CN107491074A - A kind of autonomous operation machine automatic obstacle avoidance management method - Google Patents
A kind of autonomous operation machine automatic obstacle avoidance management method Download PDFInfo
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- CN107491074A CN107491074A CN201710799731.0A CN201710799731A CN107491074A CN 107491074 A CN107491074 A CN 107491074A CN 201710799731 A CN201710799731 A CN 201710799731A CN 107491074 A CN107491074 A CN 107491074A
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- 238000007726 management method Methods 0.000 title claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 76
- 238000004891 communication Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 7
- 241001416181 Axis axis Species 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of autonomous operation machine automatic obstacle avoidance management method, including robot hardware to configure, and sets three steps such as avoidance detecting parameter and operation control.Present invention is implemented as this is cheap, control progress is high, on the one hand the reasonability of effective specification and constrained robot avoidance route when carrying out avoidance operation, on the other hand the ability that robot finds barrier at a distance under high-speed cruising state can be effectively improved, so as to improve avoidance job safety early warning distance in robot operation.
Description
Technical field
The present invention relates to a kind of robot automatic obstacle avoidance management method, belongs to robot device's technical field.
Background technology
As robot device is in daily life and work, such as unmanned plane, automatic driving vehicle and automatic Pilot car
Etc. possess remote autonomous operation robot device's usage amount it is increasing, but during these robot device's uses
It was found that current this kind of robot is in the process of running, it is frequently encountered some barriers and robot operation is interfered, therefore
How to realize that robot fast and safely breaks the barriers and be to ensure that the important measures of robot operation, currently for this problem,
Mainly by by traditional range unit and video monitoring measure, on the one hand passing through the avoidance program of robot setting themselves
Avoiding barrier, on the other hand there are operating personnel remotely to carry out manipulation avoiding barrier, although can meet to use to a certain degree
Needs, but also judge simultaneously there is barrier structure, dimension volume inaccurate, barrier finds that the short grade of early warning distance to lack
Fall into, so as to cause robot in avoidance, easily can not carry out accurately and effectively avoidance operation because inaccurate to barrier interpretation,
It also can not effectively meet avoidance operational security and the accuracy under high-speed cruising state simultaneously.
The content of the invention
The object of the invention, which is that, overcomes above-mentioned deficiency, there is provided a kind of autonomous operation machine automatic obstacle avoidance management method.
To achieve the above object, the present invention is to be achieved through the following technical solutions：
A kind of autonomous operation machine automatic obstacle avoidance management method, comprises the following steps：
The first step, robot hardware's configuration, it is satellite navigation positioning device to be equipped with robot control circuit and without line number
It is that robot lateral surface is equipped with range unit, monitoring camera and 3-D scanning camera, one of ranging according to communication device
Device, a monitoring camera and a 3-D scanning camera form a detection unit, and each detection unit is around robot
Axis is distributed on robot side surface, and each detection unit is electrically connected with robot control circuit；
Second step, avoidance detecting parameter is set, after first step operation is completed, positioned first for the satellite navigation of robot
Device, wireless data communication device and each detection unit compile and edit unified data communication address, then position satellite navigation and fill
Put, wireless data communication device is established with satellite navigation and location system and data communication network connect respectively, then to robot
The detection range and detection angle of each detection unit on periphery are set, and wherein immediately ahead of robot and dead astern position is equal
If two detection units, one of detection unit axis and level perpendicular distribution, another detection unit axis axis and water
Plane is in 10 °-60 ° angles, and maximum 30-50 meters of detecting distance, minimum detection distance is 0-0.5 meter；
A detection unit, and the detection list of side surface are all provided with positioned at each side surface of opening position at left and right sides of robot
For first axis horizontal by 0 °-90 °, its maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter
3rd step, operation control, after completing second step, robot can be run on default each working line, transported
Before row starts, first by respectively being carried out around robot with detection unit of the horizontal plane angle more than 0 ° to robot periphery barrier
Detection, and barrier is identified and evaded, normal operation then is being carried out, in normal course of operation, is keeping machine
While respectively detection around people with horizontal plane angle more than 0 ° of detection unit to robot periphery barrier, separately by positioned at
Immediately ahead of robot and dead astern and axis and each detection unit of plane-parallel distribution are pointed to robot front and just
Rear long-distance barrier thing is predicted, and after barrier is detected, ranging operation is persistently carried out to barrier, and according to survey
Away from the result adjustment robot speed of service and concurrently set avoidance road, and when robot carries out avoidance close to barrier, by with
Detection unit of the horizontal plane angle more than 0 ° carries out detecting guidance machine people progress avoidance to robot periphery barrier.
Further, it is mutually in parallel between each detection unit when carrying out detection unit outfit in the first step, and each
It is 90 ° -180 ° sector regions that the detection covering of detection unit, which is violated,.
