CN107526356A - One kind is intelligently carried based on Arduino platform courses and follows robot and control method - Google Patents
One kind is intelligently carried based on Arduino platform courses and follows robot and control method Download PDFInfo
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- CN107526356A CN107526356A CN201710611580.1A CN201710611580A CN107526356A CN 107526356 A CN107526356 A CN 107526356A CN 201710611580 A CN201710611580 A CN 201710611580A CN 107526356 A CN107526356 A CN 107526356A
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
One kind is intelligently carried based on Arduino platform courses and follows robot and control method, solves the problems, such as existing to follow robot to exist to need to wear signal launch facility, algorithm complexity, signal and be easily disturbed screen.Robot includes user terminal, position detecting module, main control module, drive control module, the detection of obstacles module detected to barrier on robot direct of travel, user terminal is connected by wireless network with main control module, position detecting module is connected with main control module, main control module is connected with drive control module, detection of obstacles module respectively, and detection of obstacles module is connected with drive control module.The present invention to human body back ranging and follow using ultrasonic technology, and user need not wear any signal projector, and using simple, and overtime ripple is not easy to be disturbed and is shielded, influenceed by weather small, enhances robot and follows stability.
Description
Technical field
The present invention relates to a kind of technical field of robot control, and Arduino platform courses intelligence is based on more particularly, to one kind
It can carry and follow robot and control method.
Background technology
With world technology and expanding economy, many newest science and technology have come into our life, and also bring
Many changes, such as：The appearance of mobile phone causes human communication technology there occurs very big innovation, for people's life bring to
Close important change.Therefore, a scientific and technological big effect is to change life, is solved the problems, such as in life.
Demographic data in the last few years shows that global Aging Problem is extremely serious, and because the special people such as the elderly
Group's action is constant, the reason such as be short of physical strength, causes the proportion about special populations such as the elderlys in traffic accident to increase rapidly, spy
It is not when the special populations such as the elderly carry heavier or larger volume article.Therefore, solve the special populations such as the elderly to remove
It is inconvenient particularly important during fortune article.
Although being now, that the hand buggy that the special populations such as the elderly make is very universal, when the elderly's roping is compared
During heavy article, or when going up a slope, hand buggy has embodied many deficiencies.It is therefore desirable to make one kind can not with always
The contact of the special population bodies such as year people, also can be that the elderly carries and followed all the time always without wearing special type emitting substance
The year intelligence carrying of people follows robot.
In general follows machine artificially to install one or more wireless signal transmitting devices with user at present, with
With the devices such as multiple wireless signal receiving antennas are installed on car, play a part of positioning user orientation.Recycle and use afterwards
The relative bearing of person and Following Car is controlled to Following Car, to reach the purpose followed.But this traditional type of drive tool
There are some shortcomings, such as：
1. due to needing multiple wireless antenna reception signals, the volume of Following Car can be bigger, it has not been convenient to carries；
2. following algorithm is complex, it is necessary to progress algorithm adjustment, and program stability is relatively low in varied situations；
3. radio signal is easily disturbed or shields.
The content of the invention
The present invention mainly solves to follow robot multiple in the presence of wearing signal launch facility, algorithm is needed in the prior art
Miscellaneous, signal is easily disturbed the problem of screen, there is provided one kind is intelligently carried based on Arduino platform courses and follows robot and control
Method processed.
The above-mentioned technical problem of the present invention is mainly what is be addressed by following technical proposals：One kind is based on Arduino
Platform courses are intelligently carried and follow robot, including user terminal, the position for detecting using ultrasonic wave human body back range information
Put the drive that detection module, the main control module followed according to range information control machine people, driving robot move
Dynamic control module, the detection of obstacles module detected to barrier on robot direct of travel, user terminal pass through wireless network
Network is connected with main control module, and position detecting module is connected with main control module, main control module respectively with drive control module,
Detection of obstacles module is connected, and detection of obstacles module is connected with drive control module.The present invention using ultrasonic technology come pair
Human body back carries out ranging and simultaneously followed, and user need not wear any signal projector, using simple, and uses overtime ripple
Carry out ranging, be not easy it is disturbed shielded, influenceed by weather small, enhance robot and follow stability.Power supply of the present invention uses
5V charger babies are powered, easy to use.
