CN106980316A - A kind of ultrasonic array obstacle avoidance system applied to mobile platform - Google Patents
A kind of ultrasonic array obstacle avoidance system applied to mobile platform 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
- G05D1/02—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
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of ultrasonic array obstacle avoidance system applied to mobile platform, including STM32 processors, power module, temperature compensation module, motor drive module, speed measuring module, communication module and ultrasonic distance measuring module, wherein ultrasonic distance measuring module is made up of six ultrasonic sensors, and each sensor is constituted by ultrasonic wave transmitting circuit and ultrasonic wave receiving circuit.Calculated by ultrasonic array and obstacle avoidance algorithm is derived, few ultrasonic sensor rationally covers detection zone in the mobile platform direction of motion as far as possible for loading first, and the automatic obstacle avoiding for realizing larger volume mobile platform with less resource is controlled；Secondly it can reduce or even avoid interference of the check frequency to success avoidance, improve mobile platform security and intelligent；Last ultrasonic array of the present invention has preferable avoidance effect, and with preferable expansion and practical value.
Description
Technical field
Automatic control technology field of the present invention, is related to a kind of mobile platform automatic obstacle-avoiding system, and especially big-and-middle-sized movement is put down
Platform automatic obstacle-avoiding system.
Background technology
With the development and the progress of science in epoch, the mobile platform intelligent level with Man Machine Interface is constantly carried
Height, and automatic obstacle avoiding function is then one of intelligent important embodiment of mobile platform adaptation unknown complex environment, it is such as how simple
Efficient algorithm realizes that mobile platform automatic obstacle avoiding has important application prospect.
Ultrasonic wave has preferable directionality, stronger adaptability and strong penetration capacity the features such as, therefore often added
Load realizes barrier avoiding function on a mobile platform.The field angle applied to the ultrasonic sensor of mobile platform is generally small angle at present
Degree, usually more than 30 °, and the conventional ultrasonic sensor field angle of in the market is generally 15 ° or so, this causes conventional ultrasound
The check frequency of ripple array is often larger, reduces the security of mobile platform avoidance and intelligent；Or mobile platform volume is larger
Multiple ultrasonic sensors must not be not loaded with and realize barrier avoiding function, increase control complexity and more multiple resource need to be put into.How plus
Carry as far as possible less resource and reduce as far as possible check frequency realize big-and-middle-sized mobile platform safety successfully automatic obstacle avoiding have it is important
Application value.
The content of the invention
It is an object of the invention to provide a kind of ultrasonic array obstacle avoidance system applied to mobile platform, loading is as far as possible few
Ultrasonic sensor and reduce check frequency as far as possible, improve the security, intelligent and can of larger mobile platform automatic obstacle avoiding
By property.The present invention is particularly adapted to the ultrasonic array of mobile platform width (X) 30cm≤X≤50cm big-and-middle-sized mobile platform
Obstacle avoidance system is advisable, and can equally be well applied to mobile platform Kuan Du≤30cm small-sized movable platform.
The present invention is to be achieved through the following technical solutions.
A kind of ultrasonic array obstacle avoidance system applied to big-and-middle-sized mobile platform of the present invention, hardware components include
STM32 processors, power module, temperature compensation module, motor drive module, speed measuring module, communication module and ultrasound
Away from module, wherein ultrasonic distance measuring module is made up of six ultrasonic sensors, and each sensor is by ultrasonic wave transmitting circuit
And ultrasonic wave receiving circuit is constituted.
