CN106515688A - Intelligent obstacle avoiding system and method for intelligent equipment - Google Patents
Intelligent obstacle avoiding system and method for intelligent equipment Download PDFInfo
- Publication number
- CN106515688A CN106515688A CN201510579050.4A CN201510579050A CN106515688A CN 106515688 A CN106515688 A CN 106515688A CN 201510579050 A CN201510579050 A CN 201510579050A CN 106515688 A CN106515688 A CN 106515688A
- Authority
- CN
- China
- Prior art keywords
- smart machine
- information
- barrier
- processor
- brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
Abstract
The invention relates to an intelligent obstacle avoiding system and method. The intelligent obstacle avoiding system comprises an obstacle sensing device, an acquiring device and a processor, wherein the obstacle sensing device and the acquiring device are respectively connected with the processor; the obstacle sensing device is used for sensing the distance between intelligent equipment and an obstacle and sending sensing information to the processor; the acquiring device is used for performing data acquisition on the working condition environment of the intelligent equipment and sending acquiring information to the processor; and the processor presets a distance range, performs real-time modification on brake braking parameters which influence the brake of the intelligent equipment according to the preset distance range, the sensing information and the acquiring information,, and controls the moving speed of the intelligent equipment according to the modified brake braking parameters, so that when the intelligent equipment stops, the distance between the intelligent equipment and the obstacle is in the preset distance range; and therefore, the intelligent equipment can adjust the brake braking parameters in a real time manner according to different working conditions, when the intelligent equipment stops, the distances between the intelligent equipment and the obstacles are kept consistent, and the safety is improved.
Description
Technical field
The present invention relates to the intelligent barrier avoiding system of field of intelligent control technology, more particularly to smart machine and side
Method.
Background technology
Using hay mover treat mowing region carry out intelligence mow when, barrier, existing intelligence can be run into unavoidably
Avoidance hay mover is typically sensed to barrier using ultrasonic sensor, is mowed after barrier is sensed
Machine carries out skidding.
However, existing avoidance hay mover will not according to the different operating modes of hay mover to the skidding time and its
He is handled differently skidding parameter, but using brake system set in advance after barrier is detected
Dynamic parameter carries out skidding.In brake process, different working conditions has certain impact to braking distance,
For example under the different condition such as fine day, rainy day, snowy day, upward slope, descending and level land, braking distance has very big
It is different.If the skidding parameter for pre-setting relatively is suitable under the conditions of fine day, but actual for rainy day, road
Relatively slide in face；Or the skidding parameter for pre-setting relatively is suitable under the conditions of level land, and reality is descending,
Then braking distance can be different from the braking distance of anticipation.So as to the brake when barrier is detected using fixation
Brake parameterses carry out skidding can be caused under different working conditions, with barrier when hay mover stops
The concordance of distance can not be effectively ensured, and affect the distance between hay mover stopping and barrier, safety
Property is relatively low.
The content of the invention
Based on this, it is necessary to run into when barrier brakes for existing hay mover and obtain with obstacle distance concordance
Less than the problem for ensureing, there is provided a kind of setting with the conforming intelligence of obstacle distance when brake can be effectively ensured
Standby intelligent mowing system and method.
A kind of intelligent barrier avoiding system of smart machine, including barrier induction installation, harvester and process
Device, the barrier induction installation and the harvester are connected with the processor respectively, the obstacle
Thing induction installation is for being sensed and sent induction information to institute to the distance between smart machine and barrier
Processor is stated, and the harvester is concurrent for data acquisition being carried out to work condition environment residing for the smart machine
Send collection information to the processor, the processor predeterminable range scope, the processor is according to described pre-
If distance range, the induction information and the collection information is to affecting the smart machine brake motion
Skidding parameter is corrected in real time, and the intelligence according to the revised skidding state modulator
The brake of equipment so that the smart machine stop when with the distance of the barrier it is described it is default away from
In the range of.
Wherein in one embodiment, after the smart machine stops, the processor controls the intelligence and sets
Standby steering at a certain angle is walked, or the processor controls the smart machine and retreats walking, or
The controller controls to turn to walking at a certain angle after the smart machine retreats certain distance.
Wherein in one embodiment, the harvester includes weather collecting apparatus or/and angle acquisition device,
The weather collecting apparatus are for ambient weather information, the angle acquisition device is for institute
The grade information for stating smart machine present position is acquired, and the processor is according to described default apart from model
Enclose, the induction information, the Weather information of the collection or/and grade information enter to the skidding parameter
Row is corrected in real time.
