CN106980316B - 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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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- G05D1/0212—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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A kind of ultrasonic array obstacle avoidance system applied to mobile platform, including STM32 processor, 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 of six ultrasonic sensors, and each sensor receives circuit by ultrasonic wave transmitting circuit and ultrasonic wave and constitutes.It is calculated by ultrasonic array and obstacle avoidance algorithm derives, loaded ultrasonic sensor few as far as possible first and rationally cover detection zone in the mobile platform direction of motion, the automatic obstacle avoiding control of larger volume mobile platform is realized with less resource；Next can reduce or even avoid interference of the check frequency to success avoidance, improve mobile platform safety and intelligence；Last ultrasonic array of the present invention has preferable avoidance effect, and has 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 large and medium-sized movement is flat
Platform automatic obstacle-avoiding system.
Background technique
With the development of the times with the progress of science, the mobile platform intelligent level with man-machine interactive interface is constantly mentioned
Height, and automatic obstacle avoiding function is then that mobile platform adapts to one of important embodiment of intelligence of 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 the characteristics that preferable directionality, stronger adaptability and penetration capacity are strong, therefore is 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 common ultrasonic sensor field angle is generally 15 ° or so in the market, this makes conventional ultrasound
The check frequency of wave array is often larger, reduces the safety and intelligence of mobile platform avoidance；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 resources need to be put into.How plus
Carry lack resource as far as possible and reduce as far as possible check frequency realize large and medium-sized mobile platform safety successfully automatic obstacle avoiding have it is important
Application value.
Summary of the invention
The object of the present invention is to provide a kind of ultrasonic array obstacle avoidance systems applied to mobile platform, load few as far as possible
Ultrasonic sensor and reduce check frequency as far as possible, improves the safety of larger mobile platform automatic obstacle avoiding, intelligence and can
By property.The present invention is particularly adapted to the ultrasonic array of the large and medium-sized mobile platform of mobile platform width (X) 30cm≤X≤50cm
Obstacle avoidance system is advisable, and can equally be well applied to the small-sized movable platform of mobile platform Kuan Du≤30cm.
The present invention is achieved through the following technical solutions.
A kind of ultrasonic array obstacle avoidance system applied to large and medium-sized mobile platform of the present invention, hardware components include
STM32 processor, 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 of six ultrasonic sensors, and each sensor is by ultrasonic wave transmitting circuit
And ultrasonic wave receives circuit and constitutes.
Ultrasonic sensor of the present invention setting position 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, ultrasonic sensor one are placed in ultrasonic sensor
Above two, it is placed in the leftmost side of mobile platform rear end jointly；Ultrasonic sensor three and ultrasonic sensor four are used to detect
Region immediately ahead of mobile platform is placed in respectively at mobile platform rear end (1/4) X and (3/4) X；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, it is placed in the rightmost side of mobile platform rear end jointly.Then on the basis of level, one inverse time of ultrasonic sensor
Needle rotates 3 α/2, rotation alpha/2 counterclockwise of ultrasonic sensor two, and ultrasonic sensor three rotates clockwise β, ultrasonic sensor
Four rotate δ counterclockwise, and ultrasonic sensor five rotates clockwise α/2, and ultrasonic sensor six rotates 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 calculate as follows:
Enable EA=FD
That is AC*tan ∠ e=CD*tan ∠ f
AC*tan ∠ (180 ° of-α-∠ f)=CD*tan ∠ f
Wherein ∠ e is interior angle corresponding to the EA of side in triangle EAC, and ∠ f is interior corresponding to the FD of side 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 six placement position of device, the left margin and Xiang Yanchang before mobile platform left side that E point is the field angle of ultrasonic sensor three
The intersection point of line, F point are the right edge and the intersection point to extended line preceding on the right side of mobile platform, angle of the field angle of ultrasonic sensor four
Degree f size will meet EA=FD.Therefore AC in formula, CD, α are it is known that ∠ f can be solved by conditional equality.