As a kind of preferred scheme, main control module include be sequentially connected metrics calculation unit, signal filter element, with
With analytic unit, position detection unit, detection of obstacles unit are connected with metrics calculation unit respectively, follow analytic unit with driving
Dynamic control unit is connected,
Metrics calculation unit：Range information according to detecting is calculated, and exports primary range data；
Signal filter element：Wrong distance signal in primary range data is rejected, exports secondary range data；
Follow analytic unit：Compared with the range data after processing is followed into stop distance data with what is set, according to comparative result
Formulate robot movement and follow, stop or retreat control strategy.This programme main control module calculates arrive human body back distance in real time
Data, and data of adjusting the distance are analyzed, so as to which that realizes complete smoothness follows drive control.
As a kind of preferred scheme, position detection unit includes separate the first ultrasonic sensor units and second
Ultrasonic sensor units, the first ultrasonic sensor units and the second ultrasonic sensor units respectively with main control module phase
Even.This programme carries out range information collection using ultrasonic sensor, and ultrasonic wave is not easy to be disturbed and is shielded, influenceed by weather
It is small, enhance robot and follow stability.And progress is followed to robot using two independent ultrasonic sensor units
Control.First ultrasonic sensor units and the second ultrasonic sensor units are arranged on head, head height and human body
Back is contour.
As a kind of preferred scheme, drive control unit includes the first motor controlled respectively and the second driving electricity
Machine, the first motor are connected with the first electromagnetic relay unit, and the first electromagnetic relay unit is connected with main control module, the
One ultrasonic sensor units are controlled by main control module, the first electromagnetic relay unit to the first motor, the
Two motors are connected with the second electromagnetic relay unit, and the second electromagnetic relay unit is connected with main control module, the second surpasses
Acoustic transducer element is controlled by main control module, the second electromagnetic relay unit to the second motor.This programme
Drive control module is made up of two motors controlled respectively, and wherein motor is passed by two independent ultrasonic waves respectively
Sensor cell controls, and forms two sets and follows driving control system, and two systems control strategy is identical.
As a kind of preferred scheme, detection of obstacles module include detection pattern is switched over feeler lever, be arranged on spy
The 3rd ultrasonic sensor units on bar, the first switch unit and second switch list detected to feeler lever pattern switching
Member, the 3rd electromagnetic relay unit, alarm unit, the 3rd ultrasonic sensor units are connected with main control unit, first switch
Unit, second switch unit are connected by serial ports with main control module respectively, main control module by serial ports and the 3rd electromagnetism after
Electric appliance unit is connected, the 3rd electromagnetic relay unit respectively with the first electromagnetic relay unit, the second electromagnetic relay unit phase
Even, alarm unit is connected with the 3rd electromagnetic relay unit.Detection of obstacles module has to barriers such as walls in this programme
The first obstacle detection system detected and the second detection of obstacles system detected to barriers such as step, gullies
System, feeler lever are used for the first obstacle detection system, the second obstacle detection system and stop the switching between three patterns.First
Obstacle detection system is made up of first switch unit, the 3rd ultrasonic sensor units, the 3rd electromagnetic relay unit.Second
Obstacle detection system is made up of second switch unit, the 3rd ultrasonic sensor units, the 3rd electromagnetic relay unit.Feeler lever
After carrying out pattern switching, the first obstacle detection system or the second barrier are opened by first switch unit or second switch unit
Detecting system works, and main control module follows point according to corresponding to being carried out the 3rd ultrasonic sensor units detecting distance information
Analysis, is finally moved by drive control module to robot.
As a kind of preferred scheme, the main control module is connected by WIFI module with user terminal, and main control module is adopted
With Arduino development boards.
