CN107053171A - Robot temporary space barrier-avoiding method, device and robot - Google Patents
Robot temporary space barrier-avoiding method, device and robot Download PDFInfo
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- CN107053171A CN107053171A CN201611211715.7A CN201611211715A CN107053171A CN 107053171 A CN107053171 A CN 107053171A CN 201611211715 A CN201611211715 A CN 201611211715A CN 107053171 A CN107053171 A CN 107053171A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
A kind of robot temporary space barrier-avoiding method disclosed by the invention, width detection is directly carried out to the direct of travel of robot by the width detecting, height detection is directly carried out to the direct of travel of robot by the height detecting device, and corresponding subsequent step is carried out according to testing result, suitably detoured space for Robot Selection, faster, detection efficiency is higher for its detection speed, and accuracy of detection is also high.
Description
Technical field
The present invention relates to a kind of robot obstacle-avoiding device, and in particular to one kind is used to carry out space in the robot course of work
Robot temporary space barrier-avoiding method, device and the robot of detection.
Background technology
Mobile robot is one important branch of robot field, and intelligent navigation and interim avoidance are mobile robot most core
One of technology of the heart.Robot navigation refer to robot under known or circumstances not known it is autonomous cook up one from starting point to
The mobile route of objective, allows robot smoothly to be reached home along this paths；The interim avoidance of robot refers to machine
Device people, according to the real-time environmental information collected, has found barrier new in environment, according to certain side in moving process
The effective avoiding obstacles of method, enable navigation to be smoothed out.Traditional Obstacle Avoidance mainly has Visual Graph method, grid
Method, topological approach, Artificial Potential Field Method, also have the barrier-avoiding method based on neutral net, hereditary scheduling algorithm in addition.
For existing Obstacle Avoidance, major defect is as follows：
1) Visual Graph method lacks flexibility, and search time is long when barrier is more, and requires barrier shape
Its practical application can not be limited close to circle.
2) Grid Method is to study more barrier-avoiding method at present, but wherein the size of grid influences the storage of environmental information
Amount and calculating time, grid are bigger, and resolution ratio is lower, and avoidance effect is poorer under complex environment, and grid is smaller, and avoidance effect is got over
It is good, but amount of calculation increase.
3) subject matter of topological approach is that the process for building topological network is considerably complicated, particularly in increase barrier
When how effectively to change topological relation also to be solved.
4) Artificial Potential Field Method is considered as the motion of mobile robot in the environment a kind of abstract artificial by the field of force
Motion, target point is attractive to robot, and barrier has repulsive force to robot, comes control machine people's eventually through making a concerted effort
Motion, it has the disadvantage the construction profile information that have ignored barrier, and the foundation of model easily produces error and is trapped in part
Minimum value.
5) for carrying out avoidance using neutral net, hereditary scheduling algorithm, its major defect is that algorithm is excessively complicated, to machine
The requirement of device people's computing capability is very high, and generalization is weaker.
Therefore, now need to provide robot temporary space barrier-avoiding method a kind of simple in construction and that space detection efficiency is high,
Further provide for a kind of robot temporary space obstacle avoidance apparatus and the robot with the temporary space obstacle avoidance apparatus.
The content of the invention
Therefore, the present invention provides robot temporary space barrier-avoiding method a kind of simple in construction and that space detection efficiency is high,
Further provide for a kind of robot temporary space obstacle avoidance apparatus and the robot with the temporary space obstacle avoidance apparatus.
In order to solve the above technical problems, a kind of robot temporary space barrier-avoiding method of the present invention, comprises the following steps,
S1：The width detecting that is detected to the width of robot direct of travel is installed in robot and right
The height detecting device that the short transverse of robot direct of travel is detected, robot is advancing along default guidance path
During, drive device drives the width detecting and the height detecting device to reciprocatingly slide, the width detection dress
Put and the spatial obstacle thing on direct of travel is detected with the height detecting device, once barrier is detected, into step
Rapid S2；
S2：If only described width detecting detects barrier, into step S3；If only described height detection
Device detects barrier, then into step S5；If the width detecting and the height detecting device are detected simultaneously by
Barrier, then be introduced into after step S3, enters back into step S5；
S3：Whether the space width of any side of disturbance in judgement thing arranged on left and right sides is more than robot width D, if it is, entering
Enter step S4, otherwise robot stops advancing；
S4：The larger side of barrier arranged on left and right sides travel space width is selected as the travel space that detours, and generate around
Walking along the street footpath, robot is continued on according to path of detouring, and completes primary space avoidance；
S5：Robot is to traveling on the right side of barrier left side/barrier, when the height detecting device no longer detects obstacle
After thing, continue to travel distance L on the right side of barrier left side/barrier and no longer detect barrier, then robot is to barrier
Retracted on the left of right side/barrier apart from L, and enter step S6, wherein being not less than robot width D apart from L；Otherwise, robot
Stop advancing；
S6：As progress space of detouring on the right side of selection barrier left side/barrier, and generate detour path, robot root
According to detouring, path is continued on, and completes primary space avoidance.
