CN114460932A - Multi-sensor mounting platform and self-walking machine surrounding environment data acquisition and obstacle avoidance method - Google Patents
Multi-sensor mounting platform and self-walking machine surrounding environment data acquisition and obstacle avoidance method Download PDFInfo
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- CN114460932A CN114460932A CN202111632409.1A CN202111632409A CN114460932A CN 114460932 A CN114460932 A CN 114460932A CN 202111632409 A CN202111632409 A CN 202111632409A CN 114460932 A CN114460932 A CN 114460932A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000013480 data collection Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a multi-sensor mounting platform and a method for acquiring surrounding environment data of a self-walking machine and avoiding obstacles, wherein the mounting platform comprises a base body connected with the machine, a sensor mounting rack is mounted on the base body, and the sensor mounting rack comprises: the first mounting bracket is used for driving the sensor to move forwards and backwards and/or the second mounting bracket is used for driving the sensor to rotate or swing. The invention provides a plurality of mounting tables capable of executing different motions, and the mounting tables are selected to be mounted according to the requirements of the sensors, so that the data collected by the self-walking machine are enriched, the integrity and diversity of the data are improved, and the data support can be better provided for the operation of the subsequent machine.
Description
Technical Field
The invention discloses a multi-sensor mounting platform and a method for acquiring data of surrounding environment of a self-walking machine and avoiding obstacles.
Background
Along with the more and more extensive of intelligence self-walking machine application and people to the more deep demand of self-walking machine intellectuality, the work that self-walking machine need be accomplished is more and more complicated, is applied to the sensor on the self-walking machine more and more. Some users with DIY requirements also want to add related sensors to the basic product to improve product performance. More abundant sensor types can acquire more working conditions and environmental data, help products to make a decision in work, improve the integrity and diversity of acquired information by using the sensors, and are also important to consider.
Disclosure of Invention
Aiming at the technical problems, the invention provides a multi-sensor mounting platform and a self-walking machine surrounding environment data acquisition and obstacle avoidance method, which provide a plurality of mounting tables capable of executing different movements, select a proper mounting table for mounting according to the requirements of sensors, enrich the data acquired by the self-walking machine, improve the integrity and diversity of the data, and better provide data support for the operation of subsequent machines.
In order to achieve the technical purpose, the invention adopts the following technical means:
a multi-sensor mounting platform is arranged on a self-walking machine and comprises a base body connected with the machine, a sensor mounting rack is arranged on the base body and comprises a first mounting bracket and a second mounting bracket,
the first mounting bracket is used for driving the sensor to move back and forth and/or rotate;
the second mounting bracket is used for driving the sensor to move up and down and/or rotate.
The first mounting bracket and the second mounting bracket have at least one common power source.
The motion of the sensor in the front-back direction on the first mounting bracket and the motion of the sensor in the up-down direction on the second mounting bracket are carried out simultaneously.
The bottom of the seat body is provided with an installation cavity, a linear driving assembly is arranged in the installation cavity, and the linear driving assembly is connected with the first installation support and used for driving the first installation support to move along the front-back direction of the machine; and a first sensor is arranged on the first mounting bracket.
The first mounting bracket includes:
the bracket comprises a first bracket main body and a first mounting table arranged at the upper end of the first bracket main body;
the seat body is provided with a first mounting groove;
the bottom of the first support main body penetrates through the first mounting groove to be connected with the linear driving assembly in the mounting cavity;
the linear driving assembly comprises a motor, a screw rod and a sliding table, wherein the output end of the motor is connected with the screw rod, and the sliding table is in threaded connection with the screw rod;
the second installing support sets up on the pedestal and be located the lateral part of first installing support includes: the second mounting bracket main body is of a rod-shaped structure and the hinge rod;
the pedestal is provided with a second mounting groove, wherein the bottom of the second mounting bracket main body is hinged to the inner wall of the second mounting groove, one end of the hinge rod is hinged to the second mounting bracket main body, the other end of the hinge rod is hinged to the sliding table, and the sliding table drives the second mounting bracket main body to move up and down and/or rotate when moving.
The slide table includes:
a sliding table main body, and disposed on the sliding table main body:
the mounting table is used for being connected with a connecting seat at the bottom of the first mounting bracket, the hinged seat is used for being hinged with the second mounting bracket main body, the screw rod connecting sleeve is used for being in threaded connection with a screw rod, and the sliding sleeve is used for being in sliding connection with the guide rod.
