CN106647768A - Spontaneous movement obstacle avoidance method of service robot - Google Patents
Spontaneous movement obstacle avoidance method of service robot Download PDFInfo
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- CN106647768A CN106647768A CN201710032962.9A CN201710032962A CN106647768A CN 106647768 A CN106647768 A CN 106647768A CN 201710032962 A CN201710032962 A CN 201710032962A CN 106647768 A CN106647768 A CN 106647768A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000002269 spontaneous effect Effects 0.000 title abstract 4
- 230000004888 barrier function Effects 0.000 claims description 142
- 230000001960 triggered effect Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 15
- 235000013399 edible fruits Nutrition 0.000 claims description 4
- 230000009471 action Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000021824 exploration behavior Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention relates to a spontaneous movement obstacle avoidance method of a service robot. The service robot comprises a collision sensor, an infrared sensor and an ultrasonic sensor. The spontaneous movement obstacle avoidance method of the service robot comprises the following steps: S1, enabling the robot to move forwards, detecting the collision sensor, and then carrying out corresponding obstacle avoidance operation; S2, enabling the robot to move forwards, detecting the infrared sensor, and then carrying out corresponding obstacle avoidance operation; and S3, enabling the robot to move forwards, detecting the ultrasonic sensor, and then carrying out corresponding obstacle avoidance operation; in a forward moving process of the robot, successively carrying out the step S1, the step S2 and the step S3, continuing carrying out the step S1 after the step S2 is carried out, and circulating in the way. According to the spontaneous movement obstacle avoidance method of the service robot, priority is set for the collision sensor, the infrared sensor and the ultrasonic sensor, and when the sensors of the robot simultaneously detect an obstacle, the most suitable avoidance mode is selected according to the priority.
Description
Technical field
The present invention relates to robot autonomous motion barrier-avoiding method, and in particular to the robot autonomous motion avoidance side of service type
Method.
Background technology
With the continuous development of mankind's Exploratory behavior, the birth for servicing humanoid robot is promoted.Service humanoid robot can be with
The mankind are replaced to complete many service work, autokinetic movement avoidance is that robot can be not exposed in certain area coverage motion
The core of damage, is with a wide range of applications.
The sensor that autokinetic movement avoidance is adopted includes crash sensor, infrared sensor, ultrasonic sensor and laser
Distance measuring sensor.Laser range sensor is expensive；Ultrasonic sensor measurement range is generally 30cm～800cm, measurement
Scope is larger, but there is blind area；Infrared sensor measurement range is generally 10cm～80cm, and measurement range is less.China is known
The utility model patent for knowing property right office Publication No. CN201420817209.2 discloses a kind of multi-faceted avoidance of mobile robot
System, using ultrasonic wave, pyroelectricity and infrared three kinds of sensors avoidance.But when various sensing devices are detected simultaneously by barrier
When, robot is difficult to select most suitable avoidance mode and cause to damage.
The content of the invention
The technical problem to be solved is detected simultaneously by sensor in the robot for installing multiple sensors
During barrier, it is difficult to select most suitable avoidance mode and damage, it is therefore intended that provide service type robot autonomous motion avoidance
Method, solves the above problems.
The present invention is achieved through the following technical solutions：
The robot autonomous motion barrier-avoiding method of service type, the service humanoid robot includes crash sensor, infrared sensing
Device and ultrasonic sensor；The robot autonomous motion barrier-avoiding method of the service type is comprised the following steps：S1：Robot advances simultaneously
Detection crash sensor, then performs corresponding avoidance operation；S2：Robot advances and detects infrared sensor, then performs
Corresponding avoidance operation；S3：Robot advances and detects ultrasonic sensor, then performs corresponding avoidance operation；Robot
During advance, step S1, S2 and S3 are performed successively, and S3 continues executing with S1 after being finished, and so circulates.