One kind is intelligently carried based on Arduino platform courses and follows robot control method, including follows drive control to walk
Rapid and avoidance drive control step,
Drive control step is followed to include：
S11. the first ultrasonic sensor units and the second ultrasonic sensor units detect use in real time after robot starts
The range information at person back；
S12. main control module enters respectively to the first ultrasonic sensor units and the second ultrasonic sensor units detection information
Row model- following control：Range data is calculated, compared with range data is followed into stop distance data with what is set, according to comparative result
Formulate robot movement control strategy；
Avoidance drive control step includes：
S21. the switching signal that main control module triggers according to feeler lever starts the first detection of obstacles or the second detection of obstacles work
Operation mode；User manually adjusts feeler lever position when in use, if feeler lever is located at the first obstacle detection system position, first
Switch element works, and first switch unit sends a signal to main control module, and main control module is adjusted to the first detection of obstacles
Mode of operation；If feeler lever is located at the second obstacle detection system position, second switch cell operation, second switch unit is sent
For signal to main control module, main control module is adjusted to the second detection of obstacles mode of operation.
S22. the 3rd ultrasonic sensor units detect the range information of barrier in real time；
S23. main control module carries out avoidance obstacle to the 3rd ultrasonic sensor units detection information：Calculate range data,
By range data compared with the early warning distance data set, robot avoidance obstacle strategy is formulated according to comparative result.
Present invention utilizes human body back it is more smooth vertical with user's direction of motion all the time the characteristics of, utilize ultrasonic wave
Sensor unit measures range data and motor is controlled so that follows robot and user's motion mode all the time one
Cause, and mutually keep certain distance.Obstacle distance data are detected additionally by ultrasonic sensor, robot is followed to control
Avoiding obstacles are alarmed.Inventive algorithm is simple, and operational reliability is strong.
As a kind of preferred scheme, the specific steps of model- following control include in step S12：
S121. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S122. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
S123. the bound for following stop distance data area of secondary range data and setting is compared,
If secondary range data, which is more than, follows the stop distance data upper limit, followed by drive control module control machine people edge
Person direction drives forwards；
If secondary range data, which is more than, follows stop distance data lower limit, less than stop distance data are followed, then control driving control
Molding block does not work；
If secondary range data be less than follow stop distance data lower limit, by drive control module control machine people along with
Driven with the opposite direction in person direction.
As a kind of preferred scheme, the specific steps of avoidance obstacle include in step S23：
S231. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S232. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
If S233. under the first detection of obstacles mode of operation, by secondary range data and the first detection of obstacles of setting
Early warning distance data under mode of operation are compared,
If secondary range data is more than early warning distance data, alarmed by alarm unit, and control drive control module
Motor power supply is closed, robot voluntarily slows down stop motion；
If secondary range data is less than early warning distance data, control drive control module does not work；
If S234. under the second detection of obstacles mode of operation, by secondary range data and the second detection of obstacles of setting
The bound of early warning distance data area under mode of operation is compared,
If secondary range data is more than the early warning distance data upper limit, alarmed by alarm unit, and control drive control
Module closes motor power supply, and robot voluntarily slows down stop motion；
If secondary range data is more than early warning distance data lower limit, less than the early warning distance data upper limit, then drive control mould is controlled
Block does not work；Drive control module is not controlled.
If secondary range data is less than early warning distance data lower limit, alarmed by alarm unit, and control driving
Control module closes motor power supply, and robot voluntarily slows down stop motion.
Therefore, it is an advantage of the invention that：1. demand does not wear any signal emitting substance to user, it is excessively numb use has been prevented
The problem of tired, machine human body type is big, and wireless signal is easily disturbed；
2. ultrasonic signal receipts weather influence is less, it is not easy to be shielded, robot follows stability strong；
3. control method is relatively simple, operational reliability is strong；
4. the wireless signal receivers such as antenna need not be carried, overall build is smaller, and quality is smaller, more portable.
Brief description of the drawings
Accompanying drawing 1 is a kind of structural frames diagram of the present invention.
The ultrasounds of 1- main control modules 2- the first ultrasonic sensor units the second ultrasonic sensor units of 3- 4- the 3rd
Electromagnetic relay unit 6- first switches unit 7- the first electromagnetism of second switch unit 8- of wave sensor unit 5- the 3rd after
Electric appliance unit 9- the second electromagnetic relay unit 10- the first motor 11- the second motor 12- metrics calculation units
13- signal filter elements 14- follows analytic unit 15-WIFI module 16- user terminal 17- alarm units.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：
A kind of intelligently carried based on Arduino platform courses of the present embodiment follows robot, as shown in figure 1, including user
Hold, detect the position detecting module of human body back range information using ultrasonic wave, entered according to range information control machine people
Row follow main control module, driving robot move drive control module, to barrier on robot direct of travel
The detection of obstacles module detected.