The pedestal is split type structure, includes:
the first mounting groove and the second mounting groove are both arranged on the seat plate;
the connecting seat sets up in the bedplate bottom, includes:
the connecting device comprises connecting feet, a shaft sleeve and a limiting shoulder, wherein the connecting feet are detachably connected with the top of the machine;
the shaft sleeve is used for sleeving the screw rod and the guide rod;
and a limiting groove is formed between the limiting shoulder and the seat plate, and limiting bulges which can slide and are clamped in the limiting groove are arranged at two ends of the sliding table main body.
The shaft sleeve is a cylindrical protrusion protruding from the inner wall of the connecting seat, a horn mouth is formed in the side wall of the shaft sleeve, and the end parts of the screw rod and the guide rod are embedded into the shaft sleeve through the horn mouth to realize installation and connection.
A first driver is arranged on one side of a first mounting table at the upper end of the first support main body, the output end of the first driver is provided with the first sensor, and the first sensor can be driven by the first driver to rotate;
the end part of the second mounting bracket main body is provided with a second driver, the output end of the second driver is connected with a movable platform, the movable platform is provided with a second sensor, and the second sensor can be driven by the second driver to rotate.
Still include the safety cover, the safety cover cladding is in on the pedestal for the sensor of protection setting on the pedestal, the safety cover uses transparent material to make at least at sensor detection range part.
The invention further discloses a self-walking machine surrounding environment data acquisition method, based on the multi-sensor mounting platform, a second sensor for detecting distance is mounted on a second mounting bracket, and the method comprises the following steps:
the machine sequentially performs steering operation at the same interval angle, after the machine steers each time, data acquisition is started, the acquisition direction is changed by the second sensor under the drive of the second mounting bracket, and the environmental data of a complete obstacle in the front of the machine is acquired; after the swing acquisition action of the second sensor is finished, the machine executes the next steering operation; after the machine turns for a circle, acquiring environment data of obstacles around the machine for a circle, and after the acquisition action is finished, acquiring complete data of the environment around the machine;
the second sensor acquires a direction which changes in a vertical plane.
The second sensor is an ultrasonic sensor or a laser sensor, and the environment data is information of the width and height of a complete obstacle in the surrounding environment and the distance from the machine.
Ambient data collection is enabled when any one or more of the following three conditions are met:
the first condition is as follows: when the machine detects the presence of an obstacle around;
and a second condition: when the machine runs into a peripheral area in a GPS map, the peripheral area is an area in a specified range around a week of buildings, trees and obstacles in the map;
and (3) carrying out a third condition: the user manually starts through the terminal, app or control panel.
The invention further discloses a self-walking machine obstacle avoidance method, based on the multi-sensor mounting platform, a first sensor used for collecting images is mounted on the first mounting bracket, and a second sensor used for detecting distance is mounted on the second mounting bracket, and the method comprises the following steps:
the conditions that are met are any one or more of the following conditions:
a. the machine enters a surrounding area identified in the GPS map, wherein the surrounding area is an area in a specified range around a week of buildings, trees and obstacles in the map;
b. the second sensor detects that an obstacle exists in a certain threshold distance range around the second sensor;
and 2, the first sensor moves forward under the drive of the first mounting bracket, and the second sensor swings forward and downward by a certain angle under the drive of the second mounting bracket.
And the step 1 and the step 2 are circularly operated.
The first sensor is a camera, and the second sensor is a laser sensor or an ultrasonic sensor.
Has the advantages that:
the multi-sensor mounting platform mounted on the self-walking machine can enable the sensor to move back and forth in the walking direction of the self-walking machine and enable the angle of the sensor to be adjustable on the vertical plane in the walking direction of the self-walking machine, so that collected data are enriched, the integrity and diversity of the data are improved, and data support can be better provided for the operation of subsequent machines.
