CN111390917B - Robot anti-collision device and method and robot - Google Patents
Robot anti-collision device and method and robot Download PDFInfo
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- CN111390917B CN111390917B CN202010382103.4A CN202010382103A CN111390917B CN 111390917 B CN111390917 B CN 111390917B CN 202010382103 A CN202010382103 A CN 202010382103A CN 111390917 B CN111390917 B CN 111390917B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a robot anti-collision device, a robot anti-collision method and a robot. Wherein the robot includes a robot body, the apparatus comprising: the laser radar, the ultrasonic detector, the navigation control module and the radar auxiliary assembly are arranged on the robot body; the laser radar is used for detecting point cloud data between the robot body of the other robot and the radar auxiliary component in the anti-collision device of the other robot; the ultrasonic detector is used for detecting ultrasonic data between robot bodies of other robots; the navigation control module is used for determining actual detection position information according to the point cloud data and the ultrasonic data and performing anti-collision avoidance on other robots.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot anti-collision device, a robot anti-collision method and a robot.
Background
With the development of the robot technology, the robot is widely applied to industrial production and daily life, and great convenience is provided. The robot usually realizes navigation and positioning based on Simultaneous positioning and Mapping (SLAM) of the 2D laser radar, positioning and navigation based on SLAM require that the chassis needs to be hollowed out at a proper angle at the position of a laser radar transmitting surface to avoid shielding a radar range, and because the actual frame area of the hollowed-out robot is larger than the actually detected area, a blind area exists in detection of the detection method, and the robot can mistakenly think that the robot collides for detecting an obstacle.
In the prior art, the problem of collision prevention is solved by arranging a dispatching system or adding other photoelectric sensor devices to the robot, the two methods both need to add extra hardware system cost, and the implementation process is complex.
Disclosure of Invention
The invention provides a robot anti-collision device, a robot anti-collision method and a robot, and aims to reduce the cost and complexity of the robot anti-collision method.
In a first aspect, an embodiment of the present invention provides a collision avoidance device for a robot, where the robot includes a robot body, and the device includes: the laser radar, the ultrasonic detector, the navigation control module and the radar auxiliary assembly are arranged on the robot body;
the laser radar is used for detecting point cloud data between the robot body of the other robot and the radar auxiliary component in the anti-collision device of the other robot;
the ultrasonic detector is used for detecting ultrasonic data between robot bodies of other robots;
the navigation control module is used for determining actual detection position information according to the point cloud data and the ultrasonic data and performing anti-collision avoidance on the other robots.
Optionally, the navigation control module is specifically configured to use data with a minimum distance in the point cloud data and the ultrasonic data as an actual detection distance.
Optionally, the laser radar is specifically configured to, before detecting the point cloud data, further filter the point cloud data blocked by the radar auxiliary component.
Optionally, the laser radar is disposed in the robot body, a groove is disposed in a sector emitting area formed by using the laser radar as a center of the robot body, and the groove is at least communicated to three surfaces of the robot body.
Optionally, the radar auxiliary assembly includes a first auxiliary piece and a second auxiliary piece disposed on two sides of the laser radar, and a third auxiliary piece connected to one end of the second auxiliary piece; the first auxiliary piece, the second auxiliary piece and the third auxiliary piece are used for receiving signals transmitted by other laser radars in other robot anti-collision devices;
one end of the first auxiliary part is connected with the laser radar, and the other end of the first auxiliary part is positioned on the first surface of the robot body;
one end of the second auxiliary part is connected with the laser radar, the other end of the second auxiliary part is positioned on the second surface of the robot body, and the end of the second auxiliary part is vertically connected with the third auxiliary part; the first surface and the second surface are oppositely arranged;
wherein an included angle between the first auxiliary piece and the second auxiliary piece is 180 degrees;
first auxiliary member with the second auxiliary member is located the regional inslot of fan-shaped transmission, just first auxiliary member with the contained angle on one side of fan-shaped region equals the second auxiliary member with the contained angle on the other side of fan-shaped region.
Optionally, the total length of the first auxiliary part and the second auxiliary part is equal to the difference between the width of the robot body and the diameter of the laser radar.
Optionally, the length of the third auxiliary member is greater than a shielding distance of the first auxiliary member to the laser radar transmission signal at a preset safety distance.
