CN107175659A - Obstacle Avoidance and device - Google Patents
Obstacle Avoidance and device Download PDFInfo
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- CN107175659A CN107175659A CN201710301694.6A CN201710301694A CN107175659A CN 107175659 A CN107175659 A CN 107175659A CN 201710301694 A CN201710301694 A CN 201710301694A CN 107175659 A CN107175659 A CN 107175659A
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- avoidance sensor
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
The embodiment of the present invention provides a kind of Obstacle Avoidance and device, and this method includes：Processor is grouped to configuring N number of avoidance sensor with robot according to position relationship, and each avoidance sensor for belonging to different grouping is worked within the corresponding working time, realizes the time-sharing work of N number of avoidance sensor.N number of avoidance sensor can avoid different sensors from sending interfering between signal by way of time-sharing work, processor is set to receive detection data in the absence of interference, being collected by the avoidance sensor of different operating time, processor is accurately identified by analyzing the realization of this detection data to barrier.
Description
Technical field
The present invention relates to technical field of electric device control, more particularly to a kind of Obstacle Avoidance and device.
Background technology
In recent years, deepened continuously with the development and artificial intelligence study of robot technology, intelligent mobile robot is in people
Play the part of more and more important role in class life, be used widely in numerous areas such as welcome's guiding.
Intelligent mobile robot is that a class can perceive environment and oneself state by detector, real now with barrier
Object-oriented independent navigation motion in environment, so as to complete the robot system of preplanned mission.Therefore, barrier avoiding function is intelligence
The indispensable key element of mobile robot.
Usually, avoidance is to be realized based on the sensor configured on intelligent mobile robot to detect barrier.And
In the prior art, because the visual angle of sensor is universal smaller, single sensor is configured on intelligent mobile robot to expire
Detection of the foot to all directions barrier, therefore multiple sensors can be typically installed on intelligent mobile robot.When being deployed in
Multiple sensors on same intelligent mobile robot work simultaneously when, it there may be and interfere between different sensors,
The detection signal of such as one sensor is received by other sensors, influences the accuracy of detection of obstacles result.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of Obstacle Avoidance and device, by controlling each avoidance to pass
The working time of sensor, the signal interference existed between different sensors is reduced, the accuracy of robot barrier thing identification is improved.
The embodiment of the present invention provides a kind of Obstacle Avoidance, including：
The position relationship of N number of avoidance sensor of the configuration with robot is obtained, wherein, N ＞ 1；
N number of avoidance sensor is grouped according to the position relationship；
The avoidance sensor in each packet is controlled to be worked within different working hours respectively；
The detection data cognitive disorders that N number of avoidance sensor according to receiving is sent within corresponding working hour
Thing.
Alternatively, methods described also includes：If handling calculation resources occupancy caused by other tasks is more than predetermined threshold value,
The working hour interval of at least one avoidance sensor in N number of avoidance sensor is then adjusted in preset duration, or, adjust
The detection data amount that at least one avoidance sensor is gathered in each working hour domestic demand in whole N number of avoidance sensor.
Alternatively, the work that at least one avoidance sensor in N number of avoidance sensor is adjusted in preset duration
Make at least one avoidance sensor in period interval, or adjustment N number of avoidance sensor to gather in each working hour domestic demand
Detection data amount, including：
Be more than the degree of the predetermined threshold value according to the calculation resources occupancy, determine to allow in the preset duration from
The actual detection data volume upper limit that N number of avoidance sensor is received；
According to the theoretical maximum detection data amount and institute for allowing to receive from N number of avoidance sensor in the preset time
The actual detection data volume upper limit is stated, it is determined that detection data amount to be reduced；
Extend the work of at least one avoidance sensor in N number of avoidance sensor according to the detection data amount to be reduced
Make at least one avoidance sensor in period interval, or reduction N number of avoidance sensor to gather in each working hour domestic demand
Detection data amount.
Alternatively, methods described also includes：
According to the pre-set priority of N number of avoidance sensor, according to the order of priority from low to high, from described N number of
At least one described avoidance sensor is selected in avoidance sensor, the pre-set priority is related to distribution of obstacles situation.
Alternatively, the work that at least one avoidance sensor in N number of avoidance sensor is adjusted in preset duration
Make at least one avoidance sensor in period interval, or adjustment N number of avoidance sensor to gather in each working hour domestic demand
Detection data amount, including：
According to the priority of at least one avoidance sensor, it is determined that during the work of at least one avoidance sensor
It is intersegmental every or determining the detection data amount that at least one described avoidance sensor is gathered in each working hour domestic demand.