Drawings
FIG. 1 is a schematic view of an attachment platform and machine installation;
FIG. 2 is a perspective view of a mounting base;
FIG. 3 is a perspective view of a second specific structure of the mounting base;
FIG. 4 is a bottom structure of the seat body;
FIG. 5 is a schematic view of a connection structure of the first mounting bracket and the sliding table;
FIG. 6 is a schematic view of a first mounting bracket configuration;
FIG. 7 is a schematic view of the carriage;
FIG. 8 is a schematic view of the seat structure;
FIG. 9 is a schematic view of the bottom structure of the seat plate;
FIG. 10 is a first perspective view of a specific structure of the connecting base;
FIG. 11 is a second perspective view of the specific structure of the connecting seat;
FIG. 12 is a view showing the first and second mounting brackets after the slide table has been moved;
FIG. 13 is a structural schematic view of a second mounting bracket with multiple degrees of freedom;
FIG. 14 is a schematic view of a sensor shooting angle in a conventional self-propelled machine;
FIG. 15 is a schematic view of a camera view of the self-propelled machine sensor of the present invention as it may swing up and down;
FIG. 16 is a schematic view of varying the firing angle of a laser sensor for some short obstacles near the machine;
FIG. 17 is a schematic illustration of a machine steering operation;
FIG. 18 is a schematic view of a machine collecting ambient data;
wherein, 1, a seat body; 100. a machine; 101. a first mounting groove; 102. a second mounting groove; 103. a bottom housing; 104. a seat plate; 105. a connecting seat; 106. a connecting pin; 107. a shaft sleeve; 108. a limiting shoulder; 109. accommodating grooves;
2. a camera; 200 an additional platform;
3. a first mounting bracket; 300. an obstacle; 301. a first bracket main body; 302. a first mounting table; 303. a connecting seat; 304. a connecting projection; 305. an auxiliary sliding projection; 306. mounting holes;
4. a second mounting bracket; 400. a charging station; 401. a movable platform;
5. a sensor;
6. a sliding table; 601. a slide table main body; 602. an installation table; 603. a hinged seat; 604. a screw rod connecting sleeve; 605. a sliding sleeve; 606. a limiting bulge;
7. a power element;
8. a screw rod;
9. a guide bar;
10. a hinged lever;
11. a first driver;
12. a second driver.
Detailed Description
The technical scheme of the invention is further described in detail by combining the drawings and the specific embodiments in the specification.
Basic description: sensor attachment platform on mower launch top
The platform integrates various sensors such as a camera, ultrasonic waves and a laser radar, and can realize multi-azimuth and multi-angle scanning through a mechanical structure.
The driving motor is arranged in the platform, the screw rod is connected with the main shaft of the driving motor, and the motor drives the sliding block on the screw rod to move horizontally
The camera mounting seat is locked with the sliding block through screws and moves horizontally along with the sliding block.
The ultrasonic sensor is arranged in the middle of the camera mounting seat,
the side wall of the camera mounting seat is provided with a miniature speed reducing motor which can drive the camera to rotate 180 degrees along the shaft.
The two turning plates are assembled in holes on two sides of the upper part of the mounting platform through a shaft, and the turning plates can realize the turning function along the shaft.
The laser radar is installed on the radar mounting panel, and the laser radar mounting panel is connected through turning over the miniature gear motor axle behind the board, can realize that laser radar is around 360 rotations of axle.
The two turning plates are respectively connected with one side of the sliding block through holes at two ends of the connecting plate by a pin shaft. The turning plate and the sliding block are linked.
When the motor drives the sliding block to move back and forth, the turning plate rotates within the range of 0-90 degrees through the connecting plate.
The drawings and detailed description:
fig. 1 is a schematic view illustrating an installation state of the add-on platform 200 and the machine 100. An attachment platform 200 is mounted atop the machine 100, the attachment platform 200 including a mount 201 and a protective cover 202.
The mounting seat 201 is used for connecting the machine 100 and mounting related sensors, the protective cover 202 covers the mounting seat 201 and is used for protecting the sensors arranged on the mounting seat 201, and at least part of the protective cover 202 in a sensor detection range is made of transparent materials.
As shown in fig. 2 and fig. 3, which are specific structural schematic diagrams of the mounting base 201, the mounting base 201 includes a base body 1 and a sensor mounting bracket disposed on the base body, and the mounting bracket may be of the following types: the sensor mounting device comprises a mounting bracket capable of driving the sensor to move back and forth, a mounting bracket capable of driving the sensor to move up and down, a mounting bracket capable of driving the sensor to rotate or swing, and a mounting bracket capable of driving the sensor to move in multiple degrees of freedom.
