CN107491074B - 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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- CN107491074B CN107491074B CN201710799731.0A CN201710799731A CN107491074B CN 107491074 B CN107491074 B CN 107491074B CN 201710799731 A CN201710799731 A CN 201710799731A CN 107491074 B CN107491074 B CN 107491074B
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- robot
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- avoidance
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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 68
- 238000004891 communication Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 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 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
Abstract
The invention discloses a kind of autonomous operation machine automatic obstacle avoidance management methods, 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, to improve avoidance job safety early warning distance in robot operation.
Description
Technical field
The present invention relates to a kind of autonomous operation machine automatic obstacle avoidance management methods, belong 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 vehicle
Etc. have 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, is currently directed to 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
On the other hand avoiding barrier has operating personnel remotely to carry out manipulation avoiding barrier, although can meet use to a certain degree
Needs, but judge inaccurate there is also barrier structure, dimension volume simultaneously, barrier finds that early warning distance is short and equal lacks
It falls into, so as to cause robot in avoidance, accurately and effectively avoidance operation can not be easily carried out because barrier interpretation is not allowed,
It also can not effectively meet avoidance operational security and the accuracy under high-speed cruising state simultaneously.
Invention content
The object of the invention, which is that, overcomes above-mentioned deficiency, provides 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, includes the following steps：
The first step, robot hardware's configuration are satellite navigation positioning device to be equipped in 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 constitute 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, setting avoidance detecting parameter is first the satellite navigation and positioning of robot after completing first step operation
Device, wireless data communication device and each detection unit compile and edit unified data communication address, then fill satellite navigation and positioning
Set, 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 all provided with
Two detection units, one of detection unit axis and level perpendicular distribution, another detection unit axis axis and level
Face is in 10 °-60 ° angles, and 30-50 meters of maximum detecting distance, minimum detection distance is 0-0.5 meter；
Each side surface at position at left and right sides of robot is all provided with a detection unit, and the detection list of side surface
For first axis horizontal by 0 °-90 °, maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter.
Third walks, and operation control, after completing second step, robot can be run on preset each working line, transported
Before row starts, the detection unit first by each angle with horizontal plane around robot more than 0 ° carries out robot periphery barrier
Detection, and barrier is identified and is evaded, normal operation is then carried out again, in normal course of operation, is keeping machine
While detection unit of each angle with horizontal plane more than 0 ° is detected robot periphery barrier around people, separately by being located at
Each detection unit of immediately ahead of robot and dead astern and axis and horizontal plane parallelly distribute on is to being located at robot front and just
Rear long-distance barrier object is predicted, and after detecting barrier, persistently carries out ranging operation 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 ° is detected guidance machine people to robot periphery barrier and carries out avoidance.
Further, mutually in parallel between each detection unit and each when being detected unit outfit in the first step
The detection coverage area of detection unit is 90 ° -180 ° sector regions.
Further, in the first step when being detected unit outfit, wherein each angle with horizontal plane is more than 0 °
Detection unit it is hinged by turntable mechanism with the machine human world, and articulated shaft can be surround and carry out 0 ° -180 ° rotations.
Further, in third step, in robot operational process, satellite navigation positioning device and wireless data are logical
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
On the other hand the reasonability of avoidance route when industry can effectively improve robot and find barrier at a distance under high-speed cruising state
Ability, to improve robot operation in avoidance job safety early warning distance.
Description of the drawings
Fig. 1 is the method for the present invention flow diagram.
Specific implementation mode
As shown in Figure 1, a kind of autonomous operation machine automatic obstacle avoidance management method, includes the following steps：
The first step, robot hardware's configuration are satellite navigation positioning device to be equipped in 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 constitute 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, setting avoidance detecting parameter is first the satellite navigation and positioning of robot after completing first step operation
Device, wireless data communication device and each detection unit compile and edit unified data communication address, then fill satellite navigation and positioning
Set, 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 all provided with
Two detection units, one of detection unit axis and level perpendicular distribution, another detection unit axis axis and level
Face is in 10 °-60 ° angles, and 30-50 meters of maximum detecting distance, minimum detection distance is 0-0.5 meter；
Each side surface at position at left and right sides of robot is all provided with a detection unit, and the detection list of side surface
For first axis horizontal by 0 °-90 °, maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter.