Optionally, the shielding distance is determined according to a preset safety distance, a safety factor, a shielding angle of the laser radar transmitting signal shielded by the first auxiliary part, and the total length of the first auxiliary part and the second auxiliary part.
In a second aspect, an embodiment of the present invention further provides a robot collision avoidance method, which is executed by a navigation control module in a robot collision avoidance apparatus, and the method includes:
acquiring point cloud data between other robot bodies detected by the laser radar in other robot anti-collision devices and other radar auxiliary components in other robot anti-collision devices;
acquiring ultrasonic data between other robot bodies in other robot anti-collision devices detected by an ultrasonic detector;
and determining actual detection position information according to the point cloud data and the ultrasonic data, and performing anti-collision avoidance on the other robots.
In a third aspect, an embodiment of the present invention further provides a robot, including a robot body, where the robot includes the robot anti-collision device according to any embodiment of the present invention, and the robot is disposed on the robot body.
The invention provides a robot anti-collision device which comprises a laser radar, an ultrasonic detector, a navigation control module and a radar auxiliary assembly arranged on a robot body, wherein point cloud data from the robot to robot bodies of other robots and from the laser radar to the radar auxiliary assembly in the anti-collision device of other robots are detected through the laser radar, ultrasonic data from the robot bodies of other robots are detected through the ultrasonic detector, actual detection position information is determined from the point cloud data and the ultrasonic data through the navigation control module, and anti-collision and avoidance are carried out on other robots.
Drawings
Fig. 1 is a schematic top view of a robot collision avoidance apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot chassis provided in the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a radar auxiliary assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a relative position relationship between two radar-assisted modules when two robots are in parallel proximity according to a first embodiment of the present invention;
fig. 5 is a schematic diagram illustrating detection of parallel motion of a robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating detection of vertical movement of a robot according to an embodiment of the present invention;
fig. 7 is a flowchart of a robot collision avoidance method according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a robot according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic top view of a robot collision avoidance apparatus according to an embodiment of the present invention, where the robot collision avoidance apparatus is suitable for use in a situation where multiple robots are moving to avoid obstacles. The robot includes a robot body, the apparatus includes: a laser radar 10, an ultrasonic detector 20, a navigation control module (not shown), and radar auxiliary components (30, 40, and 50) provided on the robot body.
Wherein the laser radar 10 is used for detecting point cloud data between a robot body of the other robot and radar auxiliary components (30, 40 and 50) in the collision prevention device of the other robot;
the ultrasonic detector 20 is used for detecting ultrasonic data between robot bodies of other robots;
the navigation control module is used for determining actual detection position information according to the point cloud data and the ultrasonic data and performing anti-collision avoidance on the other robots.
The point cloud data acquired by the laser radar 10 is data information including three-dimensional coordinates, and the position and direction information of the robot can be determined according to the data.
The navigation control module is specifically configured to use data with a minimum distance in the point cloud data and the ultrasound data as an actual detection distance.
In the embodiment, the robot adopts a SLAM scheme based on a 2D laser radar, and the scheme mainly utilizes laser beams emitted by the laser radar and collects laser beams reflected by an obstacle, and determines the current position and direction of the robot according to the laser beams, so that obstacle avoidance navigation is performed. Based on this principle, the robot chassis must be designed to shield the laser beam of the radar as little as possible, and therefore, the position of the robot chassis on the transmitting surface of the laser radar 10 needs to be hollowed out at an appropriate angle to avoid shielding the transmitting range of the laser radar 10. Specifically, in this embodiment, the laser radar 10 is disposed in the robot body, and a groove is disposed in a sector emitting area formed by centering on the laser radar 10 in the robot body, and the groove is communicated at least to three surfaces of the robot body. Specifically, the angle of the sector emitting area is the actual emitting angle of the laser, and the sector angle is usually greater than 90 degrees.
In this embodiment, the setting position and the specific shape structure of radar auxiliary components (30, 40, and 50) are decided according to the specific shape of the groove formed in the robot body, and the groove formed in the robot body is compensated to some extent, so that the laser radar 10 signal originally transmitted to the groove can be reflected to obtain the detection distance close to the actual detection distance. When two robots approach, the laser radar 10 arranged on the robot body can detect point cloud data of radar auxiliary components (30, 40 and 50) on other robot bodies and other robot bodies, the ultrasonic detector 20 arranged on the robot body can detect ultrasonic signals of other robot bodies, and the navigation control module takes the data with the minimum distance in the point cloud data and the ultrasonic data as an actual detection distance, so that the actual distance and the position information between the robots are determined. The technical scheme provided by the embodiment solves the problem of collision between robots only by arranging the radar auxiliary components (30, 40 and 50) on the robot body, and is simple, feasible and low in cost.
