CN106383515A - Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion - Google Patents
Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion Download PDFInfo
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- 230000004927 fusion Effects 0.000 title claims abstract description 47
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 229910052731 fluorine Inorganic materials 0.000 claims description 6
- 239000011737 fluorine Substances 0.000 claims description 6
- 230000014759 maintenance of location Effects 0.000 claims description 6
- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims 3
- 230000003542 behavioural effect Effects 0.000 claims 1
- 238000013480 data collection Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 150000002221 fluorine Chemical class 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention discloses a wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion, and the system mainly comprises a vision sensor module, a supersonic sensor module, an infrared sensor module, a data fusion module, a control module, and an execution module. Each sensor module carries out the processing of the collected surrounding and obstacle information, and the data fusion module receives the data collected by each sensor module, and carries out the fusion of the data collected by all sensor modules according to a certain fusion rule. The data is transmitted to a processor of the control module after fusion. The processor carries out the behavior operation judgment and control decision making according to the data information, and completes the obstacle-avoiding operation of a wheel-type robot through the execution module. The system carries out the data collection through the plurality of sensors, and carries out the parallel processing of data through a plurality of data processors, thereby increasing the speed of data processing, meeting the requirements of obstacle-avoiding real-time performance and precision of the robot, and enabling the robot to avoid an obstacle more flexibly and reliably.
Description
Technical field
The present invention relates to a kind of wheeled mobile robot obstruction-avoiding control system, more particularly, to one kind are based on multi-sensor information
The wheeled mobile robot obstruction-avoiding control system merging, belongs to robot obstacle-avoiding technical field.
Background technology
Wheeled robot has a wide range of applications in daily life, and automatic obstacle avoiding is wheeled robot autonomous operation
One important content.To realize barrier avoiding function using vision avoidance and avoiding obstacles by supersonic wave and the detection of some other sensor is mesh
Front main stream trend, vision sensor can obtain the specifying information of barrier, thus reaching the purpose of accurate avoidance, but
Vision obstacle avoidance algorithm is complicated, and image procossing is computationally intensive, has higher requirement to data handling system, and is limited by light
System makes vision avoidance activity be restricted.Carry out avoidance using ultrasonic sensor, data processing amount is little, processing speed is fast, and
And be not easily susceptible to the impact of the external conditions such as weather condition and ambient lighting, but also exist merely with ultrasonic sensor avoidance
Certain measurement blind area.Carry out avoidance using multi-sensor information fusion technology in recent years and have evolved into a popular scientific research
Field, can improve the reliability and stability of system using multi-sensor information fusion technology, strengthen the credible of gathered data
Appoint the resolution capability of degree and system, limited sensor resource can be made full use of using multi-sensor information fusion technology, both
Energy reduces cost, can improve the performance of robot again, meet the needs of practical application.Therefore, the present invention propose one kind can
Meet the wheeled mobile robot avoidance obstacle based on multi-sensor information fusion of automatic obstacle avoiding real-time and accuracy requirement
System.
Content of the invention
The invention provides a kind of wheeled mobile robot obstruction-avoiding control system based on multi-sensor information fusion, overcome
Single sensor obtains the shortcomings of information is few, data accuracy is not high, avoidance precision is not enough, can obtain robot operation
Environment and the specifying information of barrier, and meet the requirement of real-time and accuracy.
The wheeled mobile robot obstruction-avoiding control system of the present invention, including ultrasonic sensor modules 1, vision sensor mould
Block 2, infrared sensor module 3, data fusion module 4, control module 5, left side performing module 6 and right side performing module 7.Super
Sonic sensor module 1 is placed on the four direction all around of robot, and vision sensor module 2 is placed on robot
Top position, infrared sensor module 3 is placed on the four direction all around of robot, data fusion module 4 and control
Module 5 is located at the center of robot.
Between ultrasonic sensor modules and control module, data transfer is realized by RS232, control module is passed through
RS485 bus mode is realized being connected with photographic head, and it is real with infrared sensor module that control module crosses RS232 bus mode
Now connect, control module is connected with drive control unit by Ethernet, the control signal outfan of control module connects driving
The control signal input of control unit, the feedback signal of the feedback signal input terminal connection drive control unit of control module is defeated
Go out end.
Ultrasonic sensor modules include 8 ultrasonic sensors, 1 signal processor, and 8 ultrasonic sensors divide
For four groups, every group 2, equidistantly it is placed on wheeled robot dead ahead, dead astern and the left and right sides respectively, is used for detecting car body
The obstacle distance information of front and back and the left and right sides 50～500cm, signal processor receives 8 ultrasonic sensors
The data signal of collection, the data signal of collection is converted into range data, then by distance data transmission to data fusion mould
Block.