Third walks, and operation control, after completing second step, robot can be run on preset each working line, transported
Before row starts, the detection unit first by each angle with horizontal plane around robot more than 0 ° carries out robot periphery barrier
Detection, and barrier is identified and is evaded, normal operation is then carried out again, in normal course of operation, is keeping machine
While detection unit of each angle with horizontal plane more than 0 ° is detected robot periphery barrier around people, separately by being located at
Each detection unit of immediately ahead of robot and dead astern and axis and horizontal plane parallelly distribute on is to being located at robot front and just
Rear long-distance barrier object is predicted, and after detecting barrier, persistently carries out ranging operation 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 ° is detected guidance machine people to robot periphery barrier and carries out avoidance.
It is mutually in parallel between each detection unit and every when being detected unit outfit in the first step in the present embodiment
The detection coverage area of a detection unit is 90 ° -180 ° sector regions.
In the present embodiment, in the first step when being detected unit outfit, wherein each angle with horizontal plane is more than
0 ° of detection unit is hinged by turntable mechanism with the machine human world, and can surround articulated shaft and carry out 0 ° -180 ° rotations.
In the present embodiment, in third step, in robot operational process, 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
On the other hand the reasonability of avoidance route when industry can effectively improve robot and find barrier at a distance under high-speed cruising state
Ability, to improve robot operation in avoidance job safety early warning distance.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, 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)
1. a kind of autonomous operation machine automatic obstacle avoidance management method, which is characterized in that the autonomous operation machine automatic obstacle avoidance
Management method includes the following steps：
The first step, robot hardware's configuration are that outfit satellite navigation positioning device and wireless data are logical 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
It sets, 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 sets avoidance detecting parameter, after completing first step operation, is filled first for the satellite navigation and positioning of robot
Set, 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
Detection unit, one of detection unit axis and level perpendicular distribution, another detection unit axis axis horizontal by
10 °-60 ° angles, 30-50 meters of maximum detecting distance, minimum detection distance are 0-0.5 meter；
Each side surface at position at left and right sides of robot is all provided with a detection unit, and the detection unit axis of side surface
For line horizontal by 0 °-90 °, maximum detecting distance is 3-5 meters, and minimum detection distance is 0-0.5 meter；
Third walks, and operation control, after completing second step, robot can be run on preset each working line, be opened in operation
Before dynamic, the detection unit first by each angle with horizontal plane around robot more than 0 ° examines robot periphery barrier
It surveys, and barrier is identified and is evaded, then carry out normal operation again, in normal course of operation, keeping robot
While detection unit of each angle with horizontal plane of surrounding more than 0 ° is detected robot periphery barrier, separately by being located at machine
Each detection unit of immediately ahead of device people and dead astern and axis and horizontal plane parallelly distribute on to be located at robot front and just after
Square long-distance barrier object is predicted, and after detecting barrier, persistently carries out ranging operation to barrier, and according to ranging
As a result the adjustment 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 ° is detected guidance machine people to robot periphery barrier and carries out avoidance.
2. a kind of autonomous operation machine automatic obstacle avoidance management method according to claim 1, which is characterized in that the first step
In, it is mutually in parallel between each detection unit when being detected unit outfit, and the detection coverage area of each detection unit is
90 ° -180 ° sector regions.
3. a kind of autonomous operation machine automatic obstacle avoidance management method according to claim 1, which is characterized in that described
In one step when being detected unit outfit, wherein detection unit of each angle with horizontal plane more than 0 ° passes through with the machine human world
Turntable mechanism is hinged, and can surround articulated shaft and carry out 0 ° -180 ° rotations.
4. a kind of autonomous operation machine automatic obstacle avoidance management method according to claim 1, which is characterized in that described
In three steps, in robot operational process, 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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| 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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| CN107491074A CN107491074A (en) | 2017-12-19 |
| CN107491074B true CN107491074B (en) | 2018-08-07 |
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Citations (5)
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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 | Construction vehicle and collision-prevention device for operations 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2529849B (en) * | 2014-09-03 | 2017-06-14 | Dyson Technology Ltd | A robot cleaner |
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2017
- 2017-09-07 CN CN201710799731.0A patent/CN107491074B/en not_active Expired - Fee Related
Patent Citations (5)
| 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 | Construction vehicle and collision-prevention device for operations 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 |
| 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)
| Title |
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| 基于多传感器融合的机器人障碍物检测;王中立等;《中国测试》;20170831;第43卷(第8期);第80-85页 * |
| 微小型LTA飞行机器人主动避障控制研究;胡盛斌等;《上海大学学报（自然科学版）》;20030831;第9卷(第4期);第327-330页 * |
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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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Granted publication date: 20180807 Termination date: 20200907 |
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