CN111309027A - Walking obstacle avoidance system and method of mobile robot - Google Patents
Walking obstacle avoidance system and method of mobile robot Download PDFInfo
- Publication number
- CN111309027A CN111309027A CN202010190124.6A CN202010190124A CN111309027A CN 111309027 A CN111309027 A CN 111309027A CN 202010190124 A CN202010190124 A CN 202010190124A CN 111309027 A CN111309027 A CN 111309027A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- ultrasonic probe
- wheel module
- ultrasonic
- grid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 26
- 239000000523 sample Substances 0.000 claims abstract description 88
- 238000009434 installation Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 238000010586 diagram Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a walking obstacle avoidance system of a mobile robot, which comprises a driving wheel module, a driven wheel module, a radar array and a controller, wherein the driving wheel module and the driven wheel module are arranged in a diagonal manner, the radar array is arranged on the surface of the robot, and the controller is arranged in the robot. The installation quantity and the installation positions of the ultrasonic probes are calculated through an ultrasonic envelope diagram; and the controller constructs and updates a grid map according to the measurement data of the ultrasonic probe, sets a threshold value, and controls the speed of the driving wheel module according to the grid map data to realize autonomous obstacle avoidance and autonomous walking.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a walking obstacle avoidance system and method of a mobile robot.
Background
At present, mobile robots have been widely used in various industries and fields. In the research of the mobile robot, the most important item is how to realize the autonomous obstacle avoidance and autonomous walking of the mobile robot. In different application scenes, the problems of walking and obstacle avoidance of the mobile robot are different, and the adopted solutions are different.
For a mobile robot applied to environments such as an underground parking lot and providing charging service for electric vehicles, the following problems mainly exist in autonomous obstacle avoidance and autonomous walking of the mobile robot:
1. the space between each parking space of the underground parking lot is small, and the area for the mobile robot to walk is narrow;
2. dynamic obstacle avoidance situations such as vehicle meeting exist in the underground parking lot;
3. underground parking lots have a large number of speed bumps.
At present, most of mobile robots on the market adopt ultrasonic radars as obstacle avoidance sensors, and the sensors are usually installed at positions, close to the bottom, of the mobile robots, so that deceleration strips are easily misjudged as obstacles when the mobile robots detect the obstacles, and wrong path planning is carried out. Meanwhile, the traditional one-dimensional ultrasonic scheme cannot realize stable collision avoidance of a blind area in an underground parking lot environment, as shown in fig. 9a-9c, small obstacles such as road barricade piles and vertical pipelines which can be originally detected by an ultrasonic probe enter the blind area along with the movement of the mobile robot, and at the moment, if the mobile robot meets the conditions of meeting vehicles and the like, the mobile robot can walk along an L-shaped route, so that collision and scratching risks are very likely to occur. In addition, the existing mobile robot cannot realize the pivot rotation movement and the lateral movement with the zero turning radius, so that the vehicle to be charged stopped at a narrow position is difficult to access, and meanwhile, due to the limitation of the movement performance of the existing mobile robot, the obstacle avoidance flexibility is poor, and the obstacle is difficult to rapidly avoid during dynamic obstacle avoidance.
Disclosure of Invention
In order to enable the mobile robot to adapt to an application scene of charging electric vehicles in an underground parking lot, the invention provides a walking obstacle avoidance system of the mobile robot, which comprises the following components:
the two driving wheel modules are arranged at two ends of a diagonal line at the bottom of the mobile robot;
the two driven wheel modules are arranged at two ends of the other diagonal line at the bottom of the mobile robot;
the radar array comprises N ultrasonic probes arranged on the surface of the mobile robot, the mounting end surfaces of the probes are parallel to the housing mounting surface of the mobile robot, and the mounting positions are calculated according to an ultrasonic envelope diagram; and
a controller mounted inside the mobile robot, communicatively coupled to the capstan module and the radar array, for:
controlling the rotating speed and the rotating direction of the driving wheel; and
and controlling the reading sequence, the frequency and the collision avoidance threshold value of the ultrasonic probe.