In this embodiment, the base 1 includes a first mounting bracket 3 and a second mounting bracket 4, the first mounting bracket 3 can perform linear displacement motion and/or rotation in the horizontal plane direction, and the second mounting bracket 4 can perform up-down movement and/or rotation in the vertical plane. First installing support 3 is provided with one, and 3 both sides of first installing support are provided with a second installing support 4 respectively, install camera 2 on the first installing support 3, install any one in laser radar 5 and the ultrasonic radar on the second installing support 4 respectively.
Specifically, be provided with first mounting groove 101 and second mounting groove 102 on the pedestal 1, first installing support 3 swing joint is at first mounting groove 101 and slides along first mounting groove 101, and second installing support 4 root articulates in second mounting groove 102 and can swing for the pivot in articulated department.
The bottom of the seat body 1 is detachably connected with the top of the machine in a manner of being clamped, screwed and the like, the sensor and the related electronic components can be in data transmission with a main control component or a cloud server and the like in the machine in a wireless connection manner or a wired connection manner, and can be connected with a power supply in the machine in a manner of being plugged and the like to realize power supply, the above means are all well-known technical means in the field and are not described in detail herein,
as shown in fig. 4, the bottom of the seat body is provided with an installation cavity, the installation cavity is covered by the bottom cover 103, a power element 7 is arranged in the installation cavity, the power element 7 is a motor, the output end of the power element is connected with a screw rod 8, the screw rod 8 is in threaded connection with a sliding table 6, two sides of the screw rod 8 are also provided with guide rods 9, the sliding table 6 is in sliding connection with the guide rods 9, and the screw rod 8 rotates to drive the sliding table 6 to move along the axis of the screw rod 8.
As shown in fig. 5 to 6, the first mounting bracket 3 is connected to the sliding table, the first mounting bracket 3 includes a bracket body 301 and a first mounting table 302 disposed at an upper end of the bracket body 301, a connecting seat 303 and a connecting protrusion 304 are disposed at a lower end of the bracket body 301, and auxiliary sliding protrusions 305 are disposed at two sides of the connecting seat 303. The first mounting groove 101 includes a groove body for sliding the connection holder 303, and also includes a groove body for assisting the sliding protrusion 305 to slide. The first mounting bracket is also provided with mounting holes 306 for mounting other sensors thereon.
As shown in fig. 7, the sliding table 6 includes a sliding table main body 601, the sliding table main body 601 is provided with a mounting table 602 for connecting with the first mounting bracket 3, the sliding table main body 601 is further provided with a hinge seat 603 for connecting with the second mounting bracket 4, the sliding table main body 601 is further provided with a lead screw connecting sleeve 604 and a sliding sleeve 605, the lead screw connecting sleeve 604 is for connecting with the lead screw 8 by screw thread, and the sliding sleeve 605 is for connecting with the guide rod 9 by sliding. Two ends of the sliding table main body 601 are also provided with limiting protrusions 606. The main body of the second mounting bracket 4 is of a rod-shaped structure, the second mounting bracket 4 is also provided with a hinged seat, and the hinged rod 10 is arranged, two ends of the hinged rod 10 are respectively hinged with the hinged seat on the second mounting bracket 4 and the hinged seat 603 on the sliding table 6, and the sliding table 6 can drive the second mounting bracket to swing when moving.
As shown in fig. 8, the seat body 1 is a split structure, and includes a seat plate 104 and a connecting seat 105, and the first mounting groove 101 and the second mounting groove 102 are both disposed on the seat plate 104. The connection socket 105 is provided at the bottom of the seat plate 104. The connecting socket 105 is detachably connected to the machine 100 while connecting the seat plate 104.
A connecting foot 106, a shaft sleeve 107 and a limit shoulder 108 are arranged in the connecting seat 105, and the connecting foot 106 is used for being connected with the top of the machine. The shaft sleeve 107 is used for sleeving the screw rod 8 and the guide rod 9. The shaft sleeve 107 is a cylindrical bulge protruding from the inner wall of the connecting seat 105, the side wall of the shaft sleeve 107 is provided with a bell mouth, and the end parts of the screw rod 8 and the guide rod 9 can be embedded into the shaft sleeve 107 through the bell mouth to realize installation and connection. After the connecting seat 105 is connected with the seat plate 104, a limit groove is formed between the limit shoulder 108 and the seat plate 104, and the limit protrusion 606 is slidably inserted into the limit groove. The connecting base and the seat plate can be connected by means of a snap, a bolt, etc., and will not be described in detail herein. The connection between the connecting socket and the seat plate, the connecting socket and the machine top are omitted in the figures for clarity of illustration of the other structures.