The embodiment of the present invention provides a kind of robot obstacle-avoiding device, including：
Acquisition module, the position relationship for obtaining N number of avoidance sensor of the configuration with robot, wherein, N ＞ 1；
Grouping module, for being grouped according to the position relationship to N number of avoidance sensor；
Control module, for controlling the avoidance sensor in each packet to be worked within different working hours respectively；
Identification module, for the spy sent according to the N number of avoidance sensor received within corresponding working hour
Survey data cognitive disorders thing.
Alternatively, described device also includes：
Adjusting module, if calculation resources occupancy is more than predetermined threshold value caused by for handling other tasks, default
The working hour interval of at least one avoidance sensor in N number of avoidance sensor is adjusted in duration, or, adjust the N
The detection data amount that at least one avoidance sensor is gathered in each working hour domestic demand in individual avoidance sensor.
Alternatively, the adjusting module is specifically included：
Determining unit, the degree for being more than the predetermined threshold value according to the calculation resources occupancy, is determined described pre-
If allow the actual detection data volume upper limit received from N number of avoidance sensor in duration, and according to the preset time
The interior theoretical maximum detection data amount and the actual detection data volume upper limit for allowing to receive from N number of avoidance sensor, really
Surely detection data amount to be reduced；
Adjustment unit, for extending at least one in N number of avoidance sensor according to the detection data amount to be reduced
At least one avoidance sensor is in each work in the working hour interval of avoidance sensor, or reduction N number of avoidance sensor
Make the detection data amount of period domestic demand collection.
Alternatively, described device also includes：
Selecting module, for the pre-set priority according to N number of avoidance sensor, according to priority from low to high suitable
Sequence, selects at least one described avoidance sensor, the pre-set priority and barrier point from N number of avoidance sensor
Cloth situation is related.
Alternatively, the adjusting module is additionally operable to：According to the priority of at least one avoidance sensor, it is determined that described
The working hour interval of at least one avoidance sensor, or determine at least one described avoidance sensor within each working hour
The detection data amount that need to be gathered.
Obstacle Avoidance and device provided in an embodiment of the present invention, processor are N number of with robot to configuring
Avoidance sensor is grouped according to position relationship, and makes each avoidance sensor for belonging to different grouping in different work
It is interior to work, realize the time-sharing work of N number of avoidance sensor.N number of avoidance sensor can be avoided by way of time-sharing work
Different sensors send interfering between signal, allow processor receive it is in the absence of interference, by different operating
The detection data that the avoidance sensor of time service is collected, processor is by analyzing standard of this detection data realization to barrier
Really identification.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of Obstacle Avoidance embodiment one provided in an embodiment of the present invention；
Fig. 2 is the flow chart of Obstacle Avoidance embodiment two provided in an embodiment of the present invention；
Fig. 3 is the flow chart of Obstacle Avoidance embodiment three provided in an embodiment of the present invention；
Fig. 4 is the structural representation of robot obstacle-avoiding device embodiment one provided in an embodiment of the present invention；
Fig. 5 is the structural representation of robot obstacle-avoiding device embodiment two provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclude and include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX being distinguished from each other out.For example, not departing from implementation of the present invention
In the case of example scope, the first XXX can also be referred to as the 2nd XXX, similarly, and the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or also include for this commodity or the intrinsic key element of system.In the feelings of not more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
Fig. 1 is the flow chart of Obstacle Avoidance embodiment one provided in an embodiment of the present invention, what the present embodiment was provided
The executive agent of the Obstacle Avoidance can be the processor being arranged in robot, such as industry control processor.Such as Fig. 1
Shown, this method comprises the following steps：
S101, obtains the position relationship of N number of avoidance sensor of the configuration with robot, wherein, N ＞ 1.
To realize detection of obstacles of the robot to the intimate full angle of residing scene, set typically on robot fuselage
Multiple avoidance sensors.Alternatively, the avoidance sensor in the embodiment of the present invention can for depth transducer, infrared sensor,
Laser sensor, ultrasonic sensor etc..
, can covering based on the detectable signal of each avoidance sensor emission in an optional avoidance sensor plan of establishment
Lid scope, by accurately setting setting angle and the position of each avoidance sensor, avoided to try one's best multiple sensors mutually it
Between interference problem.Now, the installation accuracy for each avoidance sensor proposes higher requirement.