Further, the driving wheel module comprises a driving wheel, a walking motor and a steering motor.
Further, the driven wheel module comprises a driven wheel and a steering device.
Furthermore, the driving wheel is a vertical steering wheel.
Further, the ultrasonic probes are respectively installed on four installation surfaces of the mobile robot, and the number n of the ultrasonic probes on each installation surface satisfies the following conditions:
wherein L is a face length of the mounting face, α is an anti-collision expansion radius, r is a horizontal direction average detection radius of the ultrasonic probe, and β is a measurement deviation of the ultrasonic probe.
Further, the horizontal installation position of the ultrasonic probe satisfies:
the distance l between the ultrasonic probe arranged at the outermost side and the nearest side of the mounting surface1R- β - α of ≤ and
distance l between two adjacent ultrasonic probes2≤2(r-β)。
Further, the vertical installation position H of the ultrasonic probe satisfies:
H≥c+δ+ρ+h，
wherein c is the average detection radius of the ultrasonic probe in the vertical direction, δ is the measurement deviation, h is the height of the deceleration strip in the underground parking lot, and ρ is the expansion radius of the deceleration strip.
The invention also provides a walking obstacle avoidance method of the mobile robot, which comprises the following steps:
the controller determines the reading sequence and frequency of the ultrasonic probe according to the motion state of the current mobile robot;
detecting the obstacle, updating a grid map according to the measurement data of the ultrasonic probe, performing coordinate transformation by combining odometer data of the mobile robot, and updating the relative position of the grid and the robot body to determine the position of the obstacle; and
and the controller controls the linear speed and the angular speed of the driving wheel according to the current speed direction of the mobile robot, the area where the grid is located and the vertical distance between the grid and the robot body so as to avoid the obstacle.
Further, the method further comprises the step that the controller sets an anti-collision stopping distance threshold according to the motion state of the mobile robot and the blind area distance of the ultrasonic probe, and once the distance measured by the ultrasonic probe is lower than the anti-collision stopping distance threshold, the controller controls the driving wheel module to stop.
Further, the determination of the reading sequence and frequency of the ultrasonic probe comprises:
determining the velocity component of each ultrasonic probe along the detection direction of the ultrasonic probe; and
according to the size of the velocity component, determining the reading sequence and frequency of the ultrasonic probe: the ultrasonic probe having the velocity component larger than 0 is preferentially read, and the reading frequency of the ultrasonic probe is higher as the velocity value is larger.
Further, the grid map is constructed according to the ultrasonic envelope of the ultrasonic probe: after the ultrasonic probe measures a distance data, the possible (x, y) value inside the envelope is calculated by the Pythagorean theorem in the reverse direction according to the grid resolution, and is updated to the grid.
According to the walking obstacle avoidance system and method of the mobile robot, a diagonal double-steering wheel structure is adopted, the reading sequence and frequency of the ultrasonic probe can be dynamically adjusted according to the motion state of the mobile robot, obstacles can be rapidly detected, the movement is flexible, vehicle crossing can be rapidly avoided, narrow environment turning is achieved, the ultrasonic probe can laterally move to approach a vehicle to be charged, and the effective measurement efficiency, the anti-collision response speed and the movement efficiency of the ultrasonic probe are improved. The system adopts the vertical steering wheel, and effectively avoids the friction and the collision between the speed bump and the horizontal steering wheel motor in the underground parking lot environment. The number and the installation positions of the ultrasonic probes of the system are determined according to the ultrasonic envelope map of the probes and the statistical deviation value of the detection radius, so that on one hand, the layout compactness is improved, the cost is reduced, and on the other hand, the false detection of the ultrasonic probes in the environment of the underground parking lot on the speed bump can be avoided by matching with an updating mechanism of the grid map. The grid map is constructed on the basis of the ultrasonic envelope map, the threat of non-probe center line direction obstacles to a vehicle body is considered, meanwhile, in the moving process of the mobile robot, the moving robot is updated by combining mileage data, a filtering mechanism exists, stable obstacle avoidance in an ultrasonic blind area or a visual field dead angle is realized, and the sudden stop probability caused by accidental ultrasonic noise data mutation can be reduced. In addition, the system can dynamically set the collision avoidance distance threshold according to the motion scene of the mobile robot and the distance between the ultrasonic radar blind areas, and is compatible with the requirements of safety collision avoidance in a normal motion state and short-distance charging between the robot and the electric automobile.