Vision sensor module includes 1 CCD video camera, 1 Video Decoder, 1 image processor and outside and deposits
Reservoir SD card, CCD video camera is used for the image information of Real-time Collection wheeled robot road ahead, and is transmitted to regard
Frequency decoder, transmits information to image processor after Video Decoder decoding, obtains the boundary profile of barrier after treatment
Image information, then the boundary profile image information of barrier is transferred to data fusion module.
Infrared sensor module includes 8 infrared sensors, 1 signal processor, and 8 infrared sensors are divided into four groups,
Every group 2, equidistantly it is placed on wheeled robot dead ahead, dead astern and the left and right sides respectively, to detect front and back and left and right two
Whether 10～100cm distance in side has obstacle signal processor to receive the signal of 8 infrared sensor collections, and will gather
Digital Signal Processing after be transferred to data fusion module, infrared sensor detection range is shorter than ultrasonic wave module, but
Detection accuracy is higher, can make up the defect that ultrasonic sensor has range hole.
Data fusion module includes 1 signal processor and peripheral circuit, and signal processor receives by ultrasonic sensor
The information that module, vision sensor module and infrared sensor module transmission come, carries out data fusion by certain fusion rule
Process, and the data information transfer after merging is carried out behavior to control module and run judgement and control decision.
Control module includes fluorine retention reaction, control circuit, and fluorine retention reaction receives by data fusion module
Information after fusion, then carries out behaviour decision making and control according to specific judgment rule, wheeled by controlling performing module to make
The corresponding advance of robot execution, retrogressing, left and right turn or stopping action, thus realize avoidance run.
According to a kind of wheeled mobile robot obstruction-avoiding control system based on multi-sensor information fusion, this system includes
Content is：
Sensor assembly is used for gathering environmental information during robot ambulation, and detection information is processed through data fusion module
After send control unit to, control unit in the way of Ethernet to motion controller send Manipulation of the machine people walking order,
Control the operating of performing module, thus realizing safe operation in complex environment for the robot.
The control flow of this control system is：
Step one, system electrification start, and system are initialized, execution step two,
Step 2, judge whether system initializes successfully, if it is, execution step three, if it is not, then execution step one,
Step 3, each sensor real-time data collection, and the data of collection is sent to data fusion module, the data after fusion
It is being sent to control module, execution step four,
Step 4, judge controller judge robot run in front of have clear, if there are one, then execution step five, such as
Fruit has multiple, then execution step ten, if it is not, execution step 12,
Step 5, judge the beeline of robot and barrier whether less than the min. turning radius of robot, if it is, this
When robot be unable to cut-through thing and run, then execution step six, if it is not, then execution step seven,
After step 6, the distance with barrier of robot retrogressing are 2 times of its length, execution step seven,
Step 7, judge that robot keeps left with respect to barrier or keeps right, if keeping left, then execution step eight, if
To keep right, then execution step nine,
Step 8, robot turn to certain angle to the left and do turning operation to get around after barrier, execution step 12,
Step 9, robot turn to the right certain angle and do turning operation to get around after barrier.Execution step 12,
Whether the minimum range between step 10, judgement arbitrarily both barriers is more than 1.5 times of robot local width, if
It is, then execution step 11, if it is not, then execution step seven,
Step 11, robot adjustment travel direction, pass through between two barriers, then execution step 12,
Step 12, robot continue to stop, execution step 13,
Step 13, determine whether operation stop signal, if it has, then execution step 14, if it is not, continuing executing with step
Rapid three,
Step 14, robot run and stop.
The present invention has following beneficial effect：
1. adopt the control mode of feedback regulation, expense is low, reliability and real-time are high, while having saved project cost,
Ensure that the safety and reliability of robot ambulation.
2 Control of Wheeled Mobile Robots systems are based on modularization idea, and it is clear that modules function divides, sensor assembly
Collection environmental information, data fusion carries out fusion treatment to the data message of collection, and control module is according to the data gathering and phase
Answer control algolithm that running environment is judged and is made with corresponding decision, performing module is coordinated to control servomotor to rotate, and simplifies
System structure, improves mobile robot response speed.