In another optional avoidance sensor plan of establishment, it may not be necessary to pursue between each avoidance sensor entirely without
The target of interference, now, the requirement to the installation accuracy of each avoidance sensor are substantially reduced, and in order to avoid multiple avoidances are sensed
Problem is interfered between device, method provided in an embodiment of the present invention can be used.
Above-mentioned position relationship refers to mutual alignment relation of multiple avoidance sensors on robot fuselage, can be by such as
Under optional mode obtain：
After this multiple avoidance sensor is arranged on robot fuselage, what staff can show in robot
Substantially installation site of the plurality of avoidance sensor on robot fuselage is inputted in certain operation interface, such as in the operation interface
Middle display robot three-dimensional image, staff can enter edlin to the image, the peace of each avoidance sensor is positioned thereon
Holding position, it is possible to input the mark of each avoidance sensor.So as to which processor can obtain multiple based on the analysis to the image
The position relationship of avoidance sensor, such as, from vertical direction on from the point of view of, the avoidance sensor installed successively from top to bottom.
S102, is grouped according to position relationship to N number of avoidance sensor.
, can be according to their position exemplified by N number of avoidance sensor with robot is configured according to vertical direction
Relation is grouped, and investigative range is present in avoidance sensor point to the different group overlapped., can be with when being grouped
A default group capacity, on the one hand can further reduce the interference between avoidance sensor, on the other hand, can also reduce processing
The data volume for the avoidance detection data that device is handled simultaneously.Carrying out packet to N number of avoidance sensor can ensure that processor will not be same
When receive investigative range and overlap the detection data that multiple avoidance sensors are sent.For example, in the vertical direction of machine human body
On be respectively arranged with A, B, C, D, E, 5 avoidance sensors, it is considered that between two neighboring avoidance sensor exist detection model
The coincidence enclosed, and assume that group capacity is 3, it therefore, it can divide avoidance sensors A, C, E to one group, avoidance sensor B, D
Divide to another group.
It should be noted that same group technology is also applied for configuring N number of avoidance sensor in the horizontal direction.
S103, controls the avoidance sensor in each packet to be worked within different working hours respectively.
Based on the packet to N number of avoidance sensor, processor controls the avoidance sensor in different grouping in units of group
Worked within different working hours, realize the time-sharing work of N number of avoidance sensor.Still with it is above-mentioned for example, processor can
To control the avoidance sensors A being in a packet, C, E to be worked within the t1-t2 periods, the avoidance in another packet is passed
Sensor B, D work within the t3-t4 periods.
What deserves to be explained is, avoidance sensor of the processor in each packet is controlled works within different working hours
When, for any packet, can accordingly be originated by each avoidance sensor inputed in the packet working hour with
And the time interval of operated adjacent period realizes the control to the working hour of avoidance sensor in the packet.
S104, the detection data sent according to the N number of avoidance sensor received within corresponding working hour, which is recognized, to be hindered
Hinder thing.
Each avoidance sensor can gather detection data within the working hour of itself, and processor receives each avoidance sensing
The detection data that device is sent within corresponding working hour, the identification of barrier is carried out by analyzing detection data.In practice,
Different detection data analysis means can be taken according to the species difference of the avoidance sensor used.
Alternatively, when the avoidance sensor used is laser sensor, detection data can be to be sent out by pulse laser
The pulsed laser signal that goes out and be irradiated to the laser signal returned after barrier, by calculate between two-way laser signal when
Between interval come cognitive disorders thing.
Alternatively, when the avoidance sensor used is ultrasonic sensor, detection data can be the ultrasonic wave sent
Signal and the ultrasonic signal returned after barrier is run into, calculated according to two ultrasound signal receipt time differences and the velocity of sound
The position of barrier, to realize the identification of barrier.
In the present embodiment, processor is divided according to position relationship configuring N number of avoidance sensor with robot
Group, and each avoidance sensor for belonging to different grouping is worked within the different working times, realize N number of avoidance sensor
Time-sharing work.It is mutual between signal that N number of avoidance sensor can avoid different sensors from sending by way of time-sharing work
Interference, allow processor receive in the absence of interference, by what is collected in the avoidance sensor of different operating time service
Detection data, processor is accurately identified by analyzing the realization of this detection data to barrier.