Drawings
To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
Fig. 1 is a schematic structural diagram illustrating a walking obstacle avoidance system of a mobile robot according to an embodiment of the present invention;
fig. 2 illustrates a bottom view of a walking obstacle avoidance system of a mobile robot according to an embodiment of the present invention;
fig. 3 shows a cross-sectional view of a walking obstacle avoidance system of a mobile robot according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating an installation position of an ultrasonic probe of a walking obstacle avoidance system of a mobile robot according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a method for avoiding obstacles during walking of a mobile robot according to an embodiment of the present invention;
6a-6b are schematic diagrams illustrating a reading sequence of an ultrasonic probe of a walking obstacle avoidance method of a mobile robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a grid map construction of a walking obstacle avoidance method of a mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a grid map updating process of a walking obstacle avoidance method of a mobile robot according to an embodiment of the present invention; and
fig. 9a to 9c are schematic diagrams illustrating blind area obstacle detection in a walking obstacle avoidance method for a mobile robot according to an embodiment of the present invention.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for the purpose of illustrating the specific embodiment, and does not limit the sequence of the steps. Rather, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
Fig. 1 is a schematic structural diagram of a walking obstacle avoidance system of a mobile robot according to an embodiment of the present invention, fig. 2 is a bottom view of the walking obstacle avoidance system of the mobile robot according to an embodiment of the present invention, and fig. 3 is a cross-sectional view of the walking obstacle avoidance system of the mobile robot according to an embodiment of the present invention. As shown in fig. 1 and 3, a walking obstacle avoidance system of a mobile robot includes a driving wheel module, a driven wheel module, a radar array and a controller 104.
As shown in fig. 2 and 3, the driving wheel modules include a front driving wheel module 1011 and a rear driving wheel module 1012. The front driving wheel module 1011 and the rear driving wheel module 1012 are respectively installed at two ends of a diagonal line of the bottom of the mobile robot. The rear drive wheel module 1012 includes:
a driving wheel 1201, in one embodiment of the present invention, the driving wheel 1201 is a vertical steering wheel;
and a steering motor 1202 for realizing steering of the driving wheel 1201. In one embodiment of the present invention, the steering motor 1202 includes a reduction gearbox; and
and the walking motor 1203 is used for providing power input for the driving wheel 1201. In one embodiment of the present invention, the travel motor 1203 includes a brake.
The front driving wheel module 101 has a structure identical to that of the rear driving wheel module 1012, and includes a driving wheel 1101, a steering motor 1102, and a traveling motor 1103.
As shown in fig. 2 and 3, the driven wheel modules include a front driven wheel module 1021 and a rear driven wheel module 1022, and the front driven wheel module 1021 and the rear driven wheel module 1022 are respectively installed at two ends of the other bottom diagonal of the mobile robot. In one embodiment of the invention, the front driven wheel module comprises:
a driven wheel 2101; and
a steering device 2102, the steering device 2102 passively steering according to the robot pose.
The rear driven wheel module 1022 is constructed in accordance with the front driven wheel module 1021.
In another embodiment of the present invention, the front driven wheel module 1021 and the rear driven wheel module 1022 are universal wheels, and passively steer according to the posture of the mobile robot, and cooperate with the driving wheel module to realize the walking of the mobile robot.
As shown in fig. 1, the radar array includes N ultrasonic probes 1031,1032, 1033., 103N, which are respectively mounted on a housing of the mobile robot, and mounting end surfaces of the ultrasonic probes are parallel to a housing mounting surface of the mobile robot. As shown in fig. 4, the number n of the ultrasonic probes on each mounting surface of the mobile robot satisfies:
wherein L is a face length of the mounting face, α is a crashworthy expansion radius, r is an average detection radius of the ultrasonic probe in a horizontal direction, and β is a measurement deviation of the ultrasonic probe.
