CN114089756A - Robot obstacle avoidance method and system - Google Patents
Robot obstacle avoidance method and system Download PDFInfo
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- CN114089756A CN114089756A CN202111352813.3A CN202111352813A CN114089756A CN 114089756 A CN114089756 A CN 114089756A CN 202111352813 A CN202111352813 A CN 202111352813A CN 114089756 A CN114089756 A CN 114089756A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a robot obstacle avoidance method and system, which detect an obstacle area in real time; when the distance from the obstacle area to the robot is detected to be smaller than a first preset distance, controlling the robot to slow down; acquiring size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can cross the obstacle area; if yes, controlling the robot to cross the obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, controlling the robot to stop; the invention judges whether the robot can cross the obstacle area or not in the speed reduction process, if the robot can cross the obstacle area, the robot is directly controlled to cross the obstacle area without stopping, and if the robot cannot cross the obstacle area, the robot is controlled to stop, so that the times of stopping the robot are reduced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot obstacle avoidance method and system.
Background
At present, AGV robots in the market basically require the ground to be flat, no obstacle exists in a walking path, if an obstacle breaks into the walking path of the robots at a certain time, the robots can only pause after detecting that the obstacle exists in the front or can only pass through the obstacle after detecting that a space far larger than the size width of the robot body is arranged beside the obstacle in a bypassing way, although sometimes the obstacle is small, the robots can directly cross over, but the conditions of hardware and software carried by the robots are insufficient, and the realization is impossible.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a robot obstacle avoidance method and system, which can effectively select the mode of avoiding obstacles by judging whether the robot can cross or bypass the obstacles, thereby improving the operation efficiency of the robot.
The invention provides a robot obstacle avoidance method, which comprises the following steps:
detecting an obstacle area in real time;
when the distance from the obstacle area to the robot is detected to be smaller than a first preset distance, controlling the robot to slow down;
acquiring size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can cross the obstacle area;
if yes, controlling the robot to cross the obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, the robot is controlled to stop.
Preferably, after the control robot stops, the method further includes:
detecting a passable area beside the obstacle area;
acquiring size parameter information of a passable area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can pass through the passable area;
if so, controlling the robot to pass through the passable area; if not, the robot is controlled to send out an alarm signal.
Preferably, the barrier zone comprises a barrier zone and a ground recess zone.
Preferably, when the obstacle area is an obstacle area, the acquiring size parameter information of the obstacle area, performing comparative analysis with the robot body parameter information, and determining whether the robot can cross the obstacle area specifically includes:
obtaining size parameter information of an obstacle, wherein the size parameter information comprises: height information and horizontal width information of the obstacle;
comparing and analyzing the size parameter information of the barrier with the parameter information of a robot body, wherein the parameter information of the robot body comprises the height information of a chassis of the robot and the horizontal width information between a left wheel hub and a right wheel hub;
judging whether the robot can cross the obstacle: if the height of the highest point of the obstacle is smaller than the height of the chassis of the robot and the horizontal width of the obstacle is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the height is positive; otherwise, judging the result is no.
Preferably, when the obstacle area is a ground depression area, the acquiring size parameter information of the obstacle area, performing comparative analysis with the robot body parameter information, and determining whether the robot can cross the obstacle area specifically includes:
obtaining size parameter information of a ground sunken area, wherein the size parameter information comprises: horizontal width information;
comparing and analyzing the size parameter information of the ground sunken area with the parameter information of a robot body, wherein the parameter information of the robot body comprises the horizontal width information between a left hub and a right hub;
judging whether the robot can cross the ground sunken area: if the horizontal width of the ground sunken area is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the ground sunken area is a ground sunken area; otherwise, judging the result is no.
Preferably, the acquiring the size parameter information of the obstacle area specifically includes:
acquiring depth data of an obstacle area acquired by a depth camera;
and extracting feature points of the depth data, and acquiring size parameter information based on the feature point information.
Based on the unified invention concept, the invention provides a robot obstacle avoidance system, which comprises: the robot, the inside host system that sets up of robot, robot externally mounted have a plurality of ultrasonic sensor and a plurality of degree of depth camera.