Wherein in one embodiment, the skidding parameter includes brake delay parameter or/and acceleration ginseng
Number, the processor is according to the default distance range, the induction information and the collection information to institute
State brake delay parameter or/and acceleration parameter is corrected in real time, and according to the revised brake time delay
Parameter or/and acceleration parameter control the brake of the smart machine.
Wherein in one embodiment, the smart machine intelligent barrier avoiding system is also filled including multiple border detection
Put, the boundary detecting apparatus are connected with the processor, the boundary detecting apparatus are used for obtaining specified area
The boundary information in domain is simultaneously sent to the processor, and the processor controls the intelligence according to the boundary information
The motion of energy equipment makes which move in designated area.
Wherein in one embodiment, the smart machine includes being provided with the first of the barrier induction installation
Side and second side adjacent with first side, the boundary detecting apparatus include the first boundary detecting apparatus
With the second boundary detection means, first boundary detecting apparatus and the second boundary detection means are set respectively
First side and second side of the smart machine is placed in, and is respectively used to acquisition and set along the intelligence
The boundary information of the standby direction of motion and intersect boundary information on direction with the direction of motion.
The present invention also provides a kind of intelligent barrier avoiding method of smart machine, comprises the steps：
Judge whether to sense barrier；
If judgement senses barrier, following steps are performed：
The distance between smart machine and barrier are sensed, induction information is obtained；
Data acquisition is carried out to work condition environment residing for the smart machine, obtains collection information；
According to default distance range, the induction information and the collection information to affecting the smart machine
The skidding parameter of brake motion is corrected in real time；
The brake of smart machine according to the revised skidding state modulator.
Wherein in one embodiment, the intelligence according to the revised skidding state modulator
Also include step after the step of brake of equipment：
Control the smart machine and turn to walking at a certain angle；
Or,
Control the smart machine and retreat walking；
Or,
Control to turn to walking at a certain angle after the smart machine retreats certain distance.
It is wherein in one embodiment, described that data acquisition is carried out to work condition environment residing for the smart machine,
The step of obtaining collection information includes：
To ambient weather information.
It is wherein in one embodiment, described that data acquisition is carried out to work condition environment residing for the smart machine,
The step of obtaining collection information includes：The grade information of the present position is acquired.
Wherein in one embodiment, the skidding parameter includes brake delay parameter or/and acceleration ginseng
Number.
The intelligent barrier avoiding system and method for above-mentioned smart machine, it is according to the different operating condition of smart machine, real
When adjust skidding parameter, so as to control the skidding of smart machine, it is ensured that when smart machine stops
One is maintained at more with the distance of barrier when stopping with the concordance of the distance of barrier, i.e. smart machine
In stable scope, the impact of the distance of smart machine and barrier when reducing outer work condition to stopping, and carry
The high safety of hay mover, it is to avoid meet people, house pet or other barriers.
Description of the drawings
Fig. 1 is the structural representation of the preferred embodiment of the intelligent barrier avoiding system of smart machine of the present invention；
Fig. 2 is the structural representation of another embodiment of intelligent barrier avoiding system of smart machine of the present invention；
Fig. 3 is the flow chart of the preferred embodiment of the intelligent barrier avoiding method of smart machine of the present invention.
Specific embodiment
Refer to Fig. 1, there is provided a kind of intelligent barrier avoiding system of the smart machine of preferred embodiment, including barrier
Induction installation 10, harvester 30 and processor 50, barrier induction installation 10 and harvester 30
Be connected with processor 50 respectively, barrier induction installation 10 between smart machine and barrier away from
From being sensed and being sent induction information to processor 50, harvester 30 is for operating mode residing for smart machine
Environment carries out data acquisition and sends collection information to processor 50,50 predeterminable range scope of processor, and root
According to default distance range, induction information and collection information to affecting the skidding that smart machine brake is moved
Parameter is corrected in real time, and according to the brake of revised skidding state modulator smart machine, so as to
When stopping smart machine with the distance of barrier in default distance range.Preferably, barrier sensing
Device 10 is ultrasonic sensor.
Smart machine can be hay mover, intellective dust collector or sweeper etc., when intelligent barrier avoiding system is used for mowing
When on machine, hay mover can be made to run into the being consistent property of distance when barrier brakes with barrier so that mow
Machine is operationally effectively shielded from barrier and is mowed.Intelligent barrier avoiding system is used for sweeper or vacuum cleaner
When, enable sweeper or vacuum cleaner carrying out being prevented effectively from barrier when intelligence is swept, it is to avoid infringement article.