In conjunction with attached drawing 3 it is found that such 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 movement.
(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 ultrasonic sensor six detect mobile platform left front and right front region, anticipation
Barrier situation after it is turned, the influence for the avoidance that avoids being swung left and right completely and largely reduce secondary avoidance can
Energy.
(4) ultrasonic sensor is placed in mobile platform rear end and helps to reduce the check frequency generated by field angle.
A kind of ultrasonic array obstacle avoidance system applied to mobile platform of the present invention, software section use dichotomy
The obstacle avoidance algorithm combined with fuzzy control.The barrier measured first according to ultrasonic sensor three and ultrasonic sensor four
The distance for hindering object, using dichotomy judge mobile platform front obstacle be it is to the left or to the right, be further continued for according to other ultrasound
The distance for the barrier that wave sensor measures determines the angle of mobile platform rotation with the method for fuzzy control.Such as 3 institute of attached drawing
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,
Ultrasonic sensor two, ultrasonic sensor five, ultrasonic sensor six detect that the distance of barrier does following Fuzzy Processing:
Ultrasonic sensor one and six detecting distance of ultrasonic sensor are divided into (close, far, far), ultrasonic sensor two, ultrasonic wave
Five detecting distance of sensor is divided into (close, remote), if J is detecting distance, then closely refers to 0 < J < N, far refers to N < J < L, far
Refer to J > L, wherein N=X/sin (2 α) centimetre, L=X/sin (α) centimetre, X are berm width, and α is ultrasonic sensor wave beam
Angle, actual range divide also should according to the actual situation depending on.Specific software algorithm is as shown in Fig. 4:
Wherein distance i (i=1,2,3,4,5,6) is that ultrasonic sensor j (j mono-, two, three, four, five, six) is detected
The distance of barrier.
Firstly, detecting distance 3 and distance 4, if being both greater 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 greater than distance 4, otherwise enters avoidance state 2.
Avoidance state 1:
Situation one: detecting distance 1 and distance 2, if distance 1 and distance 2 are all larger than N centimetres, further detecting distance 1, if
Distance 1 is greater than L centimetres of then 2 α of mobile platform left-hand rotation；Otherwise detecting distance 5 and distance 6, if distance 5 is greater 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 larger 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 greater 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 larger 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 larger than N centimetres, further detecting distance 6, if
Distance 6 is greater than L centimetres of then 2 α of mobile platform right-hand rotation；Otherwise detecting distance 1 and distance 2, if distance 2 is greater 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 larger 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 greater 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 larger 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.
It can be according to mobile robot car body size when N centimetres of the distance in the above barrier-avoiding method and L centimetres of practical application
And the speed of service carries out appropriate adjustment.
In conjunction with attached drawing 3 and attached drawing 4 it is found that the advantages of such avoidance mode:
(1) can all standing detect the barrier situation in mobile platform operation front, and judge that specific location is left
Or it is to the right, convenient for the more intelligent preferential progress avoidance that selects to the left or turn right.If 3.1, having barrier in 3.2nd area, this
Proprietary algorithms are judged to move to the size of obstacle distance by comparing ultrasonic sensor three and ultrasonic sensor four
Platform front obstacle specific location is to the left or to the right.Traditional avoidance mode or can not achieve all standing detection, or
It can only tentatively judge that barrier in front, can not further determine that barrier specific location.
(2) to the left according to mobile platform front obstacle or preferential selection opposite direction to the right carries out avoidance, improve avoidance
Intelligence.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, cannot according to mobile platform periphery barrier situation come
Select best avoidance path.
(3) it determines preferably turning avoidance angle, more precisely realizes the turning avoidance of mobile platform.If 3.2nd area
There is a barrier, the preferential left-hand rotation low-angle avoidance of mobile platform；If there is barrier in 3.2nd area, 3.8th area 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 setting is fixed turns
Bending angle cannot select preferable avoidance angle according to barrier situation.
