B (en) | 2019-04-09 |
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| CN108646250B (en) * | 2018-06-14 | 2023-07-07 | 山东交通学院 | Distance calculating method of multi-probe type vehicle-mounted radar |
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|---|---|---|---|---|
| JPS6197715A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| CN202522924U (en) * | 2012-02-24 | 2012-11-07 | 南京航空航天大学 | Spherical robot automation control system |
| US8788130B1 (en) * | 2012-05-29 | 2014-07-22 | The United States Of America As Represented By The Secretary Of The Navy | Electromagnet-based rolling robot |
| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
-
2016
- 2016-10-20 CN CN201610915152.3A patent/CN106313051B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6197715A (en) * | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
| CN202522924U (en) * | 2012-02-24 | 2012-11-07 | 南京航空航天大学 | Spherical robot automation control system |
| US8788130B1 (en) * | 2012-05-29 | 2014-07-22 | The United States Of America As Represented By The Secretary Of The Navy | Electromagnet-based rolling robot |
| CN104850124A (en) * | 2015-05-22 | 2015-08-19 | 广州杰赛科技股份有限公司 | Adaptive movement device and adaptive movement system |
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