CN106959689A - A kind of robot tracking device and method for intersection - Google Patents
A kind of robot tracking device and method for intersection Download PDFInfo
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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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
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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
- 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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Abstract
The invention discloses a kind of robot tracking device and method for intersection.Tracking device includes vehicle body mobile device and infrared sensor devices, and wherein vehicle body mobile device includes four omni-directional wheels all around and drives the direct current generator of omni-directional wheel rotation；Infrared sensor devices include No. four infrared sensors of front-wheel and No. four infrared sensors of side wheel；The sample frequency of infrared sensor is determined according to the action speed of car, when intersection track regions are introduced into and when entering intersection track regions, controls vehicle body tracking mark to walk by infrared sensor sampled result before the tunnel of front-wheel four；Tracking distance is measured by side infrared sensor；Tracking pivot turn is realized by infrared sensor before four tunnels.The present invention determines the motion state of each omni-directional wheel using front-wheel is detected with each four tunnel of side wheel detection signal, realizes that robot passes through intersection, is avoided that mistake when robot runs into intersection and afterwards is walked and turned.
Description
Technical field
The present invention relates to intelligent robot control field, and in particular to a kind of robot tracking for intersection is filled
Put and method.
Background technology
With developing rapidly for current robot technology, Path Recognition and the important research that trajectory planning is mobile robot
Problem.Robot can the prerequisite several conditions of autonomous be to have environmental model or map, can perceive and analyze ring
Border, robot can determine oneself position in the environment, plans and performs movement.Can accurately it be moved along certain track
It is the basis of mobile robot.
The mobile robot that current many is capable of autonomous tracking has relied on infrared sensor progress tracking, but according to
Certain correction algorithm carries out track correction and realizes tracking, because in the left and right of direct of travel when intersection is run into
Both sides are all roads, it is possible that robot at the parting of the ways when mistake turn phenomenon.It is this in order to evade
The generation of phenomenon, finds a kind of suitable tracking method particularly important.
The content of the invention
The problem of existing for existing various tracking methods and defect, the invention provides a kind of machine for intersection
Device people tracking device and method, use multichannel infrared sensor and tracking method reasonable in design allow robot according to both
Fixed track walking.
The technical scheme is that：
First, a kind of robot tracking device for intersection：
Including vehicle body mobile device and infrared sensor devices；
Described vehicle body mobile device includes being arranged in body bottom four omni-directional wheels all around and drive
The direct current generator of each omni-directional wheel rotation；
Described infrared sensor devices include being arranged in before four tunnels of body bottom at front-wheel infrared sensor ABCD with
It is arranged in four trackside infrared sensor EFGH of body bottom at revolver or right wheel.
Infrared sensor probe arranges that described front-wheel No. four infrared sensor and right wheel No. four infrared sensor is equal down
The different background area of two kinds of colors can be recognized, and divides into track regions and non-track regions.
The size of the vehicle body mobile device of the present invention is much larger than the Breadth Maximum of track regions.In specific implementation, vehicle body is moved
Dynamic device is more than four times of the Breadth Maximum of track regions.
2nd, a kind of robot tracking method for intersection：
Using tracking device described in claim 1, in vehicle body mobile device mainly by track regions and non-track regions
Detected in real time by infrared sensor devices in the zone of action moving process of composition and carry out tracking in the following ways：
1. the sample frequency of infrared sensor is determined according to the action speed of car, and passes through infrared sensor and four before four tunnels
The sampling of trackside infrared sensor obtains sampled data；
2. when intersection track regions are introduced into and when entering intersection track regions, front-wheel is passed through
Infrared sensor sampled result control vehicle body tracking mark walking before four tunnels；Tracking distance is measured by side infrared sensor；Pass through
Infrared sensor realizes that tracking is turned before four tunnels.
1. the step be：Obtain each per infrared sensor all the way with sample frequency interval sampling, under each sampling instant
What road infrared sensor was detected corresponds to the sampled result of track regions or non-track regions, and forms sampled data, adopts
Sample result is used for attitude and the direction for determining vehicle body movement.
