CN114237231A - Robot anti-collision motion control method, system and computer - Google Patents
Robot anti-collision motion control method, system and computer Download PDFInfo
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Abstract
The invention relates to a robot anti-collision motion control method, a system and a computer, wherein the method comprises the steps of obtaining the current positioning information of a robot, and planning a first driving path for avoiding a fixed obstacle by combining the current map information; acquiring ultrasonic information in real time through an ultrasonic device, and calculating the distance between the robot and a moving or sudden obstacle; determining whether to trigger an obstacle avoidance mechanism according to the distance, and controlling the robot to stop running or to bypass the movement or run by a sudden obstacle under the condition of triggering the obstacle avoidance mechanism; when the robot runs around a moving or sudden obstacle, acquiring the information of the anti-collision strip, and judging whether the robot collides with the moving or sudden obstacle; and when the robot is judged to collide with a moving or sudden obstacle, controlling the robot to carry out obstacle avoidance processing. The invention can effectively detect fixed obstacles and moving or sudden obstacles and implement anti-collision measures, thereby effectively avoiding the robot from colliding.
Description
Technical Field
The invention relates to the field of robot anti-collision, in particular to a robot anti-collision motion control method, a system and a computer.
Background
The transformer substation is an important area for power grid transmission, inspection of equipment of the transformer substation is important work for guaranteeing power utilization safety, at present, manual inspection and manual recording modes are generally adopted, along with the development of economy in China, power consumption is continuously increased, the scale and the number of the transformer substation are increased, and therefore the inspection range and the workload of workers are sharply enlarged. With the development and maturity of the robot technology, the robot can be used for polling related equipment, and the robot is applied to a plurality of substations at present.
The intelligent inspection robot of the transformer substation is applied to a great extent, so that the defect of manual inspection is overcome, and the workload of workers is reduced. However, a large amount of electrical equipment exists in the substation, and if the robot is required to perform inspection work smoothly in the substation, obstacle avoidance processing needs to be performed on the robot. Most of the existing robots avoid obstacles and detect obstacles only according to a single ultrasonic sensor, and avoid obstacles according to ultrasonic information, wherein the sensor information is single; in addition, due to the characteristics of ultrasonic waves, if the detected object is in a proper angle, the ultrasonic sensor can obtain a correct detection result; however, if the angle of the object to be measured is deviated, the measurement result of the ultrasonic sensor includes an error, and there may be a triangle error, a specular reflection, a multiple reflection, and the like. And the single ultrasonic sensor information and the measurement error can cause the robot to fail in obstacle avoidance, so that the robot is collided and damaged.
Disclosure of Invention
The invention aims to provide a robot anti-collision motion control method, a system and a computer, which can effectively detect obstacles and implement anti-collision measures.
The technical scheme for solving the technical problems is as follows: a robot anti-collision motion control method comprises the following steps,
s1, acquiring current positioning information of the robot in real time through a positioning device installed on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining the current map information acquired in real time through a laser radar installed on the robot, and controlling the robot to drive according to the first driving path;
s2, acquiring ultrasonic information in real time by an ultrasonic device arranged on the robot in the running process of the robot, and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
s3, determining whether an obstacle avoidance mechanism is triggered or not according to the distance, and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
s4, when the robot runs around the moving or sudden obstacle, the information of the anti-collision strip arranged on the robot is acquired, and whether the robot collides with the moving or sudden obstacle is judged according to the information of the anti-collision strip;
and S5, when the robot is judged to collide with the moving or sudden obstacle, controlling the robot to carry out obstacle avoidance processing.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, four ultrasonic devices are arranged on the robot and are respectively distributed on two sides of the front end and two sides of the rear end of the robot.
Further, the determination of whether to trigger the obstacle avoidance mechanism according to the distance is specifically,
when four distances correspondingly calculated according to the ultrasonic information obtained by the four ultrasonic devices are all larger than or equal to a preset distance, the obstacle avoidance mechanism is not triggered;
and when at least one of the four distances correspondingly calculated according to the ultrasonic information acquired by the four ultrasonic devices is smaller than the preset distance, triggering the obstacle avoidance mechanism.
Further, before the robot travels around the moving or sudden obstacle, the method further comprises the step of,
acquiring current update map information based on the moving or sudden obstacle in real time by a laser radar installed on the robot;
acquiring current positioning information of the robot in real time through a positioning device installed on the robot, and planning a second driving path for the robot to avoid the fixed obstacle and the moving or sudden obstacle by combining the current updated map information;
said robot travelling around said moving or sudden obstacle is in particular,
and the robot controls the robot to run according to the second running path.
Further, the anticollision strip is equipped with two, two the anticollision strip distributes respectively to be installed both ends around the robot.
