CN109857112A - Obstacle Avoidance and device - Google Patents
Obstacle Avoidance and device Download PDFInfo
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- CN109857112A CN109857112A CN201910130462.8A CN201910130462A CN109857112A CN 109857112 A CN109857112 A CN 109857112A CN 201910130462 A CN201910130462 A CN 201910130462A CN 109857112 A CN109857112 A CN 109857112A
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Abstract
This application discloses Obstacle Avoidances and device that a kind of MULTISENSOR INTEGRATION carries out detection of obstacles, and method is by obtaining the preliminary obstacle information detected by infrared sensor；The preliminary obstacle information is judged by visual identifying system, obtains obstacle information；According to the current location information of the obstacle information and robot, planning obtains avoidance path.Achieve the purpose that improve detection of obstacles and accuracy of judgement degree, so that realize comprehensive single identification device all has respective advantage and disadvantage when detecting, repeated detection has been carried out to each barrier, and then realize accurately location determination；It and after detecting barrier, can be adaptively adjusted according to the feature of specific barrier and robot, take the technical effect of the optimal Robot dodge strategy of adaptation.
Description
Technical field
This application involves robotic technology fields, in particular to a kind of Obstacle Avoidance and device.
Background technique
In order to realize robot visual guidance, the implementation of the prior art substantially there are two types of:
1, need to be arranged road sign and navigation module, and using road sign and navigation module creation robot visual guidance
Figure.The road sign can be set on ceiling indoors；The navigation module is general to wrap in order to shoot and identify the road sign
Include camera, image processing unit and computing unit, the camera setting on robot head top, described image processing unit,
Computing unit is arranged in robot interior；The map building generally refers to robot and shoots road sign using the camera, and
Landmark identification, calibration, calculating are carried out using image processing unit, the computing unit etc. in navigation module and are determined between each road sign
Positional relationship.
2, by the identification device being arranged in robot, detection of obstacles is carried out, then uses intelligent algorithm, Visual Graph
The planing method of the guidance paths such as method, free-space Method, Artificial Potential Field Method carries out avoidance, but these methods respectively have advantage and disadvantage,
Also it is usually used in combination with.
But first method needs just to be able to achieve action by guidance, avoidance effect is very poor；Second method is more normal
With, but it is often identified only with a kind of identification device, since single identification device all has respectively when detecting
Advantage and disadvantage, therefore can not also carry out accurately location determination to each barrier；And in existing algorithm, as long as detecting
After barrier, unified is all to carry out avoidance processing, does not carry out adaptability tune according to the feature of specific barrier and robot
It is whole.
For problems present in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of Obstacle Avoidance that can carry out barrier accurate judgement
And device, to solve the problems, such as present in the relevant technologies.
To achieve the goals above, according to the one aspect of the application, a kind of Obstacle Avoidance is provided.
Include: according to the Obstacle Avoidance of the application
Obtain the preliminary obstacle information detected by infrared sensor；
The preliminary obstacle information is judged by visual identifying system, obtains obstacle information；
According to the current location information of the obstacle information and robot, planning obtains avoidance path.
Further, Obstacle Avoidance as the aforementioned, it is described by visual identifying system to the preliminary barrier
Information is judged, obstacle information is obtained, comprising:
The corresponding depth image of the preliminary obstacle information is determined by the visual identifying system；
Determine the coordinate information of barrier in the depth image；
The shaped size information and location information of the barrier are determined according to the coordinate information of the barrier.
Further, Obstacle Avoidance as the aforementioned, it is described by visual identifying system to the preliminary barrier
Information is judged, obstacle information is obtained, further includes:
The barrier of the same preliminary obstacle information corresponding different moments is obtained by the visual identifying system
Information；
The mobile message of the barrier is determined according to the obstacle information of the different moments；
According to the mobile trend information of barrier described in the mobile information acquisition.
