CN107121985A - A kind of radar obstacle avoidance system of underwater intelligent robot - Google Patents
A kind of radar obstacle avoidance system of underwater intelligent robot Download PDFInfo
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- CN107121985A CN107121985A CN201710298759.6A CN201710298759A CN107121985A CN 107121985 A CN107121985 A CN 107121985A CN 201710298759 A CN201710298759 A CN 201710298759A CN 107121985 A CN107121985 A CN 107121985A
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- radar
- chip microcomputer
- obstacle avoidance
- avoidance system
- timer
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- 230000004888 barrier function Effects 0.000 claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 11
- 230000003321 amplification Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/15—Plc structure of the system
- G05B2219/15069—Use of function modules with timer, counter, relay functions and I-O
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of radar obstacle avoidance system of underwater intelligent robot, including robot body (1), its top surface, bottom surface, left surface and right flank are mounted on a radar transceiver (2), single-chip microcomputer (3) and coupled peripheral circuit are provided with it, timer (4) is set in single-chip microcomputer (3), radar signal timesharing is corresponded and is conveyed to each radar transceiver (2) by single-chip microcomputer (3), the feedback signal of barrier is corresponded be conveyed to single-chip microcomputer (3) respectively by radar transceiver (2), timer (4) is opened when radar signal is conveyed, timer (4) stops when feedback signal is conveyed, Time Calculation between unlatching and stopping that single-chip microcomputer (3) passes through timer (4) draws the distance of barrier (5) and radar transceiver (2).The present invention makes it more rationally effective to barrier progress avoidance.The underwater robot obstacle avoidance system of the embodiment of the present invention can realize miniaturization and lightness simultaneously, radar obstacle avoidance system is applied in small underwater robot.
Description
Technical field
The present invention relates to the obstacle avoidance system of underwater robot, more particularly, to a kind of radar avoidance of underwater intelligent robot
System.
Background technology
Underwater robot has in terms of scientific research of seas, ocean development, Underwater Engineering and military affairs widely should
Use prospect.Underwater robot is generally operational under complicated marine environment, in order to preferably complete various operation missions and its own
Life security, it needs the ability with automatic obstacle avoiding, can be likely to result in risk of collision to surrounding environment barrier and feel
Know and make respective response.
The automatic obstacle avoiding mode of underwater robot has many kinds, such as potential field method, fuzzy collision prevention method.Potential field method is a kind of
Virtual force method, its basic thought be by the motion of robot in the environment be considered as it is a kind of virtually by the motion in the field of force.Obstacle
Thing produces repulsion to robot, and target point produces the acceleration made a concerted effort as robot of gravitation, gravitation and repulsion, control machine
The direction of motion of people and the position of robot.This method is simple in construction, is easy to real-time control, the Real Time Obstacle Avoiding of bottom, but it is only
The problem of determining that the size of controling power is relatively rough according only to some relative distances, and there is locally optimal solution, easily production
Raw deadlock situation.The thought of fuzzy reasoning was introduced into underwater robot avoidance technical method by some scholars in recent years, its principle
The experience of the fuzzy logic reference man of real time sensor information is namely based on, planning information is obtained by tabling look-up, local road is realized
Footpath is planned, the method overcome the local minimum problem that potential field method is also easy to produce, it is adaptable to the path planning under time-varying circumstances not known,
Real-time preferably, achieves some achievements, it has the disadvantage that the experience of people is not necessarily complete, when input quantity increases, inference rule
Can drastically it be expanded with fuzzy table.But all have not been able to take into full account the kinetic model and motion control energy of underwater robot mostly
Power, therefore incorporate these into its Robot dodge strategy and can truly reflect that dynamic obstacle avoidance ability is allowed to safely and reliably hold
The various job tasks of row have great importance.
In May, 2001《Robot》" the underwater robot automatic obstacle avoiding side based on motion balance point of the 3rd phase of volume 23
Formula " proposes the automatic obstacle avoiding planing method for combining the automatic obstacle avoiding planning and motion control of underwater robot.But the party
Method is it is determined that although it is contemplated that the factor such as motion control performance of underwater robot during motion balance point safe distance, but it is designed
Safe distance value be a definite value, typically without considering influence of the underwater robot speed to avoidance ability, and considering
It is considered as unalterable during the motion control capabilities of underwater robot, these in fact can not actual response underwater robot
Dynamic change situation in real work.
The content of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is that radar avoidance how is under water used in intelligent robot
System.