In this specific embodiment, barrier induction installation 10, harvester 30 and processor 50 are mounted on
On mobile device.
It is illustrated so that intelligent barrier avoiding system is applied to hay mover as an example below.
Wherein in one embodiment, after hay mover stops, the control hay mover of processor 50 turns at a certain angle
To walking.In another embodiment, after hay mover stops, the control hay mover of processor 50 retreats walking.
In yet another embodiment, after hay mover stops, with one after the control hay mover retrogressing certain distance of processor 50
Determine angle and turn to walking.It is after hay mover stops, by control process of the above-mentioned processor 50 to hay mover, real
Now brake steering or the safety of intelligent barrier avoiding.
Barrier induction installation 10 is used for sensing barrier and sending to processor 50 after barrier is sensed
Obstacle induction information, the induction information include the distance between hay mover and barrier.Harvester 30 is used for
Collection environmental information of the hay mover under different operating modes, for example, gathers environmental information by harvester 30,
May determine that the work condition environment of hay mover.Such as, by gather information, can determine whether hay mover be in go up a slope,
Descending or level land, or hay mover be fine day work or the rainy day work.Processor 50 receives obstacle
After the collection information that the obstacle induction information and harvester 30 that thing induction installation 10 sends sends, identification is current
Work information, according to different operating modes, the skidding parameter of real-time adjustment hay mover for example, is mowed
When machine is in descending, brake delay parameter is reduced, hay mover brake is carried out in advance, reduce extraneous work
Impact when condition stops to hay mover with the distance between barrier, when stopping hay mover and barrier between
Distance be maintained in the distance range of the safety for pre-setting, it is ensured that the concordance of braking distance.
Wherein in one embodiment, harvester 30 includes weather collecting apparatus, and weather collecting apparatus are used for
To ambient weather information, processor 50 is according to default distance range, induction information, collection
Weather information is corrected in real time to skidding parameter.
Different weather has different impacts to hay mover braking distance, the letter gathered by weather collecting apparatus
Breath can determine whether the weather of hay mover local environment.Specifically, weather collecting apparatus include drench with rain sensor and snow
One or more in sensor, can determine whether rainfall or fine day by the information of the sensor acquisition that drenches with rain,
The information gathered by ice sensor can determine whether snowfall.
Wherein in one embodiment, harvester 30 also includes angle acquisition device, and angle acquisition device is used
It is acquired in the grade information to hay mover present position, processor 50 is according to default distance range, sense
Information and grade information is answered to correct skidding parameter in real time.
Angle acquisition device includes angular transducer, using angular transducer can automatic data collection angle information,
So as to can determine whether hay mover in upward slope, descending or level land.Processor 50 is gathered according to weather collecting apparatus
Information and the information of angle acquisition device collection judge the operating mode of hay mover, according to different operating modes, to braking
Brake parameterses carry out real-time adjustment, make skidding parameter be applied to current operating mode, and processor 50 is according to tune
The brake campaign of the skidding state modulator hay mover after whole, so that protect with the distance of barrier during brake
Hold in the scope of a safety.
Wherein in one embodiment, skidding parameter includes the delay parameter that brakes, and processor 50 is according to pre-
If distance range, induction information and collection information the delay parameter that brakes is corrected in real time, and according to repairing
Brake delay parameter after just controls the brake of hay mover.
In brake process, the parameter of skidding is affected to have various, for example brake delay parameter.Brake is prolonged
When parameter refer to the time delay for carrying out brake after barrier is sensed.Hay mover presets basic brake
Delay parameter, when barrier is sensed on level land, controls the motion of hay mover according to basic delay parameter,
When barrier being sensed in descending, brake delay parameter is adjusted to less than basic braking parameters, that is, is carried
Front brake.When going up a slope, brake delay parameter is adjusted to more than basic braking parameters, i.e. time delay brake,
By above-mentioned adjustment process, the braking distance of hay mover is maintained within the scope of one, make skidding mistake
Cheng Shiying different operating modes.Similarly, when when barrier is sensed, hay mover local environment is fine day, root
The motion of hay mover is controlled according to basic delay parameter, hay mover local environment is sleet when barrier is sensed
My god, as the road surface of sleet sky is relatively slided, to basic braking parameters are less than, i.e., brake delay parameter is adjusted
Brake in advance.