Further, Obstacle Avoidance as the aforementioned is obtaining obstacle information and is being believed according to the barrier
Between the current location information of breath and the robot, further includes:
Predefine the first shape size threshold that the robot is able to carry out maximum first small obstacle of leap
Value；
It is crossed over according to the determination of the obstacle information, first shape size threshold and the second geomery threshold value
Or evacuation.
Further, Obstacle Avoidance as the aforementioned is crossed over determining and plans to obtain avoidance path
Later, further includes:
The action path of the walking mechanism of the robot is determined according to the avoidance path；
Prejudge whether the barrier can occur with the walking mechanism according to the obstacle information and action path
Collision；
When determining can collide, the action path is adjusted.
To achieve the goals above, according to the another aspect of the application, a kind of robot obstacle-avoiding device is provided.
Include: according to the robot obstacle-avoiding device of the application
Preliminary obstacle information acquiring unit, for obtaining the preliminary barrier letter detected by infrared sensor
Breath；
Obstacle information determination unit, for being judged by visual identifying system the preliminary obstacle information,
Obtain obstacle information；
Avoidance path determining unit, for the location information current according to the obstacle information and robot, planning
Obtain avoidance path.
Further, robot obstacle-avoiding device as the aforementioned, the obstacle information determination unit, comprising:
Depth image determining module, for determining that the preliminary obstacle information is corresponding by the visual identifying system
Depth image；
Coordinate information determining module, for determining the coordinate information of barrier in the depth image；
Obstacle information determining module, for determining the shape ruler of the barrier according to the coordinate information of the barrier
Very little information and location information.
Further, robot obstacle-avoiding device as the aforementioned, the obstacle information determination unit, further includes:
Multi information determining module, it is corresponding for obtaining the same preliminary obstacle information by the visual identifying system
Different moments obstacle information；
Mobile message determining module, for determining the movement of the barrier according to the obstacle information of the different moments
Information；
Mobile trend determining module, the mobile trend information for the barrier according to the mobile information acquisition.
Further, robot obstacle-avoiding device as the aforementioned, further includes:
Default unit, be able to carry out maximum first small obstacle of leap for predefining the robot the
One geomery threshold value；
Action determination module, for according to the obstacle information, first shape size threshold and the second geomery threshold
Value determination is crossed over or is avoided.
Further, robot obstacle-avoiding device as the aforementioned, further includes: path adjustment unit；The path adjustment unit
Include:
Action path determining module, the action road of the walking mechanism for determining the robot according to the avoidance path
Diameter；
Collision determination module, for prejudging the barrier whether can be with according to the obstacle information and action path
The walking mechanism collides；
Path adjusts module, for being adjusted to the action path when determining can collide.
In the embodiment of the present application, using a kind of MULTISENSOR INTEGRATION carry out detection of obstacles Obstacle Avoidance and
Device, method is by obtaining the preliminary obstacle information detected by infrared sensor；By visual identifying system to institute
It states preliminary obstacle information to be judged, obtains obstacle information；According to the current position of the obstacle information and robot
Confidence breath, planning obtain avoidance path.Achieve the purpose that improve detection of obstacles and accuracy of judgement degree, to realize synthesis
Single identification device all has respective advantage and disadvantage when detecting, carries out repeated detection to each barrier, and then realize essence
Quasi- ground location determination；And after detecting barrier, it can be adapted to according to the feature of specific barrier and robot
Property adjustment, take the technical effect of the optimal Robot dodge strategy of adaptation.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the Obstacle Avoidance flow diagram according to a kind of embodiment of the application；And
Fig. 2 is the functional module structure schematic diagram according to a kind of robot obstacle-avoiding device of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
To achieve the goals above, according to the one aspect of the application, a kind of Obstacle Avoidance is provided.Such as Fig. 1
Shown, this method includes the following steps, namely S1 to step S3:
S1. the preliminary obstacle information detected by infrared sensor is obtained；
Specifically, carrying out the detection of preliminary obstacle information mainly by pair of infrared ray by the infrared sensor