Based on the above conditions, as shown in fig. 4, the horizontal installation position of the ultrasonic probe satisfies:
the distance l between the ultrasonic probe arranged at the outermost side and the nearest side of the mounting surface1≤r-β
- α, and
distance l between two adjacent ultrasonic probes2≤2(r-β)。
The vertical installation position H of the ultrasonic probe satisfies the following conditions:
H≥c+δ+ρ+h，
wherein c is the average detection radius of the ultrasonic probe in the vertical direction, δ is the measurement deviation, h is the height of the deceleration strip in the underground parking lot, and ρ is the expansion radius of the deceleration strip.
As shown in fig. 3, the controller 104 is installed inside the mobile robot, and is communicatively connected to the walking motor, the steering motor, and the radar array, for:
the steering motor and the walking motor are controlled, so that the steering and the rotating speed of the driving wheel are controlled; in an embodiment of the present invention, the controller 104 may respectively control the front driving wheel module 1011 and the rear driving wheel module 1012, and implement motion control of the mobile robot according to a diagonal two-wheel differential kinematics model, and implement a plurality of motion modes such as pivot rotation and lateral movement with a zero turning radius; and
and independently controlling each ultrasonic probe, and adjusting the reading sequence, the frequency and the collision avoidance threshold value of the ultrasonic probe according to the motion state and the motion scene of the mobile robot.
In an embodiment of the present invention, as shown in fig. 3, the walking obstacle avoidance system further includes a driver 1204, and the controller 104 controls the steering motor and the walking motor by controlling the driver 1204.
Fig. 5 is a flowchart illustrating a method for avoiding obstacles during walking of a mobile robot according to an embodiment of the present invention. As shown in fig. 5, a method for avoiding obstacles during walking of a mobile robot includes:
first, in step 501, the ultrasound probe reading order and frequency are determined. The controller determines the speed component of each ultrasonic probe along the detection central line direction according to the motion state of the current mobile robot, and then preferentially reads the ultrasonic probes with the speed components in the detection central line direction larger than 0 according to the speed components, and meanwhile, the reading frequency of the ultrasonic probe with the larger speed value is higher:
as shown in fig. 6a and 6b, assuming that 2 ultrasonic probes are mounted on each of the four surfaces of the mobile robot, the periphery of the mobile robot is divided into 12 regions according to the mounting positions of the ultrasonic probes. If the mobile robot is traveling in the Y-axis forward direction, as shown in fig. 6a, and the velocity components in the regions 3 and 4 are positive, the ultrasonic probes 1033 and 1034 are preferentially read, and the reading frequency of the ultrasonic probes 1033 and 1034 is increased; if the mobile robot is performing a counterclockwise rotation motion, as shown in fig. 6b, and the velocity components in the regions 2, 4, 6 and 8 are positive, the ultrasonic probes 1032, 1034, 1036 and 1038 are preferentially read, and the reading frequencies of the ultrasonic probes 1032, 1034, 1036 and 1038 are increased;
next, in step 502, an obstacle is detected. And updating a grid map according to the measurement data of the ultrasonic probe, performing coordinate transformation by combining odometer data of the mobile robot, and updating the relative position of the grid and the robot body to determine the position of the obstacle. Wherein the grid map is constructed according to the ultrasonic envelope of the ultrasonic probe, as shown in fig. 7, and the grid is updated when the measurement data of the ultrasonic probe is refreshed. Fig. 8 is a schematic diagram illustrating a grid map updating process of a walking obstacle avoidance method of a mobile robot according to an embodiment of the present invention. As shown in fig. 8, the grid map updating of the walking obstacle avoidance method of the mobile robot includes:
after ultrasonic wave measures a distance data, according to the grid resolution, the reverse direction is carried out through the pythagorean theorem, the possible (x, y) value in the envelope is calculated, and the (x, y) value is updated to the grid. Then setting the positive and negative of the grid fraction according to the coordinates of the grid:
if the grid is in the marked blind area, the score of the grid is marked as 0;
if the grid is not in the marked blind area and the distance between the grid and the origin of the ultrasonic probe is equal to the measurement data, the score of the grid is positive; and
if the grid is not in the marked blind area and the distance between the grid and the origin of the ultrasonic probe is less than the measurement data, the score of the grid is negative; and