Solution
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is kept away there is provided a kind of underwater intelligent robot
Barrier system, including robot body, top surface, bottom surface, left surface and the right flank of the robot body are mounted on a thunder
Up to transceiver, single-chip microcomputer and the peripheral circuit being connected with the single-chip microcomputer, the monolithic are provided with the robot body
It is provided with timer in machine, the single-chip microcomputer produces several radar signals, the single-chip microcomputer is by a pair of radar signal timesharing 1
That answers is conveyed to each described radar transceiver, and the radar transceiver is one-to-one by the feedback signal of barrier respectively
It is conveyed to the single-chip microcomputer, radar signal timer unlatching when conveying, feedback signal timer stopping, institute when conveying
State the unlatching of timer and stop acting on one by one in a radar transceiver, the single-chip microcomputer is by the unlatching of timer with stopping
Time Calculation between only draws the distance of barrier and radar transceiver.Received by installing multiple radars on the periphery of robot
Send out device, by its transmission signal and reflected signal and by timer open and stop time common feedback to single-chip microcomputer on, from
And the launch point of radar transceiver is calculated the distance between to barrier, it is rationally effective that avoidance, radar are carried out to barrier
Directional transmissions, good directionality, energy expenditure are slow, intensity is easy to control, need not be direct with object being measured with being easy to for signal
The advantage of contact, also in the absence of blind area, meanwhile, extraneous environment influences also smaller on it, realizes robot quickly effective
Mobile effect.
Further, the detection angle of the radar transceiver is more than 20 °.Make its application more extensive.
Further, the single-chip microcomputer is 8 single-chip microcomputers, and its model STM8S105, its dominant frequency can reach 24MHZ.8
STM8S105 single-chip microcomputers its be not only STM8S series main flow, be more suitable for industrial, consumer and computer market a variety of
Using its performance is more stablized.
Further, the single-chip microcomputer produces 8 40KHZ radar signal.Each radar transceiver distributes two radars
Signal, is used alternatingly, and has ensured its course of work.
Further, the amplifier for amplifying radar signal is additionally provided with the single-chip microcomputer.Radar letter after amplification
Number make that its signal intensity is stronger, feedback effects are more preferable.
Brief description of the drawings
Fig. 1 is the external structure of the robot body of the present embodiment；
Fig. 2 is the theory diagram of the present embodiment.
Wherein：1- robot bodies；2- radar transceivers；3- single-chip microcomputers；4- timers；5- barriers.
Embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Referring to shown in accompanying drawing 1-2, a kind of radar obstacle avoidance system of underwater intelligent robot of the present embodiment, including robot
Body 1, top surface, bottom surface, left surface and the right flank of robot body 1 are mounted on a radar transceiver 2, robot body
It is provided with 1 in single-chip microcomputer 3 and the peripheral circuit being connected with single-chip microcomputer 3, single-chip microcomputer 3 and is provided with timer 4, single-chip microcomputer 3 is 8
Position single-chip microcomputer, its model STM8S105, its dominant frequency can reach 24MHZ, and single-chip microcomputer 3 produces several radar signals, this implementation
Single-chip microcomputer 3 produces 8 40KHZ radar signal in example, and radar signal timesharing is conveyed to each by single-chip microcomputer 3 correspondingly
Radar transceiver 2, time-sharing work be one worked after, another startup, to ensure that during its work another will not be received
Influence, the feedback signal of barrier is conveyed to single-chip microcomputer 3 by radar transceiver 2 correspondingly respectively, radar signal conveying
When timer 4 open, timer 4 stops when feedback signal is conveyed, and the unlatching of timer 4 and stops acting on a radar one by one
On transceiver 2, the Time Calculation between unlatching and stopping that single-chip microcomputer 3 passes through timer 4 draws barrier 5 and radar transceiver
2 distance, the detection angle of radar transceiver 2 can be gone back more than 20 ° between -35 DEG C -85 DEG C on normal work, single-chip microcomputer 3
It is provided with the amplifier for amplifying radar signal.
8 40KHZ produced by single-chip microcomputer 3 radar signal is conveyed to radar transceiver 2 after the amplification of amplifier,
Now, the control timer 4 of single-chip microcomputer 3 opens timing, and when radar signal runs into barrier 5, radar signal is returned, return
Signal is received by radar transceiver 2, now, and single-chip microcomputer 3 controls the timer 4 in it to stop timing immediately, passes through single-chip microcomputer 3
Calculate, it is possible to obtain the distance of barrier and radar transceiver 2, realize avoidance.
The technical concepts and features of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands present disclosure and is carried out, and it is not intended to limit the scope of the present invention, all according to spirit of the invention
The equivalent change or modification that essence is done, should all cover within the scope of the present invention.