Fig. 2 be Obstacle Avoidance embodiment two provided in an embodiment of the present invention flow chart, robot operationally,
Distribution of obstacles situation except needing to judge road in traveling process, often also needs to perform other multiple-tasks.Therefore locate
Reason device is in addition to needing the corresponding detection data of processing avoidance task, in addition it is also necessary to handle other corresponding data of other tasks, this
Just it is easy to processor occur to cause other tasks too high to the calculation resources utilization rate of processor because handling other tasks
Situation.For this situation, as shown in Fig. 2 alternatively, on the basis of embodiment illustrated in fig. 1, after step S103, this method is also
It may include steps of：
S201, if handling calculation resources occupancy caused by other tasks is more than predetermined threshold value, is adjusted in preset duration
The working hour interval of at least one avoidance sensor in whole N number of avoidance sensor.
Any kind of task of processor processing is required for taking calculation resources, if other tasks pair in addition to avoidance task
The occupancy of calculation resources has been above predetermined threshold value, illustrates the processing heavier loads of now other tasks, now in order to ensure
The normal process of other tasks, then need to reduce occupancy of the avoidance task to calculation resources.
What deserves to be explained is, in the present embodiment, when avoidance task need to be reduced to the occupancies of the calculation resources of processor,
It is not to be realized by stopping all or part of work in N number of avoidance sensor, because so will for avoidance effect
Produce serious influence.In the present embodiment, reduction avoidance task, to the occupancy of the calculation resources of processor, is by reduction
The mode for the detection data amount that device can be received in certain predetermined duration from N number of avoidance sensor is managed to realize.
Alternatively, the detection data amount received in the reduction preset duration can be by extending in the preset duration
Realize at the working hour interval of a few avoidance sensor.
Wherein, the setting of the preset duration, equivalent to given the effective time adjusted every time, to avoid subsequently when other
Avoidance sensor is also performed with the working hour interval after adjusted always during the processing light load of task.It may be appreciated
It is that, when the preset duration reaches, the detection to the calculation resources occupancy of processor to other tasks can be triggered, if still
It is old be more than above-mentioned threshold value, then can by least one above-mentioned avoidance sensor working hour interval adjustment continue extend again
A preset duration is performed, by that analogy.The preset duration is traditionally arranged to be M times of working hour, and M is more than 1, usually, the M
Value can to cover length of N number of avoidance sensor all at least through a working hour.The working hour refers to not
In the working hour of adjustment, general practical application, under initial situation, the working hour equal length of each avoidance sensor.
At least one in N number of avoidance sensor is adjusted in preset duration it is alternatively possible to be accomplished by the following way
The working hour interval of avoidance sensor.
First, processor is more than the degree of predetermined threshold value according to the calculation resources occupancy of other tasks, it is determined that when default
Allow the actual detection data volume upper limit received from N number of avoidance sensor in long.Also, according to allowing in preset time from N number of
Theoretical maximum detection data amount and the actual detection data volume upper limit that avoidance sensor is received, determine that treating in preset time subtracts
Few detection data amount.
Wherein, the calculation resources occupancy of other tasks can take more than the degree of predetermined threshold value according to the calculation resources
The difference of rate and predetermined threshold value is determined.
Specifically, it can determine that each avoidance sensor is corresponding at its according to the specified acquisition rate of each avoidance sensor
The maximum probe data volume that can be gathered in working hour, and then, based on the multiple between the preset duration and a working hour
The number of relation and N number of avoidance sensor, it may be determined that the theory that N number of avoidance sensor can be gathered in the preset duration
Maximum probe data volume, the theoretical maximum detection data amount is corresponding with above-mentioned predetermined threshold value, that is to say, that when the fortune of other tasks
When calculation resources occupation rate is not more than the predetermined threshold value, it is believed that N number of avoidance sensor can be gathered with its specified acquisition rate
Detection data.Furthermore it is possible to which the difference for the calculation resources occupancy and predetermined threshold value for presetting other tasks interval is kept away with N number of
Hinder the corresponding relation of the ratio of successively decreasing of the detection data amount of sensor.Based on this, accounted for according to the calculation resources of other current tasks
It is interval with the difference residing for the difference of rate and predetermined threshold value, determine corresponding ratio of successively decreasing, based on this successively decrease ratio and it is theoretical most
Big detection data amount, it may be determined that go out the current actual detection data volume upper limit for allowing to receive from N number of avoidance sensor.It is N number of to keep away
Difference between theoretical maximum detection data amount and the actual detection data volume upper limit that barrier sensor can be gathered in preset duration
Value is that N number of avoidance sensor needs to reduce the detection data amount gathered in preset duration, is referred to as detection data amount to be reduced.