(4) barrier situation at left and right sides of detection mobile platform is covered during turning comprehensively simultaneously, it is entirely avoided move
The generation of collision situation, improves safety in operation during moving platform turning.Ultrasonic wave passes while wide-angle avoidance of such as turning left
Sensor one and ultrasonic sensor two detect that barrier exists, then mobile platform is out of service.Traditional avoidance mode or turn
It is larger without open detection or detection range blind area simultaneously to bend through journey, can not ensure the safety 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, avoid mobile platform occur left and right alternately turning the case where.If when 3.2nd area and 3.8 Qu Junyou barrier, moving
Moving platform will turn right avoidance, if ultrasonic sensor one is not disposed to detect 3.8th area, mobile platform will first turn left, then detect
There is barrier then to turn right again back to front is to the left, and so on replaces.
Detailed description of the invention
Fig. 1 is ware circuit block diagram of the present invention.Including STM32 processor, 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, 3 be ultrasonic sensor three, 4 be ultrasonic sensor four, 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 is single for ultrasonic sensor four
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 right-hand rotation.1 rotates 3 α/2 for ultrasonic sensor one counterclockwise, and 2 pass for ultrasonic wave
The rotation alpha/2,3 counterclockwise of sensor two is that ultrasonic sensor three rotates clockwise β=∠ f- (90 ° of-α/2), and 4 be supersonic sensing
Rotation δ=∠ f- (90 ° of-α/2) counterclockwise of device four.A point is that ultrasonic sensor one and ultrasonic sensor two put midpoint,
B point is the midpoint of putting of ultrasonic sensor three, and C point is the midpoint of putting of ultrasonic sensor four, and D point is ultrasonic sensor
Five and ultrasonic sensor six put midpoint, E point be the field angle of ultrasonic sensor three left margin and mobile platform it is left
To the intersection point of extended line before side, the right edge and Xiang Yanchang before mobile platform right side that F point is the field angle of ultrasonic sensor four
The intersection point of line.(possible blind area is truly present barrier in actual application and the probability very little that can't detect.Wherein may
There is no possible blind area 3.10,3.14 only exists at the turning moment, several during linear running for blind area 3.5,3.6
Will not exist after moment.)
Fig. 4 is avoiding obstacles by supersonic wave strategic process figure of the present invention.Wherein distance i (i=1,2,3,4,5,6) is supersonic sensing
Device j (j mono-, two, three, four, five, six) detects the distance of barrier, and N is that the short distance 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 are 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 the rotation counterclockwise of device one, 2 be 7.5 ° of the rotation counterclockwise of ultrasonic sensor two, and 3 revolve clockwise for ultrasonic sensor three
Turn 3.7 °, 4 be 3.7 ° of the rotation counterclockwise of ultrasonic sensor four, and 5 rotate clockwise 7.5 ° for ultrasonic sensor five, and 6 be super
Sonic sensor six rotates 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 rotates clockwise 3.7 °, and 4 be 3.7 ° of the rotation counterclockwise of ultrasonic sensor four.(possible blind area 6.3,6.6 is practical
During mobile platform moves ahead and it is not present.)
Fig. 7 is at left and right sides of mobile platform of the embodiment of the present invention 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 right-hand rotation, and 7.8 be the inspection of right front avoidance
Area is surveyed, 1 is 22.5 ° of the rotation counterclockwise of ultrasonic sensor one, and 2 be 7.5 ° of the rotation counterclockwise of ultrasonic sensor two, and 4 be ultrasound
3.7 ° of the rotation counterclockwise of wave sensor four.(possible blind area 7.4,7.6 only exists at the turning moment, will not after several moment
In the presence of.)
Fig. 8 is avoiding obstacles by supersonic wave strategic process figure of the present invention.Wherein distance i (i=1,2,3,4,5,6) is supersonic sensing
Device j (j mono-, two, three, four, five, six) detects the distance of barrier.