Partial region is aimed at, by emission system, to the field emission infrared signal, meanwhile, sampler samples emit signal, make
For the pulse signal that counter opens the door, start counter, clock oscillator counts pulse as counter effectively inputs, by target
Reflected infrared ray backwash effect is changed into electric impulse signal, amplifies by amplifier on photodetector, into meter
Number device, as the door signal of counter, counter stops counting, and counter is from opening the door the clock during shutdown, entered
Pulse number obtains the distance of each point in target area by operation, and then tentatively judges to whether there is in the partial region
Barrier；
S2. the preliminary obstacle information is judged by visual identifying system, obtains obstacle information；
Specifically, the visual identifying system generally comprises: visual sensor, capture card, light source, processor and processing
System etc.；The visual sensor may include one or more, and preferably two visual sensors, thus can benefit
The depth information of scene is obtained with principle of triangulation, and can rebuild 3D shape and the position of surrounding scenes, similar people
The stereoscopic function of eye, it is thus possible to determine the 3D information of the object detected in space；That is preliminary obstacle is being obtained
After object information, and the corresponding position of the preliminary obstacle information is determined, then by the visual identifying system again to this
Position is further detected or is scanned, and then obtains the obstacle information；For the base in the infrared sensor
Auxiliary judgment is carried out on plinth, and further the preliminary obstacle information is confirmed, improves the accuracy of barrier judgment；This
Outside, the obstacle information may include: shape information and location information of barrier etc.；
S3. the location information current according to the obstacle information and robot, planning obtain avoidance path；
That is, according to the corresponding obstacle information, determining the obstacle information when there are barrier
Influence to robot driving trace, and carry out determining whether to carry out to avoid etc. behavior, and then comprehensive many factors are advised
It draws, obtains the avoidance path.
In some embodiments, Obstacle Avoidance as the aforementioned, it is described by visual identifying system to described preliminary
Obstacle information is judged, obstacle information is obtained, comprising:
The corresponding depth image of the preliminary obstacle information is determined by the visual identifying system；
I.e. it is capable to automatically obtain the preliminary obstacle information detection zone by the visual identifying system
Corresponding depth image；
Determine the coordinate information of barrier in the depth image；
The shaped size information and location information of the barrier are determined according to the coordinate information of the barrier；
In general, include the three-dimensional coordinate information of each position in the depth image, thus when it detects barrier
When, the multiple coordinate informations that can detecte the horizontal bottom for obtaining the barrier have confirmed that its horizontal plane range；And confirmation
The horizontal coordinate information and height coordinate information of multiple points of its upper surface, to determine the global shape information of the barrier.
Preferably, the three-dimensional coordinate information can be also possible to using fixing a point in current spatial as coordinate origin with the machine
The center of the position at the place of device people is as coordinate origin.
In some embodiments, Obstacle Avoidance as the aforementioned, it is described by visual identifying system to described preliminary
Obstacle information is judged, obstacle information is obtained, further includes:
The barrier of the same preliminary obstacle information corresponding different moments is obtained by the visual identifying system
Information；
The mobile message of the barrier is determined according to the obstacle information of the different moments；
Specifically, by taking two continuous detection moments as an example: since robot can also move, when on the basis of robot
, can be in conjunction with the path of robot motion after the information for obtaining the same barrier, two barriers which is obtained
Object information is hindered to convert, when obtaining the barrier at the time of two differences, coordinate under the same coordinate system, and obtain
Corresponding mobile message；Specific conversion process need to can only be obtained on the basis of the present embodiment by corresponding mathematical computations
It arrives, is no longer repeated herein；
According to the mobile trend information of barrier described in the mobile information acquisition；
Specifically, obtaining the motion vector of the barrier, then really according to the coordinate under the obtained unified coordinate system of conversion
The time interval of fixed two continuous detection moments, obtains the movement speed of the barrier；Finally according to the motion vector with
And movement speed determines the mobile trend information of the barrier.
In some embodiments, Obstacle Avoidance as the aforementioned is obtaining obstacle information and according to the barrier
Hinder between the current location information of object information and the robot, further includes:
Predefine the first shape size threshold that the robot is able to carry out maximum first small obstacle of leap
Value；
Specifically, since the distance between the height on the chassis of robot and road wheel have particular range；Therefore
The first shape size threshold may include: height threshold and width threshold value, and specific threshold range can be according to difference
The design parameter of robot is set；
It is crossed over or is avoided according to the obstacle information and the determination of first shape size threshold；
That is, when the shape information of the barrier is in the height threshold and width threshold value,
It can then be crossed over；Otherwise, detour avoidance can only be executed.
In some embodiments, Obstacle Avoidance as the aforementioned is determining to be crossed over and planned to be kept away
After barrier path, further includes:
The action path of the walking mechanism of the robot is determined according to the avoidance path；
Specifically, the walking mechanism can be road wheel or action leg；The machine is shown in the obstacle information
When people can cross over the barrier, the path crossed over first can be quickly cooked up；Only barrier is brought into
In path domain；But the path relation between barrier and walking mechanism is determined without refinement；Described in thus first determining
Then the location information of walking mechanism determines the action path of the walking mechanism according to avoidance path；Specific action path
Determination process need to only be can be obtained on the basis of the present embodiment by corresponding mathematical computations, no longer be repeated herein；
Prejudge whether the barrier can occur with the walking mechanism according to the obstacle information and action path
Collision；
On the basis of previous step, only it need to judge whether the action path and the location information of the barrier can be sent out
It is raw to be overlapped, also need to calculate separately to obtain corresponding action path when there are multiple walking mechanisms, and respectively with institute
The location information for stating barrier carries out coincidence comparison；
When determining can collide, the action path is adjusted；
Specifically, when the action path is overlapped with the location information of the obstacle, it can be by adjusting action
The state of mechanism is finely adjusted path so that the location information of the action path and the obstacle mutually staggers；
The calculating process of specific action path adjustment need to only be can be obtained on the basis of the present embodiment by corresponding mathematical computations,
It is no longer repeated herein.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, a kind of robot obstacle-avoiding dress for implementing above-mentioned Obstacle Avoidance is additionally provided
It sets, as shown in Fig. 2, the device includes:
Preliminary obstacle information acquiring unit 1, for obtaining the preliminary barrier letter detected by infrared sensor
Breath；
Obstacle information determination unit 2, for being judged by visual identifying system the preliminary obstacle information,
Obtain obstacle information；
Avoidance path determining unit 3, for the location information current according to the obstacle information and robot, planning
Obtain avoidance path.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot obstacle-avoiding device as the aforementioned, the obstacle information determination unit, comprising:
Depth image determining module, for determining that the preliminary obstacle information is corresponding by the visual identifying system
Depth image；
Coordinate information determining module, for determining the coordinate information of barrier in the depth image；
Obstacle information determining module, for determining the shape ruler of the barrier according to the coordinate information of the barrier
Very little information and location information.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot obstacle-avoiding device as the aforementioned, the obstacle information determination unit, further includes:
Multi information determining module, it is corresponding for obtaining the same preliminary obstacle information by the visual identifying system
Different moments obstacle information；
Mobile message determining module, for determining the movement of the barrier according to the obstacle information of the different moments
Information；
Mobile trend determining module, the mobile trend information for the barrier according to the mobile information acquisition.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot obstacle-avoiding device as the aforementioned, further includes:
Default unit, be able to carry out maximum first small obstacle of leap for predefining the robot the
One geomery threshold value；
Action determination module, for according to the obstacle information, first shape size threshold and the second geomery threshold
Value determination is crossed over or is avoided.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot obstacle-avoiding device as the aforementioned, further includes: path adjustment unit；The path tune
Whole unit includes:
Action path determining module, the action road of the walking mechanism for determining the robot according to the avoidance path
Diameter；
Collision determination module, for prejudging the barrier whether can be with according to the obstacle information and action path
The walking mechanism collides；
Path adjusts module, for being adjusted to the action path when determining can collide.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of Obstacle Avoidance characterized by comprising
Obtain the preliminary obstacle information detected by infrared sensor；
The preliminary obstacle information is judged by visual identifying system, obtains obstacle information；
According to the current location information of the obstacle information and robot, planning obtains avoidance path.
