CN113885512A - System and method for assisting robot in detecting navigation blind area - Google Patents
System and method for assisting robot in detecting navigation blind area Download PDFInfo
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Abstract
The invention discloses a system for assisting a robot in detecting a navigation blind area, which relates to the technical field of moving target detection and comprises a frequency modulation continuous wave radar module, a calculation module and a communication module, wherein the frequency modulation continuous wave radar module is connected with the calculation module through a cable, and the calculation module is connected with the communication module through a cable. The invention also discloses a method for assisting the robot in detecting the navigation blind area, which comprises the following steps: s100, initializing; s200, filtering electromagnetic wave signals; s300, processing the electromagnetic wave signal; s400, sending a control instruction; and S500, responding to a control command. The invention identifies the moving object behind the shielding object and calculates the moving direction and speed of the object, thereby avoiding the collision between the robot and the moving object.
Description
Technical Field
The invention relates to the technical field of moving target detection, in particular to a system and a method for assisting a robot in detecting a navigation blind area.
Background
The robotics industry, as an emerging industry, is changing our lives unknowingly. With the continuous development of the robot technology, a great deal of robots are used in the fields of welding, painting, carrying, assembling, casting and the like in the industrial field. In addition, the robot is also used in military affairs, ocean exploration, aerospace, medical treatment, agriculture, forestry and even in service and entertainment industries. The mobile robot is a type of industrial robot, which is mainly operated and controlled by a computer, and has various functions such as mobile navigation and multi-sensor control network interaction. The mobile robot has been widely used, and the application field is quite wide, and the mobile robot is related to various industries such as mechanical electronics, textile, medical treatment, food and the like. The mobile robot can be used as a transportation tool in various places needing transportation, such as stations, airports, post offices and the like. For example, some robots can sweep the floor, and some robots can perform various intelligent activities such as educational training, meal delivery, welcome, and the like. A robot is industrially used for unmanned conveyance, cutting and welding. The current mobile robot mainly measures surrounding environment information through a laser radar and a camera to realize navigation and positioning. An ultrasonic sensor is additionally arranged in the navigation process to detect whether the robot is too close to the obstacle or not, so that collision is prevented. However, since these sensors are essentially distance measuring instruments, when objects move from a location outside the field of view, the robot is often too late to respond, such as a person suddenly walking out of a room, or a car or bicycle rushing out at a corner of an outdoor intersection, etc. Under the condition, the object rapidly approaches the robot from the region which can not be measured, and the robot is easy to generate collision accidents even if the robot cannot send a command and avoids the command.
Patent cn201520989601.x uses an infrared obstacle detector to detect whether a person is approaching, and when a person block is detected, the robot slows down or stops, waiting for the person to pass. However, in the restaurant environment of this patent application, people often walk out of the dead detector areas, such as beside the table or behind the wall. At this time, the robot does not react to the moving personnel in time, and the robot is easy to collide to cause injury to the personnel.
Accordingly, those skilled in the art have endeavored to develop a system and method for assisting a robot in detecting navigational blind areas.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to predict the motion trajectory of the moving object in advance, perform advanced response, and reduce the collision accidents of the robot to the maximum extent.
The inventor proposes to detect the vision blind area of the robot by using electromagnetic wave signals, detect a moving object behind a sheltered object, calculate the moving direction and speed of the object, and send a corresponding control instruction to the robot, so as to avoid the collision between the robot and the moving object.
In one embodiment of the invention, a system for assisting a robot in detecting a navigation blind area is provided, which comprises a frequency modulation continuous wave radar module, a calculation module and a communication module, wherein the frequency modulation continuous wave radar module is connected with the calculation module through a cable, and the calculation module is connected with the communication module through a cable;
the frequency modulation continuous wave radar module transmits electromagnetic wave signals to the periphery, receives the electromagnetic wave signals reflected by the moving object, transmits the reflected electromagnetic wave signals to the calculation module, and the calculation module processes the reflected electromagnetic wave signals and transmits a control instruction to the robot through the communication module according to the processing result.
Optionally, in the system for assisting the robot in detecting the navigation blind area in the above embodiment, the frequency modulated continuous wave radar module is provided with a radar sensor.