Specifically, barrier induction installation 10 when apart from 500 millimeter of barrier by distance of reaction information
Processor 50 is sent to, processor 50 is joined to time delay of braking according to the angle information that now angular transducer is provided
Number is adjusted, and after time delay, sends brake instruction, and smart machine starts brake.Different intelligence set
For the delay parameter that due to the difference of the weight, center of gravity dispensing position and wheel surface roughness of itself, brakes
Concrete numerical value also differ.Table 1 is one of which smart machine when different gradient runs into barrier, is stopped
The numerical value of car delay parameter.
| Angle information | Brake delay parameter |
| >-15° | 0 millisecond |
| -15°-(-5°) | 500 milliseconds |
| -5°-0° | 600 milliseconds |
| 0°-5° | 700 milliseconds |
| 5°-15° | 800 milliseconds |
In table 1, the negative sign in angle information is expressed as angle during descending, i.e., -15 ° represent the sense in descending
The angle that barrier should be arrived is 15 degree, and 15 ° represent that the angle for sensing barrier when going up a slope is 15 degree.
Wherein in one embodiment, skidding parameter also includes acceleration parameter, and processor 50 is according to pre-
If distance range, induction information and collection information acceleration parameter is corrected in real time, and according to amendment
Acceleration parameter afterwards controls the brake of hay mover.
Acceleration parameter is the parameter of the speed that hay mover movement velocity changes after description senses barrier.Cut
Careless machine presets basic acceleration parameter, when barrier is sensed on level land, is joined according to basic acceleration
The motion of numerical control hay mover, when in descending, acceleration parameter is adjusted to more than basic acceleration ginseng
Number, that is, accelerate to slow down.When going up a slope, acceleration parameter is adjusted to less than basic acceleration parameter, that is, is put
Speed is extenuated, by above-mentioned adjustment process, the braking distance of hay mover is maintained within the scope of one, is made to stop
Car braking procedure adapts to different operating modes.Similarly, when barrier is sensed, hay mover local environment is fine
It when, according to basic acceleration parameter control hay mover motion, when barrier is sensed residing for hay mover
When environment is sleet sky, as the road surface of sleet sky is relatively slided, acceleration parameter is adjusted to more than basic plus
Speed parameter, even if hay mover slows down faster.After barrier is detected, can be according to different operating modes to adding
Speed is adjusted, and makes acceleration parameter adapt to current working.
Fig. 2 is referred to, wherein in one embodiment, the intelligent barrier avoiding system of smart machine also includes multiple sides
Boundary's detection means 70, boundary detecting apparatus 70 are connected with processor 50, and boundary detecting apparatus 70 are used for obtaining
The boundary information of designated area is simultaneously sent to processor 50, and processor 50 is mowed according to boundary information control
The motion of machine makes which move in designated area.In the present embodiment, boundary detecting apparatus 70 are installed on intelligence
On equipment.
Hay mover is operated in designated area, when border is moved to, in order to prevent moving to designated area
Where in addition, boundary detecting apparatus 70 are installed to obtain boundary information.The boundary information of acquisition is sent to place
Reason device 50, processor 50 can determine whether hay mover in marginal area after receiving the boundary information, control is mowed
Machine is turned or is stopped so as to movable in designated area.For example, boundary detecting apparatus 70 are installed on mowing
When on machine, for obtaining the boundary information for the treatment of mowing region and sending to processor 50, processor 50 is according to institute
The motion for stating boundary information control hay mover makes which treat to move in mowing region.
Wherein in one embodiment, hay mover include the first side for being provided with barrier induction installation 10 and with
The second adjacent side of first side, boundary detecting apparatus 70 include the first boundary detecting apparatus and the second boundary detection
Device, the first boundary detecting apparatus and the second boundary detection means are respectively arranged at the first side of hay mover and
Two sides, and be respectively used to obtain along the boundary information of the hay mover direction of motion and intersect on direction with the direction of motion
Boundary information.Specifically, the first boundary detecting apparatus and the second boundary detection means are used for obtaining along mowing
The boundary information of the machine direction of motion and with direction of motion vertical direction on boundary information.
Boundary detecting apparatus 70 are arranged by the not homonymy in hay mover, the side of different directions can be effectively detected
Boundary's information.For example, the first boundary detecting apparatus for being arranged on the first side have got boundary information, meanwhile,
The second boundary detection means of the second side obtains boundary information, and processor 50 is according to the border on different directions
Information, can effective control hay mover motion, prevent which from exceeding two borders.
The intelligent barrier avoiding system of above-mentioned smart machine, according to the different operating condition of smart machine, real-time adjustment
Skidding parameter, so that control the skidding of smart machine, it is ensured that when smart machine stops and obstacle
Be maintained at the distance of barrier when the concordance of the distance of thing, i.e. smart machine stop one it is relatively stable
In the range of, the impact of the distance of smart machine and barrier when reducing outer work condition to stopping, and improve intelligence
The safety of energy equipment, it is to avoid meet people, house pet or other barriers.