Fig. 9 is ultrasonic distance measurement program flow diagram of the present invention.
Specific embodiment
The present invention will be described further in conjunction with attached drawing by following embodiment.
Embodiment is loaded by taking the most frequently used model HC-SR04 ultrasonic sensor currently on the market as an example wide 30cm's
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 attached drawing 5.
Ultrasound examination principle such as attached 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 the position 7.5cm and 22.5cm respectively, now with super
Angle is carried out for sonic sensor four puts calculating analysis:
Enable 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 calculating is analyzed
Avoidance distance is 115.1cm, it is contemplated that it is 116cm that the influences such as safety and error, which set avoidance distance,.
Analysis is computed it is found that such disposing way, which need to only load two ultrasonic sensors, can cover mobile put down 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 has studied a kind of dichotomy barrier location algorithm, leads to
The distance for comparing the detection of ultrasonic sensor three and the detection of ultrasonic sensor four is crossed, judges barrier general orientation, is selected
Best avoidance direction, improves intelligent and safety；Ultrasonic sensor is placed on mobile platform rear end again, neither influences to keep away
Hinder the check frequency that area's detection reduces ultrasonic sensor again；By attached drawing 6 it is found that in mobile platform straight trip, avoidance area
6.1 and 6.2 presence eliminates the influence of possible blind area 6.3 and 6.6 pair mobile platform straight trip；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.
At left and right sides of the mobile platform 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
Five, ultrasonic sensor six is placed in the position 0cm and 30cm respectively, is now with ultrasonic sensor one and ultrasonic sensor two
Example carries out angle and puts calculating analysis:
It is as much as possible while to detect left front barrier to detect that left barrier situation, the present invention make ultrasonic wave
The right of two field angle of sensor with mobile platform left margin along matching, i.e. 7.5 ° of the rotation counterclockwise of ultrasonic sensor two,
Make the right of one field angle of ultrasonic sensor along matching with the left margin of two field angle of ultrasonic sensor again, i.e. ultrasonic wave
22.5 ° of the rotation counterclockwise of sensor one.Again by right angled triangle DEB, right angled triangle ABC calculating analyzes avoidance distance respectively
For 116cm and 60cm.
The calculation shows that, such disposing way need to only load a ultrasonic sensor can cover a mobile platform left side comprehensively
Square detection zone reloads a ultrasonic sensor and increases the inspection of mobile platform left while making to detect mobile platform left front
Region is surveyed, avoidance safety is improved.First of all for make mobile platform safely turn left 30 °, 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 close 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 that setting ultrasonic sensor one is remote to be kept away
Barrier distance is 116cm, not only rationally has covered the detection zone after 30 °, but also effectively mobile platform is avoided the feelings that are swung left and right occur
Condition flogs a dead horse as turned right 30 ° after first 30 ° of left-hand rotation again；Last ultrasonic sensor is placed on mobile platform rear end, neither influences
The detection of avoidance area reduces the check frequency of ultrasonic sensor, such as attached drawing 7 it is found that in rough avoidance, possible blind area again
7.4 most width is very little from mobile platform 30cm wide influence is compared less than 4.8cm；Mobile platform can pass through secondary keep away of turning left
Hinder area 7.2 and reduces influence of the check frequency to operation.
The mobile platform of the wide 30cm of embodiment of the present invention major parameter in ultrasonic sensor field angle difference
Following table.
By calculating it is found that field angle has good when mobile platform is width 30cm for 10 ° to 25 ° of ultrasonic sensor
Good effect.