The width detecting is arranged in robot in the way of the width along robot enters line slip.
The height detecting device is arranged in robot in the way of the short transverse along robot enters line slip.
The width detecting is to horizontally rotate mode in robot, and its rotating range is wide not less than robot
Spend D.
The width detecting to be rotatably mounted in robot vertically, and its rotating range is high not less than robot
Spend H.
A kind of robot temporary space obstacle avoidance apparatus, it includes
At least one width detecting, is slidably installed along the width of the robot；
At least one height detecting device, is slidably installed along the short transverse of the robot；
Drive device, for driving the first slip driving structure and be used for that the width detecting reciprocatingly slided
Drive the second slip driving structure that the height detecting device is reciprocatingly slided.
Also include guide frame, the width that the guide frame includes being used to be slidably installed the width detecting is slided
Groove and the height sliding groove for the height detecting device that is slidably installed.
A kind of robot temporary space obstacle avoidance apparatus, it includes
At least one width detecting, to horizontally rotate mode in robot；
At least one height detecting device, to be rotatably mounted to vertically in robot；
Drive device, for driving the width detecting to carry out the first rotary drive structure of reciprocating rotary and being used for
The height detecting device is driven to carry out the second rotary drive structure of reciprocating rotary.
The width detecting and the height detecting device are set to infrared sensor or laser.
Robot, the robot includes robot temporary space obstacle avoidance apparatus as described above.
The above-mentioned technical proposal of the present invention has advantages below compared with prior art：
In the robot temporary space barrier-avoiding method, the direct of travel by the width detecting directly to robot
Width detection is carried out, height detection is directly carried out to the direct of travel of robot by the height detecting device, and according to inspection
Survey result and carry out corresponding subsequent step, be that Robot Selection suitably detours space, faster, detection efficiency is more for its detection speed
Height, accuracy of detection is also high.
Brief description of the drawings
In order that present disclosure is more likely to be clearly understood, specific embodiment and combination below according to the present invention
Accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the robot temporary space obstacle avoidance apparatus structural representation described in the embodiment of the present invention 2；
Fig. 2 is the robot temporary space obstacle avoidance apparatus structural representation described in the embodiment of the present invention 3；
Reference is expressed as in figure：1- robots；2- width detectings；3- height detecting devices；4- width is slided
Groove；5- height sliding grooves；6- first slides driving structure；7- second slides driving structure；The rotary drive structures of 8- first；9-
Two rotary drive structures.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Embodiment 1
A kind of robot temporary space barrier-avoiding method described in the present embodiment, it includes comprising the following steps,
S1：The width detecting 2 detected to the width of the direct of travel of robot 1 is installed in robot 1
The height detecting device 3 detected with the short transverse to the direct of travel of robot 1, robot 1 is along default navigation road
During footpath is advanced, drive device drives the width detecting 2 and the height detecting device 3 to reciprocatingly slide/rotate,
The width detecting 2 and the height detecting device 3 are detected to the spatial obstacle thing on direct of travel, once detection
To barrier, into step S2；
S2：If only described width detecting 2 detects barrier, into step S3；If only described height inspection
Survey device 3 and detect barrier, then into step S5；If the width detecting 2 and the height detecting device 3 are examined simultaneously
Barrier is measured, then is introduced into after step S3, step S5 is entered back into；
S3：Whether the space width of any side of disturbance in judgement thing arranged on left and right sides is more than robot width D, if it is, entering
Enter step S4, otherwise robot 1 stops advancing；
S4：The larger side of barrier arranged on left and right sides travel space width is selected as the travel space that detours, and generate around
Walking along the street footpath, robot 1 is continued on according to path of detouring, and completes primary space avoidance；
S5：Robot 1 is to traveling on the right side of barrier left side/barrier, when the height detecting device 3 no longer detects barrier
Hinder after thing, continue to travel distance L on the right side of barrier left side/barrier and no longer detect barrier, then robot 1 is to obstacle
Retracted on the left of thing right side/barrier apart from L, and into step S6, wherein it is not less than robot width D apart from L,；Otherwise, machine
People 1 stops advancing；
S6：As progress space of detouring on the right side of selection barrier left side/barrier, and generate detour path, 1, robot
According to detouring, path is continued on, and completes primary space avoidance.