Fig. 3 is referred to, the present invention also provides a kind of intelligent barrier avoiding method of the smart machine of preferred embodiment, intelligence
Energy barrier-avoiding method can be applicable to the smart machines such as hay mover, intellective dust collector or sweeper, be kept away with intelligence below
Barrier method is illustrated as a example by being applied to hay mover, is comprised the steps：
S100：Judge whether to sense barrier.
If judgement senses barrier, following steps are performed：
S200：The distance between hay mover and barrier are sensed, induction information is obtained.
During hay mover works, barrier is can be potentially encountered, needs install barrier on hay mover
Induction installation, for the sensing to barrier, when barrier is sensed, obtains induction information and sends to place
Reason device.
S300：Data acquisition is carried out to work condition environment residing for hay mover, obtains collection information.
While the induction installation that breaks the barriers senses barrier, for the harvester on hay mover to work
Condition environment carries out information gathering and sends collection information to processor, and processor can determine whether to cut by collection information
Work condition environment residing for careless machine.
S400：According to default distance range, induction information and collection information to affecting hay mover brake motion
Skidding parameter corrected in real time.
After processor judges the work condition environment residing for hay mover, in real time skidding parameter is adjusted, with
Adapt to different operating modes, it is to avoid using fixed skidding parameter under different operating modes.
S500：According to the brake of revised skidding state modulator hay mover.
Processor according to adjustment motion of the rear braking brake parameterses to hay mover be controlled so as to when stopping with
The distance between barrier is maintained in the distance range of a safety, it is ensured that the concordance of braking distance, is carried
High security.
If judgement does not sense barrier, continue to determine whether to sense barrier.
Wherein in one embodiment, according to the brake of the revised skidding state modulator hay mover
The step of S500 after also include step：
Control hay mover turns to walking at a certain angle.
So as to realize that hay mover brake turns to safety.
In another embodiment, according to the brake of the revised skidding state modulator hay mover
Also include step after step S500：
Control hay mover retreats walking.
So as to realize the safety of hay mover intelligent barrier avoiding.
In yet another embodiment, according to the brake of the revised skidding state modulator hay mover
Also include step after step S500：
Control hay mover turns to walking after retreating certain distance at a certain angle.
The safety turned to intelligent barrier avoiding so as to realize braking.
Wherein in one embodiment, data acquisition is carried out to work condition environment residing for hay mover, obtain collection letter
The step of breath, S300 included：
To ambient weather information.
As different weather has different impacts to hay mover braking distance, by gathering ambient weather information
The weather of hay mover local environment is can determine whether, then skidding parameter is entered further according to different environmental informations
Row adjustment, hay mover have different skidding parameters under different environmental conditions to guarantee braking distance
Concordance.
Wherein in one embodiment, data acquisition is carried out to work condition environment residing for hay mover, obtain collection letter
The step of breath, S300 also included：
The grade information of hay mover present position is acquired.
Geographical position gradient difference residing when sensing barrier due to hay mover has to hay mover braking distance
Different impacts, can determine whether the gradient residing for hay mover by collection grade information, then further according to different
Grade information is adjusted to skidding parameter, and hay mover has different brakes under the conditions of different gradient
Brake parameterses are guaranteeing the concordance of braking distance.
Wherein in one embodiment, skidding parameter includes the delay parameter that brakes.
The corresponding different skidding process of difference of brake delay parameter, so as to affect braking distance, according to
Default distance range, induction information and collection information are corrected in real time to the delay parameter that brakes, according to repairing
Brake delay parameter after just controls the brake of hay mover.
Specifically, hay mover presets basic brake delay parameter, when barrier is sensed on level land,
The motion of hay mover is controlled according to basic delay parameter, when barrier being sensed in descending, brake is prolonged
When parameter adjustment to be less than basic braking parameters, i.e., brake in advance.When going up a slope, brake delay parameter is adjusted
Whole to be extremely more than basic braking parameters, i.e. time delay brake, by above-mentioned adjustment process, makes the brake of hay mover
Distance is maintained within the scope of one, makes skidding process adapt to different operating modes.Similarly, when sensing
When hay mover local environment is fine day during barrier, the motion of hay mover is controlled according to basic delay parameter, when
When sensing barrier, hay mover local environment is sleet sky, as the road surface of sleet sky is relatively slided, will stop
Car delay parameter is adjusted to less than basic braking parameters, i.e., brake in advance.