Illustratively, referring to fig. 2, fig. 2 is a schematic structural diagram of a robot chassis, wherein 21 is a plane of a sunk object which does not block the transmitting range of the laser radar 10. The outer rectangular frame in fig. 1 is an actual frame of the robot, but since the slot is arranged on the emitting plane of the laser radar 10, when two robots meet each other, only the range of the groove on the emitting plane of the radar of the robot can be detected, and the detection distance is greater than the actual distance, so that the robot can mistakenly think that no obstacle is detected and collide with another robot.
In order to shield laser radar signals emitted to the bottom of the groove, radar auxiliary assemblies (30, 40 and 50) are arranged on one side where the laser radar 10 is arranged, and specifically, the radar auxiliary assemblies (30, 40 and 50) comprise a first auxiliary piece 30 and a second auxiliary piece 40 which are arranged on two sides of the laser radar 10, and a third auxiliary piece 50 connected with one end of the second auxiliary piece 40; the first auxiliary part 30, the second auxiliary part 40 and the third auxiliary part 50 are used for receiving signals transmitted by other laser radars in other robot anti-collision devices;
one end of the first auxiliary piece 30 is connected with the laser radar 10, and the other end of the first auxiliary piece 30 is positioned on the first surface of the robot body;
one end of the second auxiliary part is connected with the laser radar 10, the other end of the second auxiliary part is positioned on the second surface of the robot body, and the other end of the second auxiliary part is vertically connected with the third auxiliary part 50; the first surface and the second surface are oppositely arranged;
wherein an included angle between the first auxiliary member 30 and the second auxiliary member is 180 degrees;
first auxiliary member 30 with the second auxiliary member is located the regional inslot of fan-shaped transmission, just first auxiliary member 30 with the contained angle on one side of fan-shaped region equals the second auxiliary member with the contained angle on the other side of fan-shaped region. This setting mode can be effectual will launch laser beam to 10 recess faces of laser radar and return through radar auxiliary assembly (30, 40 and 50) for detection distance is close and actual distance, and the robot can be effectual discerns other robots of the in-process of marcing, thereby prevents collision each other between the robot.
Illustratively, with continued reference to fig. 1, the second auxiliary element 40 is arranged in a T-shape with a third auxiliary element 50, the third auxiliary element 50 being used for receiving signals emitted from the lidar on the other robot body when the two robots are moving in parallel, the third auxiliary element 50 of one of the robots.
The total length of the first auxiliary element 30 and the second auxiliary element 40 is equal to the difference between the width of the robot body and the diameter of the lidar 10, further see fig. 3, where L is the total length of the first auxiliary element 30 and the second auxiliary element 40, and is given by the formula:
wherein, WrobotWidth of the robot body, RlidarIs the lidar 10 diameter length.
D in the figurelFor the condition that the safety distance is d, the shielding distance of the first auxiliary member 30 to the laser radar 10 transmitting signal is specifically determined according to the preset safety distance, the safety factor, the shielding angle of the first auxiliary member 30 shielding the laser radar 10 transmitting signal, and the total length of the first auxiliary member 30 and the second auxiliary member 40, and the specific calculation formula is as follows:
Dl≈γ(L+dk)，
where γ is an angle at which the first auxiliary component 30 blocks the laser radar 10, the angle should be 0 ideally, L is a total length of the first auxiliary component 30 and the second auxiliary component 40, d is a preset safety distance between the robots, a specific value is determined according to an actual scene, k is a safety factor, and an exemplary value range is [1.2, 2 ].
With continued reference to fig. 3, θ is the angle at which the second auxiliary element 40 blocks the signal emitted by the lidar 10, and when θ is smaller, the length w of the third auxiliary element 50 is smallerrCalculated from the following formula: w is ar≈θL。
Because radar auxiliary assembly (30, 40 and 50) set up, laser radar 10 shelters from the angle to having corresponding transmission in launch angle, and first auxiliary assembly 30 shelters from laser radar 10's angle gamma and second shielding plate shelters from radar transmitted signal's angle theta promptly, consequently, laser radar 10 still specifically is used for before the detection point cloud data, the cloud data that self radar auxiliary assembly (30, 40 and 50) sheltered from is filtered for laser radar 10 can get rid of the detected signal who is sheltered from, realizes laser radar 10's normal detection.