And then, processor extends at least one avoidance sensor in N number of avoidance sensor according to detection data amount to be reduced
Working hour interval.
It is alternatively possible to which determined according to detection data amount to be reduced needs to extend how many working hours first, i.e., really
The detection data amount to be reduced can be collected by making how many working hours of needs.Due to before adjustment, N number of avoidance sensor
Working hour equal length, and acquisition rate is equal, therefore, it can according to detection data amount to be reduced and an avoidance sensing
Multiple proportion between the maximum probe data volume that device can be gathered within a working hour, waits to reduce detection it is determined that completing this
The working hour number that the collection of data volume needs.And then, can be according to the working hour number determined, it is determined that needing extension
The working hour interval of how many avoidance sensors.Alternatively, when the working hour number is less than N, working hour can be made
The quantity of avoidance sensor of the number with needing to extend working hour interval is equal.Finally, it can be selected from N number of avoidance sensor
The avoidance sensor of respective numbers is selected out, to extend its interval working hour.Such as, it is assumed that working hour number and determine
Avoidance number of sensors is equal, at this point it is possible to the working hour for the avoidance sensor selected is spaced in original interval basis,
Extend the length of a working hour again.
Certainly, the quantity of the avoidance sensor selected from N number of avoidance sensor can not also be determined with above-mentioned
Working hour number is equal, and the quantity of the avoidance sensor selected can be preset, it is assumed that be certain predetermined number, now,
The working hour of each avoidance sensor in the avoidance sensor of the predetermined number is spaced in what is extended in original interval basis
Length can be：(number * working hours working hour length)/predetermined number, is the equal of the avoidance of the predetermined number now
Sensor has divided equally detection data amount to be reduced.
Alternatively, can be using random after the quantity for the avoidance sensor for needing to extend working hour interval is determined
The mode of selection selects the avoidance sensor of above-mentioned quantity from N number of avoidance sensor.
Alternatively, priority can also be set for N number of avoidance sensor, is selected according to the order of priority from low to high
State the avoidance sensor of quantity.Specifically, due to the distribution situation of the different corresponding barriers of working environment be it is different, because
This distribution situation of barrier can set priority in working environment according to residing for robot for N number of avoidance sensor.For example,
Number according to barrier in avoidance sensor investigative range sets priority for N number of avoidance sensor, and barrier is more, the spy
The priority of avoidance sensor corresponding to survey scope is higher.
Alternatively, can also be keeping away for different priorities according to the priority of the avoidance sensor of above-mentioned quantity selected
Hinder the different working hour interval of extension sensor.For example, between the higher avoidance sensor of priority, its working hour extended
Every shorter.Show the number of barrier in the investigative range corresponding to the avoidance sensor because the priority of avoidance sensor is higher
Mesh is more, therefore the priority of avoidance sensor is higher, is that the working hour interval of its extension is shorter, it is ensured that even if extension
The working hour interval of avoidance sensor also can guarantee that the processing of avoidance task.
In the present embodiment, other tasks are caused to account for processor calculation resources when there is processor because handling other tasks
With rate be more than predetermined threshold value when, by extend at least one avoidance sensor in N number of avoidance sensor working hour interval from
And reducing the detection data amount that processor is received at N number of avoidance sensor within a certain period of time so that processor is sufficient
Calculation resources come handle importance level be higher than avoidance task other tasks, it is ensured that robot can normally be run.
Fig. 3 be Obstacle Avoidance embodiment three provided in an embodiment of the present invention flow chart, when occur processor because
Handle other tasks and cause the too high situation of calculation resources utilization rate of other tasks to processor, except extension can be used
Avoidance sensor working hour interval mode reduce the detection data amount that processor is received from N number of avoidance sensor
Outside, processor operationally can also be reduced by the way of the data volume of collection in section using reducing at least one avoidance sensor
The detection data amount received from N number of avoidance sensor.Based on this, as shown in figure 3, alternatively, on embodiment illustrated in fig. 1 basis
On, after step S103, this method can also comprise the following steps：
S301, if handling calculation resources occupancy caused by other tasks is more than predetermined threshold value, is adjusted in preset duration
The detection data amount that at least one avoidance sensor is gathered in each working hour domestic demand in whole N number of avoidance sensor.