Optionally, in the system for assisting the robot in detecting the navigation shadow zone in any of the above embodiments, the frequency band of the frequency modulated continuous wave radar module is set to 76GHz to 77 GHz.
Optionally, in the system for assisting the robot in detecting the navigation blind area in any of the above embodiments, the fm continuous wave radar module employs chirp modulation.
Optionally, in the system for assisting the robot in detecting the navigation blind area in any of the above embodiments, the calculation module processes the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal to calculate the distance of the moving object and the speed of the moving object.
Optionally, in the system for assisting a robot in detecting a navigation blind area in any of the above embodiments, the control instruction includes moving or stopping moving.
The inventor deduces the distance of the moving object as follows:
in the time domain, there is a time delay Δ t between the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal, and the relationship is as follows:
where R represents the distance of the moving object and c is the electromagnetic wave propagation velocity.
The time-varying relationship of the frequency delta f of the intermediate-frequency signal after the frequency mixing of the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal is as follows:
wherein, B is the modulation bandwidth of the frequency modulation continuous wave radar module, and T is the modulation period. The two formulas are combined and simplified to obtain the target distance R.
Further, in the system for assisting the robot in detecting the navigation blind area in the above embodiment, the distance of the moving object is:
the inventor continues to analyze the speed of the moving object in the frequency domain, the electromagnetic wave transmitted by the frequency modulation continuous wave radar module is reflected when the electromagnetic wave hits an obstacle, and the frequency of the reflected electromagnetic wave signal changes along with the change of the motion states of the frequency modulation continuous wave radar module and the hit obstacle. If the frequency modulation continuous wave radar module and the target are fixed, the frequency of the reflected wave cannot be changed; if the target approaches towards the direction of the frequency modulated continuous wave radar module or the frequency modulated continuous wave radar module approaches towards the direction of the target, the frequency of the reflected wave can be increased. On the contrary, if the target isThe radar module far away from the frequency modulation continuous wave moves or the radar module far away from the target moves, and the frequency of the reflected wave can be reduced. The variation value of the frequency of the electromagnetic wave signal is the Doppler frequency, the Doppler frequency occurs once in the process of transmitting the electromagnetic wave signal and receiving the reflected electromagnetic wave signal by the frequency modulation continuous wave radar module, the total process is equivalent to two Doppler effects, and the total Doppler frequency fdIs represented by the following formula:
wherein f is the frequency of the frequency modulated continuous wave radar module, v0And if the target moving speed is close to the front of the frequency modulation continuous wave radar module, the operation symbol is a plus sign, otherwise, the operation symbol is a minus sign.
fb_And fb+The frequencies of the intermediate frequency signal after difference frequency is respectively carried out on the upper frequency sweep and the lower frequency sweep of the transmitting signal and the receiving signal, and the frequencies and the Doppler frequency fdThe relationship is as follows:
fb_＝Δf-fd
fb+＝Δf+fd
where Δ f is the frequency of the intermediate frequency signal when the target is stationary. The relative moving speed V can be obtained by the simultaneous Doppler frequency formula.
Further, in the system for assisting the robot in detecting the navigation blind area in the above embodiment, the speed of the moving object is
Further, in the system for assisting the robot in detecting the navigation blind area in the above embodiment, when the modulation bandwidth B and the modulation period T are known, the distance of the moving object and the velocity of the moving object can be obtained by calculating the frequency of the intermediate frequency signal after the difference frequency is performed on the transmitted electromagnetic wave signal and the reflected upper frequency sweep and the reflected lower frequency sweep of the electromagnetic wave signal, the positive and negative of the velocity V of the moving object are related to the moving direction of the moving object, and when the moving object approaches the fm continuous wave radar module, V is positive, and vice versa.
Optionally, in the system for assisting the robot in detecting the navigation blind area in any of the above embodiments, the calculating module calculates the speed of the moving object and the distance from the robot, when the moving object approaches the robot and the speed of the moving object is greater than 5 m/s or the distance of the moving object is less than or equal to 2 m, the communication module sends a control instruction for stopping moving to the robot, and when the moving object is 2 m away from the robot, the communication module sends a control instruction for moving to the robot.