As shown in fig. 12, the first mounting bracket 3 and the second mounting bracket 4 are moved after the slide table 6 is moved, and it can be seen that the slide table 6 is moved rearward of the machine, the first mounting bracket 3 follows the slide table 6 to move rearward of the machine, and the second mounting bracket 4 swings rearward and downward. The seat plate 104 may be provided with a receiving groove 109 for receiving the sensor 5 when the sensor 5 swings to the limit position.
As shown in fig. 13, a second mounting bracket 4 with multiple degrees of freedom is described, a first driver 11 is arranged at the side part of a first mounting table on the first mounting bracket 3, a sensor 2 is mounted at the output end of the first driver 11, and the sensor 2 can be driven by the first driver 11 to rotate; the end part of the second mounting bracket is provided with a second driver 12, the output end of the second driver 12 is connected with the movable platform 401, the sensor 5 is mounted on the movable platform 401, and the sensor 5 can be driven by the second driver 12 to rotate.
The control scheme is as follows:
as shown in fig. 14, in the conventional self-propelled machine, the sensor position is relatively fixed, and for the data acquisition device such as a camera and an ultrasonic wave, because of factors such as shooting visual angle, ultrasonic wave emission taper and the like, when the ultrasonic wave transmission device is arranged at the top of the machine, a data acquisition blind area inevitably occurs, fig. 14 illustrates a camera as an example, and it can be seen that when the camera is at the position a and the position B, the blind areas are different in size, during actual data acquisition, the camera of the machine may be required to be located more forward (to identify an object close to the machine, so as to facilitate data collection of the machine in a closer range, such as identification of an obstacle in a close range) or more rearward (to enlarge a picture-taking view angle, to improve environmental data information contained in a picture, so as to facilitate collection of environmental data of the machine in a large range, such as mapping and establishing of a work map and planning of a map traversal path) as required.
For the laser sensor, generally, the laser sensor performs obstacle judgment by emitting a laser beam and receiving the reflected laser beam, and generally, the laser sensor emits a single laser beam, and the detection range of the laser sensor is limited. Sensors that emit multiple beams of laser light (point cloud laser sensors) are prohibitively expensive.
Under the condition that the laser emission height and the laser emission angle of the laser sensor are fixed, the laser sensor cannot acquire data information for the obstacle 300 lower than and equal to the laser emission height of the laser sensor.
When the laser sensor can swing up and down, the coverage range of the laser beam can be greatly enlarged, and the integrity of data acquisition is improved.
For some short obstacles close to the machine, the obstacles close to the machine can be better identified by changing the emission angle of the laser sensor.
Based on the background and by combining the sensor additional platform in the scheme, the following machine operation modes and corresponding control modes and flows are provided.
The first mode is as follows:
and the data acquisition mode is used for acquiring data of the environment around the machine, and the acquired data is used for constructing a map of the environment around the machine. The steps for performing this mode are as follows:
1. the machine enters a data acquisition mode, and specifically, the machine can enter the data acquisition mode in an automatic or manual control mode, wherein the manual control mode is a mode for manually controlling the machine to enter, such as a control button, a terminal, an app and the like; the automatic control mode is that the machine enters when the observation data is detected to meet the conditions, for example, when the ultrasonic wave/laser sensor detects that an obstacle exists in a specified distance range, the machine enters a data acquisition mode. The prescribed distance may be set artificially, for example, 10 m.
2. The machine performs a collection action in the data collection mode, the collection action being as follows:
the machine sequentially performs steering operation at certain interval angles, as shown in fig. 17, after the machine is steered each time, a laser sensor swing acquisition action is executed, and after the laser sensor swing acquisition action is executed, the next steering operation is executed; the swing collecting action of the laser sensor is as shown in fig. 15, in the additional platform 200, the laser sensor is driven by the second mounting bracket to swing, the pitch angle changes, and data are collected. The angular interval may be artificially set, for example, 5 °. During the action of acquiring the swing of the laser sensor, the laser sensor can acquire the height data of the complete obstacles in the front laser coverage area, when the machine turns to a circle, the width data of the obstacles around the machine can be acquired, and after the acquisition action is finished, the complete data of the environment around the machine can be acquired.