Further, the anti-collision strip comprises a rubber belt-shaped pressure-sensitive switch, and a first conductive silicone element and a second conductive silicone element which are arranged at intervals are arranged in the rubber belt-shaped pressure-sensitive switch; end pieces are arranged at two ends of the pressure-sensitive switch, switches are arranged on the two end pieces, and the switches on the two end pieces are electrically connected with the first conductive silicone element and the second conductive silicone element; the pressure sensitive switch is inserted in the strip-shaped rubber sleeve.
Further, the information of the anti-collision strip is specifically open-loop state information or closed-loop state information; the open-loop state information is used for representing that the anti-collision strip is not collided, and the closed-loop state information is used for representing that the anti-collision strip is collided.
Based on the robot anti-collision motion control method, the invention also provides a robot anti-collision motion control system.
A robot anti-collision motion control system comprises the following modules,
the positioning control module is used for acquiring current positioning information of the robot in real time through a positioning device arranged on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining current map information acquired in real time through a laser radar arranged on the robot, and controlling the robot to drive according to the first driving path;
the ultrasonic ranging module is used for acquiring ultrasonic information in real time through an ultrasonic device installed on the robot in the running process of the robot and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
the ultrasonic obstacle avoidance module is used for determining whether an obstacle avoidance mechanism is triggered or not according to the distance and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
the collision judging module is used for acquiring the information of a collision avoidance bar installed on the robot when the robot runs around the moving or sudden obstacle, and judging whether the robot collides with the moving or sudden obstacle according to the information of the collision avoidance bar;
and the collision avoidance bar obstacle avoidance module is used for controlling the robot to avoid obstacles when the robot collides with the moving or sudden obstacle.
Based on the robot anti-collision motion control method, the invention also provides a computer.
A computer comprising a processor, a memory and a computer program stored in the memory, which computer program, when executed by the processor, performs the robot anti-collision motion control method as described above.
The invention has the beneficial effects that: the invention relates to an anti-collision motion control method, system and computer of a robot, which are characterized in that anti-collision strips are additionally arranged at the front and the back of a robot body for short-distance anti-collision, and two ultrasonic sensors are respectively additionally arranged at the front and the back of the robot body for long-distance anti-collision; meanwhile, the anti-collision strips, the ultrasonic information and the positioning devices are reasonably configured, and the anti-collision strips, the ultrasonic information and the positioning information are fused, so that the robot can effectively detect fixed obstacles and moving or sudden obstacles and implement anti-collision measures, and the robot can be effectively prevented from colliding.
Drawings
Fig. 1 is a flowchart of an anti-collision motion control method of a robot according to the present invention;
FIG. 2 is a schematic view of an exploded structure of the bumper strip;
FIG. 3 is a transverse cross-sectional view of a rubber band-shaped pressure sensitive switch;
fig. 4 is a block diagram of a robot collision avoidance motion control system according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a robot anti-collision motion control method includes the following steps,
s1, acquiring current positioning information of the robot in real time through a positioning device installed on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining the current map information acquired in real time through a laser radar installed on the robot, and controlling the robot to drive according to the first driving path;
s2, acquiring ultrasonic information in real time by an ultrasonic device arranged on the robot in the running process of the robot, and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
s3, determining whether an obstacle avoidance mechanism is triggered or not according to the distance, and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
s4, when the robot runs around the moving or sudden obstacle, the information of the anti-collision strip arranged on the robot is acquired, and whether the robot collides with the moving or sudden obstacle is judged according to the information of the anti-collision strip;
and S5, when the robot is judged to collide with the moving or sudden obstacle, controlling the robot to carry out obstacle avoidance processing.
In this particular embodiment: the robot is characterized in that four ultrasonic devices are arranged on the robot, and the four ultrasonic devices are respectively distributed on two sides of the front end and two sides of the rear end of the robot, namely on the left front side, the right front side, the left rear side and the right rear side of the robot. The four ultrasonic devices can carry out obstacle distance detection in an all-around manner, and the anti-collision effect of the robot is improved.
The ultrasonic transducer emits a high frequency acoustic wave, typically 40-45KHz, which is reflected back and received when the ultrasonic wave encounters an object. The distance of the object relative to the ultrasonic sensor can be obtained by calculating the time from the emission to the return of the ultrasonic wave and multiplying the time by the propagation speed of the ultrasonic wave in the medium (344 m/s in the air).
In this particular embodiment: the determination of whether to trigger an obstacle avoidance mechanism according to the distance is specifically,
when four distances correspondingly calculated according to the ultrasonic information obtained by the four ultrasonic devices are all larger than or equal to a preset distance, the obstacle avoidance mechanism is not triggered;
and when at least one of the four distances correspondingly calculated according to the ultrasonic information acquired by the four ultrasonic devices is smaller than the preset distance, triggering the obstacle avoidance mechanism.