Main control module is connected by WIFI module 15 with user terminal, and position detecting module is connected with main control module, main
Control module is connected with drive control module, detection of obstacles module respectively, detection of obstacles module and drive control module phase
Even.
Position detection unit includes separate the first ultrasonic sensor units 2 and the second ultrasonic sensor units
3, the first ultrasonic sensor units and the second ultrasonic sensor units are connected with main control module respectively.
Metrics calculation unit 12 that main control module includes being sequentially connected, signal filter element 13, analytic unit 14 is followed,
Position detection unit, detection of obstacles unit are connected with metrics calculation unit respectively, follow analytic unit and drive control unit
It is connected.
Metrics calculation unit：Range information according to detecting is calculated, and exports primary range data；
Signal filter element：Wrong distance signal in primary range data is rejected, exports secondary range data；
Follow analytic unit：Compared with the range data after processing is followed into stop distance data with what is set, according to comparative result
Formulate robot movement and follow, stop or retreat control strategy.The present embodiment main control module uses Arduino development boards.
Drive control unit includes the first motor 10 and the second motor 11 controlled respectively, the first motor
It is connected with the first electromagnetic relay unit 8, the first electromagnetic relay unit is connected with main control module, the first ultrasonic sensor
Unit is controlled by main control module, the first electromagnetic relay unit to the first motor, the second motor and
Two electromagnetic relay units 9 are connected, and the second electromagnetic relay unit is connected with main control module, the second ultrasonic sensor units
The second motor is controlled by main control module, the second electromagnetic relay unit.First motor and second drives
Dynamic motor is using conventional 3-12V130 direct current generators, the conventional 5V driving chips L293D of motor drive module selection.L298N constant pressures
Constant current bridge-type 2A driving chips, L298N acceptable standard TTL logic level signals VSS, VSS can connect 4.5~7 V voltages.4 pin
VS connects supply voltage, and VS voltage ranges VIH is+2.5~46 V.Output current can drive inductive load up to 2.5 A.1
The emitter stage of pin and 15 underfooting pipes is individually drawn to access current sampling resistor, forms current sensing signal.L298 can
2 motor are driven, OUT1, can be connect respectively between OUT2 and OUT3, OUT4 electronic.
Detection of obstacles module passes including the feeler lever switched over to detection pattern, the 3rd ultrasonic wave being arranged on feeler lever
Sensor cell 4, the first switch unit 6 detected to feeler lever pattern switching and second switch unit 7, the 3rd electromagnetic relay
Unit 5, alarm unit 17, the 3rd ultrasonic sensor units are connected with main control unit, first switch unit, second switch list
Member is connected by serial ports with main control module respectively, and main control module is connected by serial ports with the 3rd electromagnetic relay unit, the
Three electromagnetic relay units are connected with the first electromagnetic relay unit, the second electromagnetic relay unit respectively, alarm unit and
Three electromagnetic relay units are connected.
One kind is intelligently carried based on Arduino platform courses and follows robot control method, including follows drive control to walk
Rapid and avoidance drive control step,
Drive control step is followed to include：
S11. the first ultrasonic sensor units and the second ultrasonic sensor units detect use in real time after robot starts
The range information at person back；
S12. main control module enters respectively to the first ultrasonic sensor units and the second ultrasonic sensor units detection information
Row model- following control：Range data is calculated, compared with range data is followed into stop distance data with what is set, according to comparative result
Formulate robot movement control strategy；Model- following control specific steps include：
S121. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S122. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
S123. the bound for following stop distance data area of secondary range data and setting is compared,
If secondary range data, which is more than, follows the stop distance data upper limit, followed by drive control module control machine people edge
Person direction drives forwards；
If secondary range data, which is more than, follows stop distance data lower limit, less than stop distance data are followed, then control driving control
Molding block does not work；
If secondary range data be less than follow stop distance data lower limit, by drive control module control machine people along with
Driven with the opposite direction in person direction.