Specifically, barrier induction installation 10 when apart from 500 millimeter of barrier by distance of reaction information
Processor 50 is sent to, processor 50 is joined to time delay of braking according to the angle information that now angular transducer is provided
Number is adjusted, and after time delay, sends brake instruction, and smart machine starts brake.Different intelligence set
For the delay parameter that due to the difference of the weight, center of gravity dispensing position and wheel surface roughness of itself, brakes
Concrete numerical value also differ.Table 1 is one of which smart machine when different gradient runs into barrier, is stopped
The numerical value of car delay parameter.
| Angle information | Brake delay parameter |
| >-15° | 0 millisecond |
| -15°-(-5°) | 500 milliseconds |
| -5°-0° | 600 milliseconds |
| 0°-5° | 700 milliseconds |
| 5°-15° | 800 milliseconds |
In table 1, the negative sign in angle information is expressed as angle during descending, i.e., -15 ° represent the sense in descending
The angle that barrier should be arrived is 15 degree, and 15 ° represent that the angle for sensing barrier when going up a slope is 15 degree.
Wherein in one embodiment, skidding parameter also includes acceleration parameter.
Different acceleration parameters are set, and the speed that skidding process medium velocity reduces is different, so as to affect
Braking distance, is carried out to acceleration parameter according to default distance range, induction information and collection information in real time
Amendment, controls the brake of hay mover according to revised acceleration parameter.
Specifically, hay mover presets basic acceleration parameter, when barrier is sensed on level land, root
The motion of hay mover is controlled according to basic acceleration parameter, when in descending, acceleration parameter is adjusted to big
In basic acceleration parameter, that is, accelerate to slow down.When going up a slope, acceleration parameter is adjusted to less than basic plus
Speed parameter, that is, slow down deceleration, by above-mentioned adjustment process, makes the braking distance of hay mover be maintained at one
In individual scope, skidding process is made to adapt to different operating modes.Similarly, mow when barrier is sensed
When machine local environment is fine day, the motion of hay mover is controlled according to basic acceleration parameter, when sensing obstacle
When during thing, hay mover local environment is sleet sky, as the road surface of sleet sky is relatively slided, acceleration parameter is adjusted
It is whole to be extremely more than basic acceleration parameter, even if hay mover slows down faster.
Wherein in one embodiment, intelligent barrier avoiding method also includes step：
Obtain the boundary information of designated area.
The motion that the hay mover is controlled according to the boundary information makes which move in designated area.Wherein
In one embodiment, obtain designated area boundary information the step of be specially：
Obtain along the boundary information of the hay mover direction of motion and intersect with the direction of motion border letter on direction respectively
Breath.
Specifically, obtain respectively along the hay mover direction of motion boundary information and with direction of motion vertical direction on
Boundary information.
The intelligent barrier avoiding method of above-mentioned smart machine, according to the different operating condition of smart machine, real-time adjustment
Skidding parameter, so that control the skidding of smart machine, it is ensured that when smart machine stops and obstacle
Be maintained at the distance of barrier when the concordance of the distance of thing, i.e. smart machine stop one it is relatively stable
In the range of, the impact of the distance of smart machine and barrier when reducing outer work condition to stopping, and improve intelligence
The safety of energy equipment, it is to avoid meet people, house pet or other barriers.
Each technical characteristic of above example arbitrarily can be combined, for making description succinct, not to above-mentioned
The all possible combination of each technical characteristic in embodiment is all described, as long as however, these technologies are special
There is no contradiction in the combination levied, be all considered to be the scope of this specification record.
Above example only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but
Therefore can not be construed as limiting the scope of the patent.It should be pointed out that general for this area
For logical technical staff, without departing from the inventive concept of the premise, some deformations and improvement can also be made,
These belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be wanted with appended right
Ask and be defined.
Claims (10)
1. the intelligent barrier avoiding system of a kind of smart machine, it is characterised in that including barrier induction installation, adopt
Acquisition means and processor, the barrier induction installation and the harvester respectively with the processor
Connection, the barrier induction installation are concurrent for carrying out sensing to the distance between smart machine and barrier
Induction information is sent to the processor, the harvester is for entering to work condition environment residing for the smart machine
Row data acquisition simultaneously sends collection information to the processor, the processor predeterminable range scope, the place
Reason device is according to the default distance range, the induction information and the collection information to affecting the intelligence
The skidding parameter of equipment brake motion is corrected in real time, and is joined according to the revised skidding
The brake of smart machine described in numerical control system, with the distance of the barrier in institute when stopping the smart machine
State in default distance range.