Based on the system for assisting the robot in detecting the navigation blind area in any of the above embodiments, in another embodiment of the present invention, the inventor provides a method for assisting the robot in detecting the navigation blind area, including the following steps:
s100, initializing;
s200, filtering electromagnetic wave signals;
s300, processing the electromagnetic wave signal;
s400, sending a control instruction;
and S500, responding to a control command.
Optionally, in the method for assisting the robot in detecting the navigation blind area in the above embodiment, the step S100 further includes:
s110, setting the frequency band of the frequency modulation continuous wave radar module to be 76GHz to 77 GHz;
s120, setting the frequency modulation continuous wave radar module as linear frequency modulation sequence modulation;
and S130, starting the frequency modulation continuous wave radar module and transmitting electromagnetic wave signals.
Optionally, in the method for assisting the robot in detecting the navigation blind area in the above embodiment, the step S200 further includes:
s210, reflecting an electromagnetic wave signal sent by the frequency-modulated continuous wave radar module by the moving object;
s220, receiving the reflected electromagnetic wave signals by the frequency modulation continuous wave radar module;
s230, detecting the intensity of the reflected electromagnetic wave signal by the frequency-modulated continuous wave radar module;
s240, when the intensity of the reflected electromagnetic wave signal is too low or the waveform is distorted, adjusting the frequency modulation continuous wave radar module until the intensity or the waveform of the reflected electromagnetic wave signal is normal;
and S250, the frequency modulation continuous wave radar module sends the reflected electromagnetic wave signals to the calculation module.
Optionally, in the method for assisting the robot in detecting the navigation blind area in the above embodiment, the step S300 further includes:
s310, responding to the electromagnetic wave signals sent by the frequency modulation continuous wave radar module, and calculating the distance of the moving object by using a calculation module;
and S320, calculating the speed of the moving object by the calculating module, wherein the speed comprises the speed and the direction of the moving object.
Optionally, in the method for assisting the robot in detecting the navigation blind area in the above embodiment, the step S400 further includes:
s410, when the moving object approaches the robot and the speed of the moving object is more than 5 m/S or the distance of the moving object is less than or equal to 2 m, the calculation module sends a control instruction of stopping moving to the robot through the communication module;
and S420, when the moving object is far away from the robot and the moving object is far away from the robot by 2 meters, the calculation module sends a moving control instruction to the robot through the communication module.
Optionally, in the method for assisting the robot in detecting the navigation blind area in the above embodiment, the step S500 further includes:
s510, responding to a control instruction of stopping moving, and stopping moving the robot;
and S520, responding to the control command of the movement, and enabling the robot to move normally.
Based on the system for assisting the robot in detecting the navigation blind area in any embodiment, another embodiment of the present invention provides a robot and a method for assisting the robot in detecting the navigation blind area.
The sensor systems of the prior art all record directly visible object information, so that in occluded scenes some information is lost during measurement. Robots that rely solely on sensors such as cameras, lidar and infrared obstacle detection often cannot observe people or vehicles at corners and on the other side of walls. The invention detects the vision blind area of the robot by using the electromagnetic wave signal, identifies the moving person or vehicle behind the sheltering object and calculates the moving direction and speed of the object, thereby avoiding the collision between the robot and the person or vehicle rushing out from the corner. The task can be completed by using a single sensor, and the system is convenient to arrange and low in cost.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic diagram illustrating a system composition for assisting a robot in detecting navigational blind areas, according to an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating a system for assisting a robot in detecting navigational blind areas in accordance with an exemplary embodiment;
FIG. 3 is a flowchart illustrating a method of assisting a robot to detect navigational blind areas, according to an exemplary embodiment.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components is exaggerated somewhat schematically and appropriately in order to make the illustration clearer.
The inventor designs a system for assisting a robot in detecting a navigation blind area, which comprises a frequency modulation continuous wave radar module, a calculation module and a communication module, wherein the frequency modulation continuous wave radar module is connected with the calculation module through a cable, and the calculation module is connected with the communication module through a cable;
the frequency modulation continuous wave radar module is provided with a radar sensor, adopts linear frequency modulation sequence modulation, transmits electromagnetic wave signals to the periphery, receives the electromagnetic wave signals reflected by a moving object, and transmits the reflected electromagnetic wave signals to the calculation module, and the frequency band of the frequency modulation continuous wave radar module is set to be 76GHz to 77 GHz; the calculation module processes the reflected electromagnetic wave signals, calculates the distance of the moving object and the speed of the moving object, and sends a control instruction to the robot through the communication module according to the processing result, wherein the control instruction comprises moving or stopping moving.