The present embodiment is provided with the width detecting 2 and machine directly detected in the enterprising line width of direct of travel of robot 1
The height detecting device 3 of height detection is carried out on the direct of travel of device people 1, by the width detecting 2 directly to machine
The direct of travel of people 1 carries out width detection, and directly height is carried out to the direct of travel of robot 1 by the height detecting device 3
Degree detection, and corresponding subsequent step is carried out according to testing result, it is that robot 1 selects space of suitably detouring, it detects speed
Faster, detection efficiency is higher, and accuracy of detection is also high for degree；And it is relative with the image detecting method based on camera in the prior art come
Say, faster, detection efficiency is higher for its reaction speed；That is, the present embodiment is to the width of direct of travel and height side
To carrying out separate detection, it is relative with it is of the prior art using image detection height and width are combined by the way of detection come
Say, its detection is more direct, quick.
In the present embodiment, the width detecting 2 is installed in the way of the width along robot 1 enters line slip
In robot 1, the height detecting device 3 is arranged on robot 1 in the way of the short transverse along robot 1 enters line slip
On；The width detecting 2 and the height detecting device 3 is set to realize robot 1 in direct of travel by sliding
Full-height detects and full duration detection that the setting structure is simple, making easy to process.
Certainly, as disposable embodiment, the width detecting 2 can also be set to pacify to horizontally rotate mode
In robot 1, its rotating range is not less than robot width D, and the width detecting 2 to be rotatably mounted vertically
In robot 1, its rotating range is not less than robot H.
As shown in figure 1, the substantially process of the robot temporary space barrier-avoiding method of the present embodiment is as follows：
S1：After robot 1 receives task, the execution task of robot 1 simultaneously starts to advance towards target, at the same time, institute
State width detecting 2 and the height detecting device 3 proceeds by detection, and the drive device drives the width detection
Device 2 and the height detecting device 3 reciprocatingly slide/rotate, and the width detecting 2 is by the direction of the width
Reciprocatingly slide/rotate and realize being detected without dead angle to the width of the direct of travel of robot 1, the height detecting device 3
By reciprocatingly sliding/rotating and realize and detected to the short transverse of the direct of travel of robot 1 without dead angle in the height direction,
So as to realize being detected without dead angle on the direct of travel of robot 1；
S2：If only described width detecting 2 detects barrier, into step S3；If only described height inspection
Survey device 3 and detect barrier, then into step S5；If the width detecting 2 and the height detecting device 3 are examined simultaneously
Barrier is measured, then is introduced into after step S3, step S5 is entered back into；
S3：Whether the space width of any side of disturbance in judgement thing arranged on left and right sides is more than robot width D；If both sides
Space width be both less than robot width D, then robot 1 stop advance；If the space width of any side is more than machine
People's width D, then into step S4：
S4：Given birth to as the travel space that detours the larger side of selection selection barrier arranged on left and right sides travel space width
Into path of detouring；Then, the guidance path in detour path and original preset is connected according to the current location of robot 1, robot 1
According to detouring, path is continued on, and completes primary space avoidance；
S5：Robot 1 advances to find non-Obstacles to barrier left side/barrier right side, when height inspection
Survey device 3 no longer to detect after barrier, continue to travel distance L on the right side of barrier left side/barrier and no longer detect barrier
Hinder thing, then robot 1 retracts apart from L to barrier right side/barrier left side, and enter step S6, wherein being not less than machine apart from L
Device people's width D；Otherwise, robot 1 stops advancing；
S6：As progress space of detouring on the right side of selection barrier left side/barrier, and path of detouring is generated, so that it is guaranteed that
Robot 1 can be passed through on the left of the barrier right side/barrier, according to the current location of robot 1 will detour path with it is former
Begin the connection of default guidance path, robot 1 is continued on according to path of detouring, and completes primary space avoidance；
If robot 1 is during continuing on, barrier is detected again, then circulates above-mentioned steps.
