CN107515428A - A kind of method and device for detecting barrier - Google Patents
A kind of method and device for detecting barrier Download PDFInfo
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- CN107515428A CN107515428A CN201610422865.6A CN201610422865A CN107515428A CN 107515428 A CN107515428 A CN 107515428A CN 201610422865 A CN201610422865 A CN 201610422865A CN 107515428 A CN107515428 A CN 107515428A
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- roller
- code
- actual speed
- disc
- theoretical velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
Abstract
The embodiment of the present application discloses a kind of method and device for detecting barrier, suitable for robotic technology field.Methods described includes：By code-disc detection when the actual speed of front wheel；The theoretical velocity when front wheel is determined by the driving current and the theoretical velocity of last moment that drive roller；Determine whether to encounter barrier by the actual speed and theoretical velocity.Utilize the embodiment of the present application, it is possible to achieve to the effective detection of barrier.
Description
Technical field
The application is related to robotic technology field, more particularly to a kind of method and device for detecting barrier.
Background technology
The robot movement under external environment indoors, usually 360 °, i.e., what robot can be on 360 ° of directions appoints
Move in one direction.Robot is likely to be encountered barrier in moving process.
In order to realize the detection of barrier, touching switch can be installed in machine human body (or shell etc) surrounding.When
When barrier is encountered by robot, due to the conflict of barrier, touching switch can be triggered.When touching switch is contradicted, it can produce
Raw signal.According to the signal, it can be determined that barrier has been encountered by robot.
It is above-mentioned in the prior art, to realize detection of the robot to barrier, generally require in machine human body or shell
Surrounding installs multiple touching switch, and when obstacle height, shape are not appropriate for arriving touching switch without contradicting, even if
Barrier is encountered by robot, possibly can not realize the detection to barrier.
The content of the invention
The purpose of the embodiment of the present application is to provide a kind of method and device for detecting barrier, effectively to realize to obstacle
The detection of thing.
In order to solve the above technical problems, what the embodiment of the present application was realized in：
A kind of method for detecting barrier, suitable for robotic technology field, including：
By code-disc detection when the actual speed of front wheel；
The theoretical velocity when front wheel is determined by the driving current and the theoretical velocity of last moment that drive roller；
Determine whether to encounter barrier by the actual speed and theoretical velocity.
A kind of method for detecting barrier, suitable for robotic technology field, including：
When the theoretical velocity of two rollers is identical, the actual speed of two rollers is detected；
If the actual speed difference of two rollers detected reaches predetermined threshold, judge that the slow roller of actual speed turns
Dynamic front runs into barrier.
A kind of device for detecting barrier, suitable for robotic technology field, including：
Roller, for being rotated in the case where motor drives；
Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；
CPU, the electrical signal detection recorded by code-disc work as the actual speed of front wheel；By the driving current for driving roller
The theoretical velocity when front wheel is determined with the theoretical velocity of last moment；Determined by the actual speed and theoretical velocity
Whether barrier is encountered.
A kind of device for detecting barrier, suitable for robotic technology field, including：
Roller, for being rotated in the case where motor drives；
Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；
CPU, calculate the theoretical velocity of two rollers；When the theoretical velocity of two rollers is identical, two rollers of detection
Actual speed；If the actual speed difference of two rollers detected reaches predetermined threshold, the slow roller of actual speed is judged
Rotate front and run into barrier.
The technical scheme provided from above the embodiment of the present application, the embodiment of the present application work as front wheel by code-disc detection
Actual speed, and compare actual speed and theoretical velocity to determine whether to encounter barrier, be so as to effectively detect
It is no to encounter barrier.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in application, for those of ordinary skill in the art, do not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structure chart of the code disc device embodiment of the application one；
Fig. 2 is the structure chart of the code disc device embodiment of the application one；
Fig. 3 is the structure chart of the code disc device embodiment of the application one；
Fig. 4 is the signal graph of the code disc device of the application one；
Fig. 5 is a kind of flow chart for the embodiment of the method for detecting barrier of the application；
Fig. 6 is the schematic diagram that coefficient is determined in a kind of embodiment of the method for detecting barrier of the application；
Fig. 7 is the flow chart of the embodiment of the method for another detection barrier of the application.
Embodiment
The embodiment of the present application provides a kind of method and device for detecting barrier.