In prior art, when various sensing devices are detected simultaneously by barrier, robot is difficult to select most suitable avoidance
Mode and cause damage.When the present invention is applied, robot advances and detects crash sensor, then performs corresponding avoidance behaviour
Make；Robot advances and detects infrared sensor, then performs corresponding avoidance operation；Robot advances and detects that ultrasonic wave is passed
Sensor, then performs corresponding avoidance operation；Crash sensor, infrared sensor and ultrasonic sensor are arranged excellent by the present invention
First level, according to the characteristics of the three kinds of sensors：Collision is most precarious position for robot, so crash sensor is arranged
For the first priority；The detecting distance of infrared sensor is nearer, so infrared sensor is set to into the second priority；Ultrasonic wave
The detecting distance of sensor farther out, but has blind area, so ultrasonic sensor is set to into third priority.The present invention passes through
When such scheme realizes the multiple sensors of robot and is detected simultaneously by barrier, most suitable avoidance side is selected according to priority
Formula.
Further, infrared adjustment is evaded evading with ultrasonic wave adjustment and is rotated including random selection direction；When robot meets
To barrier need do random selection direction rotate when, only for the first time need random selection when randomly choose, need later
Primary selection result is selected when randomly choosing as this selection result, until the barrier leaves robot sensing
Device detection range.
In prior art, robot may at random enter avoidance dead band in autokinetic movement, it is impossible to reach avoidance effect
Really.When the present invention is applied, robot runs into barrier and needs to randomly choose a direction when rotating, only need for the first time to do with
When machine is selected, just randomly choose, when needing to randomly choose later, the result alternatively result for all being selected with first time,
Until the barrier leaves robot sensor detection range so that robot was not in that avoidance is dead before barrier is left
Circulation, it is easier to leave barrier.
Further, when robot detects both sides and front and barrier occurs, judgement has been enter into continuous barrier zone,
One direction of Robot Selection rotates, until all is clear ahead, robot advances.
In prior art, robot during autokinetic movement, may enter avoidance dead band, it is impossible to look in slightly complicated region
To the path for leaving barrier zone.When the present invention is applied, when robot both sides barrier occur with front, judge to enter continuous barrier
When hindering region, select a direction to rotate and find the outlet for leaving the barrier zone, when the outlet occurs in robot front,
Robot advances and leaves the continuous barrier zone.So that robot can quickly find outlet in continuous barrier zone,
Avoidance dead band will not be absorbed in.
Further, in step S1, S2 and S3, the avoidance operation is：If non-trigger sensor, perform next
Step, if trigger sensor, adjustment is evaded, and then performs next step.
Further, in step S1, S2 and S3, the avoidance operation is：If non-trigger sensor, perform next
Step, if trigger sensor, adjustment is evaded, and then performs S1.
Most precarious position when collision is robot autonomous motion, when the present invention is applied, further improves the priority of S1, often
After the completion of secondary adjustment is evaded, all start to detect again from S1, improve security during the self-service motion of robot.
Further, step S1 includes following sub-step：S11：When robot both sides crash sensor is triggered, machine
People retreats, and rotates and advance to the direction contrary with collision course；S12：When robot rear side crash sensor is triggered, machine
People stops and detects the distance of both sides barrier and robot, then performs S13；S13：If both sides barrier and robot away from
From difference, side of the robot to barrier farther out rotates and advances；If both sides barrier is with robot apart from equal, machine
People advances.
When the present invention is applied, robot detection collision course, when collision course is right side, robot is retreated and to left-handed
Turn, complete robot after the action and advance；When collision course is left side, robot is retreated and to right rotation, after completing the action
Robot advances；When collision course is rear side, robot stops and detects the distance of both sides barrier and robot, if right side
Barrier is remote, and robot completes robot after the action and advance to right rotation；If left side barrier is remote, robot is to left-handed
Turn, complete robot after the action and advance；If both sides obstacle distance is the same, robot advances.The present invention passes through above-mentioned side
Case realizes when robot crash sensor is triggered and barrier is avoided.