Ultrasonic sensor set location of the present invention is as shown in Fig. 2 ultrasonic sensor one and ultrasonic wave first
Sensor two is respectively intended to detection mobile platform left front and left area, and ultrasonic sensor one is placed in ultrasonic sensor
Above two, the leftmost side of mobile platform rear end is placed in jointly；Ultrasonic sensor three and ultrasonic sensor four are used for detecting
Region immediately ahead of mobile platform, is placed at mobile platform rear end (1/4) X and (3/4) X respectively；Ultrasonic sensor five and super
Sonic sensor six is respectively intended to detection mobile platform left and left front region, and ultrasonic sensor six is placed in ultrasonic wave biography
Above sensor five, the rightmost side of mobile platform rear end is placed in jointly.Then on the basis of level, the inverse time of ultrasonic sensor one
Pin rotates 3 α/2, and rotate counterclockwise α/2 of ultrasonic sensor two, ultrasonic sensor three turns clockwise β, ultrasonic sensor
Four rotate counterclockwise δ, ultrasonic sensor five turns clockwise α/2, and ultrasonic sensor six turns clockwise 3 α/2.
Wherein X is mobile platform width；Angle [alpha] is the field angle (10 ° of 30 ° of ＜ α ＜) of ultrasonic sensor；Angle beta=
∠f-(90°-α/2)；Angle δ=∠ f- (90 ° of-α/2)；With reference to the accompanying drawings 3, angle f is calculated as follows：
Make EA=FD
That is AC*tan ∠ e=CD*tan ∠ f
AC*tan ∠ (180 ° of-α-∠ f)=CD*tan ∠ f
Wherein ∠ e are the interior angle corresponding to side EA in triangle EAC, and ∠ f are interior corresponding to side FD in triangle FDC
Angle, tetra- points of A, B, C, D are respectively ultrasonic sensor one, ultrasonic sensor three, ultrasonic sensor four, supersonic sensing
The midpoint of the putting position of device six, E points are that the left margin of the field angle of ultrasonic sensor three and mobile platform left side are preceding to extension
The intersection point of line, the right edge and mobile platform on the right side of preceding intersection point to extended line, angle of the F points for the field angle of ultrasonic sensor four
Degree f sizes will meet EA=FD.Therefore AC in formula, CD, α are, it is known that ∠ f can be solved by conditional equality.
Understood with reference to accompanying drawing 3, such a ultrasonic array disposing way advantage：
(1) region immediately ahead of mobile platform is completely covered in ultrasonic sensor three and the detection of ultrasonic sensor four, ensures
Its safely and effectively straight trip motion.
(2) mobile platform or so side region is completely covered in ultrasonic sensor two and the detection of ultrasonic sensor five, ensures
Its safe and effective turning motion.
(3) ultrasonic sensor one and the detection mobile platform left front of ultrasonic sensor six and right front region, anticipation
Its turning obstruction situation, the influence for the avoidance that avoids vacillating now to the left, now to the right completely and largely reduce secondary avoidance can
Energy.
(4) ultrasonic sensor is placed in mobile platform rear end and helps to reduce because of the check frequency that field angle is produced.
A kind of ultrasonic array obstacle avoidance system applied to mobile platform of the present invention, software section uses dichotomy
The obstacle avoidance algorithm being combined with fuzzy control.The barrier measured first according to ultrasonic sensor three and ultrasonic sensor four
Hinder the distance of thing, judge that mobile platform front obstacle is to the left or to the right using dichotomy, be further continued for according to other ultrasounds
The distance for the barrier that wave sensor is measured, the angle that mobile platform is rotated is determined with the method for fuzzy control.Such as the institute of accompanying drawing 3
Show, wherein dichotomy is i.e. by comparing obstacle object distance in ultrasonic sensor three and ultrasonic sensor four to 3.1,3.2 regions
From size judge that mobile platform front obstacle is to the left or to the right；Fuzzy control i.e. ultrasonic sensor one,
The distance that ultrasonic sensor two, ultrasonic sensor five, ultrasonic sensor six detect barrier does following Fuzzy Processing：
Ultrasonic sensor one and the detecting distance of ultrasonic sensor six are divided into (near, far, far), ultrasonic sensor two, ultrasonic wave
The detecting distance of sensor five is divided into (near, remote), if J is detecting distance, then closely refers to 0 ＜ J ＜ N, far refers to N ＜ J ＜ L, far
It is berm width to refer to J ＞ L, wherein N=X/sin (2 α) centimetre, L=X/sin (α) centimetre, X, and α is ultrasonic sensor wave beam
Angle, depending on actual range division also should be according to actual conditions.Specific software algorithm is as shown in Figure 4：
It is that ultrasonic sensor j (j is one, two, three, four, five, six) is detected wherein apart from i (i=1,2,3,4,5,6)
The distance of barrier.