2. the step when intersection track regions are introduced into, passes through infrared biography before four tunnels in the following ways
Sensor sampled result is judged, and then controls the walking of vehicle body tracking mark：
If infrared sensor A, B sampled result of left side two-way are track regions in infrared sensor before four tunnels, and
Infrared sensor C, D sampled result of right side two-way are non-track regions, and the number of times that the combination of the four tunnels sampled result occurs tires out
Count offset threshold, then it is assumed that vehicle body is offset to the right, control vehicle body continues away to anticlockwise is follow-up；
If infrared sensor A, B sampled result of left side two-way are non-track regions in infrared sensor before four tunnels, and
And infrared sensor C, D sampled result of right side two-way are track regions, the number of times that the combination of the four tunnels sampled result occurs tires out
Count offset threshold, then it is assumed that vehicle body is offset to the left, control vehicle body continues away to right rotation is follow-up；
If the road front sensors of continuous sampling time Nei tetra- are from left side infrared sensor A to right side infrared sensor D's
Sampled result detects non-track regions successively in chronological order, then it is assumed that vehicle body is offset to non-track region to the left along tracking track
Domain, control vehicle body continues away to right rotation is follow-up；
If the road front sensors of continuous sampling time Nei tetra- are from right side infrared sensor D to left side infrared sensor A's
Sampled result detects non-track regions successively in chronological order, then it is assumed that vehicle body is offset to the right non-track region along tracking track
Domain, control vehicle body continues away to anticlockwise is follow-up.
If four road front sensor sampled results are track regions, then it is assumed that vehicle body is located on track regions, vehicle body side
To not adjusting.
If all non-track regions of display are, it is necessary to sampled data before contrasting or combine side infrared sensor
Sampled result is judged, obtains current vehicle body adjustment direction.
It is after the track for controlling vehicle body to rotate by wheel is corrected, the sampled data of accumulative all sampled results is clear
Remove, controlled with carrying out correction next time.
The present invention can realize that intersection is kept straight on, without mistakenly turning.
The step 2. enter intersection track regions when, in the following ways to infrared sensor before four tunnels
Sampled result is handled so that vehicle body remains with the corresponding sampled data of deflection behind the track regions of intersection：In walking
During, at least remembered having in the sampled result of infrared sensor before four tunnels all the way for the sampled data of non-track regions
Record is accumulative, by with being at least track all the way for the four tunnel sampled results that occur between two sampled datas of non-track regions
The corresponding sampled data in region is removed.There is deflection before the track regions of intersection thus, it is possible to avoid vehicle body, by intersecting
The situation of deflection will not be corrected behind the track regions of crossing, solving vehicle body may be completely into by intersection track regions
Non- track regions (identification blind area) and can not adjustment direction the problem of.
The four tunnel sampled results that any sampling instant can occur in specific implementation are the corresponding sampling in track regions
Data dump.
2. middle metering tracking distance is specially the step：Tracking is measured by the sampled data of side infrared sensor to walk
During the intersection number that passes through, and record tracking distance：The sampling knot of No. four infrared sensors in the infrared sensor of side
It is track regions, all track regions in four tunnels that fruit sequentially passes through all non-track regions in four tunnels, front side two-way in chronological order
When domain, rear side two-way are non-track regions, the process of all non-track regions in four tunnels, then it is assumed that vehicle body is by a crossroad
Mouthful.
The step 2. in realize that tracking pivot turn is specially：Vehicle body stops, since current location is around vehicle body center
Rotation, the sampled result of current infrared sensor Zhong No. tetra- infrared sensors sequentially passes through all rails in four tunnels in chronological order
Mark region, side two-way are non-track regions, all non-track regions in four tunnels, the process that opposite side two-way is track regions
Afterwards, at all track regions in four tunnels, then stop vehicle body rotation, complete turn between two adjacent intersections in intersection
It is curved.
The beneficial effects of the invention are as follows：
Present invention optimizes the robot tracking mode specifically designed for intersection, vehicle body mobile device is solved in movement
During the improper problem of amendment that deflects of route and do not corrected and the problem of cause entry into blind area by crossroad deflection.
Than other method, specifically the special-effect of the inventive method has：One is when by intersection
The problem of can avoiding not correcting direction in time；Two be that can measure the intersection number passed through during tracking, so as to
To record the distance of tracking；Three be that robot original place tracking turning can be realized in intersection, can be from current track
Turn to another specified track.
Method provided by the present invention can relatively accurately realize the tracking motion of mobile robot, can be specifically designed for intersection
Realize tracking walking or tracking pivot turn to functions such as specified locations in crossing.
Brief description of the drawings
Fig. 1 is the structural representation of apparatus of the present invention.
Fig. 2 is the place figure of specific implementation routine.
Fig. 3 is the track adjustment figure after the vehicle body skew during tracking.
Fig. 4 is schematic diagram when front-wheel infrared sensor detects all non-track regions.