Further, step S2 includes following sub-step：S21：When robot both sides infrared sensor is triggered, machine
People retreats, and rotates and advance to the direction in opposite direction with obstacle；S22：When robot front side infrared sensor is triggered, machine
People retreats and detects the distance of both sides barrier and robot, then performs S23；S23：If both sides barrier and robot away from
From difference, side of the robot to barrier farther out rotates and advances；If both sides barrier and robot are apart from equal, with
Machine selects a direction to rotate and advance.
When the present invention is applied, infrared sensor detection obstacle direction, when obstacle direction is right side, robot is retreated and to the left
Rotation, completes to advance after the action；When obstacle direction is left side, robot is retreated and to right rotation, completes to advance after the action；
When obstacle direction is front, robot retreats and detects the distance of both sides barrier and robot, compares both sides barrier and machine
The distance of device people, if right side barrier is remote, robot completes to advance after the action to right rotation；If left side barrier is remote,
Robot completes to advance after the action to anticlockwise；If both sides obstacle distance is the same, robot randomly chooses a direction
Rotation, completes to advance after the action；The present invention is realized when robot infrared sensor is triggered to barrier by such scheme
Avoided.
Further, step S3 includes following sub-step：S31：When robot both sides ultrasonic sensor is triggered, machine
Device people to the direction in opposite direction with obstacle rotates and advances；S32：When robot front side ultrasonic sensor is triggered, robot
Stop and detect the distance of both sides barrier and robot, then perform S33；S33：If both sides barrier and robot distance
Difference, side of the robot to barrier farther out rotates and advances；If both sides barrier and robot are apart from equal, at random
A direction is selected to rotate and advance.
When the present invention is applied, ultrasonic sensor detection obstacle direction, when obstacle direction is right side, robot is to left-handed
Turn, complete to advance after the action；When obstacle direction is left side, robot completes to advance after the action to right rotation；Obstacle direction
For front when, robot stops and detects the distance of both sides barrier and robot, compare both sides barrier and robot away from
From if right side barrier is remote, robot completes to advance after the action to right rotation；If left side barrier is remote, robot to
Anticlockwise, completes to advance after the action；If both sides obstacle distance is the same, robot randomly chooses a direction and rotates, complete
Advance into after the action；The present invention is realized when robotic ultrasound wave sensor is triggered by such scheme and barrier is kept away
Allow.
Further, in step S2 and S3, the avoidance operation is：If non-trigger sensor, performs next step；Such as
Fruit trigger sensor, then adjustment is evaded, and during adjustment is evaded, interrupts current procedures if triggering crash sensor and holds
Row S1.
Most precarious position when collision is robot autonomous motion, when the present invention is applied, further improves the priority of S1,
During every time adjustment is evaded, interrupt current procedures if triggering crash sensor and perform S1, improve robot self-service
Security during motion.