For example, when at least one of the four distances calculated according to the ultrasonic information acquired by the four ultrasonic devices is smaller than 80cm, the obstacle avoidance mechanism is triggered to control the robot to stop running or to run around the moving or sudden obstacle.
In this particular embodiment: before the robot drives around the moving or sudden obstacle, further comprising the step of,
acquiring current update map information based on the moving or sudden obstacle in real time by a laser radar installed on the robot;
acquiring current positioning information of the robot in real time through a positioning device installed on the robot, and planning a second driving path for the robot to avoid the fixed obstacle and the moving or sudden obstacle by combining the current updated map information;
said robot travelling around said moving or sudden obstacle is in particular,
and the robot controls the robot to run according to the second running path.
When the moving or sudden obstacle is detected, the position of the moving or sudden obstacle is determined by detecting the number of the moving or sudden obstacle, no obstacle in other directions is confirmed, obstacle avoidance and bypassing are triggered, if the obstacle exists in other directions, on-site waiting is selected, the obstacle avoidance operation is performed by selecting the obstacle-free direction during bypassing, and whether the current ultrasonic sensors of the robot detect the obstacle or not is detected in real time.
In this particular embodiment: the anti-collision strips are arranged in two numbers and are respectively distributed and installed at the front end and the rear end of the robot. The front and the rear anti-collision strips can ensure that the robot can effectively detect collision regardless of advancing or retreating.
In this particular embodiment: as shown in fig. 2 and fig. 3, the bumper strip includes a rubber belt-shaped pressure-sensitive switch 1, and a first conductive silicone element 11 and a second conductive silicone element 12 are arranged in the rubber belt-shaped pressure-sensitive switch 1 at intervals; end pieces 2 are arranged at two ends of the pressure-sensitive switch 1, switches are arranged on the two end pieces 2, and the switches on the two end pieces 2 are electrically connected with the first conductive silicone element 11 and the second conductive silicone element 12; the pressure sensitive switch 1 is inserted in the strip-shaped rubber sleeve 3.
The rubber-band-shaped pressure-sensitive switch of the crash strip is provided with two elements made of conductive silicone, which are spaced apart from each other by a specified distance. The tail end of the rubber belt-shaped pressure sensitive switch can be connected with an upper tail piece and a lower tail piece, and after the tail end of the rubber belt-shaped pressure sensitive switch is inserted into the rubber sleeve and connected with the switcher, all the components form a complete anti-collision strip.
In this particular embodiment: the information of the anti-collision strip is specifically open-loop state information or closed-loop state information; the open-loop state information is used for representing that the anti-collision strip is not collided, and the closed-loop state information is used for representing that the anti-collision strip is collided.
Based on the robot anti-collision motion control method, the invention also provides a robot anti-collision motion control system.
As shown in fig. 4, a robot anti-collision motion control system includes the following modules,
the positioning control module is used for acquiring current positioning information of the robot in real time through a positioning device arranged on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining current map information acquired in real time through a laser radar arranged on the robot, and controlling the robot to drive according to the first driving path;
the ultrasonic ranging module is used for acquiring ultrasonic information in real time through an ultrasonic device installed on the robot in the running process of the robot and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
the ultrasonic obstacle avoidance module is used for determining whether an obstacle avoidance mechanism is triggered or not according to the distance and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
the collision judging module is used for acquiring the information of a collision avoidance bar installed on the robot when the robot runs around the moving or sudden obstacle, and judging whether the robot collides with the moving or sudden obstacle according to the information of the collision avoidance bar;
and the collision avoidance bar obstacle avoidance module is used for controlling the robot to avoid obstacles when the robot collides with the moving or sudden obstacle.
In the anti-collision motion control system for a robot of the present invention, specific functions of each module refer to specific steps in the anti-collision motion control method for a robot of the present invention, and are not described herein again.
Based on the robot anti-collision motion control method, the invention also provides a computer.
A computer comprising a processor, a memory and a computer program stored in the memory, which computer program, when executed by the processor, performs the robot anti-collision motion control method as described above.