With as embodiment two-phase, can be with if handling caused by other tasks calculation resources occupancy is more than predetermined threshold value
The detection data amount received by reducing in preset duration ensures the normal process of other tasks, specifically, can also lead to
Cross reduces detection data amount that at least one avoidance sensor operationally gathered in section to realize in preset duration.
At least one in N number of avoidance sensor is adjusted in preset duration it is alternatively possible to be accomplished by the following way
The detection data amount that avoidance sensor is gathered in each working hour domestic demand.
First, the degree of predetermined threshold value is more than according to calculation resources occupancy, determines to allow from N number of avoidance in preset duration
The actual detection data volume upper limit that sensor is received.Also, according to the reason for allowing to receive from N number of avoidance sensor in preset time
By maximum probe data volume and the actual detection data volume upper limit, the detection data amount to be reduced in preset time is determined.
Specific implementation procedure may refer to the associated description in embodiment two, will not be described here.
And then, at least one avoidance in N number of avoidance sensor is adjusted in preset duration according to detection data amount to be reduced
The detection data amount that sensor is gathered in each working hour domestic demand.
Due to the working hour equal length of each avoidance sensor, and working hour interval it is equal, therefore, reduction is at least
Operationally the interior detection data amount gathered of section namely reduces at least one avoidance sensor each to one avoidance sensor
Data Gathering speed in working hour.
How many working hours are contained in the preset duration it is alternatively possible to determine first, and then can be according to treating
Detection data amount and the working hour number are reduced, determines that averagely each working hour needs reduced detection data amount.From
And, for working in each avoidance sensor in the preset duration, in the case of one kind, it is in a working hour domestic demand
The detection data amount of collection is：Specified detection data amount needs the difference of reduced detection data amount with this, wherein, specified detection number
When referring to work with specified acquisition rate according to amount, the detection data amount that a working hour can collect.At this point it is possible to according to
Detection data amount and the duration of a working hour that each avoidance sensor is gathered in a working hour domestic demand, are determined every
The acquisition rate of individual avoidance sensor, by controlling corresponding avoidance sensor to use the acquisition rate to reduce preset duration
The detection data amount inside received.
In the case of the example above, assume that and each avoidance sensor worked in above-mentioned preset duration has all been carried out
The reduction processing of the detection data amount of each working hour domestic demand collection.But, in fact, can also be without being sensed to whole avoidances
Device all carries out the processing, only can carry out the processing to avoidance sensor in part therein.
Now, the quantity of the part avoidance sensor can also can be determined with presetting according to following rule：
Assuming that each avoidance sensor is pre-arranged the minimum detection data that need to be gathered within a working hour
Amount.It is thus possible to which according to the business of detection data amount to be reduced and the minimum detection data amount, determining needs to reduce what is collected
The working hour number of detection data amount.And then, can be according to the working hour number determined, it is determined that needing how many of reduction
Avoidance sensor needs the detection data amount of collection in each working hour in the preset duration, it is assumed that for K.Such as, work is worked as
When making period number and being less than the number of the avoidance sensor worked in the preset duration, it may be determined that K=working hours
Number.Or, if working hour number of the avoidance sensor in the preset duration is equal to the working hour determined
Number, then K=1, that is to say, that can be according to the working hour number determined with working in respectively keeping away in the preset duration
Hinder sensor corresponding working hour number in the preset duration, determine K value.
In addition, after K value is determined, it is alternatively possible to according to the priority of avoidance sensor, select out specific
K avoidance sensor.Further optionally, each avoidance can also be controlled according to the priority of avoidance sensor selected, difference
The detection data amount that sensor is gathered in each working hour domestic demand.
But what deserves to be explained is, pertained only in the present embodiment by reducing at least one avoidance sensor operationally section
The interior detection data amount to be gathered reduces the detection number that processor is received at N number of avoidance sensor within a certain period of time
According to amount.In actual applications, the adjustment mode in the present embodiment can also be combined with the adjustment mode in embodiment two, i.e.,
Simultaneously adjust at least one avoidance sensor in N number of avoidance sensor working hour interval and needed in working hour collection
Detection data amount handle other tasks to ensure that processor can have enough calculation resources, it is ensured that the normal work of robot
Make.