In the present embodiment, the path of detouring is set again according to the guidance path of detour space and the original preset of selection
Put and form, the set-up mode of the guidance path of original preset of its specific set-up mode with setting the robot 1 is identical, therefore
This is repeated no more.
In the present embodiment, preferably described width detecting 2 includes range sensor, and the height detecting device 3 is wrapped
Range sensor is included, its simple in construction, use cost is low and detection speed is fast.
Certainly, as disposable embodiment, the height detecting device 3 can also be set to be filled including image detection
Put, its camera is set to the RGB-D cameras of Asus, and the level visual of the camera is 58 degree, and vertical angle of view is 45 degree, diagonally
With 70 degree of visual interval；In order to obtain bigger vertical vision, when actual use, the camera is vertically installed at machine
On people 1.
Embodiment 2
As shown in figure 1, the present embodiment provides a kind of robot temporary space obstacle avoidance apparatus, it includes
At least one width detecting 2, is slidably installed along the width of the robot 1；
At least one height detecting device 3, is slidably installed along the short transverse of the robot 1；
Drive device, first for driving the width detecting 2 to be reciprocatingly slided slides driving structure 6 and use
Driving structure 7 is slided in drive the height detecting device 3 to be reciprocatingly slided second.
In this embodiment, two height detecting devices 3 are preferably provided with, and two height detecting devices 3 are in the machine
It is arranged at intervals on the running face of device people 1, so as to be detected while realization in the survey short transverse of different anterior locations.
The present embodiment also includes guide frame, and the guide frame includes being used for the width detecting 2 that is slidably installed
Width sliding groove 4 and height sliding groove 5 for the height detecting device 3 that is slidably installed；Described 4 pairs of institutes of width sliding groove
The slip for stating width detecting 2 enters to be oriented to, and the width detecting 2 is in the presence of the described first slip driving structure 6
Reciprocatingly slided along the width sliding groove 4；The slip of 5 pairs of the height sliding groove height detecting device 3 enters to be oriented to,
The height detecting device 3 is back and forth slided in the presence of the described second slip driving structure 7 along the height sliding groove 5
It is dynamic.
Specifically, described first driving of the driving structure 6 including the first motor, with first motor is slided
The first coaxially connected screw rod of axle and the first sliding block being threaded on first screw rod；Wherein, first screw rod
Length direction it is consistent with the length direction of the width sliding groove 4, first sliding block is embedded in the width sliding groove 4
In, the width detecting 2 is fixedly mounted on first sliding block；Driven when first motor is rotated
The first screw rod rotation, and it is set in limitation of first sliding block on first screw rod in the width sliding groove 4
Under can not rotate, line slip can only be entered along the length direction of first screw rod, so as to drive the width detecting 2
Slided in the width sliding groove 4.
Specifically, described second driving of the driving structure 7 including the second motor, with second motor is slided
The second coaxially connected screw rod of axle and the second sliding block being threaded on second screw rod；Wherein, second screw rod
Length direction it is consistent with the length direction of the height sliding groove 5, second sliding block is embedded in the height sliding groove 5
In, the height detecting device 3 is fixedly mounted on second sliding block；Driven when second motor is rotated
The second screw rod rotation, and it is set in limitation of second sliding block on second screw rod in the height sliding groove 5
Under can not rotate, line slip can only be entered along the length direction of second screw rod, so as to drive the height detecting device 3
Slided in the height sliding groove 5.
In the present embodiment, the width detecting 2 and the height detecting device 3 are preferably set to infrared sensor
Or laser.