First, detecting distance 3 and distance 4, if both of which is more than L centimetres, the barrier is mobile not in limit of consideration
Platform continues to keep moving ahead.Otherwise, mobile platform needs to carry out avoidance processing to the barrier, and specific barrier-avoiding method is as follows：
Enter avoidance state 1 if distance 3 is more than distance 4, otherwise into avoidance state 2.
Avoidance state 1：
Situation one：Detecting distance 1 and distance 2, if distance 1 and distance 2 are all higher than N centimetres, further detecting distance 1, if
Distance 1 is more than L centimetres of then 2 α of mobile platform left-hand rotation；Otherwise detecting distance 5 and distance 6, if distance 5 is more than N centimetres and distance 6 is big
In L centimetres then mobile platform turn right 2 α, otherwise mobile platform turn left and simultaneously detecting distance 1 and distance 2, if distance 1 and distance 2
Be all higher than N centimetres then mobile platform turn left to 4 α, otherwise mobile platform stop motion, return to avoidance state detecting distance 3 again
With distance 4.
Situation two：Detecting distance 1 and distance 2, if distance 1 or distance 2 are less than N centimetres, detecting distance 5 and distance 6, if
Distance 5 or distance 6 are less than N centimetres of then mobile platform stop motion；Otherwise further detecting distance 6, if distance 6 is more than L centimetres
Then mobile platform is turned right 2 α, and otherwise mobile platform is turned right and detecting distance 5 and distance 6 simultaneously, if distance 5 and distance 6 is all higher than N
Centimetre then mobile platform is turned right to 4 α, otherwise mobile platform stop motion.Return to avoidance state detecting distance 3 and distance 4 again.
Avoidance state 2：
Situation one：Detecting distance 5 and distance 6, if distance 5 and distance 6 are all higher than N centimetres, further detecting distance 6, if
Distance 6 is more than L centimetres of then 2 α of mobile platform right-hand rotation；Otherwise detecting distance 1 and distance 2, if distance 2 is more than N centimetres and distance 1 is big
In L centimetres then mobile platform turn left 2 α, otherwise mobile platform turn right and simultaneously detecting distance 5 and distance 6, if distance 5 and distance 6
Be all higher than N centimetres then mobile platform turn right to 4 α, otherwise mobile platform stop motion, return to avoidance state detecting distance 3 again
With distance 4.
Situation two：Detecting distance 5 and distance 6, if distance 5 or distance 6 are less than N centimetres, detecting distance 1 and distance 2, if
Distance 1 or distance 2 are less than N centimetres of then mobile platform stop motion；Otherwise further detecting distance 1, if distance 1 is more than L centimetres
Then mobile platform turns left 2 α, and otherwise mobile platform turns left and detecting distance 1 and distance 2 simultaneously, if distance 1 and distance 2 is all higher than N
Centimetre then mobile platform turns left to 4 α, otherwise mobile platform stop motion.Return to avoidance state detecting distance 3 and distance 4 again.
In above barrier-avoiding method can be according to mobile robot car body size apart from N centimetres and during L centimetres of practical application
And the speed of service is suitably adjusted.
Understood with reference to accompanying drawing 3 and accompanying drawing 4, the advantage of such a avoidance mode：
(1) can all standing detect barrier situation in front of mobile platform operation, and judge that particular location is left
Or it is to the right, it is easy to more intelligent prioritizing selection to the left or turns right carry out avoidance.If the 3.1st, having barrier in 3.2nd area, this
Proprietary algorithms judge movement by comparing ultrasonic sensor three and ultrasonic sensor four to the size of obstacle distance
Platform front obstacle particular location is to the left or to the right.Traditional avoidance mode or can not realize all standing detect, or
It can only tentatively judge barrier in front, it is impossible to further determine that barrier particular location.