Further, in the described first step when carrying out detection unit outfit, wherein being respectively more than 0 ° with horizontal plane angle
Detection unit be hinged with the machine human world by turntable mechanism, and can surround jointed shaft carry out 0 ° -180 ° rotation.
Further, in the 3rd described step, in robot running, satellite navigation positioning device and wireless data lead to
The whole operation of device is interrogated, and keeps communicating with robot duration data in operation.
Present invention is implemented as originally cheap, control progress height, and one side effectively specification and constrained robot are in progress avoidance work
The reasonability of avoidance route during industry, it on the other hand can effectively improve robot and find barrier at a distance under high-speed cruising state
Ability, so as to improve robot operation in avoidance job safety early warning distance.
Brief description of the drawings
Fig. 1 is the inventive method schematic flow sheet.
Embodiment
As shown in figure 1, a kind of autonomous operation machine automatic obstacle avoidance management method, comprises the following steps：
The first step, robot hardware's configuration, it is satellite navigation positioning device to be equipped with robot control circuit and without line number
It is that robot lateral surface is equipped with range unit, monitoring camera and 3-D scanning camera, one of ranging according to communication device
Device, a monitoring camera and a 3-D scanning camera form a detection unit, and each detection unit is around robot
Axis is distributed on robot side surface, and each detection unit is electrically connected with robot control circuit；
Second step, avoidance detecting parameter is set, after first step operation is completed, positioned first for the satellite navigation of robot
Device, wireless data communication device and each detection unit compile and edit unified data communication address, then position satellite navigation and fill
Put, wireless data communication device is established with satellite navigation and location system and data communication network connect respectively, then to robot
The detection range and detection angle of each detection unit on periphery are set, and wherein immediately ahead of robot and dead astern position is equal
If two detection units, one of detection unit axis and level perpendicular distribution, another detection unit axis axis and water
Plane is in 10 °-60 ° angles, and maximum 30-50 meters of detecting distance, minimum detection distance is 0-0.5 meter；
A detection unit, and the detection list of side surface are all provided with positioned at each side surface of opening position at left and right sides of robot
For first axis horizontal by 0 °-90 °, its maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter
3rd step, operation control, after completing second step, robot can be run on default each working line, transported
Before row starts, first by respectively being carried out around robot with detection unit of the horizontal plane angle more than 0 ° to robot periphery barrier
Detection, and barrier is identified and evaded, normal operation then is being carried out, in normal course of operation, is keeping machine
While respectively detection around people with horizontal plane angle more than 0 ° of detection unit to robot periphery barrier, separately by positioned at
Immediately ahead of robot and dead astern and axis and each detection unit of plane-parallel distribution are pointed to robot front and just
Rear long-distance barrier thing is predicted, and after barrier is detected, ranging operation is persistently carried out to barrier, and according to survey
Away from the result adjustment robot speed of service and concurrently set avoidance road, and when robot carries out avoidance close to barrier, by with
Detection unit of the horizontal plane angle more than 0 ° carries out detecting guidance machine people progress avoidance to robot periphery barrier.
It is mutually in parallel between each detection unit when carrying out detection unit outfit in the first step in the present embodiment, and often
It is 90 ° -180 ° sector regions that the detection covering of individual detection unit, which is violated,.
In the present embodiment, in the described first step when carrying out detection unit outfit, wherein being respectively more than with horizontal plane angle
0 ° of detection unit is hinged with the machine human world by turntable mechanism, and can be surround jointed shaft and be carried out 0 ° -180 ° rotations.
In the present embodiment, in the 3rd described step, in robot running, satellite navigation positioning device and wireless data
The whole operation of communication device, and keep communicating with robot duration data in operation.
Present invention is implemented as originally cheap, control progress height, and one side effectively specification and constrained robot are in progress avoidance work
The reasonability of avoidance route during industry, it on the other hand can effectively improve robot and find barrier at a distance under high-speed cruising state
Ability, so as to improve robot operation in avoidance job safety early warning distance.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
- A kind of 1. autonomous operation machine automatic obstacle avoidance management method, it is characterised in that described autonomous operation machine automatic obstacle avoidance Management method comprises the following steps：The first step, robot hardware's configuration, it is that outfit satellite navigation positioning device and wireless data lead in robot control circuit Device is interrogated, is that robot lateral surface is equipped with range unit, monitoring camera and 3-D scanning camera, one of ranging dress Put, a monitoring camera and 3-D scanning camera one detection unit of composition, each detection unit surround manipulator shaft Line is distributed on robot side surface, and each detection unit is electrically connected with robot control circuit；Second step, avoidance detecting parameter is set, after first step operation is completed, position dress first for the satellite navigation of robot Put, wireless data communication device and each detection unit compile and edit unified data communication address, then by satellite navigation positioning device, Wireless data communication device is established with satellite navigation and location system and data communication network connect respectively, then to robot periphery Each detection unit detection range and detection angle set, wherein immediately ahead of robot and dead astern position is all provided with two Individual detection unit, one of detection unit axis and level perpendicular distribution, another detection unit axis axis and horizontal plane In 10 °-60 ° angles, maximum 30-50 meters of detecting distance, minimum detection distance is 0-0.5 meter；A detection unit, and the detection unit axle of side surface are all provided with positioned at each side surface of opening position at left and right sides of robot For line horizontal by 0 °-90 °, its maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter3rd step, operation control, after completing second step, robot can be run on default each working line, be opened in operation Before dynamic, first by respectively being examined around robot with detection unit of the horizontal plane angle more than 0 ° to robot periphery barrier Survey, and barrier is identified and evaded, then carrying out normal operation, in normal course of operation, keeping robot While surrounding respectively detects with detection unit of the horizontal plane angle more than 0 ° to robot periphery barrier, separately by positioned at machine Immediately ahead of device people and dead astern and axis and each detection unit of plane-parallel distribution be pointed to robot front and just after Square long-distance barrier thing is predicted, and after barrier is detected, ranging operation is persistently carried out to barrier, and according to ranging As a result adjust the robot speed of service and concurrently set avoidance road, and when robot carries out avoidance close to barrier, by with water Detection unit of the plane included angle more than 0 ° carries out detecting guidance machine people progress avoidance to robot periphery barrier.
