CN107305383A - A kind of method of automatic obstacle-avoiding and the robot using this method - Google Patents
A kind of method of automatic obstacle-avoiding and the robot using this method Download PDFInfo
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- CN107305383A CN107305383A CN201610252686.2A CN201610252686A CN107305383A CN 107305383 A CN107305383 A CN 107305383A CN 201610252686 A CN201610252686 A CN 201610252686A CN 107305383 A CN107305383 A CN 107305383A
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- 230000004888 barrier function Effects 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims description 28
- 238000003860 storage Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009183 running Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
A kind of method of automatic obstacle-avoiding and the robot using this method, including：Detect the obstacle information of the direction of advance of telecontrol equipment first；Advance route is recalculated according to the obstacle information；Moved according to the advance route recalculated with cut-through thing；When detecting obstacle information continuous n times in the unit interval, obstacle information is converted into boundary information.There is provided more efficient service for the problem of present invention solves the automatic identification such as robot, autopilot facility, unmanned plane or aircraft path, automatic avoiding barrier.
Description
Technical field
The present invention relates to the method and the robot using this method of field of artificial intelligence, more particularly to a kind of automatic obstacle-avoiding.
Background technology
With the fast development of robot industry, the research on robot is also just increasingly paid close attention to by people, and the development level of robot largely reflects a national industrial level.It can complete the task that many mankind can not complete, such as outdoor of high building cleaning, various military machine people, exploration robot etc., and our daily lifes closer to also have various medical robots, car parking robot, automated driving system, sweeping robot etc..But it will realize these senior applications, depend on the raising of the Trajectory Tracking Control ability of bottom, allow the robot to quickly and accurately position, machine task efficiency is improved, work being capable of relatively reliable stabilization.Robot will realize that barrier avoiding function just has to perceive guide line and barrier, perceive wire and provide a kind of visual performance equivalent to robot.
Obstruction-avoiding control system used in robot or the technology such as unmanned is to be based on homing guidance robot, and automatic identification circuit is realized based on robot, judges and avoids obstacle automatically, the correct course of selection.Using sensor senses route and obstacle and judge and perform action accordingly, improve its real-time and accuracy, just focus and difficult point as this field.Thus the research for the avoidance obstacle of robot, which just seems, is highly desirable to.
The content of the invention
The present invention provides a kind of method of automatic obstacle-avoiding, the problem of to solve automatic obstacle-avoiding during the automatic runnings such as robot, autopilot facility, unmanned plane or aircraft.
Specific this method includes：Detect the obstacle information of the direction of advance of telecontrol equipment first；Advance route is recalculated according to the obstacle information；Moved according to the advance route recalculated with cut-through thing；
When detecting obstacle information continuous n times in the unit interval, obstacle information is converted into boundary information；Wherein n is natural number.
Above-mentioned automatic obstacle-avoiding method, the obstacle information of detection telecontrol equipment direction of advance further comprises：Detect that scope is the obstacle information in 120 angles in telecontrol equipment advance route.
Above-mentioned automatic obstacle-avoiding method, is further comprised according to the advance route motion recalculated with cut-through thing：Across barrier above the barrier.
Above-mentioned automatic obstacle-avoiding method, is further comprised according to the advance route motion recalculated with cut-through thing：In the barrier side cut-through thing.
Above-mentioned automatic obstacle-avoiding method, recalculates advance route according to the obstacle information and further comprises：Second direction of advance of the initial motion of the advance route recalculated is vertical with first direction of advance.
Above-mentioned automatic obstacle-avoiding method, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through sonic detection obstacle information.
Above-mentioned automatic obstacle-avoiding method, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through laser detection obstacle information.
Above-mentioned automatic obstacle-avoiding method, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through detections of radar obstacle information.
Above-mentioned automatic obstacle-avoiding method, in addition to the advance route recalculated is uploaded to background server.
The present invention also provides a kind of automatic obstacle-avoiding robot, uses the automatic obstacle-avoiding method described in above-mentioned any one.
In summary, the method or apparatus of the present invention is due to setting detection module, detect the barrier situation in destination apparatus walking path, draw the edge of barrier, and the distance of judging distance barrier is recognized, to adjust the operating path of destination apparatus, solve the automatic identification paths such as robot, autopilot facility, unmanned plane or aircraft, the problem of automatic avoiding barrier, there is provided more efficient service.
Brief description of the drawings
Fig. 1 is the flow chart according to the automatic obstacle-avoiding method in one embodiment of the invention.