(2) it is to the left or prioritizing selection opposite direction to the right carries out avoidance according to mobile platform front obstacle, improve avoidance
It is intelligent.If there is barrier in 3.2nd area, mobile platform preferentially turns left avoidance；It is mobile if there is barrier in 3.2nd area and 3.8th area
Platform selecting right-hand rotation avoidance；If 3.2nd area, there is barrier in 3.8th area and 3.12nd area (or 3.11st area), and mobile platform selection is turned left big
Angle avoidance.Traditional avoidance mode can only realize left-hand rotation or right-hand rotation avoidance, it is impossible to according to mobile platform periphery barrier situation come
Select optimal avoidance path.
(3) preferably turning avoidance angle is determined, the turning avoidance of mobile platform is more precisely realized.If 3.2nd area
There is a barrier, the preferential left-hand rotation low-angle avoidance of mobile platform；If there is barrier in area of 3.2nd area 3.8 and 3.12nd area (or 3.11st area),
Mobile platform selects left-hand rotation wide-angle avoidance.Traditional avoidance mode realizes rough turning avoidance or only sets fixed turn
Bending angle, it is impossible to preferable avoidance angle is selected according to barrier situation.
(4) covering detects mobile platform left and right sides barrier situation comprehensively simultaneously during turning, it is entirely avoided move
The generation of collision situation during moving platform is turned, improves safety in operation.Ultrasonic wave is passed while wide-angle avoidance of such as turning left
Sensor one and ultrasonic sensor two detect barrier presence, then mobile platform is out of service.Traditional avoidance mode or turn
Bend through journey larger without open detection or detection range blind area simultaneously, it is impossible to ensure the security of turning process completely.
(5) mobile platform left front and right front barrier situation are prejudged, the secondary avoidance of mobile platform is effectively reduced
Possibility, it is to avoid there is the situation that left and right is alternately turned in mobile platform.If there is barrier in 3.2nd area and 3.8th area, move
Moving platform will turn right avoidance, if not disposing ultrasonic sensor one to detect 3.8th area, mobile platform will first turn left, then detect
There is barrier then again to turn right to front is to the left, and so on replace.
Brief description of the drawings
Fig. 1 is ware circuit block diagram of the present invention.Including STM32 processors, power module, temperature-compensating mould
Block, motor drive module, speed measuring module, communication module and ultrasonic distance measuring module.
Fig. 2 is that ultrasonic array of the present invention puts figure.Wherein mobile platform beam overall is X centimetres, and 1 is ultrasonic sensor
One, 2 be ultrasonic sensor two, and 3 be ultrasonic sensor three, and 4 be ultrasonic sensor four, and 5 be ultrasonic sensor five, 6
For ultrasonic sensor six, ultrasonic sensor one and ultrasonic sensor six are placed in ultrasonic sensor two and ultrasound respectively
Above wave sensor five.
Fig. 3 is mobile platform ultrasound examination schematic diagram of the present invention.Wherein：3.1 be front avoidance detection zone to the left,
3.2 be front avoidance detection zone to the right, and 3.3 be the independent detection zone of ultrasonic sensor three, and 3.4 be that ultrasonic sensor four is single
Only detection zone, 3.5 and 3.6 be possible blind area, and 3.7 be left side avoidance detection zone, and 3.8 be left front avoidance detection zone, and 3.9 be a left side
Secondary avoidance detection zone after turning, 3.10 and 3.14 be possible blind area, and 3.11 be right side avoidance detection zone, and 3.12 be right front avoidance
Detection zone, 3.13 be secondary avoidance detection zone after turning right.1 is that the α/2,2 of one rotate counterclockwise of ultrasonic sensor 3 is that ultrasonic wave is passed
The rotate counterclockwise α/2,3 of sensor two is that ultrasonic sensor three turns clockwise β=∠ f- (90 ° of-α/2), and 4 be supersonic sensing
The rotate counterclockwise δ of device four=∠ f- (90 ° of-α/2).A points are that ultrasonic sensor one and ultrasonic sensor two put midpoint,
B points are the midpoint of putting of ultrasonic sensor three, and C points are the midpoint of putting of ultrasonic sensor four, and D points are ultrasonic sensor
Five and ultrasonic sensor six put midpoint, E points are left for the left margin and mobile platform of the field angle of ultrasonic sensor three
To the intersection point of extended line before side, F points are preceding to extension for the right edge and mobile platform right side of the field angle of ultrasonic sensor four
The intersection point of line.(the probability very little that possible blind area is truly present barrier in actual application and can't detect.Wherein may
Blind area 3.5,3.6 is not in that possible blind area 3.10,3.14 simply exists at the moment of turning, some during linear running
Also be not in after moment.)