The robot temporary space obstacle avoidance apparatus of the present embodiment substantially using process it is as follows：
The robot temporary space obstacle avoidance apparatus is arranged on the panel of the running face of robot 1 first, and two institutes
Height detecting device 3 is stated to be arranged at intervals, and each height detecting device 3 is set close to the side of robot 1, that is,
Say so that spacing between two height detecting devices 3 as close as the robot 1 width, described in two
Height detecting device 3 is set to left side height detecting device 3 and right side height detecting device 3；
After robot 1 receives task, the execution task of robot 1 simultaneously starts to advance towards target, at the same time, the width
Degree detection means 2 and the height detecting device 3 proceed by detection, and the drive device drives the width detecting
2 and the height detecting device 3 reciprocatingly slided, the width detecting 2 passes through reciprocatingly sliding in the direction of the width
Being detected without dead angle to the width of the direct of travel of robot 1 is realized, two height detecting devices 3 pass through in height
Reciprocatingly sliding on direction realizes being detected without dead angle to the short transverse of the direct of travel of robot 1, so as to realize in machine
Being detected without dead angle on the direct of travel of people 1；
When only described width detecting 2 detects barrier, disturbance in judgement thing arranged on left and right sides enters the space of side
Whether width is more than robot width D；If the space width of both sides is both less than robot width D, robot 1 stops row
Enter；If the space width of any side is more than robot width D, selection selection barrier arranged on left and right sides travel space is wide
The larger side of degree generates path of detouring as the travel space that detours；Then, will be around walking along the street according to the current location of robot 1
The guidance path connection of footpath and original preset, robot 1 is continued on according to path of detouring, and completes primary space avoidance；
When only described height detecting device 3 detects barrier, robot 1 is on the right side of barrier left side/barrier
Advance to find non-space with obstacle；If being only that left side height detecting device 3 detects barrier, then robot 1 is preferential to barrier
Hinder and advance to find non-space with obstacle on the right side of thing；If only right side height detecting device 3 detects barrier, then robot 1
Preferentially advance to find non-space with obstacle to the left；After the height detecting device 3 no longer detects barrier, continue to barrier
Hinder thing left side/barrier right side travel distance L and no longer detect barrier, then robot 1 is left to barrier right side/barrier
Side is retracted apart from L, and progress of detouring is used as wherein being not less than apart from L on the right side of robot width D, selection barrier left side/barrier
Space, and generate and detour path, so that it is guaranteed that robot 1 can be passed through from barrier right side/barrier left side, otherwise machine
Device people 1 stops advancing；The guidance path in detour path and original preset is connected according to the current location of robot 1,1, robot
According to detouring, path is continued on, and completes primary space avoidance；
When the width detecting 2 and the height detecting device 3 are detected simultaneously by barrier, initially enter only
The subsequent step that width detecting 2 detects barrier is stated, only described height detecting device 3 is entered back into and detects barrier
Subsequent step；
If robot 1 is during continuing on, barrier is detected again, then circulates above-mentioned steps.
Embodiment 3
As shown in Fig. 2 the present embodiment provides a kind of robot temporary space obstacle avoidance apparatus, it includes
At least one width detecting 2, to horizontally rotate mode in robot 1；
At least one height detecting device 3, to be rotatably mounted to vertically in robot 1；
Drive device, for driving the width detecting 2 to carry out the first rotary drive structure 8 of reciprocating rotary and using
In the second rotary drive structure 9 for driving the height detecting device 3 to carry out reciprocating rotary.
In this embodiment, two height detecting devices 3 are preferably provided with, and two height detecting devices 3 are in the machine
It is arranged at intervals on the running face of device people 1, so as to be detected while realization in the survey short transverse of different anterior locations.
Specifically, first rotary drive structure 8 includes the first motor, the driving with first motor
The first travelling gear that axle is coaxially arranged and the first driven gear engaged with first travelling gear；Wherein, the width
Detection means 2 is spent to be arranged on first driven gear；Described first is driven when first electric rotating machine is rotated
Travelling gear rotates, and the first driven gear engaged with first travelling gear drives the width detecting 2 to occur
Rotation, so that the width detecting 2 carries out reciprocating rotary, is realized to the width on the direct of travel of the robot 1
Spend the detection in direction.
Specifically, second rotary drive structure 9 includes the second motor, the driving with second motor
The second travelling gear that axle is coaxially arranged and the second driven gear engaged with second travelling gear；Wherein, the height
Detection means 3 is spent to be arranged on second driven gear；Described second is driven when second electric rotating machine is rotated
Travelling gear rotates, and the second driven gear engaged with second travelling gear drives the height detecting device 3 to occur
Rotation, so that the height detecting device 3 carries out reciprocating rotary, is realized to the height on the direct of travel of the robot 1
Spend the detection in direction.
In the present embodiment, the width detecting 2 and the height detecting device 3 are preferably set to infrared sensor
Or laser.