A kind of wheeled mobile robot obstruction-avoiding control system based on multi-sensor information fusion that 3 present invention provide can be real
Automatic obstacle avoiding in walking now.Information around more running environment can be collected using vision sensor, detect barrier
Hinder the boundary image information of thing, improve the accuracy of avoidance；The range finding being combined using ultrasonic sensor and infrared sensor
Mode can quickly record the range information of barrier, improves real-time, and single-sensor can be avoided to there is lacking of measurement blind area
Fall into, improve accuracy and the safety of avoidance.
Brief description
Fig. 1 is the population structure block diagram of the present invention.
Fig. 2 is the control system flow chart of the present invention
Specific embodiment
Specific embodiment one：Illustrate present embodiment, figure ultrasonic sensor, vision sensor with reference to Fig. 1
Process the relevant information of the surrounding barrier collecting with infrared sensor by each self-corresponding high speed processor, process
After complete obstacle information, then signal processor series (the TMS320C6201 chip transferring data to data fusion module
), this signal processor is merged to the data receiving by certain data fusion rule, then fused data is transferred to control
The fluorine retention reaction (GTS-400-PV-PCI) of molding block, this fluorine retention reaction carries out running environment judgement and control
Make, then make wheeled robot execute corresponding advance, retrogressing, left and right turn or stopping action by controlling performing module, complete
Real-time avoidance is become to run.
Specific embodiment two：Illustrate present embodiment with reference to Fig. 2, according to specific embodiment one
Wheeled mobile robot obstruction-avoiding control system kind based on multi-sensor information fusion, by sensor assembly collection information transmission to
After data processing module carries out data processing, then carry out running environment judgement and control decision, control module 5 through control module
Servomotor 6-2 and 7-2 is driven to coordinate to rotate four drivings of drive by driving left and right sides servo-driver 6-1 and 7-1
Taking turns the flow process moved is：
Step one, system electrification start, and system are initialized, execution step two,
Step 2, judge whether system initializes successfully, if it is, execution step three, if it is not, then execution step one,
Step 3, each sensor real-time data collection, and the data of collection is sent to data fusion module, the data after fusion
It is being sent to control module, execution step four,
Step 4, judge controller judge robot run in front of have clear, if there are one, then execution step five, such as
Fruit has multiple, then execution step ten, if it is not, execution step 12,
Step 5, judge the beeline of robot and barrier whether less than the min. turning radius of robot, if it is, this
When robot be unable to cut-through thing and run, then execution step six, if it is not, then execution step seven,
After step 6, the distance with barrier of robot retrogressing are 2 times of its length, execution step seven,
Step 7, judge that robot keeps left with respect to barrier or keeps right, if keeping left, then execution step eight, if
To keep right, then execution step nine,
Step 8, robot turn to certain angle to the left and do turning operation to get around after barrier, execution step 12,
Step 9, robot turn to the right certain angle and do turning operation to get around after barrier.Execution step 12,
Whether the minimum range between step 10, judgement arbitrarily both barriers is more than 1.5 times of robot local width, if
It is, then execution step 11, if it is not, then execution step seven,
Step 11, robot adjustment travel direction, pass through between two barriers, then execution step 12,
Step 12, robot continue to stop, execution step 13,
Step 13, determine whether operation stop signal, if it has, then execution step 14, if it is not, continuing executing with step
Rapid three,
Step 14, robot run and stop.
Claims (6)
1. a kind of wheeled mobile robot obstruction-avoiding control system based on multi-sensor information fusion it is characterised in that：This system
Including ultrasonic sensor modules (1), vision sensor module (2), infrared sensor module (3), data fusion module
(4), control module (5), left performing module (6) and right performing module (7)；Ultrasonic sensor modules (1) and infrared
Sensor assembly (3) carries out avoidance for wheeled robot provides size and the range information of barrier；Vision sensor module
(2) carrying out avoidance for wheeled robot provides the image data information of barrier；Data fusion module (4) receives each biography
The obstacle information that sensor module transmission comes carries out Data Fusion, is transferred to control mould after data is merged by certain rule
Block carries out behavioral environment judgement and Decision Control；Control module (5) makes wheel type machine by controlling two performing modules in left and right
People executes advance, retrogressing, left and right turn or stopping action, thus realize avoidance running.
2. the ultrasonic sensor modules described in include 8 ultrasonic sensors, 1 signal processor, 8 supersonic sensings
Device is divided into four groups, every group 2, is equidistantly placed on wheeled robot dead ahead, dead astern and the left and right sides respectively, for visiting
The obstacle distance information of measuring car body front and back and the left and right sides 50～500cm, signal processor receives 8 ultrasound wave
The data signal of sensor acquisition, the data signal of collection is converted into range data, then by distance data transmission to data
Fusion Module.
