CN107703935A - Multiple data weighting fusions carry out method, storage device and the mobile terminal of avoidance - Google Patents
Multiple data weighting fusions carry out method, storage device and the mobile terminal of avoidance Download PDFInfo
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- CN107703935A CN107703935A CN201710818808.4A CN201710818808A CN107703935A CN 107703935 A CN107703935 A CN 107703935A CN 201710818808 A CN201710818808 A CN 201710818808A CN 107703935 A CN107703935 A CN 107703935A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004927 fusion Effects 0.000 title claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 15
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- 238000004891 communication Methods 0.000 claims description 3
- 230000035484 reaction time Effects 0.000 description 6
- 239000011521 glass Substances 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000005055 memory storage Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 208000010877 cognitive disease Diseases 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
- G05D1/0255—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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Automation & Control Theory (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention relates to method, storage device and the mobile terminal that a kind of multiple data weightings fusion carries out avoidances, including A, robot center, laser radar, 3D cameras, ultrasonic wave module, infrared switch set into respective coordinates point respectively；B, TF is carried out with robot world's coordinate and is converted into same robot coordinate system；C, the cloud data weight of 3D cameras is α, and the data of ultrasonic wave module and infrared data weighting are all β, the positioning that the data of laser radar are carried out by robot in navigation map；D, safety value is preset；E, by carrying out weight ratio pair with default safety value, judged and avoidance；The respective short slab mutually made up by four kinds of sensors, data fusion is carried out by way of adding different weights so that autokinetic movement of the robot under different scenes, automatic obstacle avoiding are more flexibly and intelligent.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of multiple data weighting fusions to carry out the method for avoidance, storage
Device and mobile terminal.
Background technology
Robot autonomous motion is mainly to be taken the photograph by laser radar cognitive disorders thing and map match or by 3D at present
As head progress image recognition and map match, then along with ultrasonic radar or infrared switch carry out obstacle avoidance aiding.Its
The data of each obstacle avoidance module are all independently to play avoidance, so to cause robot during autokinetic movement, when sharp
Optical radar or 3D cameras do not recognize barrier, and auxiliary examination obstacle sensor detects barrier small
Require that robot stops when setting safe distance information, and do not have to indicate barrier on robot navigation's map
Information, it is so robot to be caused to stop always, untill aiding sensors do not detect barrier.So cause
Robot can not accomplish to run into the autokinetic movement planning that barrier just voluntarily bypasses.
The content of the invention
Method, storage device and the mobile terminal for carrying out avoidance are merged it is an object of the invention to provide multiple data weightings,
To solve at least one of drawbacks described above existing for prior art.
For the above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of method that multiple data weighting fusions carry out avoidance, it is characterised in that methods described includes：
A, robot center, laser radar, 3D cameras, ultrasonic wave module, infrared switch are set into respective coordinates point respectively；
B, TF is carried out with robot world's coordinate and is converted into same robot coordinate system；
Laser radar, 3D cameras, ultrasonic wave module, the weight of infrared switch are set C,；
D, safety value is preset；
E, weight ratio pair is carried out with default safety value, passes through laser radar, 3D cameras, ultrasonic wave module, the power of infrared switch
Change is judged and avoidance again.
Preferably, the data of the laser radar are the data in 2D planes.
Preferably, the cloud data weight of the 3D cameras is α, the data of ultrasonic wave module and infrared data weighting
All it is β, the positioning that the data of laser radar are carried out by robot in navigation map；Wherein 0≤α≤1,0≤β≤1,0≤α
+β≤1。
Preferably, it is specific as follows when the step E judges：
When all not detecting barrier of the sonac and infrared switch, its data weighting are β minimum, and 3D takes the photograph
As head does not detect that the weight α of the cloud data of barrier is minimum；
The sonac or infrared switch detect barrier and when 3D cameras do not recognize barrier, its
Data weighting β is maximum, and α is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
The 3D cameras recognize barrier and when sonac or infrared switch do not detect barrier, its
Data weighting α is maximum, and β is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
When 3D cameras, sonac or the infrared switch all detect obstacle, weight α and β increase, and pass through
Weight α and β size are compared, so that it is determined that introducing particular location of the barrier in map, so that robot motion is more
Add intellectuality.