Claims (5)
1. a kind of radar obstacle avoidance system of underwater intelligent robot, including robot body (1), it is characterised in that：The machine
Top surface, bottom surface, left surface and the right flank of human body (1) is mounted on a radar transceiver (2), the robot body
(1) it is provided with to be provided with single-chip microcomputer (3) and the peripheral circuit being connected with the single-chip microcomputer (3), the single-chip microcomputer (3) in and determines
When device (4), the single-chip microcomputer (3) produces several radar signals, and the single-chip microcomputer (3) is one-to-one by radar signal timesharing
Each described radar transceiver (2) is conveyed to, the radar transceiver (2) respectively corresponds the feedback signal of barrier
Be conveyed to the single-chip microcomputer (3), radar signal when conveying the timer (4) open, timing when feedback signal is conveyed
Device (4) stops, and the unlatching and stopping of the timer (4) are acted on a radar transceiver (2) one by one, the single-chip microcomputer
(3) distance of barrier (5) and radar transceiver (2) is drawn by the Time Calculation between the unlatching and stopping of timer (4).
2. a kind of radar obstacle avoidance system of underwater intelligent robot according to claim 1, it is characterised in that：The radar
The detection angle of transceiver (2) is more than 20 °.
3. a kind of radar obstacle avoidance system of underwater intelligent robot according to claim 1, it is characterised in that：The monolithic
Machine (3) is 8 single-chip microcomputers, and its model STM8S105, its dominant frequency can reach 24MHZ.
4. a kind of radar obstacle avoidance system of underwater intelligent robot according to claim 1, it is characterised in that：The monolithic
Machine (3) produces 8 40KHZ radar signal.
5. a kind of radar obstacle avoidance system of underwater intelligent robot according to claim 1, it is characterised in that：The monolithic
The amplifier for amplifying radar signal is additionally provided with machine (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298759.6A CN107121985A (en) | 2017-04-27 | 2017-04-27 | A kind of radar obstacle avoidance system of underwater intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298759.6A CN107121985A (en) | 2017-04-27 | 2017-04-27 | A kind of radar obstacle avoidance system of underwater intelligent robot |
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| Publication Number | Publication Date |
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| CN107121985A true CN107121985A (en) | 2017-09-01 |
Family
ID=59725206
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710298759.6A Pending CN107121985A (en) | 2017-04-27 | 2017-04-27 | A kind of radar obstacle avoidance system of underwater intelligent robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201063059Y (en) * | 2007-06-08 | 2008-05-21 | 集美大学 | Intelligent collision-preventing navigator for ship |
| CN102616354A (en) * | 2011-01-27 | 2012-08-01 | 陈友余 | Underwater rescue mini-type submarine for mine disaster |
| KR101403357B1 (en) * | 2013-04-10 | 2014-06-05 | 삼성탈레스 주식회사 | Precision terrain aided navigation apparatus using elevation-adaptive radar altimeter |
| US20150197012A1 (en) * | 2014-01-10 | 2015-07-16 | Irobot Corporation | Autonomous Mobile Robot |
| CN105818947A (en) * | 2016-03-25 | 2016-08-03 | 中国海洋大学 | Semi-shallow spilled oil detection autonomous underwater vehicle |
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
| CN206057564U (en) * | 2016-07-28 | 2017-03-29 | 杭州哈帝机器人科技有限公司 | The radar obstacle avoidance system of Vehicular intelligent service robot |
-
2017
- 2017-04-27 CN CN201710298759.6A patent/CN107121985A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201063059Y (en) * | 2007-06-08 | 2008-05-21 | 集美大学 | Intelligent collision-preventing navigator for ship |
| CN102616354A (en) * | 2011-01-27 | 2012-08-01 | 陈友余 | Underwater rescue mini-type submarine for mine disaster |
| KR101403357B1 (en) * | 2013-04-10 | 2014-06-05 | 삼성탈레스 주식회사 | Precision terrain aided navigation apparatus using elevation-adaptive radar altimeter |
| US20150197012A1 (en) * | 2014-01-10 | 2015-07-16 | Irobot Corporation | Autonomous Mobile Robot |
| CN105818947A (en) * | 2016-03-25 | 2016-08-03 | 中国海洋大学 | Semi-shallow spilled oil detection autonomous underwater vehicle |
| CN105974422A (en) * | 2016-07-28 | 2016-09-28 | 杭州哈帝机器人科技有限公司 | Vehicle intelligent service robot radar obstacle avoidance system |
| CN206057564U (en) * | 2016-07-28 | 2017-03-29 | 杭州哈帝机器人科技有限公司 | The radar obstacle avoidance system of Vehicular intelligent service robot |
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Application publication date: 20170901 |