Fig. 4 is avoiding obstacles by supersonic wave strategic process figure of the present invention.It is supersonic sensing wherein apart from i (i=1,2,3,4,5,6)
Device j (j is one, two, three, four, five, six) detects the distance of barrier, and N is that the closely value of ultrasonic sensor detection is N
=X/sin (2 α) centimetre, L are that the remote value of ultrasonic sensor detection is L=X/sin (α) centimetre, and X is car body in formula
Width, α is the field angle of ultrasonic sensor, 10 ° of 30 ° of ＜ α ＜.
Fig. 5 is that ultrasonic array of the embodiment of the present invention puts figure.Wherein mobile platform is width 30cm, and 1 is supersonic sensing
22.5 ° of one rotate counterclockwise of device, 2 be 7.5 ° of two rotate counterclockwise of ultrasonic sensor, and 3 be the dextrorotation of ultrasonic sensor three
Turn 3.7 °, 4 be 3.7 ° of four rotate counterclockwise of ultrasonic sensor, and 5 be that ultrasonic sensor five turns clockwise 7.5 °, and 6 be super
Sonic sensor six turns clockwise 22.5 °, and ultrasonic sensor one and ultrasonic sensor six are placed in ultrasonic wave biography respectively
Above sensor two and ultrasonic sensor five.
Fig. 6 is ultrasound examination schematic diagram in front of mobile platform of the embodiment of the present invention.Wherein mobile platform is width 30cm,
6.1 be front avoidance detection zone to the left, and 6.2 be front avoidance detection zone to the right, and 6.3 and 6.6 be possible blind area, and 6.4 are
The independent detection zone of ultrasonic sensor three, 6.5 be the independent detection zone of ultrasonic sensor four, and 6.7 be body part, and 3 be ultrasound
Wave sensor three turns clockwise 3.7 °, and 4 be 3.7 ° of four rotate counterclockwise of ultrasonic sensor.(possible blind area 6.3,6.6 is actual
Mobile platform move ahead during and be not present.)
Fig. 7 is mobile platform of the embodiment of the present invention left and right sides and left front and right front ultrasound examination schematic diagram.Its
In 7.1 be left front avoidance detection zone, 7.2 for turn left after secondary avoidance detection zone, 7.3 be left side avoidance detection zone, 7.4 Hes
7.6 be possible blind area, and 7.5 be right side avoidance detection zone, and 7.7 be secondary avoidance detection zone after turning right, and 7.8 be the inspection of right front avoidance
Area is surveyed, 1 is 22.5 ° of one rotate counterclockwise of ultrasonic sensor, and 2 be 7.5 ° of two rotate counterclockwise of ultrasonic sensor, and 4 be ultrasound
3.7 ° of four rotate counterclockwise of wave sensor.(possible blind area 7.4,7.6 simply exists at the moment of turning, and also will not after some moment
In the presence of.)
Fig. 8 is avoiding obstacles by supersonic wave strategic process figure of the present invention.It is supersonic sensing wherein apart from i (i=1,2,3,4,5,6)
Device j (j is one, two, three, four, five, six) detects the distance of barrier.
Fig. 9 is ultrasonic ranging program flow diagram of the present invention.
Embodiment
The present invention will be described further with reference to accompanying drawing by following examples.