A kind of storage device, it is characterised in that the storage device is stored with computer program, the computer program energy
Enough it is performed to realize the method for multiple data weightings fusion progress avoidance as described above.
A kind of mobile terminal, it is characterised in that including：Processor, the memory being connected with the processor communication, it is described
Memory storage has computer program, and the computer program realizes multiple data weightings described above when being executed by processor
The method that fusion carries out avoidance；
The processor is used to call the computer program in the memory, is melted with the multiple data weightings for performing described above
Close the method for carrying out avoidance.
Compared with prior art, the present invention at least has the advantages that：The present invention include A, by robot center, swash
Optical radar, 3D cameras, ultrasonic wave module, infrared switch set respective coordinates point respectively；B, carried out with robot world's coordinate
TF is converted into same robot coordinate system；C, the cloud data weight of 3D cameras is α, data of ultrasonic wave module and infrared
Data weighting be all β, the positioning that the data of laser radar are carried out by robot in navigation map；D, safety value is preset；
E, by carrying out weight ratio pair with default safety value, judged and avoidance；Because laser radar is can not to detect glass
Glass, and ultrasonic radar can detect glass surface, the defects of laser radar can be made up.And ultrasonic radar detection obstacle
Thing the reaction time is long, if closely there is barrier, the event that can easily collide, and infrared switch
Reaction time than very fast, be adapted to object detection closely, closely the reaction time compares so as to compensate for ultrasonic radar
The defects of long.And 3D cameras solve the problems, such as that laser radar can not the three-dimensional identification of 3-dimensional.Mutually made up by four kinds of sensors
Respective short slab, data fusion is carried out by way of adding different weights so that autonomous fortune of the robot under different scenes
Dynamic, automatic obstacle avoiding is more flexibly and intelligent.
Brief description of the drawings
Fig. 1 is the flow chart for the method that the multiple data weighting fusions of present pre-ferred embodiments carry out avoidance.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, the method that a kind of multiple data weighting fusions of the present embodiment carry out avoidance, it is characterised in that institute
The method of stating includes：
A, robot center, laser radar, 3D cameras, ultrasonic wave module, infrared switch are set into respective coordinates point respectively；
B, TF is carried out with robot world's coordinate and is converted into same robot coordinate system；
Laser radar, 3D cameras, ultrasonic wave module, the weight of infrared switch are set C,；
D, safety value is preset；
E, weight ratio pair is carried out with default safety value, passes through laser radar, 3D cameras, ultrasonic wave module, the power of infrared switch
Change is judged and avoidance again.
Preferably, the data of the laser radar are the data in 2D planes.
Preferably, the cloud data weight of the 3D cameras is α, the data of ultrasonic wave module and infrared data weighting
All it is β, the positioning that the data of laser radar are carried out by robot in navigation map；Wherein 0≤α≤1,0≤β≤1,0≤α
+β≤1。
Specifically, this programme be by determine robot install sonac, infrared switch, laser radar and
Then 3D cameras carry out tf conversions so as to introduce robot from the specific orientation of robot centre coordinate with robot coordinate system
In the map that navigation uses.In tf transfer processes, the range data that is collected by sonac, infrared switch is adopted
The cloud data of the range data, the data that laser radar collects and the generation of 3D cameras that collect is by adding different weights
Mode carries out data fusion.Implementation is as follows：
Robot centre coordinate is（x0,y0,z0）, the coordinate of laser radar is（X1, Y1, Z1）, the coordinate of 3D cameras is
（X2, Y2, Z2）, the coordinate of ultrasonic wave module is（X3, Y3, Z3）, the coordinate of infrared switch is（X4,Y4,Z4）, then by with
Robot world's coordinate carries out the coordinate system that tf is converted into same robot（X5,Y5,Z5）.The cloud data α of 3D cameras
（0≤α≤1）, the data of ultrasonic wave module and infrared data weighting are all β（0≤β≤1）, 0≤alpha+beta≤1.And wherein swash
The data of optical radar are to carry out the positioning that robot is carried out in navigation map, and its data can not for the data in 2D planes
The three-dimensional avoidance of 3-dimensional is carried out, therefore, the cloud data and ultrasonic wave module of 3D cameras, the data of infrared switch are that 3-dimensional is stood
The complaint message of body is converted into the complaint message introduction navigation map of 2D planes and carries out obstacle avoidance aiding.