In order that those skilled in the art more fully understand the technical scheme in the application, it is real below in conjunction with the application
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described implementation
Example only some embodiments of the present application, rather than whole embodiments.It is common based on the embodiment in the application, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, it should all belong to the application protection
Scope.
Robot, such as household intelligent robot, the mechanism that can be walked installed in bottom is generally comprised, such as rolled
Wheel.This kind of roller is connected through transmission mechanism with drive motor.By the rotation of drive motor, can be driven after transmission mechanism is driven
Dynamic roller rotates, so as to realize the walking of intelligent robot.This kind of roller generally comprises at least one or 2 or more
It is individual.These rollers, it can be that each roller is connected with a motor or each roller is connected with multiple motors, may be used also
To there is some rollers not to be connected with motor.The roller being connected with motor is generally active roller.The roller not being connected with motor, it is
Under the rolling of active roller, rolling is produced based on the friction with ground, this kind of roller not being connected with motor is passive rolling
Wheel.
Active roller can set code-disc on connected motor.Passive roller can be connected with hunting gear, it is described with
Dynamic device is, for example, to be engaged by gear or belt transmission is and the rotating disk being connected with passive roller, and code can be set on rotating disk
Disk.
A kind of code-disc structure is as shown in figure 1, code-disc main body 11 is generally crown-shaped.The center 13 of code-disc main body 11 can be consolidated
It is scheduled on the motor shaft (not shown) of motor, imperial crown part 12 has raster-like opening 14.The both sides of raster-like opening 14 have into
To emitter and reception device (16 be one of emitter or reception device, and paired reception device and emitter are not
Show).Code-disc can be connected with roller 15.Code-disc and the synchronous axial system of roller 15 can be driven by the rotation of motor, and launched
Device and reception device are by the connection with fuselage and remains stationary.When code-disc main body 11 rotates, raster-like opening 14 is therewith
Rotate, the intermittent light for sending emitter is blocked or passed through., can be with when the light that emitter is sent passes through
There is reception device reception, and signal is produced by optoelectronic induction.
As described in Figure 2, code-disc main body 21 is integral into flat circle plate-like for another code-disc structure (roller is not shown).Code-disc 21
Edge is blade 22.Space be present between adjacent blade 22.Photoelectric sensor 23 and luminous tube 24 and the phase of photosensitive receiving tube 25
Even.When code-disc main body 21 rotates, the concomitant rotation of blade 22, the intermittent light for sending luminous tube 24 is blocked or worn
Cross.The light that luminous tube 24 is sent can be received when not blocked by blade by photosensitive receiving tube, and pass through photoelectric sensor 23
Produce signal.
Another code-disc integral into flat circle plate-like, grating 31 as shown in Figure 3 can be formed, rather than in Fig. 2
Blade.Similar, during code-disc body rotation, raster-like concomitant rotation, the intermittent light for sending emitter is blocked
Or pass through.When the light that emitter is sent passes through, there can be reception device reception, and signal is produced by optoelectronic induction.
Above-mentioned variously-shaped code-disc, it is substantially similar by signal caused by photoelectric sensor, such as shown in Figure 4.Hair
When the light that injection device is sent is not blocked, it can be received by reception device.Reception device receive light it is latter as can produce
Raw high level.Time between two rising edges is a cycle, is set to T.
In the embodiment of the present application, robot during walking, is likely to be encountered barrier by walking mechanism.At this moment,
It can judge to run into obstacle in front of the roller by judging the difference of code-disc detects on roller actual speed and theoretical velocity
Thing.
As shown in figure 5, a kind of embodiment of the method for detecting barrier, including step：
S510：By code-disc detection when the actual speed of front wheel.
S520：Theory speed when front wheel is determined by the driving current and the theoretical velocity of last moment that drive roller
Degree；
S530：Determine whether to encounter barrier by the actual speed and theoretical velocity.
Illustrated below with crown-shaped code-disc.
If L is the distance that roller turns around, can be obtained by measurement；N is the number of gears of imperial crown code-disc, is known quantity；T
For the time of one gear swing circle of code-disc, can be obtained by the signal that photoelectric sensor generates；U is the actual shifting of roller
Dynamic speed.Following relation then be present：
U=L/N*1/T (formula 1)
If u (k) is the theoretical velocity at k moment, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient
(being obtained by empirical value), I (K) are the driving current of the motor at K moment, and I (K-1) is the driving electricity of the motor of K last moments
Stream.Following relation then be present：
U (k)=A*u (k-1)+B* (I (k)-C)+D (formula 2)
After obtaining actual speed U and theoretical velocity u (k), it can determine whether to encounter obstacle by comparing both
Thing.For example, a threshold value can be set, such as 20%, can if theoretical velocity reaches the threshold value more than the actual speed
To judge to encounter barrier.