The ultrasonic sensor and the depth camera are used for detecting an obstacle area in real time;
the ultrasonic sensor and the depth camera are also used for detecting the distance from the obstacle area to the robot;
when the distance from the obstacle area to the robot is smaller than a first preset distance, the main control module controls the robot to decelerate;
the main control module is also used for acquiring the size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body and judging whether the robot can cross the obstacle area or not;
if yes, the main control module controls the robot to cross an obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, the main control module controls the robot to stop.
Preferably, the obstacle avoidance system further comprises an alarm module;
the ultrasonic sensor and the depth camera are also used for detecting a passable area beside the obstacle area;
the main control module is also used for acquiring the size parameter information of the passable area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can pass through the passable area;
if so, the main control module controls the robot to pass through the passable area; and if not, the main control module controls the robot alarm module to send out an alarm signal.
Preferably, the barrier area comprises a barrier area and a ground depression area; the ultrasonic sensor is used for detecting an obstacle area, and the depth sensor is used for detecting a bottom surface depression area.
Preferably, the acquiring, by the main control module, the size parameter information of the obstacle area specifically includes: the main control module acquires depth data of the obstacle area acquired by the depth camera, performs feature point extraction on the depth data, and acquires size parameter information based on feature point information.
In the invention, the obstacle area is detected in real time; when the distance from the obstacle area to the robot is detected to be smaller than a first preset distance, controlling the robot to slow down; acquiring size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can cross the obstacle area; if yes, controlling the robot to cross the obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, the robot is controlled to stop. Whether the robot can cross the obstacle area is judged in the speed reduction process, if the robot can cross the obstacle area, the robot is not required to be controlled to stop and is directly controlled to cross the obstacle area, and if the robot cannot cross the obstacle area, the robot is controlled to stop, so that the number of times of stopping the robot is reduced, and the operation efficiency is improved.
In the invention, when the robot cannot cross the obstacle area, the passable area around the obstacle area is detected, and whether the robot can pass by the obstacle is judged; if not, an alarm is sent out; the invention provides a plurality of obstacle avoidance modes based on actual conditions, and improves the intellectualization of obstacle avoidance.
According to the invention, through the cooperative detection of the ultrasonic sensor and the depth camera, on one hand, the directions of various obstacle areas can be accurately detected, and on the other hand, the size parameter information of the obstacle areas can be accurately judged; the accuracy of robot obstacle area identification is improved, and the reliability of robot obstacle avoidance is further improved.
Drawings
Fig. 1 is a flowchart of a robot obstacle avoidance method according to the present invention;
fig. 2 is a schematic diagram of an obstacle avoidance area of the robot in the embodiment.
Detailed Description
As shown in fig. 1, fig. 1 is a flowchart of a robot obstacle avoidance method according to an embodiment of the present invention.
Referring to fig. 1, a robot obstacle avoidance method provided by the embodiment of the present invention includes:
s1: detecting an obstacle area in real time;
in this embodiment, the obstacle area includes an obstacle area and a ground depression area.
In the embodiment, two ultrasonic sensors and two depth cameras are arranged at the front part of the robot and are used for detecting an obstacle area and detecting the distance from the obstacle area to the robot; specifically, the ultrasonic waves can detect the area and the distance of the obstacle, and the depth camera can detect the sunken area and the depth distance of the ground.
S2: when the distance from the obstacle area to the robot is detected to be smaller than a first preset distance, controlling the robot to slow down;
in this embodiment, the first preset distance is 0.5m, and when the distance from the obstacle area to the robot is detected to be less than 0.5m, the robot main control module controls the robot to decelerate.
S3: obtaining size parameter information of the obstacle area, and comparing and analyzing the size parameter information with the parameter information of the robot body;
s4: judging whether the robot can cross the obstacle area;
in this embodiment, the obtaining of the size parameter information of the obstacle area specifically includes acquiring depth data of the obstacle area by using a depth camera, extracting feature points of the depth data, and obtaining the size parameter information based on the feature point information.
In this embodiment, when the obstacle area is an obstacle area, the size parameter information includes: height information and horizontal width information of the obstacle; the robot body parameter information comprises robot chassis height information and horizontal width information between a left hub and a right hub; if the height of the highest point of the obstacle is smaller than the height of the chassis of the robot and the horizontal width of the obstacle is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the robot can cross the obstacle; otherwise, the judgment is that the operation is impossible.