Fig. 5 records the intersection region passed through during straight trip by right wheel infrared sensor.
Fig. 6 is the schematic diagram in intersection original place tracking turning process.
Fig. 7 be embodiment by during the region of intersection not in time correct yawing moment schematic diagram.
Embodiment
In order to more specifically describe the tracking method of the present invention, below in conjunction with the accompanying drawings and embodiment is to the present invention
Technical scheme be described in detail.
As shown in figure 1, the tracking device that the present invention is embodied is No. four infrared sensors and right wheel by front-wheel
No. four infrared sensors and four motors composition device.Including vehicle body mobile device and infrared sensor devices；Vehicle body
Mobile device includes being arranged in body bottom four omni-directional wheels 1,2,3,4 all around and drives each omni-directional wheel to revolve
The direct current generator turned；Infrared sensor devices include being arranged in infrared sensor A, B, C, D before four tunnels of body bottom at front-wheel
Four trackside infrared sensor E, F, G, H with being arranged in body bottom at revolver or right wheel.
As shown in Fig. 2 the test site of specific implementation is made up of at one the non-track regions of black and white track regions
Platform.In specific implementation, vehicle body mobile device is ten times or so of the Breadth Maximum of track regions.
Tracking process, which is embodied, is：
1) sample frequency of infrared sensor is determined according to the action speed of car；And multiple repairing weld is carried out at binaryzation
Reason, that is, certain number of times of sampling is judged as the background of certain color during more than a certain threshold value.
Sampled data is obtained by the sampling of the trackside infrared sensor 6 of infrared sensor before four tunnels 5 and four, per biography infrared all the way
Sensor is with sample frequency interval sampling, and obtain that each road infrared sensor detects under each sampling instant corresponds to track regions
Or the sampled result of non-track regions, and sampled data is formed, sampled result is used for attitude and the direction for determining vehicle body movement.
2) without intersection
As shown in figure 3, when intersection track regions are introduced into, passing through infrared biography before four tunnels in the following ways
The sampled result of sensor 5 is judged, and then controls the walking of vehicle body tracking mark；
If infrared sensor A, B sampled result of left side two-way are track regions in infrared sensor 5 before four tunnels, and
Infrared sensor C, D sampled result of right side two-way are non-track regions, and the number of times that the combination of the four tunnels sampled result occurs tires out
Count offset threshold, then it is assumed that vehicle body is offset to the right, control vehicle body continues away to anticlockwise is follow-up., whereas if before four tunnels
Infrared sensor A, B sampled result of left side two-way are non-track regions, and the infrared biography of right side two-way in infrared sensor 5
Sensor C, D sampled result are track regions, and the number of times that the combination of the four tunnels sampled result occurs is accumulated to offset threshold, then it is assumed that
Vehicle body is offset to the left, and control vehicle body continues away to right rotation is follow-up.Realize that track is corrected when every secondary control wheel (to turn and obtain
Obtain pivot turn action) after, accumulative sampled data is reset, so as to accumulative analysis and judgement of rectifying a deviation next time.
If as shown in figure 4, the road front sensors of continuous sampling time Nei tetra- are infrared to right side from left side infrared sensor A
Sensor D sampled result detects non-track regions successively in chronological order, then it is assumed that vehicle body is offset to the left along tracking track
To non-track regions, control vehicle body continues away to right rotation is follow-up.That is the ABCD in Fig. 4 be moved to the left after completely into non-rail
Mark region.
, whereas if the road front sensors of continuous sampling time Nei tetra- are from right side infrared sensor D to left side infrared sensing
Device A sampled result detects non-track regions successively in chronological order, then it is assumed that vehicle body is offset to the right non-along tracking track
Track regions, control vehicle body continues away to anticlockwise is follow-up.
If the sampled result of four road front sensor 5 is track regions, then it is assumed that vehicle body is located on track regions, vehicle body side
To not adjusting.
If all non-track regions of display are, it is necessary to sampled data before contrasting or combine side infrared sensor
Sampled result is judged, obtains current vehicle body adjustment direction.The present invention through the above way can be in vehicle body completely into non-
Adjust and turn to before track regions, and avoid walking wrong completely into non-track regions identification blind area and can not adjusting for vehicle body
Perfect square to situation.
The data of sampling judge that the direction of vehicle body movement will be deviated to the right track, then need the two omni-directional wheel left sides in regulation left and right
Turn；The data of sampling judge that the direction of vehicle body movement will be deviated to the left track, then need regulation left and right two omni-directional wheel to turn right.