Wherein, A, B, C, D can be by the weight of robot (including heavy burdens), height, roller radius, gear reduction ratio,
The parameters such as motor unit for electrical property parameters determine, typically could be arranged to an empirical value determined by above-mentioned parameter.
Above-mentioned coefficient A, B, C, D value can be determined by several groups of experiments.Such as several groups of experimental datas are as follows：
First group and second group of data, when being that electric current is scheduled on 1.145A very much, motor constant speed moves ahead, it can be determined that goes out C=
1.1415；
3rd group and the 4th group is that motor gives it the gun when inputting to determine very much electric current 2.145A, and the 5th group of the 6th group of motor subtracts
Speed is advanced.
It may determine that u (k)-Au (k-1) and I (K) shows proportional relation according to data, as shown in Figure 6.
Six groups of data and coordinate can calculate more than：A=1.87, B=0.1485, C=1.415, D=
0.0418。
Those skilled in the art are it is understood that the principle of above-described embodiment can be equally used for determining raster-like code-disc, emperor
Coronal code-disc etc., will not be repeated here.
Above is the difference of actual speed and theoretical velocity is judged by the code-disc installed on a roller, so as to judge
Whether barrier is run into.The application also provides a kind of method of the actual speed disturbance in judgement thing of two rollers of combination, such as Fig. 7 institutes
Show, including：
S710：When the theoretical velocity of two rollers is identical, the actual speed of two rollers is detected.
S720：If two rollers detected actual speed difference reach predetermined threshold, judge actual speed slowly
Roller rotates front and runs into barrier.
The theoretical velocity of two rollers is identical, and the actual speed detected is different, and explanation should run into barrier.Specifically
, the difference of the actual speed of two rollers can be compared, if difference, which reaches, becheduled for will, may determine that barrier is located at
The direction of advance of the slow roller of actual speed.
Similar, the actual speed is determined by below equation：
U=L/N*1/T (formula 1)
Wherein, L is the distance that roller turns around, and N is the number of gears of imperial crown code-disc, and T is one gear swing circle of code-disc
Time, U be roller actual speed.
The theoretical velocity u (k) of the current time k is determined by below equation：
U (k)=A*u (k-1)+B* (I (k)-C)+D (formula 2)
Wherein, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient, and I (K) is the motor at K moment
Driving current, I (K-1) are the driving current of the motor of K last moments.
Coefficient A, B, C, D therein can be by the weight of robot, height, roller radius, gear reduction ratio, motor electricity
Performance parameter determines.
A kind of device embodiment for detecting barrier of the application introduced below, including：
Roller, for being rotated in the case where motor drives；
Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；
CPU, the electrical signal detection recorded by code-disc work as the actual speed of front wheel；By the driving current for driving roller
The theoretical velocity when front wheel is determined with the theoretical velocity of last moment；Determined by the actual speed and theoretical velocity
Whether barrier is encountered.
The code-disc includes crown-shaped code-disc or the code-disc of flat circle plate-like.
The actual speed is determined by below equation：
U=L/N*1/T
Wherein, L is the distance that roller turns around, and N is the number of gears of imperial crown code-disc, and T is one gear swing circle of code-disc
Time, U be roller actual speed.
The theoretical velocity u (k) of the current time k is determined by below equation：
U (k)=A*u (k-1)+B* (I (k)-C)+D
Wherein, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient, and I (K) is the motor at K moment
Driving current, I (K-1) are the driving current of the motor of K last moments.
Described coefficient A, B, C, D pass through the weight of robot, height, roller radius, gear reduction ratio, motor electrical property ginseng
Number determines.
The device embodiment of another detection barrier of the application introduced below, including：
Roller, for being rotated in the case where motor drives；
Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；
CPU, calculate the theoretical velocity of two rollers；When the theoretical velocity of two rollers is identical, two rollers of detection
Actual speed；If the actual speed difference of two rollers detected reaches predetermined threshold, the slow roller of actual speed is judged
Rotate front and run into barrier.
The code-disc includes crown-shaped code-disc or the code-disc of flat circle plate-like.