In this embodiment, in order to prevent the two robots from colliding when the two robots are closest to each other, see in particular the positional relationship between the radar-assist components (30, 40, and 50) when the two robots are closest to each other in fig. 4. At this time, in order to accurately detect the actual distance between the two robots in this case, the length of the third auxiliary element 50 should be greater than the shielding distance of the first auxiliary element 30 from the transmission signal of the laser radar 10 at the preset safety distance d, that is:
Dl＜wrfurther, according to wrAbout thetal and Dlγ (L + dk), γ (L + dk) < θ L can be obtained, and further,:
from this, the minimum value of θ can be calculated.
In the present embodiment, the total length L of the first auxiliary 30 and the second auxiliary 40 directly affects the value of the angle γ, and the shorter L, the smaller γ.
Based on the structure of the robot body in the above example, during the movement of the robot, the laser radar 10 disposed on the robot body can detect not only the point cloud data of the robot body of other robots, but also the point cloud data of the radar auxiliary components (30, 40, and 50) on other robot bodies, and the navigation control module combines the point cloud data and the ultrasonic data on other robot bodies detected by the ultrasonic detector 20 to determine the distance to other robots. Since the robot body is provided with the radar auxiliary components (30, 40 and 50), the radar auxiliary components (30, 40 and 50) can reflect the laser radar 10 signal originally emitted into the groove to obtain the detection distance close to the actual detection distance. The robot collision avoidance device provided in this embodiment can improve the actual detection distance of the robot to other robots.
For example, referring to fig. 5, when the vehicle No. 1 moves in the same direction as the vehicle No. 2, the laser radar signal on the vehicle No. 1 detects the point cloud data of the third auxiliary component on the vehicle No. 2, that is, the vehicle No. 1 detects the vehicle No. 2, and the vehicle No. 2 does not detect the vehicle No. 1. At this moment, the navigation control module of the vehicle No. 1 can determine that an obstacle is arranged in front of the right of the vehicle No. 1 according to data detected by the laser radar and ultrasonic data detected by the ultrasonic detector, the detected shortest distance is dis < dk, and dk is an allowable maximum safe distance, namely, the vehicle No. 1 detects that the shortest distance between the vehicle No. 1 and the obstacle is less than the allowable maximum safe distance, namely, the distance between the vehicle No. 1 and the vehicle No. 2 is within a safe range, and the vehicle No. 1 needs to make a corresponding safety control strategy, namely, the vehicle No. 1 is controlled to retreat and avoid, stop or decelerate and avoid the obstacle, so as to prevent the vehicle No. 2 from colliding.
For example, referring to fig. 6, a vehicle 1 and a vehicle 2 move vertically and oppositely, in this case, the laser radar of the vehicle 1 can detect point cloud data returned by the radar auxiliary component of the vehicle 2, the vehicle 2 can also detect point cloud data returned by the radar auxiliary component of the vehicle 1, and the navigation control module of the vehicle 1 can determine that an obstacle is in front of the vehicle on the right side of the vehicle according to the point cloud data detected by the laser radar of the vehicle 1 and ultrasonic data acquired by an ultrasonic detection signal, and the distance between the vehicle and the obstacle is within a safe range; in a similar way, the No. 2 vehicle can also obtain that the obstacle exists in the left front of the vehicle, and the distance between the vehicle and the obstacle is within a safe range. At the moment, the No. 1 vehicle needs to make a corresponding safety control strategy to retreat for avoiding, stop or decelerate for avoiding the obstacle. And the No. 2 vehicle also needs to be subjected to a corresponding safety control strategy, retreats to avoid, stops or decelerates to avoid obstacles.
Example two
Fig. 7 is a flowchart of a robot collision avoidance method according to a second embodiment of the present invention. The method is suitable for the situation of obstacle avoidance in the moving process of a plurality of robots, is executed by a navigation control module in a robot collision prevention device, and specifically comprises the following steps of:
and S710, point cloud data between the robot body of the other robot and the radar auxiliary component in the anti-collision device of the other robot detected by the laser radar is obtained.
The laser radar is used for acquiring information of obstacles encountered in the robot traveling process, and the distance and position information of the obstacles can be determined according to the acquired three-dimensional point cloud data.
In this embodiment, radar auxiliary component's setting can lead to laser radar's launching point angle to have certain sheltering from, so laser radar who sets up on the robot needs the cloud data that self radar auxiliary component sheltered from of filtering before the detection point cloud data.
Optionally, the laser radar is disposed in the robot body, a groove is disposed in a sector emitting area formed by using the laser radar as a center of the robot body, and the groove is at least communicated to three surfaces of the robot body.
Furthermore, the radar auxiliary assembly comprises a first auxiliary piece, a second auxiliary piece and a third auxiliary piece, wherein the first auxiliary piece and the second auxiliary piece are arranged on two sides of the laser radar, and the third auxiliary piece is connected with one end of the second auxiliary piece; the first auxiliary piece, the second auxiliary piece and the third auxiliary piece are used for receiving signals transmitted by other laser radars in other robot anti-collision devices;
one end of the first auxiliary part is connected with the laser radar, and the other end of the first auxiliary part is positioned on the first surface of the robot body;
one end of the second auxiliary part is connected with the laser radar, the other end of the second auxiliary part is positioned on the second surface of the robot body, and the end of the second auxiliary part is vertically connected with the third auxiliary part; the first surface and the second surface are oppositely arranged;
wherein an included angle between the first auxiliary piece and the second auxiliary piece is 180 degrees;
first auxiliary member with the second auxiliary member is located the regional inslot of fan-shaped transmission, just first auxiliary member with the contained angle on one side of fan-shaped region equals the second auxiliary member with the contained angle on the other side of fan-shaped region.
The total length of the first auxiliary piece and the second auxiliary piece is equal to the difference between the width of the robot body and the diameter of the laser radar.
The length of the third auxiliary part is larger than the shielding distance of the first auxiliary part to the laser radar transmitting signal under the preset safety distance.
The shielding distance is determined according to a preset safety distance, a safety factor and a shielding angle of the laser radar transmitting signal shielded by the first auxiliary part, and the total length of the first auxiliary part and the second auxiliary part.
S720, ultrasonic data between the robot bodies of other robots detected by the ultrasonic detector are obtained.
And S730, determining actual detection position information according to the point cloud data and the ultrasonic data, and performing anti-collision avoidance on the other robots.
Specifically, determining actual detection position information according to the point cloud data and the ultrasonic data includes: and taking the data with the minimum distance in the point cloud data and the ultrasonic data as an actual detection distance.
According to the technical scheme provided by the embodiment of the invention, the actual detection position information is determined through the point cloud data between the robot bodies of other robots detected by the laser radar and the radar auxiliary components in other robot anti-collision devices and the ultrasonic data between the robot bodies of other robots detected by the ultrasonic detector, so that the inherent defects of the laser SLAM are overcome, the system redundancy and the added cost caused by using a dispatching system to prevent two vehicles from colliding or other sensor equipment for detecting the positions of accessory robots are avoided, and the realization is simple and convenient.
The robot anti-collision method provided by the embodiment of the invention and the robot anti-collision device provided by the embodiment of the invention have corresponding execution methods and beneficial effects, and are not described in detail.
EXAMPLE III
Fig. 8 shows a robot 800 according to a third embodiment of the present invention, which includes a robot body 81, and the robot body further includes a robot anti-collision device 82 according to the first embodiment of the present invention, which is disposed on the robot body.