2. the intelligent barrier avoiding system of smart machine according to claim 1, it is characterised in that the intelligence
After energy equipment stops, the processor controls the smart machine and turns to walking at a certain angle, or described
Processor controls the smart machine and retreats walking, or the controller controls the smart machine and retreats
Turn to walking after certain distance at a certain angle.
3. the intelligent barrier avoiding system of smart machine according to claim 1, it is characterised in that described to adopt
Acquisition means include weather collecting apparatus or/and angle acquisition device, and the weather collecting apparatus are for environment day
Gas information, the angle acquisition device is for the grade information to the smart machine present position
It is acquired, the processor is according to the default distance range, the induction information, the collection
Weather information or/and grade information are corrected in real time to the skidding parameter.
4. the intelligent barrier avoiding system of the smart machine according to claim 1 or 3, it is characterised in that institute
Stating skidding parameter includes brake delay parameter or/and acceleration parameter, and the processor is according to described default
Distance range, the induction information and the collection information is to the brake delay parameter or/and acceleration ginseng
Number is corrected in real time, and according to the revised brake delay parameter or/and acceleration parameter control
The brake of smart machine.
5. the intelligent barrier avoiding system of smart machine according to claim 1, it is characterised in that the intelligence
Energy device intelligence obstacle avoidance system also includes multiple boundary detecting apparatus, the boundary detecting apparatus and the process
Device connects, and the boundary detecting apparatus are used for obtaining the boundary information of designated area and sending to the processor,
The processor makes which transport in designated area according to the motion that the boundary information controls the smart machine
It is dynamic；The smart machine include the first side for being provided with the barrier induction installation and with first side phase
The second adjacent side, the boundary detecting apparatus include the first boundary detecting apparatus and the second boundary detection means,
First boundary detecting apparatus and the second boundary detection means are respectively arranged at the institute of the smart machine
The first side and second side is stated, and is respectively used to obtain the boundary information along the smart machine direction of motion
And intersect boundary information on direction with the direction of motion.
6. a kind of intelligent barrier avoiding method of smart machine, it is characterised in that comprise the steps：
Judge whether to sense barrier；
If judgement senses barrier, following steps are performed：
The distance between smart machine and barrier are sensed, induction information is obtained；
Data acquisition is carried out to work condition environment residing for the smart machine, obtains collection information；
According to default distance range, the induction information and the collection information to affecting the smart machine
The skidding parameter of brake motion is corrected in real time；
The brake of smart machine according to the revised skidding state modulator.
7. the intelligent barrier avoiding method of smart machine according to claim 6, it is characterised in that described
According to described in the revised skidding state modulator the step of brake of smart machine after also include step
Suddenly：
Control the smart machine and turn to walking at a certain angle；
Or,
Control the smart machine and retreat walking；
Or,
Control to turn to walking at a certain angle after the smart machine retreats certain distance.
8. the intelligent barrier avoiding method of smart machine according to claim 6, it is characterised in that described right
The step of work condition environment residing for the smart machine carries out data acquisition, acquisition collection information includes：
To ambient weather information.
9. the intelligent barrier avoiding method of the smart machine according to claim 6 or 8, it is characterised in that institute
State carries out data acquisition to work condition environment residing for the smart machine, obtain collection information the step of include：
The grade information of the present position is acquired.