3) by intersection
When intersection track regions are entered, in the following ways to the sampled result of infrared sensor 5 before four tunnels
Handled so that vehicle body remains with the corresponding sampled data of deflection behind the track regions of intersection：
Under normal circumstances, vehicle body is walked along track, and infrared sensor ABCD sampled result should be track region before four tunnels
Domain, the sampled result for walking ABCD when route of keeping straight on passes through by intersection track regions also should be track regions.However, real
Situation it is possible that：If having occurred and that infrared sensor ABCD before deflection, four tunnels when vehicle body walking is to close to intersection
Sampled result at least all the way be non-track regions, be typically occur side two-way sampled result be non-track regions, separately
The sampled result of outer side two-way is non-track regions, but the combination appearance of above-mentioned sampled result before intersection is reached
Number of times is accumulative not to arrive offset threshold, and vehicle body will not turn.When vehicle body walks on by intersection, four tunnel sampled results are equal
For track regions, this process can be added to the judgement that vehicle body deviation is have impact in cumulative data.
Such situation for example occurs, as shown in fig. 7, when intersection is not arrived vehicle body have occurred and that deflection but
It is that degree of deflection does not also reach threshold number so not correcting, but No. four sensors are equal when intersection is run into
Detect track regions, now not but still without correct and also vehicle body may be more and more inclined.It may finally occur and pass through
No. four sensors are absorbed in the situation of non-track regions and None- identified after intersection.
Therefore in the process of walking, by with least all the way for non-track regions two sampled datas between occur four
Road sampled result is the corresponding sampled data in track regions and removed.Then the cumulative data before still retains, after passing through
Continue accumulative, so once which side skew is absorbed in blind area can also remember toward so as to amendment in time.Thus, it is possible to avoid vehicle body from existing
There is deflection before the track regions of intersection, the situation of deflection will not be corrected behind the track regions of intersection, car is solved
Body by intersection track regions may completely into non-track regions recognize blind area and can not adjustment direction the problem of.
The four tunnel sampled results that any sampling instant can occur in specific implementation are the corresponding sampling in track regions
Data dump.
So, when front-wheel enters at intersection, No. four sensors of front-wheel all detect track regions, four
The cumulative number of road sensor can all be reset, so when judged result be vehicle body still on currently straight trip track, vehicle body can be after
Continuation of insurance holds forward travel state without being turned in intersection.
As shown in figure 5, measuring the intersection passed through in tracking walking process by the sampled data of side infrared sensor 6
Number, and record tracking distance：The sampled result of No. four infrared sensors is sequentially passed through in chronological order in side infrared sensor 6
The all non-track regions in four tunnels, front side two-way are that track regions, all track regions in four tunnels, rear side two-way are non-track region
When domain, the process of all non-track regions in four tunnels, then it is assumed that vehicle body once leads to by an intersection so as to record
The number of times of intersection is crossed, the approximate distance of tracking is measured.
As shown in fig. 6, when needing to turn when running into intersection, robot can be turned with original place tracking, tool
Body step is：Vehicle body stops, and is rotated since current location is around vehicle body center, the current infrared biographies in tunnel of 5 Zhong of infrared sensor tetra-
It is non-track regions, four tunnels that the sampled result of sensor sequentially passes through all track regions in four tunnels, side two-way in chronological order
After all non-track regions, opposite side two-way is the processes of track regions, at all track regions in four tunnels, then stop car
Body rotates, and completes the turning between two adjacent intersections in intersection.So robot can realize original place tracking turning.
Above-mentioned implementation can preferably realize the tracking process for intersection robot, accurately realize
Robot turns in intersection original place tracking, can also measure the intersection number passed through among tracking process.
Claims (9)
1. a kind of robot tracking device for intersection, it is characterised in that：Including vehicle body mobile device and infrared sensing
Device device；Described vehicle body mobile device includes being arranged in four omni-directional wheels (1,2,3,4) of body bottom all around
And the direct current generator for driving each omni-directional wheel to rotate；Described infrared sensor devices include being arranged in body bottom at front-wheel
Four tunnels before infrared sensor (5) and be arranged in four trackside infrared sensors (6) of body bottom at revolver or right wheel.
2. a kind of tracking device of mobile robot according to claim 1, it is characterised in that：The described tunnel of front-wheel four is red
Outer sensor and right wheel No. four infrared sensor background area that can to recognize two kinds of colors different, and divide into track regions
With non-track regions.