Avoidance drive control step includes：
S21. the switching signal that main control module triggers according to feeler lever starts the first detection of obstacles or the second detection of obstacles work
Operation mode；User manually adjusts feeler lever position when in use, if feeler lever is located at the first obstacle detection system position, first
Switch element works, and first switch unit sends a signal to main control module, and main control module is adjusted to the first detection of obstacles
Mode of operation；If feeler lever is located at the second obstacle detection system position, second switch cell operation, second switch unit is sent
For signal to main control module, main control module is adjusted to the second detection of obstacles mode of operation.
S22. the 3rd ultrasonic sensor units detect the range information of barrier in real time；
S23. main control module carries out avoidance obstacle to the 3rd ultrasonic sensor units detection information：Calculate range data,
By range data compared with the early warning distance data set, robot avoidance obstacle strategy is formulated according to comparative result.Avoidance control
The specific steps of system include：
S231. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S232. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
If S233. under the first detection of obstacles mode of operation, by secondary range data and the first detection of obstacles of setting
Early warning distance data under mode of operation are compared,
If secondary range data is more than early warning distance data, alarmed by alarm unit, and control drive control module
Motor power supply is closed, robot voluntarily slows down stop motion；
If secondary range data is less than early warning distance data, control drive control module does not work；
If S234. under the second detection of obstacles mode of operation, by secondary range data and the second detection of obstacles of setting
The bound of early warning distance data area under mode of operation is compared,
If secondary range data is more than the early warning distance data upper limit, alarmed by alarm unit, and control drive control
Module closes motor power supply, and robot voluntarily slows down stop motion；
If secondary range data is more than early warning distance data lower limit, less than the early warning distance data upper limit, then drive control mould is controlled
Block does not work；Drive control module is not controlled.
If secondary range data is less than early warning distance data lower limit, alarmed by alarm unit, and control driving
Control module closes motor power supply, and robot voluntarily slows down stop motion.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although main control unit, the first ultrasonic sensor units, the second ultrasonic sensor have more been used herein
The terms such as unit, the 3rd ultrasonic sensor units, but it is not precluded from the possibility using other terms.Using these terms only
Merely to more easily describe and explain the essence of the present invention；Being construed as any additional limitation is all and this
What spirit was disagreed.
Claims (9)
1. one kind is intelligently carried based on Arduino platform courses and follows robot, it is characterised in that：Including user terminal, using super
Sound wave is come the master that detects the position detecting module of human body back range information, followed according to range information control machine people
Drive control module that control module, driving robot move, barrier on robot direct of travel detected
Detection of obstacles module, user terminal are connected by wireless network with main control module, position detecting module and main control module phase
Even, main control module is connected with drive control module, detection of obstacles module respectively, detection of obstacles module and drive control mould
Block is connected.
2. a kind of intelligently carried based on Arduino platform courses according to claim 1 follows robot, it is characterized in that main
Metrics calculation unit that control module includes being sequentially connected, signal filter element, follow analytic unit, position detection unit, barrier
Hinder analyte detection unit to be connected respectively with metrics calculation unit, follow analytic unit to be connected with drive control unit,
Metrics calculation unit：Range information according to detecting is calculated, and exports primary range data；
Signal filter element：Wrong distance signal in primary range data is rejected, exports secondary range data；
Follow analytic unit：Compared with the range data after processing is followed into stop distance data with what is set, according to comparative result
Formulate robot movement and follow, stop or retreat control strategy.
3. a kind of intelligently carried based on Arduino platform courses according to claim 1 or 2 follows robot, its feature
It is that position detection unit includes separate the first ultrasonic sensor units and the second ultrasonic sensor units, the first surpasses
Acoustic transducer element and the second ultrasonic sensor units are connected with main control module respectively.
4. a kind of intelligently carried based on Arduino platform courses according to claim 3 follows robot, it is characterized in that driving
Dynamic control unit includes the first motor and the second motor controlled respectively, the first motor and the first electromagnetism relay
Device unit is connected, and the first electromagnetic relay unit is connected with main control module, and the first ultrasonic sensor units pass through main control
Module, the first electromagnetic relay unit are controlled to the first motor, the second motor and the second electromagnetic relay list
Member be connected, the second electromagnetic relay unit is connected with main control module, the second ultrasonic sensor units by main control module,
Second electromagnetic relay unit is controlled to the second motor.