The condition for the machine to enter the data collection mode is illustrated in fig. 18, where the condition for the machine to use laser data as the operation data is that there are enough obstacles in a certain distance range around the machine, and the machine can collect enough laser data for decision of operation action. When the surrounding environment of the machine is spacious, the machine cannot use the laser data as the decision of the operation action. Therefore, in the map building process, when the machine runs into the area 700 around the house 500 or the area 700 around the obstacle 600 in the working map, the machine can acquire a data acquisition mode, acquire laser data and construct map information as reference data for the subsequent running of the machine. In the using process, for a machine with a GPS (global positioning system) constructed map, a surrounding area 700 can be set around an obstacle in the constructed map, and when the machine enters the area, a data acquisition mode is started to acquire laser data for the machine and construct a laser information map. The surrounding area 700 may also be identified in a map interface displayed in the user terminal or app, providing a prompt for the user to initiate a data collection mode when the machine enters the surrounding area 700. The action is only needed to be executed for the first time, and the action decision can be made by utilizing the laser data in the subsequent machine operation process.
And a second mode:
and in the obstacle avoidance mode, the emission angle of a machine laser sensor is adjusted, and the device is used for detecting obstacles close to the machine and avoiding obstacles.
The specific execution steps are as follows:
1. when the machine meets the obstacle avoidance condition, the machine enters an obstacle avoidance mode;
the conditions that are met may be any one or more of the following:
a. the machine enters the surrounding area 700 identified in the GPS map;
b. the sensors in the machine detect the presence of obstacles within a certain threshold distance around the machine, and the specific threshold distance can be set artificially, for example, 5 m.
2. In the additional platform 200, the camera module is driven by the first mounting bracket to move forward, and meanwhile, the laser sensor is driven by the second mounting bracket to swing forward and downward by a certain angle.
The above steps 1 and 2 can be operated circularly, and the smaller the threshold distance in step 1, the more the camera head moves forward in step 2, and the larger the angle of forward and downward swing of the laser sensor.
In the above mode, the obstacle in the near distance of the machine can be detected more accurately. Avoid because the blind area is too big, lead to leaking the inspection to the closely less barrier of height of the height of machine.
Claims (16)
1. A multi-sensor mounting platform is arranged on a self-walking machine and is characterized by comprising a base body connected with the machine, a sensor mounting rack is arranged on the base body and comprises a first mounting bracket and a second mounting bracket,
the first mounting bracket is used for driving the sensor to move back and forth and/or rotate;
the second mounting bracket is used for driving the sensor to move up and down and/or rotate.
2. The multi-sensor mounting platform of claim 1, wherein the first mounting bracket and the second mounting bracket have at least one power source in common.
3. The multi-sensor mounting platform of claim 1, wherein the fore-and-aft movement of the sensor on the first mounting bracket is simultaneous with the up-and-down movement of the sensor on the second mounting bracket.
4. The multi-sensor mounting platform according to any one of claims 1-3, wherein a mounting cavity is formed at the bottom of the base body, a linear driving assembly is arranged in the mounting cavity, and the linear driving assembly is connected with the first mounting bracket and used for driving the first mounting bracket to move along the front-back direction of the machine; and a first sensor is arranged on the first mounting bracket.
5. The multi-sensor mounting platform of claim 4, wherein the first mounting bracket comprises:
the bracket comprises a first bracket main body and a first mounting table arranged at the upper end of the first bracket main body;
the seat body is provided with a first mounting groove;
the bottom of the first support main body penetrates through the first mounting groove to be connected with the linear driving assembly in the mounting cavity;
the linear driving assembly comprises a motor, a screw rod and a sliding table, wherein the output end of the motor is connected with the screw rod, and the sliding table is in threaded connection with the screw rod;
the second installing support sets up on the pedestal and be located the lateral part of first installing support includes: the second mounting bracket main body is of a rod-shaped structure and the hinge rod;
the pedestal is provided with a second mounting groove, wherein the bottom of the second mounting bracket main body is hinged to the inner wall of the second mounting groove, one end of the hinge rod is hinged to the second mounting bracket main body, the other end of the hinge rod is hinged to the sliding table, and the sliding table drives the second mounting bracket main body to move up and down and/or rotate when moving.