Embodiment
Fig. 1 is the flow chart according to the automatic obstacle-avoiding method in one embodiment of the invention.Fig. 1 is refer to, in the present embodiment, a kind of method of automatic obstacle-avoiding, including：
S1：Detect the obstacle information of the direction of advance of telecontrol equipment first；
S2：Advance route is recalculated according to the obstacle information；
S3：Moved according to the advance route recalculated with cut-through thing；
S4：When detecting obstacle information continuous n times in preset time, obstacle information is converted into boundary information；
Wherein n is natural number.
For example, telecontrol equipment is robot.Robot starts northwards to move according to the route of default setting, and constantly detection is located at the information of all barriers to the north of robot during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, the obstacle information of detection telecontrol equipment direction of advance further comprises：Detect that scope is the obstacle information in 120 angles in telecontrol equipment advance route.
Such as robot starts northwards to move according to the route of default setting, and the information of the barrier in the range of 120 degree be located to the north of robot is constantly detected during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, further comprised according to the advance route motion recalculated with cut-through thing：Across barrier above the barrier.
Robot starts northwards to move according to the route of default setting, and constantly detection is located at the information of all barriers to the north of robot during walking.When having detected barrier, across barrier above barrier.When can not be across barrier, be bypassed from barrier both sides.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, advance route is recalculated according to the obstacle information and further comprised：Second direction of advance of the initial motion of the advance route recalculated is vertical with first direction of advance.
Robot starts northwards to move according to the route of default setting, and constantly detection is located at the information of all barriers to the north of robot during walking.When having detected barrier, 90 degree clockwise or counterclockwise of robot, and walk on.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through sonic detection obstacle information.
Robot starts northwards to move according to the route of default setting, constantly detects the information for all barriers being located to the north of robot by sound wave dispensing device harmony wave receiving device during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through laser detection obstacle information.
Robot starts northwards to move according to the route of default setting, is constantly located at the information of all barriers to the north of robot by laser dispensing device and laser receiver detection during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, in the embodiment of the application one, the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through detections of radar obstacle information.
Robot starts northwards to move according to the route of default setting, is constantly located at the information of all barriers to the north of robot by radar dispensing device and radar reception device detection during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
As one kind selection, background server is uploaded in the embodiment of the application one, in addition to by the advance route recalculated.
Robot starts northwards to move according to the route of default setting, constantly detects the information for all barriers being located to the north of robot by sound wave dispensing device harmony wave receiving device during walking.When having detected barrier, track route is recalculated, and walk with cut-through thing according to the track route recalculated.It is consecutively detected n times within certain time（N is natural number, and n values are at least above 2）During barrier, then it is assumed that the barrier is the barrier in a face.
.Afterwards the track route that this is recalculated is uploaded onto the server to back up.
The present invention also provides a kind of robot using above-mentioned automatic obstacle-avoiding method.
In summary, the method or apparatus of the present invention sets detection module, detect the barrier situation in destination apparatus walking path, draw the edge of barrier, and calculate the distance of judging distance barrier, to adjust the operating path of destination apparatus, the problem of solving the automatic identification paths such as robot, autopilot facility, unmanned plane or aircraft, automatic avoiding barrier.
If the function described in the present embodiment method is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computing device read/write memory medium.Understood based on such, the part or the part of the technical scheme that the embodiment of the present invention contributes to prior art can be embodied in the form of software product, the software product is stored in a storage medium, including some instructions are to cause a computing device（Can be personal computer, server, mobile computing device or the network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access Memory）, magnetic disc or CD etc. are various can be with the medium of store program codes.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed be between the difference with other embodiments, each embodiment same or similar part mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments be will be apparent for those skilled in the art, and generic principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (10)
1. a kind of method of automatic obstacle-avoiding, it is characterised in that including：
Detect the obstacle information of the direction of advance of telecontrol equipment first；
Advance route is recalculated according to the obstacle information；
Moved to bypass the barrier according to the advance route recalculated；
When detecting obstacle information continuous n times in the unit interval, obstacle information is converted into boundary information.
2. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that the obstacle information of detection telecontrol equipment direction of advance further comprises：Detect that scope is the obstacle information in 120 angles in telecontrol equipment advance route.
3. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that further comprised according to the advance route motion recalculated with cut-through thing：Across barrier above the barrier.
4. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that further comprised according to the advance route motion recalculated with cut-through thing：In the barrier side cut-through thing.
5. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that advance route is recalculated according to the obstacle information and further comprised：Second direction of advance of the initial motion of the advance route recalculated is vertical with first direction of advance.
6. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through sonic detection obstacle information.
7. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through laser detection obstacle information.
8. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that the obstacle information of the detection direction of advance of telecontrol equipment first further comprises：Pass through detections of radar obstacle information.
9. automatic obstacle-avoiding method as claimed in claim 1, it is characterised in that also including the advance route recalculated is uploaded into background server.
10. a kind of automatic obstacle-avoiding robot, it is characterised in that use the automatic obstacle-avoiding method as described in any one in claim 1-9.
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| CN201610252686.2A CN107305383A (en) | 2016-04-22 | 2016-04-22 | A kind of method of automatic obstacle-avoiding and the robot using this method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606728A (en) * | 2018-05-08 | 2018-10-02 | 平安科技（深圳）有限公司 | A kind of sweeping robot control method, equipment, sweeping robot and storage medium |
| CN109445442A (en) * | 2018-12-17 | 2019-03-08 | 中新智擎科技有限公司 | A kind of robot obstacle-avoiding control method, device, storage medium and robot |
| CN109557943A (en) * | 2019-01-21 | 2019-04-02 | 中国联合网络通信集团有限公司 | A kind of unmanned plane obstacle avoidance system and method based on edge cloud |
| CN109703568A (en) * | 2019-02-19 | 2019-05-03 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle travels the method, apparatus and server of tactful real-time learning |
| CN110162081A (en) * | 2018-02-14 | 2019-08-23 | 广州极飞科技有限公司 | Mobile device control method and device, mobile terminal and mobile device |
| CN110507246A (en) * | 2019-08-14 | 2019-11-29 | 深圳市银星智能科技股份有限公司 | Avoidance recharging method and cleaning equipment avoidance with laser radar recharge system |
| CN111390909A (en) * | 2020-03-30 | 2020-07-10 | 上海应用技术大学 | Obstacle avoidance method and system for industrial robot |
| US11307302B2 (en) | 2018-09-07 | 2022-04-19 | Baidu Online Network Technology (Beijing) Co., Ltd | Method and device for estimating an absolute velocity of an obstacle, and non-volatile computer-readable storage medium |
| US11718318B2 (en) | 2019-02-22 | 2023-08-08 | Apollo Intelligent Driving (Beijing) Technology Co., Ltd. | Method and apparatus for planning speed of autonomous vehicle, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110162081A (en) * | 2018-02-14 | 2019-08-23 | 广州极飞科技有限公司 | Mobile device control method and device, mobile terminal and mobile device |
| CN108606728B (en) * | 2018-05-08 | 2020-12-25 | 平安科技（深圳）有限公司 | Sweeping robot control method and equipment, sweeping robot and storage medium |
| CN108606728A (en) * | 2018-05-08 | 2018-10-02 | 平安科技（深圳）有限公司 | A kind of sweeping robot control method, equipment, sweeping robot and storage medium |
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| CN109557943A (en) * | 2019-01-21 | 2019-04-02 | 中国联合网络通信集团有限公司 | A kind of unmanned plane obstacle avoidance system and method based on edge cloud |
| CN109557943B (en) * | 2019-01-21 | 2021-07-20 | 中国联合网络通信集团有限公司 | Unmanned aerial vehicle obstacle avoidance system and method based on edge cloud |
| CN109703568A (en) * | 2019-02-19 | 2019-05-03 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle travels the method, apparatus and server of tactful real-time learning |
| CN109703568B (en) * | 2019-02-19 | 2020-08-18 | 百度在线网络技术（北京）有限公司 | Method, device and server for learning driving strategy of automatic driving vehicle in real time |
| US11780463B2 (en) | 2019-02-19 | 2023-10-10 | Baidu Online Network Technology (Beijing) Co., Ltd. | Method, apparatus and server for real-time learning of travelling strategy of driverless vehicle |
| US11718318B2 (en) | 2019-02-22 | 2023-08-08 | Apollo Intelligent Driving (Beijing) Technology Co., Ltd. | Method and apparatus for planning speed of autonomous vehicle, and storage medium |
| CN110507246A (en) * | 2019-08-14 | 2019-11-29 | 深圳市银星智能科技股份有限公司 | Avoidance recharging method and cleaning equipment avoidance with laser radar recharge system |
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