Embodiment is carried in wide 30cm's by taking the most frequently used model HC-SR04 ultrasonic sensors in the market as an example
Mobile platform realizes its automatic obstacle avoiding, and experiment knows that the ultrasonic array has preferable avoidance effect.
The ultrasonic array of the embodiment of the present invention is put such as accompanying drawing 5.
Ultrasound examination principle such as accompanying drawing 6 in front of the mobile platform of embodiment of the present invention, first by symmetry principle and
Detection is it needs to be determined that ultrasonic sensor three and ultrasonic sensor four are placed in 7.5cm and 22.5cm positions respectively, now with super
Angle is carried out exemplified by sonic sensor four and puts calculating analysis：
Make EA=FD
That is AC*tan ∠ e=CD*tan ∠ f
22.5*tan ∠ (180 ° of -15 ° of-∠ f)=7.5*tan ∠ f
86.2 ° of ∠ f=86.207 ° ≈
∠ e=78.8 °
Again by right angled triangle EAB, right angled triangle EAC, right angled triangle FBD, right angled triangle FCD is calculated and analyzed
Avoidance distance is 115.1cm, it is contemplated that the influence setting avoidance distance such as security and error is 116cm.
It is computed analysis to understand, such a disposing way, which need to only load two ultrasonic sensors, can cover mobile flat comprehensively
Detection zone in the platform direction of motion.As long as ultrasonic sensor three and ultrasonic sensor four first is not examined within this distance
Measuring barrier, then mobile platform continues to keep moving ahead；Secondly the present invention have studied a kind of dichotomy barrier location algorithm, lead to
Cross and compare the distance that the detection of ultrasonic sensor three and ultrasonic sensor four are detected, judge barrier general orientation, select
Optimal avoidance direction, improves intelligent and security；Ultrasonic sensor is placed on mobile platform rear end again, and neither influence is kept away
Hinder the check frequency that area's detection reduces ultrasonic sensor again；From accompanying drawing 6, in the case of mobile platform straight trip, avoidance area
6.1 and 6.2 presence eliminates the influence of possible blind area 6.3 and 6.6 pairs of mobile platform straight trips；Last avoidance area 6.4 and avoidance
(if barrier is in avoidance area 6.4, ultrasonic sensor four is because can't detect then for the check frequency of the reduction of area 6.5 mobile platform
It is considered as 2m), improve safety in operation.
The mobile platform left and right sides of embodiment of the present invention and left front and right front ultrasound examination principle are for example attached
Fig. 7, first by symmetry principle and detection it needs to be determined that ultrasonic sensor one, ultrasonic sensor two and ultrasonic sensor
5th, ultrasonic sensor six is placed in 0cm and 30cm positions respectively, is with ultrasonic sensor one and ultrasonic sensor two now
Example carries out angle and puts calculating analysis：
As much as possible while for detection left front barrier to detect left barrier situation, the present invention makes ultrasonic wave
The right edge of the field angle of sensor two matches with mobile platform left margin, i.e. 7.5 ° of two rotate counterclockwise of ultrasonic sensor,
Make the right of the field angle of ultrasonic sensor one again along being matched with the left margin of the field angle of ultrasonic sensor two, i.e. ultrasonic wave
22.5 ° of one rotate counterclockwise of sensor.Again by right angled triangle DEB, right angled triangle ABC, which is calculated, analyzes avoidance distance respectively
For 116cm and 60cm.