The present invention compared with prior art, has the following advantages and advantages：
1st, the robot autonomous motion barrier-avoiding method of service type of the present invention, by crash sensor, infrared sensor and super
Sonic sensor arranges priority, when realizing the multiple sensors of robot and being detected simultaneously by barrier, is selected according to priority
Most suitable avoidance mode；
2nd, the robot autonomous motion barrier-avoiding method of service type of the present invention, before barrier is left, all using first time with
The result of machine choice direction is used as this result so that robot was not in avoidance endless loop before barrier is left, more
Easily leave barrier；
3rd, the robot autonomous motion barrier-avoiding method of service type of the present invention, when robot enters continuous barrier zone, selects one
Individual direction rotates finds the outlet for leaving the barrier zone.So that robot can quickly find out in continuous barrier zone
Mouthful, avoidance dead band will not be absorbed in；
4th, the robot autonomous motion barrier-avoiding method of service type of the present invention, further improves the priority of collision detection, every time
After the completion of adjustment is evaded, all start to detect again from collision, improve security during the self-service motion of robot；
5th, the robot autonomous motion barrier-avoiding method of service type of the present invention, by detecting collision course and making appropriate rule
Keep away, realize when robot crash sensor is triggered and barrier is avoided；
6th, the robot autonomous motion barrier-avoiding method of service type of the present invention, detects obstacle direction and makes by infrared sensor
Appropriate evades, and realizes when robot infrared sensor is triggered and barrier is avoided；
7th, the robot autonomous motion barrier-avoiding method of service type of the present invention, detects obstacle direction and does by ultrasonic sensor
Go out it is appropriate evade, realize robotic ultrasound wave sensor trigger when barrier is avoided；
8th, the robot autonomous motion barrier-avoiding method of service type of the present invention, by further improving collision detection priority,
During every time adjustment is evaded, interrupt current procedures if triggering crash sensor and perform S1, improve robot self-service
Security during motion.
Description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is step schematic diagram of the present invention；
Fig. 2 is the sub-step schematic diagram of S1 steps of the present invention；
Fig. 3 is the sub-step schematic diagram of S2 steps of the present invention；
Fig. 4 is the sub-step schematic diagram of S3 steps of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and its explanation are only used for explaining invention, are not intended as
Limitation of the invention.
Embodiment 1
As shown in figure 1, the robot autonomous motion barrier-avoiding method of service type of the present invention, the service humanoid robot includes collision
Sensor, infrared sensor and ultrasonic sensor；The robot autonomous motion barrier-avoiding method of the service type is comprised the following steps：
S1：Robot advances and detects crash sensor, then performs corresponding avoidance operation；S2：Robot advances and detects infrared
Sensor, then performs corresponding avoidance operation；S3：Robot advances and detects ultrasonic sensor, then performs corresponding
Avoidance is operated；During advance, step S1, S2 and S3 are performed successively for robot, and S3 continues executing with S1 after being finished,
And so circulate.
Infrared sensor is triggered when being set to have at 50cm barrier, and ultrasonic sensor is set to have obstacle at 500cm
Trigger during thing.
When the present embodiment is implemented, robot front 800cm has barrier, there is barrier at the 40cm of left side, and other positions do not have
There is barrier.Robot advances and detects crash sensor, and crash sensor is not triggered, and then performs corresponding avoidance operation,
Detection infrared sensor, it is found that there is barrier in left side, then performs corresponding avoidance operation, and left side barrier is evaded,
Evasion mode, away from barrier, then detects that ultrasonic sensor, infrared sensor and crash sensor are equal using adjustment angle
It is not triggered, then performs corresponding avoidance operation；When advancing to preceding object thing triggering ultrasonic sensor, perform corresponding
Avoidance is operated, evasion mode using a segment distance and then adjustment angle is retreated away from barrier, then detect ultrasonic sensor,
Infrared sensor is not triggered with crash sensor, performs corresponding avoidance operation, moves on.
Embodiment 2
As shown in figure 1, the present embodiment is on the basis of embodiment 1, when infrared sensor is set to have barrier at 40cm
Triggering, ultrasonic sensor is triggered when being set to have at 400cm barrier.In step S1, S2 and S3, the avoidance operation is：
If non-trigger sensor, performs next step, if trigger sensor, adjustment is evaded, and then performs next step.
When the present embodiment is implemented, robot front 300cm has barrier, there is barrier at the 30cm of right side, and other positions do not have
There is barrier, when robot advances, one, rear personnel have knocked robot, and crash sensor is triggered, and robot is to the collision
Evaded, evasion mode detects whether infrared sensor triggers using advancing, then, it is found that there are barrier, robot in right side
Right side barrier is evaded, evasion mode is using retrogressing and adjustment angle is away from barrier；Then ultrasonic sensor is detected
Triggering, it is found that there is barrier in front, is evaded, and evasion mode is using stopping and adjustment angle is away from barrier；Then detect
Ultrasonic sensor, infrared sensor and crash sensor are not triggered, and move on.