Preferably, it is specific as follows when the step E judges：
When all not detecting barrier of the sonac and infrared switch, its data weighting are β minimum, and 3D takes the photograph
As head does not detect that the weight α of the cloud data of barrier is minimum；
The sonac or infrared switch detect barrier and when 3D cameras do not recognize barrier, its
Data weighting β is maximum, and α is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
The 3D cameras recognize barrier and when sonac or infrared switch do not detect barrier, its
Data weighting α is maximum, and β is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
When 3D cameras, sonac or the infrared switch all detect obstacle, weight α and β increase, and pass through
Weight α and β size are compared, so that it is determined that introducing particular location of the barrier in map, so that robot motion is more
Add intellectuality.
A kind of storage device, it is characterised in that the storage device is stored with computer program, the computer program energy
Enough it is performed to realize the method for multiple data weightings fusion progress avoidance as described above.
A kind of mobile terminal, it is characterised in that including：Processor, the memory being connected with the processor communication, it is described
Memory storage has computer program, and the computer program realizes multiple data weightings described above when being executed by processor
The method that fusion carries out avoidance；
The processor is used to call the computer program in the memory, is melted with the multiple data weightings for performing described above
Close the method for carrying out avoidance.
In summary, the present invention include A, by robot center, laser radar, 3D cameras, ultrasonic wave module, infrared open
Close and respective coordinates point is set respectively；B, TF is carried out with robot world's coordinate and is converted into same robot coordinate system；C, 3D takes the photograph
As the cloud data weight of head is α, the data of ultrasonic wave module and infrared data weighting are all β, and the data of laser radar are led to
Cross the positioning that robot is carried out in navigation map；D, safety value is preset；E, by carrying out weight ratio pair with default safety value,
Judged and avoidance；Because laser radar can not detect glass, and ultrasonic radar can detect glass surface,
The defects of laser radar can be made up.And ultrasonic radar detection barrier the reaction time is long, if closely occurred
During barrier, the event that can easily collide, and the reaction time of infrared switch than very fast, be adapted to object closely
Detection, the defects of closely reaction time is long so as to compensate for ultrasonic radar.And 3D cameras solve laser radar
Can not 3-dimensional three-dimensional identification the problem of.The respective short slab mutually made up by four kinds of sensors, by way of adding different weights
Carry out data fusion so that autokinetic movement of the robot under different scenes, automatic obstacle avoiding are more flexibly and intelligent.
The present invention is described in detail above by specific embodiment, these detailed description are only limited to help
Skilled artisan understands that present disclosure, can not be interpreted as limiting the scope of the invention.The guarantor of the present invention
Shield scope is defined by the content of claims.
Claims (6)
1. a kind of method that multiple data weighting fusions carry out avoidance, it is characterised in that methods described includes：
A, robot center, laser radar, 3D cameras, ultrasonic wave module, infrared switch are set into respective coordinates point respectively；
B, TF is carried out with robot world's coordinate and is converted into same robot coordinate system；
Laser radar, 3D cameras, ultrasonic wave module, the weight of infrared switch are set C,；
D, safety value is preset；
E, weight ratio pair is carried out with default safety value, passes through laser radar, 3D cameras, ultrasonic wave module, the power of infrared switch
Change is judged and avoidance again.