The invention relates to an anti-collision motion control method, system and computer of a robot.A front anti-collision strip and a rear anti-collision strip are added at the front and the rear of a robot body for short-distance anti-collision, and two ultrasonic sensors are respectively added at the front and the rear of the robot body for long-distance anti-collision; meanwhile, the anti-collision strips, the ultrasonic information and the positioning devices are reasonably configured, and the anti-collision strips, the ultrasonic information and the positioning information are fused, so that the robot can effectively detect fixed obstacles and moving or sudden obstacles and implement anti-collision measures, and the robot can be effectively prevented from colliding.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A robot anti-collision motion control method is characterized in that: comprises the following steps of (a) carrying out,
s1, acquiring current positioning information of the robot in real time through a positioning device installed on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining the current map information acquired in real time through a laser radar installed on the robot, and controlling the robot to drive according to the first driving path;
s2, acquiring ultrasonic information in real time by an ultrasonic device arranged on the robot in the running process of the robot, and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
s3, determining whether an obstacle avoidance mechanism is triggered or not according to the distance, and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
s4, when the robot runs around the moving or sudden obstacle, the information of the anti-collision strip arranged on the robot is acquired, and whether the robot collides with the moving or sudden obstacle is judged according to the information of the anti-collision strip;
and S5, when the robot is judged to collide with the moving or sudden obstacle, controlling the robot to carry out obstacle avoidance processing.
2. The robot collision-prevention motion control method according to claim 1, characterized in that: the robot is characterized in that four ultrasonic devices are arranged on the robot, and the four ultrasonic devices are respectively distributed on two sides of the front end and two sides of the rear end of the robot.
3. The robot collision-prevention motion control method according to claim 2, characterized in that: the determination of whether to trigger an obstacle avoidance mechanism according to the distance is specifically,
when four distances correspondingly calculated according to the ultrasonic information obtained by the four ultrasonic devices are all larger than or equal to a preset distance, the obstacle avoidance mechanism is not triggered;
and when at least one of the four distances correspondingly calculated according to the ultrasonic information acquired by the four ultrasonic devices is smaller than the preset distance, triggering the obstacle avoidance mechanism.
4. The robot anti-collision motion control method according to any one of claims 1 to 3, characterized in that: before the robot drives around the moving or sudden obstacle, further comprising the step of,
acquiring current update map information based on the moving or sudden obstacle in real time by a laser radar installed on the robot;
acquiring current positioning information of the robot in real time through a positioning device installed on the robot, and planning a second driving path for the robot to avoid the fixed obstacle and the moving or sudden obstacle by combining the current updated map information;
said robot travelling around said moving or sudden obstacle is in particular,
and the robot controls the robot to run according to the second running path.
5. The robot anti-collision motion control method according to any one of claims 1 to 3, characterized in that: the anti-collision strips are arranged in two numbers and are respectively distributed and installed at the front end and the rear end of the robot.
6. The robot anti-collision motion control method according to any one of claims 1 to 3, characterized in that: the anti-collision strip comprises a rubber belt-shaped pressure-sensitive switch (1), wherein a first conductive silicone element (11) and a second conductive silicone element (12) which are arranged at intervals are arranged in the rubber belt-shaped pressure-sensitive switch (1); end pieces (2) are arranged at two ends of the pressure-sensitive switch (1), switches are arranged on the two end pieces (2), and the switches on the two end pieces (2) are electrically connected with the first conductive silicone element (11) and the second conductive silicone element (12); the pressure-sensitive switch (1) is inserted into the strip-shaped rubber sleeve (3).
7. The robot anti-collision motion control method according to any one of claims 1 to 3, characterized in that: the information of the anti-collision strip is specifically open-loop state information or closed-loop state information; the open-loop state information is used for representing that the anti-collision strip is not collided, and the closed-loop state information is used for representing that the anti-collision strip is collided.
8. The utility model provides a robot anticollision motion control system which characterized in that: comprises the following modules which are used for realizing the functions of the system,
the positioning control module is used for acquiring current positioning information of the robot in real time through a positioning device arranged on the robot, planning a first driving path for the robot to avoid a fixed obstacle by combining current map information acquired in real time through a laser radar arranged on the robot, and controlling the robot to drive according to the first driving path;
the ultrasonic ranging module is used for acquiring ultrasonic information in real time through an ultrasonic device installed on the robot in the running process of the robot and calculating the distance between the robot and a moving or sudden obstacle according to the ultrasonic information;
the ultrasonic obstacle avoidance module is used for determining whether an obstacle avoidance mechanism is triggered or not according to the distance and controlling the robot to act under the condition of triggering the obstacle avoidance mechanism; wherein the robot action is the robot stopping travel or the robot traveling around the moving or sudden obstacle;
the collision judging module is used for acquiring the information of a collision avoidance bar installed on the robot when the robot runs around the moving or sudden obstacle, and judging whether the robot collides with the moving or sudden obstacle according to the information of the collision avoidance bar;
and the collision avoidance bar obstacle avoidance module is used for controlling the robot to avoid obstacles when the robot collides with the moving or sudden obstacle.
9. A computer, characterized by: comprising a processor, a memory and a computer program stored in the memory, which computer program, when executed by the processor, performs the robot anti-collision motion control method according to any of claims 1 to 7.
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- 2021-11-29 CN CN202111434280.3A patent/CN114237231A/en active Pending
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