Embodiment 3
The present embodiment on the basis of embodiment 1, evade and evading including random selection side with ultrasonic wave adjustment by infrared adjustment
To rotation；When robot run into barrier need do random selection direction rotate when, only for the first time need random selection when do
Random selection, needs to be selected when randomly choosing primary selection result as this selection result, until the barrier later
Thing is hindered to leave robot sensor detection range.
The present embodiment implement when, robot by ultrasonic sensor find in front of 400cm have barrier, then by with
Machine choice direction rotation have selected to right rotation, and after rotation, robot finds that front 30cm has obstacle by infrared sensor
Thing, needs do random selection direction and rotate, and at the same time, the barrier for finding for the first time does not also leave robot sensor inspection
Survey scope, second needs to do random selection direction when rotating, and directly selects first time choice direction as a result, i.e. to dextrorotation
Turn, avoid barrier.
Embodiment 4
The present embodiment when robot detects both sides and front and barrier occurs, judges on the basis of embodiment 1
Into continuous barrier zone, one direction of Robot Selection rotates, until all is clear ahead, robot advances.
When the present embodiment is implemented, robot finds front 400cm, right side 400cm and left side by ultrasonic sensor
There is barrier in 300cm, and judgement has been enter into continuous barrier zone, and Robot Selection rotates to the right, until just to during outlet,
All is clear ahead, robot advances and leaves barrier zone.
Embodiment 5
On the basis of embodiment 1, in step S1, S2 and S3, the avoidance operation is the present embodiment：If not triggering biography
Sensor, then perform next step, if trigger sensor, adjustment is evaded, and then performs S1.
When the present embodiment is implemented, robot front 300cm has barrier, there is barrier at the 30cm of right side, and other positions do not have
There is barrier, when robot advances, one, rear personnel have knocked robot, and crash sensor is triggered, and robot is to the collision
Evaded, then evasion mode detects crash sensor and be not triggered using advancing, then detects whether infrared sensor touches
Send out, it is found that there is barrier on right side, robot is evaded to right side barrier, evasion mode is using retrogressing and adjustment angle is away from obstacle
Thing, then detects crash sensor and infrared sensor is not triggered；Ultrasonic sensor triggering is detected again, finds front
There is barrier, evaded, evasion mode is using stopping and adjustment angle is away from barrier；Then detect crash sensor,
Infrared sensor and ultrasonic sensor are not triggered, and move on.
Embodiment 6
As depicted in figs. 1 and 2, on the basis of embodiment 1, step S1 includes following sub-step to the present embodiment：
S11：When robot both sides crash sensor is triggered, robot is retreated, and is rotated and advanced to the direction contrary with collision course；
S12：When robot rear side crash sensor is triggered, robot stops and detects the distance of both sides barrier and robot, then
Perform S13；S13：If both sides barrier and robot are apart from different, robot to barrier side rotation farther out and before
Enter；If both sides barrier is preferably 60 ° with robot apart from the anglec of rotation of equal, robot advance, step S11 and S13.
When the present embodiment is implemented, left side has barrier to collide with robot, triggers crash sensor, crash sensor
Detection collision course, then retreats and to right rotation, then proceedes to advance and detect whether crash sensor triggers.There is barrier on right side
When hindering thing to collide, crash sensor is triggered, then crash sensor detection collision course retreats and to anticlockwise, then
Move on and detect whether crash sensor triggers.Rear side has barrier to collide with robot, and robot stops and examines
The distance of both sides barrier and robot is surveyed, if right side barrier is remote, robot completes robot after the action to right rotation
Advance and detect whether crash sensor triggers；If left side barrier is remote, robot completes machine after the action to anticlockwise
People advances and detects whether crash sensor triggers；If both sides obstacle distance is the same, robot advances.