The present invention has the certain angle of departure and check frequency in view of ultrasonic sensor, passes through ultrasonic array first
It calculates and obstacle avoidance algorithm derives, load ultrasonic sensor few as far as possible and rationally cover the detection zone in the mobile platform direction of motion
The automatic obstacle avoiding control of larger volume mobile platform is realized in domain with less resource；Secondly ultrasonic position is put calculates with avoidance
Method can reduce or even avoid check frequency to keep Robot dodge strategy more intelligent the interference of success avoidance, improve mobile platform
Safety in operation；Last the calculation shows that, the present invention are also suitable the mobile platform that width is less than 50cm, have 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 processor, 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 of away from module six ultrasonic sensors, each sensor receives circuit structure by ultrasonic wave transmitting circuit and ultrasonic wave
At；
Position is arranged in the ultrasonic sensor: ultrasonic sensor one and ultrasonic sensor two first is respectively intended to detect
Mobile platform left front and left area, ultrasonic sensor one are placed in above ultrasonic sensor two, are placed in shifting jointly
The leftmost side of moving platform rear end；Ultrasonic sensor three and ultrasonic sensor four are used to detect region immediately ahead of mobile platform,
It is placed at mobile platform rear end (1/4) X and (3/4) X respectively；Ultrasonic sensor five and ultrasonic sensor six are respectively intended to
Detection mobile platform left and left front region, ultrasonic sensor six are placed in above ultrasonic sensor five, put jointly
In the rightmost side of mobile platform rear end；Then on the basis of level, 3 α/2 of rotation, ultrasonic wave pass ultrasonic sensor one counterclockwise
Rotation alpha/2 counterclockwise of sensor two, ultrasonic sensor three rotate clockwise β, and ultrasonic sensor four rotates δ, ultrasound counterclockwise
Wave sensor five rotates clockwise α/2, and ultrasonic sensor six rotates 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 calculates as follows:
Enable EA=FD
That is AC * tan ∠ e=CD * tan ∠ f
AC * tan ∠ (180 ° of-α-∠ f)=CD * tan ∠ f
Wherein, ∠ e is interior angle corresponding to the EA of side in triangle EAC, and ∠ f is interior angle corresponding to the FD of side in triangle FDC, A,
B, tetra- points of C, D are respectively ultrasonic sensor one, ultrasonic sensor three, ultrasonic sensor four, ultrasonic sensor six
The midpoint of placement position, E point are preceding to extended line on the left of the left margin and mobile platform of the field angle of ultrasonic sensor three
Intersection point, F point are the right edge and the intersection point to extended line preceding on the right side of mobile platform, the angle f of 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
Judge that mobile platform front obstacle is barrier to the left or to the right, measuring further according to other ultrasonic sensors with dichotomy
The distance for hindering object determines the angle of mobile platform rotation with the method for fuzzy control；
If J is detecting distance, then closely refers to 0 < J < N, far refer to N < J < L, far to refer to J > L, wherein N=X/sin(2 α)
Centimetre, L=X/sin (α) centimetre, X are berm width, and α is ultrasonic sensor field angle；
If distance i, i=1,2,3,4,5,6 be ultrasonic sensor j, j mono-, two, three, four, five, six detect barrier away from
From；
Firstly, detecting distance 3 and distance 4, if being both greater 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 greater than distance 4, otherwise enters avoidance state 2；
Avoidance state 1:
Situation one: detecting distance 1 and distance 2, if distance 1 and distance 2 is all larger than N centimetres, further detecting distance 1, if distance 1
Greater than L centimetres then mobile platform turn left 2 α；Otherwise detecting distance 5 and distance 6, if distance 5 is greater than N centimetres and distance 6 is greater 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 are 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 moves if distance 6 is greater 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 larger 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 larger than N centimetres, further detecting distance 6, if distance 6
Greater than L centimetres then mobile platform turn right 2 α；Otherwise detecting distance 1 and distance 2, if distance 2 is greater than N centimetres and distance 1 is greater 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 are 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 moves if distance 1 is greater 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 larger 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 again.
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| CN112256005B (en) * | 2019-07-02 | 2022-11-15 | 广州哨马智能装备科技有限公司 | Obstacle avoidance system and method based on ultrasonic sensor and robot |
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