As shown in fig. 2, the calculation module derives the distance of the moving object as follows: in the time domain, there is a time delay Δ t between the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal, and the relationship is as follows:
where R represents the distance of the moving object and c is the electromagnetic wave propagation velocity.
The time-varying relationship of the frequency delta f of the intermediate-frequency signal after the frequency mixing of the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal is as follows:
wherein, B is the modulation bandwidth of the frequency modulation continuous wave radar module, and T is the modulation period. The two formulas are combined to simplify and obtain a target distance R, and the distance of a moving object is as follows:
the calculation module deduces the speed of the moving object in the frequency domain, and the frequency modulation continuous wave radar moduleThe transmitted electromagnetic wave is reflected when contacting with the obstacle, and the frequency of the reflected electromagnetic wave signal changes along with the change of the motion state of the frequency modulation continuous wave radar module and the contacted obstacle. If the frequency modulation continuous wave radar module and the target are fixed, the frequency of the reflected wave cannot be changed; if the target approaches towards the direction of the frequency modulated continuous wave radar module or the frequency modulated continuous wave radar module approaches towards the direction of the target, the frequency of the reflected wave can be increased. On the contrary, if the target moves away from the fm continuous wave radar module or the fm continuous wave radar module moves away from the target, the frequency of the reflected wave will decrease. The variation value of the frequency of the electromagnetic wave signal is the Doppler frequency, the Doppler frequency occurs once in the process of transmitting the electromagnetic wave signal and receiving the reflected electromagnetic wave signal by the frequency modulation continuous wave radar module, the total process is equivalent to two Doppler effects, and the total Doppler frequency fdIs represented by the following formula:
wherein f is the frequency of the frequency modulated continuous wave radar module, v0And if the target moving speed is close to the front of the frequency modulation continuous wave radar module, the operation symbol is a plus sign, otherwise, the operation symbol is a minus sign.
fb_And fb+The frequencies of the intermediate frequency signal after difference frequency is respectively carried out on the upper frequency sweep and the lower frequency sweep of the transmitting signal and the receiving signal, and the frequencies and the Doppler frequency fdThe relationship is as follows:
fb-＝Δf-fd
fb+＝Δf+fd
where Δ f is the frequency of the intermediate frequency signal when the target is stationary. The relative moving speed V can be obtained by simultaneous Doppler frequency formula, and the speed of the moving object is
Under the condition that the modulation bandwidth B and the modulation period T are known, the distance of the moving object and the speed of the moving object can be obtained by calculating the frequency of the intermediate frequency signal after the difference frequency is carried out on the transmitted electromagnetic wave signal and the reflected electromagnetic wave signal by the upper frequency sweep and the lower frequency sweep, the positive and negative of the speed V of the moving object are related to the motion direction of the moving object, and when the moving object approaches the frequency modulation continuous wave radar module, the V is positive, and otherwise, the V is negative.
After the calculating module calculates the speed of the moving object and the distance between the moving object and the robot, when the moving object approaches the robot and the speed of the moving object is more than 5 m/s or the distance of the moving object is less than 2 m, a control instruction for stopping moving is sent to the robot through the communication module, and when the moving object is far away from the robot by 2 m, a control instruction for moving is sent to the robot through the communication module.
Based on the above embodiments, the inventor provides a robot, and sets the above system for assisting the robot in detecting the navigation blind area.
Based on a robot using a system for assisting the robot in detecting a navigation blind area, the inventor provides a method for assisting the robot in detecting the navigation blind area, as shown in fig. 3, comprising the following steps:
s100, initializing, specifically comprising:
s110, setting the frequency band of the frequency modulation continuous wave radar module to be 76GHz to 77 GHz;
s120, setting the frequency modulation continuous wave radar module as linear frequency modulation sequence modulation;
and S130, starting the frequency modulation continuous wave radar module and transmitting electromagnetic wave signals.