2. Obstacle Avoidance according to claim 1, which is characterized in that it is described by visual identifying system to described
Preliminary obstacle information is judged, obstacle information is obtained, comprising:
The corresponding depth image of the preliminary obstacle information is determined by the visual identifying system；
Determine the coordinate information of barrier in the depth image；
The shaped size information and location information of the barrier are determined according to the coordinate information of the barrier.
3. Obstacle Avoidance according to claim 2, which is characterized in that it is described by visual identifying system to described
Preliminary obstacle information is judged, obstacle information is obtained, further includes:
The obstacle information of the same preliminary obstacle information corresponding different moments is obtained by the visual identifying system；
The mobile message of the barrier is determined according to the obstacle information of the different moments；
According to the mobile trend information of barrier described in the mobile information acquisition.
4. Obstacle Avoidance according to claim 1, which is characterized in that obtaining obstacle information and according to institute
It states between the current location information of obstacle information and the robot, further includes:
Predefine the first shape size threshold that the robot is able to carry out maximum first small obstacle of leap；
According to the obstacle information, first shape size threshold and the second geomery threshold value determine crossed over or
Evacuation.
5. Obstacle Avoidance according to claim 4, which is characterized in that crossed over and planned determining
To after avoidance path, further includes:
The action path of the walking mechanism of the robot is determined according to the avoidance path；
Prejudge whether the barrier can collide with the walking mechanism according to the obstacle information and action path；
When determining can collide, the action path is adjusted.
6. a kind of robot obstacle-avoiding device characterized by comprising
Preliminary obstacle information acquiring unit, for obtaining the preliminary obstacle information detected by infrared sensor；
Obstacle information determination unit is obtained for being judged by visual identifying system the preliminary obstacle information
Obstacle information；
Avoidance path determining unit, for the location information current according to the obstacle information and robot, planning is obtained
Avoidance path.
7. robot obstacle-avoiding device according to claim 6, which is characterized in that the obstacle information determination unit, packet
It includes:
Depth image determining module, for determining the corresponding depth of the preliminary obstacle information by the visual identifying system
Image；
Coordinate information determining module, for determining the coordinate information of barrier in the depth image；
Obstacle information determining module, for determining that the geomery of the barrier is believed according to the coordinate information of the barrier
Breath and location information.
8. robot obstacle-avoiding device according to claim 7, which is characterized in that the obstacle information determination unit, also
Include:
Multi information determining module, it is corresponding not for obtaining the same preliminary obstacle information by the visual identifying system
Obstacle information in the same time；
Mobile message determining module, for determining the mobile letter of the barrier according to the obstacle information of the different moments
Breath；
Mobile trend determining module, the mobile trend information for the barrier according to the mobile information acquisition.
9. robot obstacle-avoiding device according to claim 6, which is characterized in that further include:
Default unit, the first shape for being able to carry out maximum first small obstacle of leap for predefining the robot
Shape size threshold；
Action determination module, for true according to the obstacle information, first shape size threshold and the second geomery threshold value
It is crossed over or is avoided calmly.
10. robot obstacle-avoiding device according to claim 9, which is characterized in that further include: path adjustment unit；It is described
Path adjustment unit includes:
Action path determining module, the action path of the walking mechanism for determining the robot according to the avoidance path；
Collision determination module, for according to the obstacle information and action path prejudge the barrier whether can with it is described
Walking mechanism collides；
Path adjusts module, for being adjusted to the action path when determining can collide.
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| CN112415532A (en) * | 2020-11-30 | 2021-02-26 | 上海炬佑智能科技有限公司 | Dust detection method, distance detection device, and electronic apparatus |
| CN113547517A (en) * | 2020-04-24 | 2021-10-26 | 深圳市优必选科技股份有限公司 | Gait planning method and device for dynamic obstacle avoidance, readable storage medium and robot |
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