5. a kind of intelligently carried based on Arduino platform courses according to claim 4 follows robot, it is characterized in that barrier
Hinder analyte detection module include detection pattern is switched over feeler lever, be arranged on feeler lever the 3rd ultrasonic sensor units,
First switch unit and second switch unit, the 3rd electromagnetic relay unit, the alarm list detected to feeler lever pattern switching
Member, the 3rd ultrasonic sensor units are connected with main control unit, and first switch unit, second switch unit pass through serial ports respectively
It is connected with main control module, main control module is connected by serial ports with the 3rd electromagnetic relay unit, the 3rd electromagnetic relay list
Member is connected with the first electromagnetic relay unit, the second electromagnetic relay unit respectively, alarm unit and the 3rd electromagnetic relay list
Member is connected.
6. a kind of intelligently carried based on Arduino platform courses according to claim 1 or 2 follows robot, its feature
It is that the main control module is connected by WIFI module with user terminal, main control module uses Arduino development boards.
7. one kind is intelligently carried based on Arduino platform courses and follows robot control method, using any one of claim 1-6
In robot, it is characterized in that：Including following drive control step and avoidance drive control step,
Drive control step is followed to include：
S11. the first ultrasonic sensor units and the second ultrasonic sensor units detect use in real time after robot starts
The range information at person back；
S12. main control module enters respectively to the first ultrasonic sensor units and the second ultrasonic sensor units detection information
Row model- following control：Range data is calculated, compared with range data is followed into stop distance data with what is set, according to comparative result
Formulate robot movement control strategy；
Avoidance drive control step includes：
S21. the switching signal that main control module triggers according to feeler lever starts the first detection of obstacles or the second detection of obstacles work
Operation mode；
S22. the 3rd ultrasonic sensor units detect the range information of barrier in real time；
S23. main control module carries out avoidance obstacle to the 3rd ultrasonic sensor units detection information：Calculate range data,
By range data compared with the early warning distance data set, robot avoidance obstacle strategy is formulated according to comparative result.
8. a kind of intelligently carried based on Arduino platform courses according to claim 7 follows robot control method, its
Being characterized in the specific steps of model- following control in step S12 includes：
S121. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S122. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
S123. the bound for following stop distance data area of secondary range data and setting is compared,
If secondary range data, which is more than, follows the stop distance data upper limit, followed by drive control module control machine people edge
Person direction drives forwards；
If secondary range data, which is more than, follows stop distance data lower limit, less than stop distance data are followed, then control driving control
Molding block does not work；
If secondary range data be less than follow stop distance data lower limit, by drive control module control machine people along with
Driven with the opposite direction in person direction.
9. a kind of intelligently carried based on Arduino platform courses according to claim 7 follows robot control method, its
Being characterized in the specific steps of avoidance obstacle in step S23 includes：
S231. main control module is analyzed the distance signal measured and technology according to ultrasonic distance parser, output
Primary range data；
S232. the wrong distance signal to caused by primary range data is rejected due to random error by filtering algorithm, output time
Level range data；
If S233. under the first detection of obstacles mode of operation, by secondary range data and the first detection of obstacles of setting
Early warning distance data under mode of operation are compared,
If secondary range data is more than early warning distance data, alarmed by alarm unit, and control drive control module
Motor power supply is closed, robot voluntarily slows down stop motion；
If secondary range data is less than early warning distance data, control drive control module does not work；
If S234. under the second detection of obstacles mode of operation, by secondary range data and the second detection of obstacles of setting
The bound of early warning distance data area under mode of operation is compared,
If secondary range data is more than the early warning distance data upper limit, alarmed by alarm unit, and control drive control
Module closes motor power supply, and robot voluntarily slows down stop motion；
If secondary range data is more than early warning distance data lower limit, less than the early warning distance data upper limit, then drive control mould is controlled
Block does not work；
If secondary range data is less than early warning distance data lower limit, alarmed by alarm unit, and control drive control
Module closes motor power supply, and robot voluntarily slows down stop motion.
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