3. the vision sensor module described in includes 1 CCD video camera, 1 Video Decoder, 1 image processor and outer
Portion's memorizer SD card, CCD video camera is used for the image information of Real-time Collection wheeled robot road ahead, and is transmitted
To Video Decoder, transmit information to image processor after Video Decoder decoding, obtain the border of barrier after treatment
Contour images information, then the boundary profile image information of barrier is transferred to data fusion module.
4. the infrared sensor module described in includes 8 infrared sensors, 1 signal processor, and 8 infrared sensors are divided into
Four groups, every group 2, be equidistantly placed on wheeled robot dead ahead, dead astern and the left and right sides respectively, to detect front and back and
Whether 10～100cm distance in the left and right sides has barrier, and signal processor receives the letter of 8 infrared sensor collections
Number, and data fusion module after the Digital Signal Processing of collection, will be transferred to, infrared sensor detection range compares ultrasound wave
Module is shorter, but detection accuracy is higher, can make up the defect that ultrasonic sensor has range hole.
5. the data fusion module described in includes 1 signal processor and peripheral circuit, and signal processor receives and passed by ultrasound wave
The information that sensor module, vision sensor module and infrared sensor module transmission come, carries out data by certain fusion rule
Fusion treatment, and the data information transfer after merging is carried out environment to control module and judges plan and control decision.
6. the control module described in includes fluorine retention reaction, control circuit, and fluorine retention reaction receives by data fusion
Information after module fusion, then carries out behaviour decision making and control according to specific judgment rule, is made by controlling performing module
The corresponding advance of wheeled robot execution, retrogressing, left and right turn or stopping action, thus realize avoidance run.
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Cited By (16)
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| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
| CN107179083A (en) * | 2017-07-25 | 2017-09-19 | 中央民族大学 | Intelligent robot paths planning method and system |
| CN107466263A (en) * | 2017-07-10 | 2017-12-12 | 深圳市艾唯尔科技有限公司 | A kind of joint of robot anticollision protection system and its method for sensing integration technology |
| CN108008720A (en) * | 2017-10-31 | 2018-05-08 | 哈尔滨理工大学 | The fuzzy sliding mode Trajectory Tracking Control and method of a kind of wheeled mobile robot |
| CN108268036A (en) * | 2018-01-19 | 2018-07-10 | 刘晋宇 | A kind of novel robot intelligent barrier avoiding system |
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| CN108008720A (en) * | 2017-10-31 | 2018-05-08 | 哈尔滨理工大学 | The fuzzy sliding mode Trajectory Tracking Control and method of a kind of wheeled mobile robot |
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| CN109164804A (en) * | 2018-08-27 | 2019-01-08 | 苏州边际智能科技有限公司 | One kind being based on robot control system combined of multi-sensor information |
| WO2020125500A1 (en) * | 2018-12-17 | 2020-06-25 | 中国科学院深圳先进技术研究院 | Control method and apparatus for obstacle avoidance of robot, and terminal device |
| CN110108282B (en) * | 2019-05-09 | 2023-11-07 | 仲恺农业工程学院 | Multi-source information obstacle avoidance device and obstacle avoidance system |
| CN110108282A (en) * | 2019-05-09 | 2019-08-09 | 仲恺农业工程学院 | Multi-source information obstacle avoidance apparatus and obstacle avoidance system |
| CN112015180B (en) * | 2020-08-28 | 2022-12-16 | 润达光伏盐城有限公司 | Intelligent experiment trolley and control system thereof |
| CN112015180A (en) * | 2020-08-28 | 2020-12-01 | 哈尔滨理工大学 | Intelligent experiment trolley and control system thereof |
| CN112083730A (en) * | 2020-09-28 | 2020-12-15 | 双擎科技(杭州)有限公司 | Method for avoiding obstacles in complex environment by fusing multiple groups of sensor data |
| CN112612037A (en) * | 2020-12-01 | 2021-04-06 | 珠海市一微半导体有限公司 | Fusion positioning method and mobile robot |
| CN112612037B (en) * | 2020-12-01 | 2023-10-24 | 珠海一微半导体股份有限公司 | Fusion positioning method and mobile robot |
| CN114371693A (en) * | 2021-11-26 | 2022-04-19 | 江苏金晓电子信息股份有限公司 | Traffic cruise controller control method based on multi-sensor data fusion under multiple scenes |
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| CN117173639B (en) * | 2023-11-01 | 2024-02-06 | 伊特拉姆成都能源科技有限公司 | Behavior analysis and safety early warning method and system based on multi-source equipment |
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Application publication date: 20170208 |