2. the method that multiple data weighting fusions according to claim 1 carry out avoidance, it is characterised in that the laser thunder
The data reached are the data in 2D planes.
3. the method that multiple data weighting fusions according to claim 2 carry out avoidance, it is characterised in that the 3D shootings
The cloud data weight of head is α, and the data of ultrasonic wave module and infrared data weighting are all β, and the data of laser radar pass through
The positioning that robot is carried out in navigation map；Wherein 0≤α≤1,0≤β≤1,0≤alpha+beta≤1.
4. the method that multiple data weighting fusions according to claim 3 carry out avoidance, it is characterised in that the step E
It is specific as follows during judgement：
When all not detecting barrier of the sonac and infrared switch, its data weighting are β minimum, and 3D takes the photograph
As head does not detect that the weight α of the cloud data of barrier is minimum；
The sonac or infrared switch detect barrier and when 3D cameras do not recognize barrier, its
Data weighting β is maximum, and α is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
The 3D cameras recognize barrier and when sonac or infrared switch do not detect barrier, its
Data weighting α is maximum, and β is minimum, so as to which 3 D stereo complaint message is introduced in map so that robot is carried out from master ga(u)ge
Obstacle avoidance；
When 3D cameras, sonac or the infrared switch all detect obstacle, weight α and β increase, and pass through
Weight α and β size are compared, so that it is determined that introducing particular location of the barrier in map, so that robot motion is more
Add intellectuality.
5. a kind of storage device, it is characterised in that the storage device is stored with computer program, and the computer program can
It is performed to realize the method for multiple data weightings fusion progress avoidance as described in any one of Claims 1-4.
A kind of 6. mobile terminal, it is characterised in that including：Processor, the memory being connected with the processor communication, it is described to deposit
Reservoir is stored with computer program, and the computer program is realized when being executed by processor described in claim any one of 1-4
The method that multiple data weighting fusions carry out avoidance；
The processor is used to call the computer program in the memory, to perform any one of the claims 1-4 institutes
The method that the multiple data weightings fusion stated carries out avoidance.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108919806A (en) * | 2018-07-13 | 2018-11-30 | 杭州国辰机器人科技有限公司 | A kind of outdoor automatic obstacle avoiding method based on Fusion |
| CN109141364A (en) * | 2018-08-01 | 2019-01-04 | 北京进化者机器人科技有限公司 | Obstacle detection method, system and robot |
| CN109444916A (en) * | 2018-10-17 | 2019-03-08 | 上海蔚来汽车有限公司 | The unmanned travelable area determining device of one kind and method |
| CN109884616A (en) * | 2019-03-13 | 2019-06-14 | 浙江吉利汽车研究院有限公司 | A kind of radar surveying is apart from fusion method, device and terminal |
| CN110108282A (en) * | 2019-05-09 | 2019-08-09 | 仲恺农业工程学院 | Multi-source information obstacle avoidance device and obstacle avoidance system |
| CN110238837A (en) * | 2018-03-07 | 2019-09-17 | 卡西欧计算机株式会社 | Autonomous device, autonomous method and storage medium |
| CN110309785A (en) * | 2019-07-03 | 2019-10-08 | 孙启城 | A kind of blind-guidance robot control method based on image recognition technology |
| WO2019196476A1 (en) * | 2018-04-09 | 2019-10-17 | 北京三快在线科技有限公司 | Laser sensor-based map generation |
| CN110340935A (en) * | 2018-04-03 | 2019-10-18 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot fusion positioning |
| CN112363501A (en) * | 2020-10-30 | 2021-02-12 | 广东杜尼智能机器人工程技术研究中心有限公司 | Obstacle avoidance method, device and system of unmanned sweeping vehicle and storage medium |
| CN112572430A (en) * | 2020-12-14 | 2021-03-30 | 深兰人工智能(深圳)有限公司 | Collision risk determination method and device |
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| CN110340935A (en) * | 2018-04-03 | 2019-10-18 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot fusion positioning |
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