As shown in fig. 2, in the present embodiment, the horizontal width information of the obstacle area is the horizontal maximum width in the direction opposite to the robot;
in this embodiment, when the obstacle area is a ground recess area, the size parameter information includes: horizontal width information; the robot body parameter information comprises horizontal width information between a left hub and a right hub; if the horizontal width of the ground sunken area is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the robot can cross the ground sunken area; otherwise, the judgment is that the operation is impossible.
S5: if the judgment result is yes, controlling the robot to cross the obstacle area;
s6: if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, controlling the robot to stop.
In this embodiment, the second preset distance is 0.2 m; and when the distance from the obstacle area to the robot is detected to be less than 0.2m, the robot main control module controls the robot to stop.
In the embodiment, in the process from the obstacle area to the robot by 0.5-0.2m, whether the robot can cross the obstacle area is judged, if the robot can cross the obstacle area, the robot is directly controlled to cross the obstacle area without stopping, and if the robot cannot cross the obstacle area, the robot is stopped again, so that the number of times of stopping the robot is reduced, and the operation efficiency is improved.
Step S6 is to stop the robot, and then further includes:
s7: detecting a passable area beside the obstacle area;
the passable area is a passable area which is beside the barrier area and can pass by the barrier area, and comprises areas which can pass by barriers or ground depressions on the left side and the right side of the barrier area;
as shown in fig. 2, in the present embodiment, both the passable area 1 and the passable area 2 are the passable areas detected.
S8: acquiring size parameter information of a passable area, and performing comparative analysis on the size parameter information and the parameter information of the robot body;
it should be noted that, as shown in fig. 2, in this embodiment, the size parameter information of the passable area includes: passable maximum horizontal width information; the robot body parameter information comprises robot body horizontal maximum width information;
s9: judging whether the robot can pass through the passable area or not;
s10: if the judgment result is yes, controlling the robot to pass through the passable area;
s11: if not, the robot is controlled to send out an alarm signal.
Specifically, the size parameter information of the passable area is horizontal width information of the passable area; in the embodiment, when the width of the passable area beside the obstacle area is enough for the robot to pass through, the robot is controlled to turn, and then accurately bypasses the obstacle area; if the area beside the obstacle area is not enough to ensure the robot to pass; the robot issues an audible and visual alarm.
In this embodiment, the alarm signal is an audible and visual alarm of the robot body.
The embodiment of the present invention further provides an obstacle avoidance system for a robot, including: the robot, the inside host system that sets up of robot, robot externally mounted have a plurality of ultrasonic sensor and a plurality of degree of depth camera.
The ultrasonic sensor and the depth camera are used for detecting an obstacle area in real time;
the ultrasonic sensor and the depth camera are also used for detecting the distance from the obstacle area to the robot;
when the distance from the obstacle area to the robot is smaller than a first preset distance, the main control module controls the robot to decelerate;
the main control module is also used for acquiring the size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body and judging whether the robot can cross the obstacle area or not;
if yes, the main control module controls the robot to cross an obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, the main control module controls the robot to stop.
In this embodiment, the obstacle avoidance system further includes an alarm module;
the ultrasonic sensor and the depth camera are also used for detecting a passable area beside the obstacle area;
the main control module is also used for acquiring the size parameter information of the passable area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can pass through the passable area;
if so, the main control module controls the robot to pass through the passable area; and if not, the main control module controls the robot alarm module to send out an alarm signal.
In this embodiment, the barrier area includes a barrier area and a ground depression area; the ultrasonic sensor is used for detecting an obstacle area, and the depth sensor is used for detecting a bottom surface depression area.
In this embodiment, the acquiring the size parameter information of the obstacle area specifically includes:
the main control module acquires depth data of the obstacle area acquired by the depth camera, performs feature point extraction on the depth data, and acquires size parameter information based on feature point information.
In the invention, when the robot cannot cross the obstacle area, the passable area around the obstacle area is detected, and whether the robot can pass by the obstacle is judged; if not, an alarm is sent out; the invention provides a plurality of obstacle avoidance modes based on actual conditions, and improves the intellectualization of obstacle avoidance.
According to the invention, through the cooperative detection of the ultrasonic sensor and the depth camera, on one hand, the directions of various obstacle areas can be accurately detected, and on the other hand, the size parameter information of the obstacle areas can be accurately judged; the accuracy of robot obstacle area identification is improved, and the reliability of robot obstacle avoidance is further improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A robot obstacle avoidance method is characterized by comprising the following steps:
detecting an obstacle area in real time;
when the distance from the obstacle area to the robot is detected to be smaller than a first preset distance, controlling the robot to slow down;
acquiring size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can cross the obstacle area;
if yes, controlling the robot to cross the obstacle area; if not, when the distance from the obstacle area to the robot is smaller than a second preset distance, the robot is controlled to stop.