and combining odometer data of the mobile robot, carrying out coordinate transformation, superposing the coordinate transformation with the scores of the corresponding grids of the original map to obtain a total grid score, and determining the final grid score according to the total grid score and the set threshold value:
if the total grid fraction is larger than the upper limit of the set threshold, the final grid fraction is equal to the upper limit of the set threshold;
if the grid total score is smaller than the upper limit of the set threshold and larger than the lower limit of the set threshold, the grid final score is equal to the grid total score; and
if the total grid score is smaller than the lower limit of the set threshold, the final grid score is equal to the lower limit of the set threshold;
the odometer data comprise translation distances and rotation angles of the mobile robot in the x and y directions under a global coordinate system; and the set threshold is set by the controller according to the motion state of the mobile robot and the blind area distance of the ultrasonic probe:
if the controller judges that the mobile robot is in a normal motion state, the collision avoidance distance threshold value is set to be larger than the required distance between the mobile robot and the charged vehicle during charging; and
if the controller judges that the mobile robot is in a lateral moving state, reducing an anti-collision stopping distance threshold value, wherein the anti-collision stopping distance threshold value is larger than the ultrasonic blind zone distance, so that the mobile robot can achieve an anti-collision effect while realizing short-distance charging;
finally, an ultrasonic data grid filtering mechanism judges whether the obstacle really exists according to the final grid score; and
finally, at step 503, autonomous obstacle avoidance. The controller controls the linear speed and the angular speed of the driving wheel according to the current speed direction of the mobile robot, the area where the grid is located and the vertical distance between the grid and the robot body so as to avoid the barrier. And once the distance measured by the ultrasonic probe is lower than the anti-collision stopping distance threshold value, the controller controls the driving wheel module to stop. In one embodiment of the invention, the controller automatically controls the speed of the capstan by interpolation.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (10)
1. The utility model provides a barrier system is kept away in walking of mobile robot which characterized in that includes:
the driving wheel module comprises a front driving wheel module and a rear driving wheel module, and the front driving wheel module and the rear driving wheel module are respectively arranged at two ends of a diagonal line at the bottom of the mobile robot;
the driven wheel module comprises a front driven wheel module and a rear driven wheel module, and the front driven wheel module and the rear driven wheel module are respectively arranged at two ends of the diagonal line of the other bottom of the mobile robot;
the radar array comprises n ultrasonic probes arranged on the surface of the mobile robot, the installation end surfaces of the ultrasonic probes are parallel to the shell installation surface of the mobile robot, and the installation positions of the ultrasonic probes are obtained by calculation according to an ultrasonic envelope diagram; and
a controller communicatively coupled with the capstan module and the radar array, the controller configured to:
controlling the rotating speed and the rotating direction of the driving wheel; and
and controlling the reading sequence, the frequency and the collision avoidance threshold value of the ultrasonic probe.
2. The system of claim 1, wherein the drive wheel module comprises a drive wheel, a travel motor, and a steering motor.
3. The system of claim 1, wherein the driven wheel module includes a driven wheel and a steering device.
4. The system of claim 2, wherein the drive wheel is a vertical steering wheel.
5. The system of claim 1, wherein the ultrasonic probes are respectively mounted on four mounting surfaces of the mobile robot, and the number n of the ultrasonic probes on each mounting surface satisfies:
wherein L is a face length of the mounting face, α is an anti-collision expansion radius, r is a horizontal direction average detection radius of the ultrasonic probe, and β is a measurement deviation of the ultrasonic probe.
6. The system of claim 1, wherein the horizontal mounting position of the ultrasonic probe satisfies:
the distance l between the ultrasonic probe arranged at the outermost side and the nearest side of the mounting surface1R- β - α of ≤ and
distance l between two adjacent ultrasonic probes2≤2(r-β)；
The vertical installation position H of the ultrasonic probe satisfies the following conditions:
H≥c+δ+ρ+h，
wherein c is the average detection radius of the ultrasonic probe in the vertical direction, δ is the measurement deviation, h is the height of the deceleration strip in the underground parking lot, and ρ is the expansion radius of the deceleration strip.