The robot temporary space obstacle avoidance apparatus of the present embodiment substantially using process it is as follows：
The robot temporary space obstacle avoidance apparatus is arranged on the panel of the running face of robot 1 first, and two institutes
Height detecting device 3 is stated to be arranged at intervals, and each height detecting device 3 is set close to the side of robot 1, that is,
Say so that spacing between two height detecting devices 3 as close as the robot 1 width, described in two
Height detecting device 3 is set to left side height detecting device 3 and right side height detecting device 3；
After robot 1 receives task, the execution task of robot 1 simultaneously starts to advance towards target, at the same time, the width
Degree detection means 2 and the height detecting device 3 proceed by detection, and the drive device drives the width detecting
2 and the height detecting device 3 carry out reciprocating rotary, the width detecting 2 passes through reciprocating rotary in the direction of the width
Being detected without dead angle to the width of the direct of travel of robot 1 is realized, two height detecting devices 3 pass through in height
Reciprocating rotary on direction realizes being detected without dead angle to the short transverse of the direct of travel of robot 1, so as to realize in machine
Being detected without dead angle on the direct of travel of people 1；
When only described width detecting 2 detects barrier, disturbance in judgement thing arranged on left and right sides enters the space of side
Whether width is more than robot width D；If the space width of both sides is both less than robot width D, robot 1 stops row
Enter；If the space width of any side is more than robot width D, selection selection barrier arranged on left and right sides travel space is wide
The larger side of degree generates path of detouring as the travel space that detours；Then, will be around walking along the street according to the current location of robot 1
The guidance path connection of footpath and original preset, robot 1 is continued on according to path of detouring, and completes primary space avoidance；
When only described height detecting device 3 detects barrier, robot 1 is on the right side of barrier left side/barrier
Advance to find non-space with obstacle；If being only that left side height detecting device 3 detects barrier, then robot 1 is preferential to barrier
Hinder and advance to find non-space with obstacle on the right side of thing；If only right side height detecting device 3 detects barrier, then robot 1
Preferentially advance to find non-space with obstacle to the left；After the height detecting device 3 no longer detects barrier, continue to barrier
Hinder thing left side/barrier right side travel distance L and no longer detect barrier, then robot 1 is left to barrier right side/barrier
Side is retracted apart from L, and progress of detouring is used as wherein being not less than apart from L on the right side of robot width D, selection barrier left side/barrier
Space, and generate and detour path, so that it is guaranteed that robot 1 can be passed through from barrier right side/barrier left side, otherwise machine
Device people 1 stops advancing；The guidance path in detour path and original preset is connected according to the current location of robot 1,1, robot
According to detouring, path is continued on, and completes primary space avoidance；
When the width detecting 2 and the height detecting device 3 are detected simultaneously by barrier, initially enter only
The subsequent step that width detecting 2 detects barrier is stated, only described height detecting device 3 is entered back into and detects barrier
Subsequent step；
If robot 1 is during continuing on, barrier is detected again, then circulates above-mentioned steps.
Embodiment 4
Robot, the robot 1 includes at least one robot temporary space obstacle avoidance apparatus as described above.
In the present embodiment, when the robot 1 have two or more can direct of travel when, then can be every
One robot temporary space obstacle avoidance apparatus is set on the running face corresponding to one direct of travel, so as to adapt to machine
The need for the situation that the direct of travel of people 1 changes at any time, that is, the multi-direction traveling of adaptation robot 1.
It is, of course, also possible to multiple robot temporary space obstacle avoidance apparatus are set on the same running face of robot 1,
To improve spatial obstacle analyte detection efficiency and detection precision.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of robot temporary space barrier-avoiding method, it is characterised in that：Comprise the following steps
S1：In robot（1）Upper installation is to robot（1）The width detecting that the width of direct of travel is detected
（2）With to robot（1）The height detecting device that the short transverse of direct of travel is detected（3）, robot（1）Along default
Guidance path advance during, drive device drives the width detecting（2）With the height detecting device（3）It is past
Multiple slip/rotation, the width detecting（2）With the height detecting device（3）To the spatial obstacle thing on direct of travel
Detected, once barrier is detected, into step S2；
S2：If only described width detecting（2）Barrier is detected, then into step S3；If only described height detection
Device（3）Barrier is detected, then into step S5；If the width detecting（2）With the height detecting device（3）Together
When detect barrier, then be introduced into after step S3, enter back into step S5；
S3：Whether the space width of any side of disturbance in judgement thing arranged on left and right sides is more than robot width D, if it is, entering step
Rapid S4, otherwise robot（1）Stop advancing；
S4：The larger side of barrier arranged on left and right sides travel space width is selected as the travel space that detours, and is generated around walking along the street
Footpath, robot（1）According to detouring, path is continued on, and completes primary space avoidance；
S5：Robot（1）Advanced on the right side of to barrier left side/barrier, when the height detecting device（3）No longer detect barrier
Hinder after thing, continue to travel distance L on the right side of barrier left side/barrier and no longer detect barrier, then robot（1）To barrier
Hinder and retracted on the left of thing right side/barrier apart from L, and enter step S6, wherein being not less than robot width D apart from L；Otherwise, machine
Device people（1）Stop advancing；
S6：As progress space of detouring on the right side of selection barrier left side/barrier, and generate detour path, robot（1）According to
Path of detouring is continued on, and completes primary space avoidance.