In the present embodiment, cause other tasks because handling other tasks to the calculation resources of processor when there is processor
When occupancy is more than predetermined threshold value, by reducing in N number of avoidance sensor institute in the working hour of at least one avoidance sensor
The detection data amount that need to be gathered is so as to reduce the detection data that processor is received at N number of avoidance sensor within a certain period of time
Amount so that processor handles the other types task that importance level is higher than avoidance task with sufficient calculation resources, it is ensured that machine
People can normally run.
Fig. 4 is the structural representation of robot obstacle-avoiding device embodiment one provided in an embodiment of the present invention, as shown in figure 4,
The robot obstacle-avoiding device includes：Acquisition module 11, grouping module 12, control module 13, identification module 14.
Acquisition module 11, obtains the position relationship of N number of avoidance sensor of the configuration with robot, wherein, N ＞ 1.
Grouping module 12, for being grouped according to position relationship to N number of depth transducer.
Control module 13, for controlling the depth transducer in each packet to be worked within different working hours respectively.
Identification module 14, for the detection sent according to the N number of depth transducer received within corresponding working hour
Data cognitive disorders thing.
Fig. 4 shown devices can perform the method for embodiment illustrated in fig. 1, and the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 1.In implementation procedure and the technique effect embodiment shown in Figure 1 of the technical scheme
Description, will not be repeated here.
Fig. 5 is the structural representation of robot obstacle-avoiding device embodiment two provided in an embodiment of the present invention, as shown in figure 5,
On the basis of embodiment illustrated in fig. 4, the robot obstacle-avoiding device also includes：Adjusting module 21.
Adjusting module 21, if calculation resources occupancy is more than predetermined threshold value caused by for handling other tasks, pre-
If the working hour interval of at least one avoidance sensor in N number of avoidance sensor is adjusted in duration, or, adjust described N number of
The detection data amount that at least one avoidance sensor is gathered in each working hour domestic demand in avoidance sensor.
Alternatively, the adjusting module 21 includes：Determining unit 211, adjustment unit 212.
Determining unit 211, the degree for being more than predetermined threshold value according to calculation resources occupancy determines to permit in preset duration
Perhaps from N number of avoidance sensor receive the actual detection data volume upper limit, and according to allow in preset time from N number of avoidance sense
Theoretical maximum detection data amount and the actual detection data volume upper limit that device is received, it is determined that detection data amount to be reduced.
Adjustment unit 212, is passed for extending at least one avoidance in N number of avoidance sensor according to detection data amount to be reduced
At least one avoidance sensor is in each working hour in the working hour interval of sensor, or reduction N number of avoidance sensor
The detection data amount of domestic demand collection.
Alternatively, the device also includes：Selecting module 22.
Selecting module 22, for the pre-set priority according to N number of avoidance sensor, according to priority from low to high suitable
Sequence, selects at least one avoidance sensor from N number of avoidance sensor, and pre-set priority is related to distribution of obstacles situation.
Correspondingly, the adjusting module 21, is additionally operable to the priority according at least one avoidance sensor, it is determined that at least one
The working hour interval of individual avoidance sensor, or determine that at least one described avoidance sensor is gathered in each working hour domestic demand
Detection data amount.
Fig. 5 shown devices can perform the method for Fig. 2 or embodiment illustrated in fig. 3, the part that the present embodiment is not described in detail,
Refer to the related description to Fig. 2 or embodiment illustrated in fig. 3.The implementation procedure and technique effect of the technical scheme referring to Fig. 2 or
Description in embodiment illustrated in fig. 3, will not be repeated here.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can be
Or may not be physically separate, the part shown as unit can be or may not be physical location, i.e.,
A place can be located at, or can also be distributed on multiple NEs.It can select therein according to the actual needs
Some or all of module realizes the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying the labor of creativeness
In the case of dynamic, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of general hardware platform necessary to add, naturally it is also possible to pass through hardware.Understood based on such, above-mentioned skill
The part that art scheme substantially contributes to prior art in other words can be embodied in the form of product, computer production
Product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are to cause one
Platform computer installation (can be personal computer, server, or network equipment etc.) performs each embodiment or embodiment
Some parts method.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of Obstacle Avoidance, it is characterised in that including：
The position relationship of N number of avoidance sensor of the configuration with robot is obtained, wherein, N ＞ 1；
N number of avoidance sensor is grouped according to the position relationship；
The avoidance sensor in each packet is controlled to be worked within different working hours respectively；
The detection data cognitive disorders thing that N number of avoidance sensor according to receiving is sent within corresponding working hour.