3. a kind of tracking device of mobile robot according to claim 1, it is characterised in that：The vehicle body movement of the present invention
The size of device is much larger than the Breadth Maximum of track regions.
4. a kind of robot tracking method for intersection, it is characterised in that：Using tracking device described in claim 1,
Vehicle body mobile device in the zone of action moving process being mainly made up of track regions and non-track regions by infrared biography
Detection carries out tracking to sensor arrangement in the following ways in real time：
1. the sample frequency of infrared sensor is determined according to the action speed of car, and passes through infrared sensor (5) and four before four tunnels
Trackside infrared sensor (6) sampling obtains sampled data；
2. when intersection track regions are introduced into and when entering intersection track regions, the tunnel of front-wheel four is passed through
Preceding infrared sensor (5) sampled result control vehicle body tracking mark walking；Tracking distance is measured by side infrared sensor (6)；It is logical
Cross infrared sensor (5) before four tunnels and realize tracking pivot turn.
5. a kind of tracking method of mobile robot according to claim 4, it is characterised in that：1. the step be：Often
Infrared sensor obtains the correspondence that each road infrared sensor is detected with sample frequency interval sampling all the way under each sampling instant
For the sampled result of track regions or non-track regions, and form sampled data.
6. a kind of tracking method of mobile robot according to claim 4, it is characterised in that：2. the step is not being entered
When entering intersection track regions, judged in the following ways by infrared sensor (5) sampled result before four tunnels,
And then control the walking of vehicle body tracking mark：
If infrared sensor A, B sampled result of left side two-way are track regions in infrared sensor (5) before four tunnels, and right
Infrared sensor C, D sampled result of side two-way are non-track regions, and the number of times that the combination of the four tunnels sampled result occurs adds up
To offset threshold, then it is assumed that vehicle body is offset to the right, control vehicle body continues away to anticlockwise is follow-up；
If infrared sensor A, B sampled result of left side two-way are non-track regions in infrared sensor (5) before four tunnels, and
Infrared sensor C, D sampled result of right side two-way are track regions, and the number of times that the combination of the four tunnels sampled result occurs adds up
To offset threshold, then it is assumed that vehicle body is offset to the left, control vehicle body continues away to right rotation is follow-up；
If sampling of the road front sensors of continuous sampling time Nei tetra- from left side infrared sensor A to right side infrared sensor D
As a result non-track regions are detected successively in chronological order, then it is assumed that vehicle body is offset to non-track regions to the left along tracking track,
Control vehicle body continues away to right rotation is follow-up；
If sampling of the road front sensors of continuous sampling time Nei tetra- from right side infrared sensor D to left side infrared sensor A
As a result non-track regions are detected successively in chronological order, then it is assumed that vehicle body is offset to the right non-track regions along tracking track,
Control vehicle body continues away to anticlockwise is follow-up.
7. a kind of tracking method of mobile robot according to claim 4, it is characterised in that：2. the step is entering
When the track regions of intersection, infrared sensor (5) sampled result before four tunnels is handled in the following ways：It is expert at
During walking, will have in the sampled result of infrared sensor before four tunnels and at least carried out all the way for the sampled data of non-track regions
Record is accumulative, by with being at least rail all the way for the four tunnel sampled results that occur between two sampled datas of non-track regions
The corresponding sampled data in mark region is removed.
8. a kind of tracking method of mobile robot according to claim 4, it is characterised in that：The step 2. middle metering
Tracking distance is specially：The intersection passed through in tracking walking process is measured by the sampled data of side infrared sensor (6)
Number, and record tracking distance：The sampled result of No. four infrared sensors is passed through successively in chronological order in side infrared sensor (6)
It is that track regions, all track regions in four tunnels, rear side two-way are non-track to cross all non-track regions in four tunnels, front side two-way
When region, the process of all non-track regions in four tunnels, then it is assumed that vehicle body is by an intersection.
9. a kind of tracking method of mobile robot according to claim 4, it is characterised in that：The step is 2. middle to be realized
Tracking pivot turn is specially：Vehicle body stops, and is rotated since current location is around vehicle body center, in current infrared sensor (5)
No. four infrared sensors sampled result sequentially pass through in chronological order all track regions in four tunnels, side two-way be non-rail
After mark region, all non-track regions in four tunnels, opposite side two-way is the processes of track regions, in all track regions in four tunnels
When, then stop vehicle body rotation, complete the turning between two adjacent intersections in intersection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157517.5A CN106959689A (en) | 2017-03-16 | 2017-03-16 | A kind of robot tracking device and method for intersection |
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