It is computed understanding, such a disposing way, which need to only load a ultrasonic sensor, can cover a mobile platform left side comprehensively
Square detection zone, reloads increase mobile platform left while a ultrasonic sensor makes detection mobile platform left front and examines
Region is surveyed, avoidance security is improved.Turn left 30 ° safely first of all for mobile platform is made, it is contemplated that mobile platform rotary course is most
Big distance is the factors such as 50cm and offset error, set ultrasonic sensor one and the near avoidance distance of ultrasonic sensor two as
60cm；Secondly in order to reduce the possibility of secondary avoidance after mobile platform rotation, it is computed setting that ultrasonic sensor one is remote to be kept away
Barrier distance is 116cm, and both the reasonable detection zone for covering after 30 °, was prevented effectively from mobile platform and feelings of vacillating now to the left, now to the right occur again
Condition, such as first turns right 30 ° and flogs a dead horse again after 30 ° of left-hand rotation；Last ultrasonic sensor is placed on mobile platform rear end, neither influences
The detection of avoidance area reduces the check frequency of ultrasonic sensor again, and such as accompanying drawing 7 is understood, in the case of rough avoidance, possible blind area
7.4 most width is very little from the wide influences of mobile platform 30cm are compared less than 4.8cm；Mobile platform can pass through secondary keep away of turning left
Hinder area 7.2 and reduce influence of the check frequency to operation.
The wide 30cm of embodiment of the present invention mobile platform major parameter when ultrasonic sensor field angle is different
Following table.
From calculating, when mobile platform is width 30cm, field angle has good for 10 ° to 25 ° of ultrasonic sensor
Good effect.
The present invention considers that ultrasonic sensor has certain angle of departure and check frequency, passes through ultrasonic array first
Calculate and obstacle avoidance algorithm is derived, few ultrasonic sensor rationally covers detection zone in the mobile platform direction of motion as far as possible for loading
Domain, the automatic obstacle avoiding for realizing larger volume mobile platform with less resource is controlled；Secondly ultrasonic position is put calculates with avoidance
Method can reduce or even avoid interference of the check frequency to success avoidance, make Robot dodge strategy more intelligent, improve mobile platform
Safety in operation；Finally it is computed understanding, the present invention is also suitable the mobile platform that width is less than 50cm, with preferable expansion
And practical value.
Claims (1)
1. a kind of ultrasonic array obstacle avoidance system applied to mobile platform, it is characterized in that including STM32 processors, power supply mould
Block, temperature compensation module, motor drive module, speed measuring module, communication module and ultrasonic distance measuring module, wherein ultrasound
It is made up of away from module six ultrasonic sensors, each sensor is by ultrasonic wave transmitting circuit and ultrasonic wave receiving circuit structure
Into；
Described ultrasonic sensor set location：Ultrasonic sensor one and ultrasonic sensor two are respectively intended to detection first
Mobile platform left front and left area, ultrasonic sensor one are placed in above ultrasonic sensor two, and shifting is placed in jointly
The leftmost side of moving platform rear end；Ultrasonic sensor three and ultrasonic sensor four are used for detecting region immediately ahead of mobile platform,
It is placed in respectively at mobile platform rear end (1/4) X and (3/4) X；Ultrasonic sensor five and ultrasonic sensor six are respectively intended to
Mobile platform left and left front region are detected, ultrasonic sensor six is placed in above ultrasonic sensor five, put jointly
The rightmost side in mobile platform rear end；Then on the basis of level, α/2 of one rotate counterclockwise of ultrasonic sensor 3, ultrasonic wave is passed
Rotate counterclockwise α/2 of sensor two, ultrasonic sensor three turns clockwise β, the rotate counterclockwise δ of ultrasonic sensor four, ultrasound
Wave sensor five turns clockwise α/2, and ultrasonic sensor six turns clockwise 3 α/2；
Wherein, X is mobile platform width；Angle [alpha] is the field angle of ultrasonic sensor, 10 ° of 30 ° of ＜ α ＜；Angle beta=∠ f-
(90°-α/2)；Angle δ=∠ f- (90 ° of-α/2)；Angle f is calculated as follows：
Make EA=FD
That is AC*tan ∠ e=CD*tan ∠ f
AC*tan ∠ (180 ° of-α-∠ f)=CD*tan ∠ f