The actual speed is determined by below equation：
U=L/N*1/T
Wherein, L is the distance that roller turns around, and N is the number of gears of imperial crown code-disc, and T is one gear swing circle of code-disc
Time, U be roller actual speed.
The theoretical velocity u (k) of the current time k is determined by below equation：
U (k)=A*u (k-1)+B* (I (k)-C)+D
Wherein, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient, and I (K) is the motor at K moment
Driving current, I (K-1) are the driving current of the motor of K last moments.
Described coefficient A, B, C, D pass through the weight of robot, height, roller radius, gear reduction ratio, motor electrical property ginseng
Number determines.
It should be noted that term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, commodity or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, commodity or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in commodity or equipment.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for system
For applying example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Embodiments herein is the foregoing is only, is not limited to the application.For those skilled in the art
For, the application can have various modifications and variations.All any modifications made within spirit herein and principle, it is equal
Replace, improve etc., it should be included within the scope of claims hereof.
Claims (10)
- A kind of 1. method for detecting barrier, suitable for robotic technology field, it is characterised in that including：By code-disc detection when the actual speed of front wheel；The theoretical velocity when front wheel is determined by the driving current and the theoretical velocity of last moment that drive roller；Determine whether to encounter barrier by the actual speed and theoretical velocity.
- 2. the method as described in claim 1, it is characterised in that the code-disc includes crown-shaped code-disc or the code of flat circle plate-like Disk.
- 3. the method as described in claim 1, it is characterised in that the actual speed is determined by below equation：U=L/N*1/TWherein, L is the distance that turns around of roller, and N is the number of gears of imperial crown code-disc, T be one gear swing circle of code-disc when Between, U is the actual speed of roller.
- 4. the method as described in claim 1, it is characterised in that the theoretical velocity u (k) of the current time k passes through following public affairs Formula determines：U (k)=A*u (k-1)+B* (I (k)-C)+DWherein, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient, and I (K) is the driving of the motor at K moment Electric current, I (K-1) are the driving current of the motor of K last moments.
- 5. the method as described in claim 1, it is characterised in that described coefficient A, B, C, D by the weight of robot, height, Roller radius, gear reduction ratio, motor unit for electrical property parameters determine.
- A kind of 6. method for detecting barrier, suitable for robotic technology field, it is characterised in that including：When the theoretical velocity of two rollers is identical, the actual speed of two rollers is detected；If the actual speed difference of two rollers detected reaches predetermined threshold, before judging that the slow roller of actual speed rotates Side runs into barrier.
- 7. the method as described in claim 1, it is characterised in that the actual speed is determined by below equation：U=L/N*1/TWherein, L is the distance that turns around of roller, and N is the number of gears of imperial crown code-disc, T be one gear swing circle of code-disc when Between, U is the actual speed of roller.
- 8. the method as described in claim 1, it is characterised in that the theoretical velocity u (k) of the current time k passes through following public affairs Formula determines：U (k)=A*u (k-1)+B* (I (k)-C)+DWherein, u (k-1) is the theoretical velocity of k last moment, and A, B, C, D are coefficient, and I (K) is the driving of the motor at K moment Electric current, I (K-1) are the driving current of the motor of K last moments.
- A kind of 9. device for detecting barrier, suitable for robotic technology field, it is characterised in that including：Roller, for being rotated in the case where motor drives；Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；CPU, the electrical signal detection recorded by code-disc work as the actual speed of front wheel；By driving the driving current of roller and upper The theoretical velocity at one moment determines the theoretical velocity when front wheel；Determined whether by the actual speed with theoretical velocity Encounter barrier.
- A kind of 10. device for detecting barrier, suitable for robotic technology field, it is characterised in that including：Roller, for being rotated in the case where motor drives；Code-disc, and roller synchronous axial system, and record rotation process electric signal as caused by photoelectric induction device；CPU, calculate the theoretical velocity of two rollers；When the theoretical velocity of two rollers is identical, the reality of two rollers is detected Speed；If the actual speed difference of two rollers detected reaches predetermined threshold, judge that the slow roller of actual speed rotates Front runs into barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610422865.6A CN107515428B (en) | 2016-06-15 | 2016-06-15 | Method and device for detecting barrier |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610422865.6A CN107515428B (en) | 2016-06-15 | 2016-06-15 | Method and device for detecting barrier |
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| CN107515428A true CN107515428A (en) | 2017-12-26 |
| CN107515428B CN107515428B (en) | 2021-04-30 |
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