2. according to the method described in claim 1, it is characterised in that methods described also includes：If caused by handling other tasks
Calculation resources occupancy is more than predetermined threshold value, then at least one avoidance in N number of avoidance sensor is adjusted in preset duration
The working hour interval of sensor, or, at least one avoidance sensor is in each work in adjustment N number of avoidance sensor
The detection data amount of section domestic demand collection.
3. method according to claim 2, it is characterised in that described that N number of avoidance sensing is adjusted in preset duration
The working hour interval of the avoidance sensor of at least one in device, or adjust at least one avoidance in N number of avoidance sensor
The detection data amount that sensor is gathered in each working hour domestic demand, including：
It is more than the degree of the predetermined threshold value according to the calculation resources occupancy, determines to allow from described in the preset duration
The actual detection data volume upper limit that N number of avoidance sensor is received；
According to the theoretical maximum detection data amount and the reality for allowing to receive from N number of avoidance sensor in the preset time
The border detection data amount upper limit, it is determined that detection data amount to be reduced；
According to described when the work of at least one avoidance sensor in detection data amount extension N number of avoidance sensor is reduced
It is intersegmental every or the spy that at least one avoidance sensor is gathered in each working hour domestic demand in reduction N number of avoidance sensor
Survey data volume.
4. according to the method in claim 2 or 3, it is characterised in that methods described also includes：
According to the pre-set priority of N number of avoidance sensor, according to the order of priority from low to high, from N number of avoidance
At least one described avoidance sensor is selected in sensor, the pre-set priority is related to distribution of obstacles situation.
5. method according to claim 4, it is characterised in that described that N number of avoidance sensing is adjusted in preset duration
The working hour interval of the avoidance sensor of at least one in device, or adjust at least one avoidance in N number of avoidance sensor
The detection data amount that sensor is gathered in each working hour domestic demand, including：
According to the priority of at least one avoidance sensor, it is determined that between the working hour of at least one avoidance sensor
Every, or determine the detection data amount that at least one described avoidance sensor is gathered in each working hour domestic demand.
6. a kind of robot obstacle-avoiding device, it is characterised in that including：
Acquisition module, the position relationship for obtaining N number of avoidance sensor of the configuration with robot, wherein, N ＞ 1；
Grouping module, for being grouped according to the position relationship to N number of avoidance sensor；
Control module, for controlling the avoidance sensor in each packet to be worked within different working hours respectively；
Identification module, for the detection number sent according to the N number of avoidance sensor received within corresponding working hour
According to cognitive disorders thing.
7. device according to claim 6, it is characterised in that described device also includes：
Adjusting module, if calculation resources occupancy is more than predetermined threshold value caused by for handling other tasks, in preset duration
The working hour interval of at least one avoidance sensor in interior adjustment N number of avoidance sensor, or, adjust described N number of keep away
The detection data amount that at least one avoidance sensor is gathered in each working hour domestic demand in barrier sensor.
8. device according to claim 7, it is characterised in that the adjusting module is specifically included：
Determining unit, the degree for being more than the predetermined threshold value according to the calculation resources occupancy, when determining described default
Allow the actual detection data volume upper limit received from N number of avoidance sensor in long, and permit according in the preset time
Perhaps the theoretical maximum detection data amount and the actual detection data volume upper limit received from N number of avoidance sensor, it is determined that treating
Reduce detection data amount；
Adjustment unit, for extending at least one avoidance in N number of avoidance sensor according to the detection data amount to be reduced
At least one avoidance sensor is in each work in the working hour interval of sensor, or reduction N number of avoidance sensor
The detection data amount of section domestic demand collection.
9. the device according to claim 7 or 8, it is characterised in that described device also includes：
Selecting module, for the pre-set priority according to N number of avoidance sensor, according to the order of priority from low to high,
At least one described avoidance sensor, the pre-set priority and distribution of obstacles are selected from N number of avoidance sensor
Situation is related.
10. device according to claim 9, it is characterised in that the adjusting module is additionally operable to：According to it is described at least one
The priority of avoidance sensor, it is determined that the working hour interval of at least one avoidance sensor, or described in determination at least
The detection data amount that one avoidance sensor is gathered in each working hour domestic demand.
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