7. A walking obstacle avoidance method of a mobile robot is provided, which is characterized in that the system of any one of claims 1 to 6 is adopted, and the method comprises the following steps:
the controller determines the reading sequence and frequency of the ultrasonic probe according to the motion state of the current mobile robot;
the controller updates a grid map according to the measurement data of the ultrasonic probe, performs coordinate transformation by combining odometer data of the mobile robot, and updates the relative position of the grid and the robot body so as to determine the position of the obstacle; and
the controller controls the linear speed and the angular speed of the driving wheel according to the current speed direction of the mobile robot, the area where the grid is located and the vertical distance between the grid and the mobile robot so as to avoid the barrier.
8. The method of claim 7, further comprising the step of the controller setting a collision avoidance stop distance threshold based on the motion state of the mobile robot and the blind spot distance of the ultrasonic probe.
9. The method of claim 7, wherein the determining of the reading order and frequency of the ultrasound probe comprises:
determining the velocity component of each ultrasonic probe along the detection direction of the ultrasonic probe; and
according to the size of the velocity component, determining the reading sequence and frequency of the ultrasonic probe: the ultrasonic probe having the velocity component larger than 0 is preferentially read, and the reading frequency of the ultrasonic probe is higher as the velocity value is larger.
10. The method of claim 7, wherein the grid map is constructed from an ultrasound envelope of an ultrasound probe: after the ultrasonic probe measures a distance data, the possible (x, y) value inside the envelope is calculated by the Pythagorean theorem in the reverse direction according to the grid resolution, and is updated to the grid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010190124.6A CN111309027A (en) | 2020-03-18 | 2020-03-18 | Walking obstacle avoidance system and method of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010190124.6A CN111309027A (en) | 2020-03-18 | 2020-03-18 | Walking obstacle avoidance system and method of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111309027A true CN111309027A (en) | 2020-06-19 |
Family
ID=71149680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010190124.6A Pending CN111309027A (en) | 2020-03-18 | 2020-03-18 | Walking obstacle avoidance system and method of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111309027A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782706A (en) * | 2021-01-11 | 2021-05-11 | 济南浪潮高新科技投资发展有限公司 | Obstacle detection method and system for robot ultrasonic sensor |
| CN113515132A (en) * | 2021-09-13 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot path planning method, robot, and computer-readable storage medium |
| CN114750171A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Traveling system of cleaning robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204585197U (en) * | 2015-03-18 | 2015-08-26 | 重庆交通大学 | Can automatic obstacle-avoiding Work robot |
| CN106054895A (en) * | 2016-07-11 | 2016-10-26 | 湖南晖龙股份有限公司 | Intelligent business hall robot and indoor walking deviation automatic correction method thereof |
| CN107966695A (en) * | 2017-09-12 | 2018-04-27 | 安徽胜佳和电子科技有限公司 | Ultrasonic signal process circuit, barrier-avoiding method, storage device and mobile terminal |
| CN108037754A (en) * | 2017-11-07 | 2018-05-15 | 河北科技大学 | A kind of flooring transport vehicle ultrasonic wave positioning control system |
| CN108415417A (en) * | 2018-01-19 | 2018-08-17 | 华南理工大学 | A kind of robot obstacle-avoiding system and method based on the prediction of barrier motion state |
| CN208314561U (en) * | 2017-11-22 | 2019-01-01 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot ultrasonic wave protective device |
| CN110161510A (en) * | 2019-06-27 | 2019-08-23 | 北京智行者科技有限公司 | Barrier localization method and device based on ultrasonic radar |