This robot 800 has realized the accurate detection of actual distance between the robot through set up radar auxiliary assembly on the robot body, has solved laser SLAM's inherent defect, has avoided using dispatch system to prevent that two cars from colliding or the redundancy of the system that other sensor equipment that detect annex robot position brought and the cost of interpolation, realizes getting up simply, conveniently.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A collision prevention device for a robot, the robot comprising a robot body, the device comprising: the laser radar, the ultrasonic detector, the navigation control module and the radar auxiliary assembly are arranged on the robot body;
the laser radar is used for detecting point cloud data between the robot body of the other robot and the radar auxiliary component in the anti-collision device of the other robot;
the ultrasonic detector is used for detecting ultrasonic data between robot bodies of other robots;
the navigation control module is used for determining actual detection position information according to the point cloud data and the ultrasonic data and performing anti-collision avoidance on the other robots;
the laser radar is arranged in the robot body, a groove is formed in a sector transmitting area formed by taking the laser radar as a center of the robot body, and the groove is at least communicated with three surfaces of the robot body;
the radar auxiliary assembly comprises a first auxiliary piece, a second auxiliary piece and a third auxiliary piece, wherein the first auxiliary piece and the second auxiliary piece are arranged on two sides of the laser radar, and the third auxiliary piece is connected with one end of the second auxiliary piece; the first auxiliary piece, the second auxiliary piece and the third auxiliary piece are used for receiving signals transmitted by other laser radars in other robot anti-collision devices;
one end of the first auxiliary part is connected with the laser radar, and the other end of the first auxiliary part is positioned on the first surface of the robot body;
one end of the second auxiliary part is connected with the laser radar, the other end of the second auxiliary part is positioned on the second surface of the robot body, and the end of the second auxiliary part is vertically connected with the third auxiliary part; the first surface and the second surface are oppositely arranged;
wherein an included angle between the first auxiliary piece and the second auxiliary piece is 180 degrees;
first auxiliary member with the second auxiliary member is located the regional inslot of fan-shaped transmission, just first auxiliary member with the contained angle on one side of the sector-shaped transmission equals the second auxiliary member with the contained angle on the other side of the sector-shaped transmission.
2. The apparatus of claim 1, wherein the navigation control module is specifically configured to use data with a minimum distance in the point cloud data and the ultrasound data as an actual detection distance.
3. The apparatus of claim 1, wherein the lidar is further configured to, prior to detecting the point cloud data, filter out point cloud data occluded by the radar-assist component itself.
4. The apparatus of claim 1, wherein a total length of the first and second auxiliary pieces is equal to a difference between a width of the robot body and a diameter of the lidar.
5. The apparatus of claim 4, wherein the third auxiliary member has a length greater than a distance that the first auxiliary member obstructs the lidar transmission signal at a predetermined safety distance.
6. The device of claim 5, wherein the shielding distance is determined according to a preset safety distance, a safety factor, a shielding angle of the first auxiliary member for shielding the laser radar emission signal, and a total length of the first auxiliary member and the second auxiliary member.
7. A robot collision avoidance method, performed by a navigation control module in a robot, the method comprising:
acquiring point cloud data between a robot body of other robots and radar auxiliary components in other robot anti-collision devices, which are detected by a laser radar;
acquiring ultrasonic data between robot bodies of other robots detected by an ultrasonic detector;
determining actual detection position information according to the point cloud data and the ultrasonic data, and performing anti-collision avoidance on the other robots;
the laser radar is arranged in the robot body, a groove is formed in a sector transmitting area formed by taking the laser radar as a center of the robot body, and the groove is at least communicated with three surfaces of the robot body;
the radar auxiliary assembly comprises a first auxiliary piece, a second auxiliary piece and a third auxiliary piece, wherein the first auxiliary piece and the second auxiliary piece are arranged on two sides of the laser radar, and the third auxiliary piece is connected with one end of the second auxiliary piece; the first auxiliary piece, the second auxiliary piece and the third auxiliary piece are used for receiving signals transmitted by other laser radars in other robot anti-collision devices;
one end of the first auxiliary part is connected with the laser radar, and the other end of the first auxiliary part is positioned on the first surface of the robot body;
one end of the second auxiliary part is connected with the laser radar, the other end of the second auxiliary part is positioned on the second surface of the robot body, and the end of the second auxiliary part is vertically connected with the third auxiliary part; the first surface and the second surface are oppositely arranged;
wherein an included angle between the first auxiliary piece and the second auxiliary piece is 180 degrees;
first auxiliary member with the second auxiliary member is located the regional inslot of fan-shaped transmission, just first auxiliary member with the contained angle on one side of the sector-shaped transmission equals the second auxiliary member with the contained angle on the other side of the sector-shaped transmission.
8. A robot comprising a robot body, characterized in that the robot further comprises a robot anti-collision device according to any one of claims 1-6 provided on the robot body.
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| CN108375373A (en) * | 2018-01-30 | 2018-08-07 | 深圳市同川科技有限公司 | Robot and its air navigation aid, navigation device |
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| KR102152641B1 (en) * | 2013-10-31 | 2020-09-08 | 엘지전자 주식회사 | Mobile robot |
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