Embodiment 7
As shown in figures 1 and 3, on the basis of embodiment 1, step S2 includes following sub-step to the present embodiment：
S21：When robot both sides infrared sensor is triggered, robot is retreated, and is rotated and advanced to the direction in opposite direction with obstacle；
S22：When robot front side infrared sensor is triggered, robot is retreated and detects the distance of both sides barrier and robot, then
Perform S23；S23：If both sides barrier and robot are apart from different, robot to barrier side rotation farther out and before
Enter；If both sides barrier and robot are apart from equal, one direction of random selection rotates and advances, step S21 and S23's
The anglec of rotation is preferably 60 °.
When the present embodiment is implemented, infrared sensor detection obstacle direction, when obstacle direction is right side, robot retreat and to
Anticlockwise, completes to advance after the action；When obstacle direction is left side, robot is retreated and to right rotation, before completing after the action
Enter；Obstacle direction be front when, robot retreats and detects the distance of both sides barrier and robot, compare both sides barrier and
The distance of robot, if right side barrier is remote, robot completes to advance after the action to right rotation；If left side barrier
Far, robot completes to advance after the action to anticlockwise；If both sides obstacle distance is the same, robot randomly chooses one
Direction rotates, and completes to advance after the action.
Embodiment 8
As shown in Figure 1 and Figure 4, on the basis of embodiment 1, step S3 includes following sub-step to the present embodiment：
S31：When robot both sides ultrasonic sensor is triggered, robot to the direction in opposite direction with obstacle rotates and advances；S32：
When robot front side ultrasonic sensor is triggered, robot stops and detects the distance of both sides barrier and robot, then holds
Row S33；S33：If both sides barrier and robot, apart from different, side of the robot to barrier farther out rotates and advances；
If both sides barrier, apart from equal, randomly choose a direction and rotates and advance with robot, the rotation of step S31 and S33
Gyration is preferably 60 °.
When the present embodiment is implemented, ultrasonic sensor detection obstacle direction, when obstacle direction is right side, robot is to left-handed
Turn, complete to advance after the action；When obstacle direction is left side, robot completes to advance after the action to right rotation；Obstacle direction
For front when, robot stops and detects the distance of both sides barrier and robot, compare both sides barrier and robot away from
From if right side barrier is remote, robot completes to advance after the action to right rotation；If left side barrier is remote, robot to
Anticlockwise, completes to advance after the action；If both sides obstacle distance is the same, robot randomly chooses a direction and rotates, complete
Advance into after the action.
Embodiment 9
On the basis of embodiment 1 and 5, in step S2 and S3, the avoidance operation is the present embodiment：If not triggering biography
Sensor, then perform next step；If trigger sensor, adjustment is evaded, during adjustment is evaded, if triggering collision sensing
Device then interrupts current procedures and performs S1.
When the present embodiment is implemented, robot front 300cm has barrier, there is barrier at the 30cm of right side, and other positions do not have
There is barrier, when robot advances, one, rear personnel have knocked robot, and crash sensor is triggered, and robot is to the collision
Evaded, then evasion mode detects crash sensor and be not triggered using advancing, then detects whether infrared sensor touches
Send out, it is found that there is barrier on right side, robot is evaded to right side barrier, evasion mode is using retrogressing and adjustment angle is away from obstacle
Thing, during adjustment is evaded, one, left side personnel have knocked robot, trigger crash sensor, then robot is interrupted currently
Avoiding action, and the collision is evaded, evasion mode adopts and retreats and turn right, then detects whether infrared sensor triggers,
It was found that there is barrier on right side, robot is evaded to right side barrier, and evasion mode is using retrogressing and adjustment angle is away from barrier,
Then detect crash sensor and infrared sensor is not triggered；Ultrasonic sensor triggering is detected again, it is found that front has
Barrier, is evaded, and evasion mode is using stopping and adjustment angle is away from barrier；Then crash sensor, red is detected
Outer sensor and ultrasonic sensor are not triggered, and move on.
Above-described specific embodiment, purpose, technical scheme and the beneficial effect to inventing has been carried out further in detail
Describe in detail bright, should be understood that the specific embodiment that the foregoing is only invention, the guarantor being not intended to limit the present invention
Shield scope, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in this
Within the protection domain of invention.
Claims (9)
1. the robot autonomous motion barrier-avoiding method of service type, it is characterised in that the service humanoid robot include crash sensor,
Infrared sensor and ultrasonic sensor；The robot autonomous motion barrier-avoiding method of the service type is comprised the following steps：
S1：Robot advances and detects crash sensor, then performs corresponding avoidance operation；
S2：Robot advances and detects infrared sensor, then performs corresponding avoidance operation；
S3：Robot advances and detects ultrasonic sensor, then performs corresponding avoidance operation；
During advance, step S1, S2 and S3 are performed successively for robot, and S3 continues executing with S1 after being finished, and such as
This circulation.
2. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that infrared adjustment is evaded
Evade with ultrasonic wave adjustment and being rotated including random selection direction；When robot run into barrier need do random selection direction rotate
When, only need for the first time to be randomly choosed during random selection, primary selection knot is selected when needing to randomly choose later
Really as this selection result, until the barrier leaves robot sensor detection range.
3. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that robot is detected
When both sides barrier occur with front, judgement has been enter into continuous barrier zone, and one direction of Robot Selection rotates, until front
Advance without barrier, robot side.
4. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that step S1, S2 and
In S3, the avoidance operation is：If non-trigger sensor, performs next step, if trigger sensor, adjustment is evaded,
Then next step is performed.
5. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that step S1, S2 and
In S3, the avoidance operation is：If non-trigger sensor, performs next step, if trigger sensor, adjustment is evaded,
Then S1 is performed.
6. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that the step S1 bag
Include following sub-step：
S11：When robot both sides crash sensor is triggered, robot is retreated, and is rotated simultaneously to the direction contrary with collision course
Advance；
S12：When robot rear side crash sensor is triggered, robot stops and detects the distance of both sides barrier and robot,
Then S13 is performed；
S13：If both sides barrier and robot, apart from different, side of the robot to barrier farther out rotates and advances；Such as
Fruit both sides barrier is with robot apart from equal, robot advance.
7. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that the step S2 bag
Include following sub-step：
S21：When robot both sides infrared sensor is triggered, robot is retreated, and is rotated simultaneously to the direction in opposite direction with obstacle
Advance；
S22：When robot front side infrared sensor is triggered, robot retreats and detects the distance of both sides barrier and robot,
Then S23 is performed；
S23：If both sides barrier and robot, apart from different, side of the robot to barrier farther out rotates and advances；Such as
Fruit both sides barrier apart from equal, then randomly choose a direction and rotates and advance with robot.
8. the robot autonomous motion barrier-avoiding method of service type according to claim 1, it is characterised in that the step S3 bag
Include following sub-step：
S31：When robot both sides ultrasonic sensor is triggered, robot to the direction in opposite direction with obstacle rotates and advances；
S32：When robot front side ultrasonic sensor is triggered, robot stop and detect both sides barrier and robot away from
From then performing S33；
S33：If both sides barrier and robot, apart from different, side of the robot to barrier farther out rotates and advances；Such as
Fruit both sides barrier apart from equal, then randomly choose a direction and rotates and advance with robot.
9. the robot autonomous motion barrier-avoiding method of service type according to claim 1 to 8 any one claim, it is special
Levy and be, in step S2 and S3, the avoidance operation is：If non-trigger sensor, performs next step；If triggering sensing
Device, then adjustment is evaded, and during adjustment is evaded, interrupts current procedures if triggering crash sensor and performs S1.
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