10. the intelligent barrier avoiding method of smart machine according to claim 6, it is characterised in that described
Skidding parameter includes brake delay parameter or/and acceleration parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510579050.4A CN106515688B (en) | 2015-09-11 | 2015-09-11 | The intelligent barrier avoiding system and method for smart machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510579050.4A CN106515688B (en) | 2015-09-11 | 2015-09-11 | The intelligent barrier avoiding system and method for smart machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515688A true CN106515688A (en) | 2017-03-22 |
| CN106515688B CN106515688B (en) | 2019-01-04 |
Family
ID=58346722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510579050.4A Active CN106515688B (en) | 2015-09-11 | 2015-09-11 | The intelligent barrier avoiding system and method for smart machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515688B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176151A (en) * | 2017-05-27 | 2017-09-19 | 河南占海汽车防撞技术研究有限公司 | Multifunction anti-collision guard method and its device for vehicle |
| WO2018233493A1 (en) * | 2017-06-22 | 2018-12-27 | 深圳洛克时代科技有限公司 | Autonomous robot and control method, apparatus and system therefor, and computer readable storage medium |
| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| WO2021120998A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | Autonomous robot and control method therefor |
| CN113110413A (en) * | 2021-03-10 | 2021-07-13 | 成都永奉科技有限公司 | Following robot, following control method and following control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1194924A (en) * | 1998-02-18 | 1998-10-07 | 苑炳明 | Full-automatic automobile brake |
| US6038496A (en) * | 1995-03-07 | 2000-03-14 | Daimlerchrysler Ag | Vehicle with optical scanning device for a lateral road area |
| CN102687626A (en) * | 2011-03-22 | 2012-09-26 | 苏州宝时得电动工具有限公司 | Mower |
| CN103217898A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| WO2013185622A1 (en) * | 2012-06-13 | 2013-12-19 | 苏州宝时得电动工具有限公司 | Automatic work system and control method thereof |
| CN103487066A (en) * | 2013-10-12 | 2014-01-01 | 惠州Tcl移动通信有限公司 | Intelligent equipment and safety driving method thereof |
-
2015
- 2015-09-11 CN CN201510579050.4A patent/CN106515688B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6038496A (en) * | 1995-03-07 | 2000-03-14 | Daimlerchrysler Ag | Vehicle with optical scanning device for a lateral road area |
| CN1194924A (en) * | 1998-02-18 | 1998-10-07 | 苑炳明 | Full-automatic automobile brake |
| CN102687626A (en) * | 2011-03-22 | 2012-09-26 | 苏州宝时得电动工具有限公司 | Mower |
| CN103217898A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| WO2013185622A1 (en) * | 2012-06-13 | 2013-12-19 | 苏州宝时得电动工具有限公司 | Automatic work system and control method thereof |
| CN103487066A (en) * | 2013-10-12 | 2014-01-01 | 惠州Tcl移动通信有限公司 | Intelligent equipment and safety driving method thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107176151A (en) * | 2017-05-27 | 2017-09-19 | 河南占海汽车防撞技术研究有限公司 | Multifunction anti-collision guard method and its device for vehicle |
| WO2018233493A1 (en) * | 2017-06-22 | 2018-12-27 | 深圳洛克时代科技有限公司 | Autonomous robot and control method, apparatus and system therefor, and computer readable storage medium |
| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| WO2021120998A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | Autonomous robot and control method therefor |
| CN113110413A (en) * | 2021-03-10 | 2021-07-13 | 成都永奉科技有限公司 | Following robot, following control method and following control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515688B (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106515688A (en) | Intelligent obstacle avoiding system and method for intelligent equipment | |
| CN203691948U (en) | Intelligent mowing robot | |
| CN109298415A (en) | A kind of track and road barricade object detecting method | |
| CN101519981B (en) | Mine locomotive anti-collision early warning system based on monocular vision and early warning method thereof | |
| CN102541064A (en) | Magnetic navigation routing inspection robot | |
| CN202563344U (en) | Magnetic navigation and routing inspection robot | |
| CN104166400A (en) | Multi-sensor fusion-based visual navigation AGV system | |
| CN105929823A (en) | Automatic driving system and driving method based on existing map | |
| CN107272007A (en) | Detect the method and system of highway weather conditions | |
| CN1949292A (en) | Real-time testing system and method for speed and relative position of vehicle on expressway | |
| CN108508895A (en) | A kind of pilotless automobile road surface detection device and detection method | |
| CN203332106U (en) | Automobile warning anti-collision system based on monocular vision | |
| CN106741890A (en) | A kind of high-speed railway safety detecting system based on the dual-purpose unmanned plane of empty rail | |
| CN110241769A (en) | A kind of automatic Pilot snow sweeper and snow-removing method | |
| CN106530746A (en) | Vehicle speed detection apparatus and detection method based on video technology | |
| CN109658722B (en) | Intelligent roadside system based on multi-source road perception | |
| CN112477533B (en) | Dual-purpose transport robot of facility agriculture rail | |
| CN106774366A (en) | A kind of bionical unmanned vehicle control and its control method | |
| WO2018032485A1 (en) | System for controlling unmanned transport fleet in mine | |
| EP3454012A1 (en) | Navigation system | |
| CN205068792U (en) | Laser vehicles detection device | |
| CN206292967U (en) | A kind of vehicle speed detector device based on video technique | |
| CN113386791B (en) | Danger avoiding system based on unmanned transport vehicle train in heavy fog weather | |
| CN212294476U (en) | Unmanned small-sized sweeping machine | |
| CN212497791U (en) | Rail mounted group's fog detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |