CN110456802A - A kind of method that mobile robot safely and fast crosses gate - Google Patents
A kind of method that mobile robot safely and fast crosses gate Download PDFInfo
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- CN110456802A CN110456802A CN201910816969.9A CN201910816969A CN110456802A CN 110456802 A CN110456802 A CN 110456802A CN 201910816969 A CN201910816969 A CN 201910816969A CN 110456802 A CN110456802 A CN 110456802A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009514 concussion Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 238000011897 real-time detection Methods 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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to internet of things field, the method that specifically a kind of mobile robot safely and fast crosses gate, includes following steps: step S1: passing through the distance of distance measuring sensor acquisition mobile robot to gate two sides；Step S2: by gate entrance, the initial yaw angle Ψ of gyroscope0As lead, current yaw angle Ψ is calculated in real time1With the misalignment angle Ψ of lead2；Step S3: moveable robot movement angular speed is adjusted by the deviation in two sides range difference and lead；Step S4: judging whether have pedestrian or gate gate resistance to keep off on gate direction using distance measuring sensor detection and lead, be, return step S3, no, progress step S5；Step S5: mobile robot is judged at present whether by gate using encoder information, is then to accelerate to defined operation linear velocity V0 traveling, otherwise return step S3.The present invention can guarantee mobile robot can safely and fast by gate, can be improved Internet of Things conevying efficiency.
Description
Technical field
The present invention relates to internet of things field, specifically a kind of mobile robot safely and fast cross gate method.
Background technique
The every field of present production, processing, transport, Internet of Things transport proportion is increasing, under Internet of Things
The mobile robot that mobile robot has needs to realize transport of each workshop perhaps between warehouse and factory or the storehouse at place
Many positions in library in order to increase many gates safely, since guarantee warehouse safe coefficient, since gate width is general
It is relatively narrow, robot width itself is added, enough accuracy is unable to reach by the motion algorithm of general positioning and path and guarantees
Robot safely and fast can pass through gate.
Summary of the invention
The purpose of the present invention is to provide a kind of methods that mobile robot safely and fast crosses gate, to solve above-mentioned background
The problem of being proposed in technology.
The technical scheme is that
A kind of method that mobile mobile robot safely and fast crosses gate, includes following steps:
Step S1: pass through the distance of distance measuring sensor acquisition mobile robot to gate two sides；
Step S2: by gate entrance, the initial yaw angle Ψ of gyroscope0As lead, calculates work as in real time
Preceding yaw angle Ψ1With the misalignment angle Ψ of lead2；
Step S3: moveable robot movement angular speed is adjusted by the deviation in two sides range difference and lead；
Step S4: judge whether there is pedestrian or gate door on gate direction using distance measuring sensor detection and lead
Stop, is, return step S3, no, progress step S5；
Step S5: judge mobile robot at present whether by gate using encoder information, be then accelerate to it is defined
Linear velocity V0 traveling is run, otherwise return step S3.
Further, mobile robot operation linear velocity V respectively with barrier in mobile robot to lead
Distance and mobile robot angular speed it is directly proportional.
Further, in the step S3, detection mobile robot is to the distance L1 and L2 of gate two sides, wherein L1 and L2
The sum of whether be greater than mobile robot width K, be then to carry out step S3, it is no, then mobile robot stop.
Further, in the step S2, the misalignment angle Ψ of lead2=Ψ0-Ψ1, gyroscope rotates clockwise
Direction is positive direction, and gyroscope is counterclockwise, and direction of rotation is negative direction.
Further, in the step S3, as misalignment angle Ψ2For timing, mobile robot rotates counterclockwise and deviation
The identical angle of angle value, as misalignment angle Ψ2When being negative, mobile robot is rotated clockwise.
Further, in the step S4, when judging to have on gate direction pedestrian or gate gate resistance gear, mobile robot
Stop mobile and be delayed after 1S, carries out step S3 again.
Further, the encoder detects whether mobile robot operation linear velocity V accelerates and reach defined fortune
0.7 times of line speed V0 is that then mobile robot passes through gate completely, no, then return step S3.
Further, the distance measuring sensor is infrared distance sensor.
The present invention provides a kind of method that mobile robot safely and fast crosses gate by improving herein, with prior art phase
Than, have the advantages that as follows improve and:
First, when the present invention enables to mobile robot close to gate, adjust automatically displacement direction guarantees
Mobile robot safely and fast can pass through gate.
Second, the present invention can be improved Internet of Things conevying efficiency, mobile robot is reduced in the fault of the process of transport.
Detailed description of the invention
The present invention is further explained with reference to the accompanying drawings and examples:
Fig. 1 is logic judgment block diagram of the invention；
Fig. 2 is the logic judgment block diagram of step S3 of the present invention；
Fig. 3 is schematic diagram of the mobile robot of the present invention by gate；
Detailed description of the invention label: gate 1, mobile robot 2, gyroscope rotate clockwise direction 3.
Specific embodiment
The present invention is described in detail below, and technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
(direction that the +X direction in text is the gate lateral distance L1 that mobile robot is directed toward, +Y direction are mobile machine
People is by the direction of gate, as shown in the coordinate system of Fig. 3)
The present invention provides a kind of method that mobile robot safely and fast crosses gate by improving herein:
As shown in Figure 1 to Figure 3, a kind of method that mobile mobile robot safely and fast crosses gate, includes following steps:
Step S1: the distance that mobile robot 2 arrives 1 two sides of gate, the distance measuring sensor are obtained by distance measuring sensor
Model can use optical ranging sensor and acoustics distance measuring sensor；
Step S2: by 1 entrance of gate, the initial yaw angle Ψ of gyroscope0As lead, calculates work as in real time
Preceding yaw angle Ψ1With the misalignment angle Ψ of lead2, according to misalignment angle Ψ2, can calculate current kinetic direction with can
By the angle of the direction of motion of gate 1, so that judgement needs that mobile robot 2 is driven to rotate that how many angle enable to move
The direction of motion of robot 2 is correct；
Step S3: 2 angular velocity of satellite motion of mobile robot, root are adjusted by the deviation in two sides range difference and lead
According to two sides range difference and misalignment angle Ψ2, it calculates and moves out forward under the premise of portion deviates itself track route, it can
It is moved along distance L, L=| L1-L2 | tan (90 ° of-ψ2), the motion morphology of mobile robot 2 can be adjusted, so
Accurately adjustment 2 angular velocity of satellite motion of mobile robot and movement linear velocity, guarantee mobile robot 2 safely and fast can pass through lock afterwards
Machine 1 moves if adjusted without lead, will lead to robot and oscillates in the channel concussion.
When L1-L2 > 0 and misalignment angle Ψ 2 > 0,2 counter-rotating of mobile robot, so that mobile robot 2 is inclined
Boat is contended and gradually resets to initial Ψ0, mobile robot 2 is along+X and the shifting of arctan [L/L2-L1] direction vector of +Y direction
It is dynamic.
When L1-L2>0 and misalignment angle Ψ 2<0, mobile robot 2 is rotated in the forward direction, so that mobile robot 2 is inclined
Boat is contended and gradually resets to initial Ψ0, mobile robot 2 is along+X and the shifting of arctan [L/L2-L1] direction vector of +Y direction
It is dynamic.
As L1-L2<0 and misalignment angle Ψ 2>0,2 counter-rotating of mobile robot, so that mobile robot 2 is inclined
Boat is contended and gradually resets to initial Ψ0, mobile robot 2 is along+X and the shifting of arctan [L/L1-L2] direction vector of +Y direction
It is dynamic.
When L1-L2 < 0 and misalignment angle Ψ 2 < 0, mobile robot 2 is rotated in the forward direction, so that mobile robot 2 is inclined
Boat is contended and gradually resets to initial Ψ0, mobile robot 2 is along+X and the shifting of arctan [L/L1-L2] direction vector of +Y direction
It is dynamic.
Step S4: judge whether there is pedestrian or gate 1 on 1 direction of gate using distance measuring sensor detection and lead
Gate resistance gear is that return step S3, no, progress step S5, step S4, which can be avoided, safety accident occurs.
Whether step S5: judging mobile robot 2 at present using encoder information, by gate 1, is then to accelerate to regulation
Operation linear velocity V0 traveling, otherwise return step S3, the encoder is rotating detector, being capable of real-time detection moving machine
The angular speed of 2 drive shaft of device people, when mobile robot 2 is when by gate 1, speed is the smallest, the drive of mobile robot 2
The angular speed of moving axis starts to accelerate and reache a certain level, then it represents that mobile robot 2 passes through gate 1 completely.
The mobile robot 2 run linear velocity V respectively at a distance from barrier in mobile robot 2 to lead and
The angular speed of mobile robot 2 is directly proportional, closer from barrier, and speed is smaller, and the bigger linear velocity of Schemes of Angular Velocity Estimation for Robots is smaller.
In the step S3, detection mobile robot 2 arrives the distance L1 and L2 of 1 two sides of gate, and wherein the sum of L1 and L2 are
The no width K greater than mobile robot 2 is then to carry out step S3, no, then mobile robot stops.
In the step S2, the misalignment angle Ψ of lead2=Ψ0-Ψ1, gyroscope rotates clockwise direction 3 and is positive
Direction, gyroscope is counterclockwise, and direction of rotation is negative direction.
In the step S3, as misalignment angle Ψ2For timing, mobile robot 2 rotates counterclockwise and angle of deviation angle value phase
Same angle, as misalignment angle Ψ2When being negative, mobile robot 2 is rotated clockwise, according to misalignment angle Ψ2Positive and negative values, come
Judge mobile robot 2 is biased to which side of gate 1.
In the step S4, when judging there is pedestrian or 1 gate resistance of gate gear on 1 direction of gate, mobile robot 2 stops moving
It moves and is delayed after 1S, carry out step S3 again, step S4, which can be avoided, safety accident occurs.
The encoder detects that mobile robot 2 runs whether linear velocity V accelerates and reach defined operation linear velocity
0.7 times of V0 is that then mobile robot 2 is no completely by gate 1, then return step S3, and encoder information is in a small range
Error is smaller, can use to determine whether passing through gate 1 completely.
The distance measuring sensor is infrared distance sensor, and measurement range is wide, and the response time is short, is mainly used in modern section
Skill, infrared distance sensor have a pair of of infrared signal transmitting and reception diode, the infrared distance sensor LDM301 utilized
Launch a branch of infrared light, form the process of a reflection after being irradiated to object, is reflected into sensor and is followed by the collection of letters number, then
The data for receiving transmitting with received time difference are handled using ccd image.Calculated after signal processor processes object away from
From.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (8)
1. a kind of method that mobile mobile robot safely and fast crosses gate, it is characterised in that: include following steps:
Step S1: mobile robot (2) is attached with intelligent mobile terminal, obtains mobile robot by distance measuring sensor
(2) distance of gate (1) two sides is arrived；
Step S2: by gate (1) entrance, with the initial yaw angle Ψ of gyroscope0As lead, calculates work as in real time
Preceding yaw angle Ψ1With the misalignment angle Ψ of lead2；
Step S3: mobile robot (2) angular velocity of satellite motion is adjusted by the deviation in two sides range difference and lead；
Step S4: judge whether there is pedestrian or gate (1) on gate (1) direction using distance measuring sensor detection and lead
Gate resistance gear is return step S3, no, progress step S5；
Whether step S5: judging mobile robot (2) at present using encoder information, by gate (1), is then to accelerate to regulation
Operation linear velocity V0It travels, otherwise return step S3.
2. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
Mobile robot (2) operation linear velocity V is stated respectively at a distance from mobile robot (2) to barrier in lead and moving machine
The angular speed of device people (2) is directly proportional.
3. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
It states in step S3, the distance L1 and L2 of gate (1) two sides are arrived in detection mobile robot (2), and wherein whether the sum of L1 and L2 are greater than
The width K of mobile robot (2) is then to carry out step S3, no, then mobile robot stops.
4. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
It states in step S2, the misalignment angle Ψ of lead2=Ψ0-Ψ1, it is positive direction, gyro that gyroscope, which rotates clockwise direction (3),
Instrument is counterclockwise, and direction of rotation is negative direction.
5. the method that a kind of mobile mobile robot according to claim 4 safely and fast crosses gate, it is characterised in that: institute
It states in step S3, as misalignment angle Ψ2For timing, mobile robot (2) rotates angle identical with angle of deviation angle value counterclockwise,
As misalignment angle Ψ2When being negative, mobile robot (2) is rotated clockwise.
6. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
It states in step S4, when judging there is pedestrian or gate (1) gate resistance gear on gate (1) direction, mobile robot (2) stopping is mobile simultaneously
It is delayed after 1S, carries out step S3 again.
7. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
It states encoder and detects whether mobile robot (2) operation linear velocity V accelerates and reach defined to run linear velocity V00.7
Times, it is that then mobile robot (2) is no completely by gate (1), then return step S3.
8. the method that a kind of mobile mobile robot according to claim 1 safely and fast crosses gate, it is characterised in that: institute
Stating distance measuring sensor is infrared distance sensor.
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| CN201910816969.9A CN110456802B (en) | 2019-08-30 | 2019-08-30 | Method for safely and quickly passing gate by mobile robot |
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| CN201910816969.9A CN110456802B (en) | 2019-08-30 | 2019-08-30 | Method for safely and quickly passing gate by mobile robot |
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