S200, filtering electromagnetic wave signals, specifically comprising:
s210, reflecting an electromagnetic wave signal sent by the frequency-modulated continuous wave radar module by the moving object;
s220, receiving the reflected electromagnetic wave signals by the frequency modulation continuous wave radar module;
s230, detecting the intensity of the reflected electromagnetic wave signal by the frequency-modulated continuous wave radar module;
s240, when the intensity of the reflected electromagnetic wave signal is too low or the waveform is distorted, adjusting the frequency modulation continuous wave radar module until the intensity or the waveform of the reflected electromagnetic wave signal is normal;
and S250, the frequency modulation continuous wave radar module sends the reflected electromagnetic wave signals to the calculation module.
S300, processing the electromagnetic wave signal, specifically comprising:
s310, responding to the electromagnetic wave signals sent by the frequency modulation continuous wave radar module, and calculating the distance of the moving object by using a calculation module;
and S320, calculating the speed of the moving object by the calculating module, wherein the speed comprises the speed and the direction of the moving object.
S400, sending a control instruction, which specifically comprises the following steps:
s410, when the moving object approaches the robot and the distance of the moving object is too small or the speed of the moving object is too large, the calculation module sends a control instruction for stopping moving to the robot through the communication module;
and S420, when the moving object is far away from the robot, the calculation module sends a moving control instruction to the robot through the communication module.
S500, responding to the control command, and specifically comprising:
s510, responding to a control instruction of stopping moving, and stopping moving the robot;
and S520, responding to the control command of the movement, and enabling the robot to move normally.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A system for assisting a robot in detecting a navigation blind area is characterized by comprising a frequency modulation continuous wave radar module, a calculation module and a communication module, wherein the frequency modulation continuous wave radar module is connected with the calculation module through a cable, and the calculation module is connected with the communication module through a cable;
the frequency modulation continuous wave radar module transmits electromagnetic wave signals to the periphery, receives the electromagnetic wave signals reflected by the moving object, sends the reflected electromagnetic wave signals to the calculation module, and the calculation module processes the reflected electromagnetic wave signals and sends a control instruction to the robot through the communication module according to the processing result.
2. The system for assisting a robot in detecting navigational blind spots of claim 1 wherein said frequency modulated continuous wave radar module is configured with radar sensors.
3. The system for assisting a robot in detecting a navigation blind spot according to claim 2, wherein a frequency band of the fm cw radar module is set to 76GHz to 77 GHz.
4. The system for assisting a robot in detecting navigational shadows as recited in claim 2, wherein the frequency modulated continuous wave radar module employs chirp sequence modulation.
5. The system for assisting a robot in detecting navigation blindness of claim 2, wherein the calculation module calculates the distance of the moving object and the velocity of the moving object.
6. The system for assisting a robot in detecting navigational blind areas of claim 5, wherein the distance of the moving object is
7. The system for assisting a robot in detecting navigational blind areas of claim 5, wherein the speed of the moving object is at least one of
8. A method for assisting a robot in detecting a navigation blind area using the system for assisting a robot in detecting a navigation blind area according to any one of claims 1 to 7, comprising the steps of:
s100, initializing;
s200, filtering electromagnetic wave signals;
s300, processing the electromagnetic wave signal;
s400, sending a control instruction;
and S500, responding to a control command.
9. The method for assisting a robot in detecting a navigation shadow according to claim 8, wherein the step S100 comprises:
s110, setting the frequency band of the frequency modulation continuous wave radar module to be 76GHz to 77 GHz;
s120, setting the frequency modulation continuous wave radar module to be modulated by a linear frequency modulation sequence;
and S130, starting the frequency modulation continuous wave radar module and transmitting electromagnetic wave signals.
10. A robot, characterized in that a method for assisting the robot in detecting navigational blind areas is used according to claim 9.
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| CN112130133A (en) * | 2020-08-26 | 2020-12-25 | 南京熊猫电子制造有限公司 | Man-machine interaction method based on millimeter wave radar |
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| CN109633652A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | Robot obstacle-avoiding system and its application method based on millimetre-wave radar |
| CN112130133A (en) * | 2020-08-26 | 2020-12-25 | 南京熊猫电子制造有限公司 | Man-machine interaction method based on millimeter wave radar |
| CN113281733A (en) * | 2021-05-19 | 2021-08-20 | 天津大学 | ZYNQ-based radar speed and distance measuring system and method |
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