- A kind of 2. autonomous operation machine automatic obstacle avoidance management method according to claim 1, it is characterised in that the first step In, it is mutually in parallel between each detection unit when carrying out detection unit outfit, and the detection covering violation of each detection unit is 90 ° -180 ° sector regions.
- A kind of 3. autonomous operation machine automatic obstacle avoidance management method according to claim 1, it is characterised in that described In one step when carrying out detection unit outfit, wherein respectively passing through with detection unit of the horizontal plane angle more than 0 ° with the machine human world Turntable mechanism is hinged, and can be surround jointed shaft and be carried out 0 ° -180 ° rotations.
- A kind of 4. autonomous operation machine automatic obstacle avoidance management method according to claim 1, it is characterised in that described In three steps, in robot running, the whole operation of satellite navigation positioning device and wireless data communication device, and keep with Robot duration data communicates in operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710799731.0A CN107491074B (en) | 2017-09-07 | 2017-09-07 | A kind of autonomous operation machine automatic obstacle avoidance management method |
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| CN201710799731.0A CN107491074B (en) | 2017-09-07 | 2017-09-07 | A kind of autonomous operation machine automatic obstacle avoidance management method |
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| CN107491074B CN107491074B (en) | 2018-08-07 |
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Citations (6)
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| DE102009020648A1 (en) * | 2009-05-08 | 2009-12-31 | Daimler Ag | Vehicle collision avoidance method, involves reconstructing actual position of vehicle based on vehicle condition information when position determining unit provides no information or inaccurate information of actual position of vehicle |
| CN202320088U (en) * | 2011-12-07 | 2012-07-11 | 中联重科股份有限公司 | Engineering vehicle and anti-collision device for operation thereof |
| CN104731091A (en) * | 2013-12-18 | 2015-06-24 | 西安信唯信息科技有限公司 | Intelligent obstacle avoidance automatic-navigation trolley |
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| JP2016052506A (en) * | 2014-09-03 | 2016-04-14 | ダイソン・テクノロジー・リミテッド | Robot cleaner |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
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2017
- 2017-09-07 CN CN201710799731.0A patent/CN107491074B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009020648A1 (en) * | 2009-05-08 | 2009-12-31 | Daimler Ag | Vehicle collision avoidance method, involves reconstructing actual position of vehicle based on vehicle condition information when position determining unit provides no information or inaccurate information of actual position of vehicle |
| CN202320088U (en) * | 2011-12-07 | 2012-07-11 | 中联重科股份有限公司 | Engineering vehicle and anti-collision device for operation thereof |
| CN104731091A (en) * | 2013-12-18 | 2015-06-24 | 西安信唯信息科技有限公司 | Intelligent obstacle avoidance automatic-navigation trolley |
| JP2016052506A (en) * | 2014-09-03 | 2016-04-14 | ダイソン・テクノロジー・リミテッド | Robot cleaner |
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
Non-Patent Citations (2)
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| 王中立等: "基于多传感器融合的机器人障碍物检测", 《中国测试》 * |
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| CN107491074B (en) | 2018-08-07 |
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Effective date of registration: 20200803 Address after: 510000 206, building 5, zhonghengshan, No.3, Baiai Caogang Road, Tianhe District, Guangzhou City, Guangdong Province (office only) Patentee after: GUANGZHOU KADUONI INFORMATION TECHNOLOGY Co.,Ltd. Address before: 211100 Jiangsu City, Jiangning, Qilin District, science and Technology Innovation Park, Hui Chi Road, unit B, building 300, building two Patentee before: NANJING YUSHENG ROBOT TECHNOLOGY Co.,Ltd. |
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