2. The robot obstacle avoidance method according to claim 1, wherein after the control robot stops, the method further comprises:
detecting a passable area beside the obstacle area;
acquiring size parameter information of a passable area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can pass through the passable area;
if so, controlling the robot to pass through the passable area; if not, the robot is controlled to send out an alarm signal.
3. A robot obstacle avoidance method according to claim 1, wherein the obstacle area includes an obstacle area and a ground depression area.
4. The robot obstacle avoidance method according to claim 3, wherein when the obstacle area is an obstacle area, the obtaining of the size parameter information of the obstacle area, the comparing and analyzing with the robot body parameter information, and the judging whether the robot can cross the obstacle area specifically comprises:
obtaining size parameter information of an obstacle, wherein the size parameter information comprises: height information and horizontal width information of the obstacle;
comparing and analyzing the size parameter information of the barrier with the parameter information of a robot body, wherein the parameter information of the robot body comprises the height information of a chassis of the robot and the horizontal width information between a left wheel hub and a right wheel hub;
judging whether the robot can cross the obstacle: if the height of the highest point of the obstacle is smaller than the height of the chassis of the robot and the horizontal width of the obstacle is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the height is positive; otherwise, judging the result is no.
5. The robot obstacle avoidance method according to claim 3, wherein when the obstacle area is a ground depression area, the obtaining of the size parameter information of the obstacle area, the comparing and analyzing with the robot body parameter information, and the judging whether the robot can cross the obstacle area specifically comprises:
obtaining size parameter information of a ground sunken area, wherein the size parameter information comprises: horizontal width information;
comparing and analyzing the size parameter information of the ground sunken area with the parameter information of a robot body, wherein the parameter information of the robot body comprises the horizontal width information between a left hub and a right hub;
judging whether the robot can cross the ground sunken area: if the horizontal width of the ground sunken area is smaller than the horizontal width between the left wheel hub and the right wheel hub of the robot, judging that the ground sunken area is a ground sunken area; otherwise, judging the result is no.
6. The robot obstacle avoidance method according to claim 1, wherein the acquiring of the size parameter information of the obstacle area specifically includes:
acquiring depth data of an obstacle area acquired by a depth camera;
and extracting feature points of the depth data, and acquiring size parameter information based on the feature point information.
7. A robot obstacle avoidance system, comprising: robot, the inside host system that sets up of robot, robot externally mounted have a plurality of ultrasonic sensor and a plurality of degree of depth camera:
the ultrasonic sensor and the depth camera are used for detecting an obstacle area in real time;
the ultrasonic sensor and the depth camera are also used for detecting the distance from the obstacle area to the robot;
when the distance from the obstacle area to the robot is smaller than a first preset distance, the main control module controls the robot to decelerate;
the main control module is also used for acquiring the size parameter information of the obstacle area, comparing and analyzing the size parameter information with the parameter information of the robot body and judging whether the robot can cross the obstacle area or not;
if yes, the main control module controls the robot to cross an obstacle area; if not, when the distance from the detected obstacle area to the robot is smaller than a second preset distance, the main control module controls the robot to stop.
8. The robot obstacle avoidance system of claim 7, further comprising an alarm module;
the ultrasonic sensor and the depth camera are also used for detecting a passable area beside the obstacle area;
the main control module is also used for acquiring the size parameter information of the passable area, comparing and analyzing the size parameter information with the parameter information of the robot body, and judging whether the robot can pass through the passable area;
if so, the main control module controls the robot to pass through the passable area; and if not, the main control module controls the robot alarm module to send out an alarm signal.
9. The robotic obstacle avoidance system of claim 7, wherein the obstacle area comprises an obstacle area and a ground depression area; the ultrasonic sensor is used for detecting an obstacle area, and the depth sensor is used for detecting a bottom surface depression area.
10. The robot obstacle avoidance system of claim 7, wherein the main control module obtaining the size parameter information of the obstacle area specifically comprises: the main control module acquires depth data of the obstacle area acquired by the depth camera, performs feature point extraction on the depth data, and acquires size parameter information based on feature point information.
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