Wherein, ∠ e are the interior angle corresponding to the EA of side in triangle EAC, and ∠ f are the interior angle corresponding to the FD of side in triangle FDC, A,
Tetra- points of B, C, D are respectively ultrasonic sensor one, ultrasonic sensor three, ultrasonic sensor four, ultrasonic sensor six
The midpoint of putting position, E points are that the left margin of the field angle of ultrasonic sensor three and mobile platform left side are preceding to extended line
Intersection point, the right edge and mobile platform on the right side of preceding intersection point to extended line, angle f of the F points for the field angle of ultrasonic sensor four
Size will meet EA=FD；Therefore AC, CD, α are, it is known that ∠ f can be solved by conditional equality in formula；
Avoidance process is：The distance of the barrier measured first according to ultrasonic sensor three and ultrasonic sensor four, is adopted
It is barrier to the left or to the right, being measured further according to other ultrasonic sensors that mobile platform front obstacle is judged with dichotomy
Hinder the distance of thing, the angle that mobile platform is rotated is determined with the method for fuzzy control；
If J is detecting distance, then closely refers to 0 ＜ J ＜ N, far refer to N ＜ J ＜ L, it is far to refer to J ＞ L, wherein N=X/sin (2 α)
Centimetre, L=X/sin (α) centimetre, X is berm width, and α is ultrasonic sensor field angle；
If being that ultrasonic sensor j (j is one, two, three, four, five, six) detects barrier apart from i (i=1,2,3,4,5,6)
Distance；
First, detecting distance 3 and distance 4, if both of which is more than L centimetres, the barrier is not in limit of consideration, mobile platform
Continue to keep moving ahead；Otherwise, mobile platform needs to carry out avoidance processing to the barrier, and specific barrier-avoiding method is as follows：
Enter avoidance state 1 if distance 3 is more than distance 4, otherwise into avoidance state 2；
Avoidance state 1：
Situation one：Detecting distance 1 and distance 2, if distance 1 and distance 2 is all higher than N centimetres, further detecting distance 1, if distance 1
More than L centimetres then mobile platform turn left 2 α；Otherwise detecting distance 5 and distance 6, if distance 5 is more than N centimetres and distance 6 is more than L lis
Rice then turn right 2 α by mobile platform, and otherwise mobile platform turns left and detecting distance 1 and distance 2 simultaneously, if distance 1 and distance 2 is big
In N centimetres then mobile platform turn left to 4 α, otherwise mobile platform stop motion, return avoidance state again detecting distance 3 and away from
From 4；
Situation two：Detecting distance 1 and distance 2, if distance 1 or distance 2 are less than N centimetres, detecting distance 5 and distance 6, if distance
5 or distance 6 be less than N centimetres of then mobile platform stop motion；Otherwise further detecting distance 6, is moved if distance 6 is more than L centimetres
Moving platform is turned right 2 α, and otherwise mobile platform is turned right and detecting distance 5 and distance 6 simultaneously, if distance 5 and distance 6 is all higher than N centimetres
Then mobile platform is turned right to 4 α, otherwise mobile platform stop motion；Return to avoidance state detecting distance 3 and distance 4 again；
Avoidance state 2：
Situation one：Detecting distance 5 and distance 6, if distance 5 and distance 6 is all higher than N centimetres, further detecting distance 6, if distance 6
More than L centimetres then mobile platform turn right 2 α；Otherwise detecting distance 1 and distance 2, if distance 2 is more than N centimetres and distance 1 is more than L lis
Then mobile platform turns left 2 α rice, and otherwise mobile platform is turned right and detecting distance 5 and distance 6 simultaneously, if distance 5 and distance 6 is big
In N centimetres then mobile platform turn right to 4 α, otherwise mobile platform stop motion, return avoidance state again detecting distance 3 and away from
From 4；
Situation two：Detecting distance 5 and distance 6, if distance 5 or distance 6 are less than N centimetres, detecting distance 1 and distance 2, if distance
1 or distance 2 be less than N centimetres of then mobile platform stop motion；Otherwise further detecting distance 1, is moved if distance 1 is more than L centimetres
Moving platform turns left 2 α, and otherwise mobile platform turns left and detecting distance 1 and distance 2 simultaneously, if distance 1 and distance 2 is all higher than N centimetres
Then mobile platform turns left to 4 α, otherwise mobile platform stop motion；Return to avoidance state detecting distance 3 and distance 4 again.
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