6. The multi-sensor mounting platform of claim 5, wherein the slide table comprises:
a sliding table main body, and disposed on the sliding table main body:
the mounting table is used for being connected with a connecting seat at the bottom of the first mounting bracket, the hinged seat is used for being hinged with the second mounting bracket main body, the screw rod connecting sleeve is used for being in threaded connection with a screw rod, and the sliding sleeve is used for being in sliding connection with the guide rod.
7. The multi-sensor mounting platform of claim 6, wherein the base is a split structure comprising:
the first mounting groove and the second mounting groove are both arranged on the seat plate;
the connecting seat sets up in the bedplate bottom, includes:
the connecting device comprises connecting feet, a shaft sleeve and a limiting shoulder, wherein the connecting feet are detachably connected with the top of the machine;
the shaft sleeve is used for sleeving the screw rod and the guide rod;
and a limiting groove is formed between the limiting shoulder and the seat plate, and limiting bulges which can slide and are clamped in the limiting groove are arranged at two ends of the sliding table main body.
8. The multi-sensor mounting platform according to claim 7, wherein the shaft sleeve is a cylindrical protrusion protruding from the inner wall of the connecting seat, the side wall of the shaft sleeve is provided with a bell mouth, and the ends of the lead screw and the guide rod are embedded into the shaft sleeve through the bell mouth to realize mounting connection.
9. The multi-sensor mounting platform of claim 5, wherein a first driver is provided at one side of the first mounting platform at the upper end of the first bracket body, the first sensor is mounted at the output end of the first driver, and the first sensor can be driven by the first driver to rotate;
the end part of the second mounting bracket main body is provided with a second driver, the output end of the second driver is connected with a movable platform, the movable platform is provided with a second sensor, and the second sensor can be driven by the second driver to rotate.
10. The multi-sensor mounting platform according to any one of claims 1-9, further comprising a protective cover covering the base for protecting the sensor mounted on the base, wherein at least a portion of the protective cover within the detection range of the sensor is made of a transparent material.
11. A method for collecting data on the surrounding environment of a self-propelled machine, based on the multi-sensor mounting platform as claimed in any one of claims 1 to 10, wherein a second sensor for detecting a distance is mounted on a second mounting bracket, the method comprising the steps of:
the machine sequentially performs steering operation at the same interval angle, after the machine steers each time, data acquisition is started, the acquisition direction is changed by the second sensor under the drive of the second mounting bracket, and the environmental data of a complete obstacle in the front of the machine is acquired; after the swing acquisition action of the second sensor is finished, the machine executes the next steering operation; after the machine turns for a circle, acquiring environment data of obstacles around the machine for a circle, and after the acquisition action is finished, acquiring complete data of the environment around the machine;
the second sensor acquires a direction which changes in a vertical plane.
12. The method of claim 11, wherein the second sensor is an ultrasonic sensor or a laser sensor, and the environmental data is information about the width, height, and distance to the machine of a complete obstacle in the surrounding environment.
13. The self-propelled machine ambient data collection method of claim 11,
ambient data collection is enabled when any one or more of the following three conditions are met:
the first condition is as follows: when the machine detects the presence of an obstacle around;
and a second condition: when the machine runs into a peripheral area in a GPS map, the peripheral area is an area in a specified range around a week of buildings, trees and obstacles in the map;
and (3) carrying out a third condition: the user manually starts through the terminal, app or control panel.
14. A self-walking machine obstacle avoidance method is based on the multi-sensor mounting platform of any one of claims 1-10, wherein a first sensor for collecting images is mounted on a first mounting bracket, and a second sensor for detecting distance is mounted on a second mounting bracket, and the method is characterized by comprising the following steps:
step 1, when a machine meets an obstacle avoidance condition, entering an obstacle avoidance mode;
the conditions that are met are any one or more of the following conditions:
a. the machine enters a surrounding area identified in the GPS map, wherein the surrounding area is an area in a specified range around a week of buildings, trees and obstacles in the map;
b. the second sensor detects that an obstacle exists in a certain threshold distance range around the second sensor;
and 2, the first sensor moves forward under the drive of the first mounting bracket, and the second sensor swings forward and downward by a certain angle under the drive of the second mounting bracket.
15. The self-walking machine obstacle avoidance method according to claim 14,
and the step 1 and the step 2 are circularly operated.
16. The self-propelled machine obstacle avoidance method of claim 14, wherein the first sensor is a camera and the second sensor is a laser sensor or an ultrasonic sensor.
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