2. a kind of robot temporary space barrier-avoiding method according to claim 1, it is characterised in that：The width detection
Device（2）With along robot（1）Width enter line slip mode be arranged on robot（1）On.
3. a kind of robot temporary space barrier-avoiding method according to claim 1, it is characterised in that：The height detection dress
Put（3）With along robot（1）Short transverse enter line slip mode be arranged on robot（1）On.
4. a kind of robot temporary space barrier-avoiding method according to claim 1, it is characterised in that：The width detection dress
Put（2）To horizontally rotate mode installed in robot（1）On, its rotating range is not less than robot width D.
5. a kind of robot temporary space barrier-avoiding method according to claim 1, it is characterised in that：The width detection dress
Put（2）To be rotatably mounted to robot vertically（1）On, its rotating range is not less than robot H.
6. a kind of robot temporary space obstacle avoidance apparatus, it is characterised in that：It includes
At least one width detecting（2）, along the robot（1）Width be slidably installed；
At least one height detecting device（3）, along the robot（1）Short transverse be slidably installed；
Drive device, for driving the width detecting（2）First reciprocatingly slided slides driving structure（6）With with
In the driving height detecting device（3）Second reciprocatingly slided slides driving structure（7）.
7. a kind of robot temporary space obstacle avoidance apparatus according to claim 6, it is characterised in that：Also include being oriented to knot
Structure, the guide frame includes being used for the width detecting that is slidably installed（2）Width sliding groove（4）Pacify with for sliding
Fill the height detecting device（3）Height sliding groove（5）.
8. a kind of robot temporary space obstacle avoidance apparatus, it is characterised in that：It includes
At least one width detecting（2）, to horizontally rotate mode installed in robot（1）On；
At least one height detecting device（3）, to be rotatably mounted to robot vertically（1）On；
Drive device, for driving the width detecting（2）Carry out the first rotary drive structure of reciprocating rotary（8）With with
In the driving height detecting device（3）Carry out the second rotary drive structure of reciprocating rotary（9）.
9. a kind of robot temporary space obstacle avoidance apparatus according to any one of claim 6-8, it is characterised in that：It is described
Width detecting（2）With the height detecting device（3）It is set to infrared sensor or laser.
10. robot, it is characterised in that：The robot（1）Including the machine ated least one as any one of claim 6-9
Device people's temporary space obstacle avoidance apparatus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611211715.7A CN107053171A (en) | 2016-12-25 | 2016-12-25 | Robot temporary space barrier-avoiding method, device and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611211715.7A CN107053171A (en) | 2016-12-25 | 2016-12-25 | Robot temporary space barrier-avoiding method, device and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974702A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of robot navigation method, robot and storage device |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN113050655A (en) * | 2021-03-29 | 2021-06-29 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method for completing obstacle avoidance of transformer substation robot through laser range finder |
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| CN105966538A (en) * | 2016-06-03 | 2016-09-28 | 尚艳燕 | Control method and control device of electric balance car |
| CN106054900A (en) * | 2016-08-08 | 2016-10-26 | 电子科技大学 | Temporary robot obstacle avoidance method based on depth camera |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105966538A (en) * | 2016-06-03 | 2016-09-28 | 尚艳燕 | Control method and control device of electric balance car |
| CN106054900A (en) * | 2016-08-08 | 2016-10-26 | 电子科技大学 | Temporary robot obstacle avoidance method based on depth camera |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974702A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of robot navigation method, robot and storage device |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN110955249B (en) * | 2019-12-23 | 2023-11-07 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN113050655A (en) * | 2021-03-29 | 2021-06-29 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method for completing obstacle avoidance of transformer substation robot through laser range finder |
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Application publication date: 20170818 |