| CN211878475U (en) * | 2020-03-18 | 2020-11-06 | 远景能源有限公司 | Walking of mobile robot keeps away barrier structure |
-
2020
- 2020-03-18 CN CN202010190124.6A patent/CN111309027A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204585197U (en) * | 2015-03-18 | 2015-08-26 | 重庆交通大学 | Can automatic obstacle-avoiding Work robot |
| CN106054895A (en) * | 2016-07-11 | 2016-10-26 | 湖南晖龙股份有限公司 | Intelligent business hall robot and indoor walking deviation automatic correction method thereof |
| CN107966695A (en) * | 2017-09-12 | 2018-04-27 | 安徽胜佳和电子科技有限公司 | Ultrasonic signal process circuit, barrier-avoiding method, storage device and mobile terminal |
| CN108037754A (en) * | 2017-11-07 | 2018-05-15 | 河北科技大学 | A kind of flooring transport vehicle ultrasonic wave positioning control system |
| CN208314561U (en) * | 2017-11-22 | 2019-01-01 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot ultrasonic wave protective device |
| CN108415417A (en) * | 2018-01-19 | 2018-08-17 | 华南理工大学 | A kind of robot obstacle-avoiding system and method based on the prediction of barrier motion state |
| CN110161510A (en) * | 2019-06-27 | 2019-08-23 | 北京智行者科技有限公司 | Barrier localization method and device based on ultrasonic radar |
| CN211878475U (en) * | 2020-03-18 | 2020-11-06 | 远景能源有限公司 | Walking of mobile robot keeps away barrier structure |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782706A (en) * | 2021-01-11 | 2021-05-11 | 济南浪潮高新科技投资发展有限公司 | Obstacle detection method and system for robot ultrasonic sensor |
| CN114750171A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Traveling system of cleaning robot |
| CN114750171B (en) * | 2021-01-11 | 2024-02-20 | 宁波方太厨具有限公司 | Walking system of cleaning robot |
| CN113515132A (en) * | 2021-09-13 | 2021-10-19 | 深圳市普渡科技有限公司 | Robot path planning method, robot, and computer-readable storage medium |
| CN113515132B (en) * | 2021-09-13 | 2021-12-28 | 深圳市普渡科技有限公司 | Robot path planning method, robot, and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102591332B (en) | Device and method for local path planning of pilotless automobile | |
| CN111309027A (en) | Walking obstacle avoidance system and method of mobile robot | |
| CN113386795B (en) | Intelligent decision-making and local track planning method for automatic driving vehicle and decision-making system thereof | |
| US10427672B2 (en) | Consideration of risks in active sensing for an autonomous vehicle | |
| CN105539430B (en) | A kind of people's car mutual intelligent parking method based on handheld terminal | |
| US9090259B2 (en) | Controlling vehicle lateral lane positioning | |
| CN112230642B (en) | Road travelable area reasoning method and device | |
| KR102219593B1 (en) | Sensor field selection | |
| CN107933548A (en) | A kind of parking stall recognition methods of automatic parking and system | |
| CN104590414A (en) | All-around wheeled mobile robot with relative posture detection function | |
| CN112606830B (en) | Two-section type autonomous parking path planning method based on mixed A-algorithm | |
| JP6671438B2 (en) | Device to absorb power | |
| CN113460033B (en) | Automatic parking method and device | |
| CN111016886B (en) | Automatic parking path planning method based on B spline theory | |
| CN113844445B (en) | Automatic emergency braking system and method for vehicle based on prediction reference line coordinate system | |
| CN113978452B (en) | Automatic parallel parking path planning method | |
| JP2009096306A (en) | Parking assist method | |
| US11618446B2 (en) | Systems and methods for measuring trailer wheel rotational speed | |
| CN114200945B (en) | Safety control method of mobile robot | |
| CN211878475U (en) | Walking of mobile robot keeps away barrier structure | |
| US20220120905A1 (en) | Speed Determination Using Light Detection and Ranging (LIDAR) Device | |
| CN113589685B (en) | Vehicle moving robot control system and method based on deep neural network | |
| CN115903828A (en) | Automatic parking path planning method based on four-wheel steering of vehicle | |
| US9043071B1 (en) | Steering-based scrub braking | |
| CN215526456U (en) | Latent type automatic driving heavy-load carrying vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |