CN116352756A - Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene - Google Patents
Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene Download PDFInfo
- Publication number
- CN116352756A CN116352756A CN202310153321.4A CN202310153321A CN116352756A CN 116352756 A CN116352756 A CN 116352756A CN 202310153321 A CN202310153321 A CN 202310153321A CN 116352756 A CN116352756 A CN 116352756A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- obstacle
- collision
- image capturing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 238000012360 testing method Methods 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 20
- 239000000758 substrate Substances 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 238000005286 illumination Methods 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 6
- 235000012054 meals Nutrition 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 8
- 241000282414 Homo sapiens Species 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 241000711573 Coronaviridae Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011002 quantification Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 208000025721 COVID-19 Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 206010035664 Pneumonia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010399 physical interaction Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an obstacle avoidance function detection system and method of an indoor scene intelligent service robot, wherein the detection system comprises a power supply module, an image capturing module, a force sensing module, a high-speed data acquisition module, a computer module, a fixed base, an obstacle substrate and a fence, wherein the fence encloses a collision scene test movable tool area with an outlet, a simulated obstacle arranged at the outlet of the fence is arranged on the fixed base, the obstacle substrate connected with the force sensing module is arranged on the simulated obstacle, the force sensing module is connected with the high-speed data acquisition module, and the high-speed data acquisition module and the image capturing module are both connected with the computer module; the power supply module is used for supplying power to the image capturing module, and the image capturing module monitors whether the robot collides with the simulated obstacle in real time.
Description
Technical Field
The invention relates to an obstacle avoidance function detection system and method for an intelligent service robot for indoor scenes.
Background
With the rapid development of science and technology, more and more mobile robots are applied to human society to replace human beings to complete specific work tasks, including floor sweeping robots, cleaning robots, killing robots, distribution and meal delivery robots, and the like. Particularly, in 2020, a novel global coronavirus pneumonia (COVID-19) epidemic situation is rolled, the intelligent mobile service robot plays an important role in fight against the novel coronavirus epidemic situation, and can easily finish tasks of epidemic area and public area disinfection and material distribution, so that cross infection is reduced as much as possible.
The mobile service robots are used in a wider and wider range, and the market demand is also increasing, especially, the indoor mobile robots in domestic and commercial scenes, such as sweeping robots, cleaning robots, meal delivery robots, distribution robots and the like, are required to be more autonomous and intelligent. The mobile service robot is highly autonomous and intelligent, and can efficiently sense surrounding scenes and quickly understand the scenes in a human way, so that decisions can be flexibly made. The obstacle detection and obstacle avoidance of the mobile service robot mainly relies on sensors of different types to detect surrounding scenes, and after scene information is judged, a corresponding obstacle avoidance strategy is adopted, and planning of local paths is executed to prevent the robot from damaging or destroying the robot, surrounding human bodies and scenes due to collision. In the face of various mobile service robot products on the market, how to directly determine the use safety and path planning capability of the products through the obstacle avoidance function. The robot can accurately track the path while smoothly walking, the passing rate and the functional effect of the robot in a narrow space are improved, and the walking route can be automatically planned according to the current scene condition.
Most of research and development on detection of obstacle avoidance or anti-collision functions of robots in the current industry is focused on the structure, key parts and software and hardware control systems of the robots.
For example:
1) Robot collision detection method, apparatus, detection device, and readable storage medium (cn202210314625. X) filed by fayiwei (su state) robot systems limited: a robot collision detection method, a device, detection equipment and a readable storage medium relate to the technical field of robots. The method comprises the following steps: acquiring actual torque feedback at the current moment and the current moment; obtaining target torque feedback according to the relation among the current moment, the torque feedback related information and the feedback moment, wherein the relation is obtained according to historical torque feedback waveform data of at least one historical motion period, and the torque feedback related information is used for indicating the torque feedback; and judging whether the robot collides currently or not according to the actual torque feedback and the target torque feedback. Therefore, whether the robot collides or not can be accurately detected without arranging a force sensor.
2) An anti-collision device for welding robots (CN 202121177380.8) filed by robotics intelligent equipment company, inc. In guangzhou: an anti-collision device for a welding robot, comprising: the gun tube is fixedly arranged on the manipulator and is used for welding a workpiece; the welding gun comprises a welding gun barrel, a sleeve, a storage cavity, four limiting plates and a welding rod, wherein the sleeve is fixedly arranged outside the welding gun barrel and used for protecting the welding gun barrel, the storage cavity is formed in the sleeve and used for storing the welding gun barrel, and four limiting plates used for being impacted with an external workpiece are circumferentially distributed outside the sleeve; the sleeve and the limiting plate which encircle the outside of the gun barrel can be contacted with the external workpiece, so that the gun barrel is prevented from being damaged due to the fact that the gun barrel is directly collided with the external workpiece when the gun barrel is collided with the external workpiece, the robot controller can control the robot to stop working after receiving signals, the welding gun is prevented from being damaged due to the fact that the robot continues working after being collided, and the omnibearing protection of the gun barrel is realized.
3) Robot applied by university of Guangxi and collision detection method, system and method thereof (CN 202111655419.7): a robot and a collision detection method, a system and a method thereof belong to the technical field of robot collision detection. The collision detection method and system comprise the following steps: the information acquisition module is used for acquiring three-dimensional point cloud information of objects and people in a real scene around the robot; the track planning module is used for planning the motion track of the end effector of the robot; the position acquisition module is used for acquiring the pose of each joint of the robot; the three-dimensional map building module is used for building a robot, a surrounding real scene, a three-dimensional point cloud map of a person and the like; and the collision detection module is used for detecting whether the robot end effector collides with objects and people in the surrounding real scene in the updated three-dimensional point cloud map and transmitting a detection result.
4) A mobile sweeping robot collision detection buffer device (CN 202022954486.6) applied by Shenzhen city cloud vision robot limited company: the device comprises a signal bracket, a left switch bracket, a right switch bracket and a left collision PCB, wherein the left switch bracket, the right switch bracket and the left collision PCB are respectively arranged at the left side and the right side of the signal bracket; a damping spring piece is further arranged at the front side part of the signal bracket; the left switch bracket and the right switch bracket axially rotate through a rotating shaft; still including set up in photoelectric switch on left collision PCB board, the right collision PCB board, help that can be better removes (sweep the floor) the better collision signal that detects of robot, makes the machine make accurate judgement, helps the better cleanness of machine.
5) Robot chassis collision detection method and system (CN 202120522288.4) applied by beijing buckesi technologies limited company, etc.: comprises a chassis main body, a collision plate, a force conversion plate (9), a pressure sensor, a sensor seat and a tension spring which are arranged in front of the chassis main body; the collision plate is provided with a force conversion contact structure; the force conversion plate is fixedly connected to the chassis main body through a rotating shaft; the force conversion plate is provided with a force application contact structure; the hook-shaped arc surface structure on the sensor seat is connected with the force conversion plate through a rotating shaft; the sensor seat is provided with the sensor seat spring clamping groove and the limiting baffle at the tail end, so that the collision position of the robot chassis can be detected, and the collision force and direction can be detected.
6) Collision avoidance device for robot collision detection (CN 201921460690.3) of university of south china theoretical industry: including guiding axle support, force sensor and executor anchor clamps, guiding axle support and force sensor rigid coupling, executor anchor clamps include anchor clamps body and pneumatic chuck, are equipped with the through-hole in the anchor clamps body, and the direction of switching on of through-hole is on a parallel with from guiding axle support to force sensor's extending direction, is equipped with a plurality of springs in the through-hole, and the both ends of every spring are rigid coupling respectively in the anchor clamps body, have the contained angle respectively between a plurality of springs, and a plurality of spring middle parts are connected respectively and tie point and force sensor rigid coupling. When the pneumatic sucker collides with external equipment or a human body, the springs in the clamp body are connected with each other in a mutual mode to buffer impact force from different angles, so that the threshold value of the contact force during collision can be increased, larger buffering can be realized, a force sensor, external equipment or the human body cannot be damaged, and the safety of man-machine physical interaction can be ensured.
At present, research and development of a robot obstacle avoidance or anti-collision function detection method and device in the industry are mostly focused on an obstacle avoidance or anti-collision technology and a function system of the robot, and the method is embodied in the technical field of technical development and functional design of the robot, and rarely relates to a detection method for evaluating the obstacle avoidance function of the robot in a third-party laboratory.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an obstacle avoidance function detection system of an intelligent service robot for an indoor scene, which is used for evaluating the obstacle avoidance capability of the robot by detecting the distance or collision strength between the robot and an obstacle, and a method for evaluating the obstacle avoidance function of the robot in a third-party laboratory.
The utility model provides an indoor scene intelligent service robot keeps away barrier function detecting system, includes power supply module, image capturing module, dynamics sensing module, high-speed data acquisition module, computer module, fixed base, obstacle base plate and rail, the rail encloses into the collision scene test activity frock district that has the export, install the simulation barrier of setting in the export of rail on the fixed base, set up on the simulation barrier with the dynamics sensing module is connected the obstacle base plate, dynamics sensing module connects high-speed data acquisition module, high-speed data acquisition module with the image capturing module all is connected computer module;
the power supply module is used for supplying power to the image capturing module, the image capturing module monitors whether the robot collides with the simulated obstacle in real time,
the robot does not collide with the simulated obstacle: capturing real-time position information of the robot and the simulated obstacle through the image capturing module, and acquiring the shortest distance between the robot and the simulated obstacle, namely the minimum obstacle avoidance distance through the computer module;
the robot collides with the simulated obstacle: and the force sensing module and the high-speed data acquisition module are used for monitoring and recording the collision force change instantaneous value and the maximum collision force value of the robot and the simulated obstacle in the collision process.
The invention also has the following preferred designs:
the image capturing module is arranged above the simulated obstacle.
The invention also comprises a dimming module which is arranged above the analog obstacle and is provided with a single-path light source controller for controlling the illumination intensity of the dimming module, and the dimming module can be arranged around the image capturing module and is used for test light supplement.
The image capturing module and the dimming module are arranged on the height-adjustable supporting rod, and the adjustable supporting rod is fixedly connected to the fixed base, wherein the adjustable supporting rod can be provided with mounting holes with different heights, so that the image capturing module and the dimming module can be conveniently arranged at different heights.
According to the invention, the collision scene test movable tool area in front of the simulated obstacle is provided with the horizontal scale marks, the scale marks are shot by the image capturing module, so that the distance between the robot to be tested and the simulated obstacle can be conveniently and quickly obtained, and the minimum graduation of the scale marks can be 1mm so as to meet the minimum safety distance quantification test requirement before the robot collides with the simulated obstacle.
The detection method adopting the detection system for the obstacle avoidance function of the intelligent service robot for the indoor scene comprises the following steps:
step 1: after the power is on, the computer module is started and the monitoring software is self-checked, and then the parameters are initialized and in a test preparation state;
step 2: placing the prepared robot sample to be tested in a starting position area in a collision scene test activity tool area surrounded by the fence, and enabling the advancing direction of the robot to be tested to horizontally face the simulated obstacle;
step 3: the vertical height of the image capturing module is adjusted to match the test height of the robot to be tested, and the illumination condition is adjusted through the dimming module so that the image capturing module can clearly capture the scale line values of the collision scene test movable tool area;
step 4: setting a test robot moving path program to ensure that the robot to be tested can linearly move forward from a specified starting position area to a simulated obstacle;
step 5: starting monitoring software of the computer module for testing, and starting a robot to be tested at the same time;
step 6: and recording and storing force value data of the collision between the tested robot and the simulated obstacle and position track data of the tested robot in the testing process, and ending the test after stopping the tested robot.
The monitoring software of the computer module of the present invention comprises a computer program that performs the following processes:
acquiring the acquired data of the image capturing module and the force sensing module, analyzing and generating the minimum obstacle avoidance distance between the tested robot and the simulated obstacle when the tested robot and the simulated obstacle do not collide, and analyzing and generating the collision force between the tested robot and the simulated obstacle when the tested robot and the simulated obstacle collide, so as to obtain the maximum collision force.
The computer module of the invention also obtains the average collision force when the robot to be tested collides with the simulated obstacle:
wherein:
f, simulating the maximum stress of the obstacle by the ith collision;
n-number of times of collision with simulated obstacle;
The robot to be tested is a sweeping robot, a cleaning robot, a meal delivery robot, a logistics delivery robot, a shopping guide robot or a greeting robot.
The invention has the beneficial effects that:
1. the invention can realize the capture of real-time images of the obstacle avoidance or collision process of the robot to be tested, and evaluate the obstacle avoidance capability of the robot by detecting the distance or collision force between the robot and the simulated obstacle, thereby providing a detection method for evaluating the obstacle avoidance capability of the mobile service robot for a third-party laboratory.
2. The image capturing module can adopt the high-definition camera to measure the distance between the robot and the simulated obstacle, and the high-definition camera is fixedly arranged above the robot to capture real-time pictures in the obstacle avoidance or collision process; and a dimming module is arranged to perform auxiliary illumination so as to realize clear shooting of scale marks and quickly acquire distance information of the robot and the simulated obstacle.
3. According to the invention, the collision force between the robot and the simulated obstacle and the minimum obstacle avoidance distance are monitored and recorded in real time by adopting the force sensing module and the image capturing module, and the subsequent processing and analysis of the data are realized by the high-speed data acquisition module and the computer module, so that the manpower can be saved, the automatic detection is realized, and the detection efficiency is improved.
4. The height-adjustable support rod is used for installing and fixing the image capturing module and the dimming module, is convenient for adjusting the vertical height, and can meet the detection requirements of robots with different heights (not more than 1.5 m), such as various indoor application scene robot products of a sweeping robot, a cleaning robot, a meal delivery robot, a logistics delivery robot, a shopping guide robot or a greeting robot.
Drawings
FIG. 1 is a flow chart of an obstacle avoidance function detection method of an indoor scene intelligent service robot of the invention;
FIG. 2 is a perspective view of an obstacle avoidance function detection system of an intelligent service robot for indoor scenes;
FIG. 3 is a top view of an indoor scene intelligent service robot obstacle avoidance function detection system of the present invention;
FIG. 4 is a computer module system diagram of an indoor scene intelligent service robot obstacle avoidance function detection system of the present invention;
FIG. 5 is a block diagram of a data acquisition system consisting of an image capturing module, a dimming module, a simulated obstacle, and a force sensing module according to the present invention;
FIG. 6 is a top view of the data acquisition system and pen of FIG. 5;
fig. 7 is a perspective view of the data acquisition system of fig. 5, with an enlarged scale line.
Detailed Description
The following detailed description of the present invention is presented in conjunction with the drawings and examples to enable one of ordinary skill in the art to better understand and practice the present invention.
As shown in fig. 1 to 7, an obstacle avoidance function detection system of an indoor scene intelligent service robot comprises a power supply module 1, an image capturing module 2, a force sensing module 4b, a high-speed data acquisition module 9, a computer module 6, a fixed base 3, an obstacle substrate 4a and a fence 5, wherein the fence 5 encloses a collision scene test movable tool area with an outlet, the fixed base 3 is provided with an analog obstacle 4 arranged at the outlet of the fence 5, the analog obstacle 4 is provided with an obstacle substrate 4a connected with the force sensing module 4b, the force sensing module 4b is connected with the high-speed data acquisition module 9, and the high-speed data acquisition module 9 and the image capturing module 2 are both connected with the computer module 6;
the power supply module 1 is used for supplying power to the image capturing module 2, the image capturing module 2 monitors whether the robot collides with the simulated obstacle 4 in real time,
the robot did not collide with the simulated obstacle 4: capturing real-time position information of the robot and the simulated obstacle 4 through the image capturing module 2, and acquiring the shortest distance between the robot and the simulated obstacle 4, namely the minimum obstacle avoidance distance through the computer module 6;
the robot collides with the simulated obstacle 4: the instantaneous value and the maximum collision force value of the collision force change of the robot and the simulated obstacle 4 in the collision process are monitored and recorded through the force sensing module 4b and the high-speed data acquisition module 9.
As a preferred embodiment:
the image capturing module 2 is arranged above the simulated obstacle 4.
The detection system further comprises a dimming module 8, wherein the dimming module 8 is arranged above the simulation obstacle 4 and is provided with a single-path light source controller 8a for controlling the illumination intensity of the dimming module 8, and the dimming module 8 can be installed around the image capturing module 2 for testing light filling.
The image capturing module 2 and the dimming module 8 are mounted on the height-adjustable supporting rod 7, the adjustable supporting rod 7 is fixedly connected to the fixed base 3, and mounting holes with different heights can be formed in the adjustable supporting rod 7, so that the image capturing module 2 and the dimming module 8 can be mounted at different heights conveniently. The fixed base 3 of the embodiment comprises a vertical rigid fixed base and a fixed base simulating an obstacle 4, wherein the vertical rigid fixed base is vertical to the ground and can be placed against a solid wall or a rigid wall surface, and an adjustable supporting rod 7 is arranged on the vertical rigid fixed base; the fixed base of the simulation barrier 4 is a horizontal rigid support plate, the height of the fixed base can be set according to the height of an actual robot to be tested, a horizontal tabletop or the ground can be used as the fixed base of the simulation barrier 4, the fence 5 is also fixed on the horizontal rigid support plate, the force sensing module 4b and the barrier substrate 4a are embedded and installed in front of and behind the simulation barrier 4, and the barrier substrate 4a and the horizontal rigid support plate adopt untreated pine laminates (at least 15mm in thickness) with log colors.
The collision scene test activity tool area in front of the simulation obstacle 4 is provided with a horizontal scale mark 5a, the scale mark 5a is shot by the image capturing module 2, the distance between the robot to be tested and the simulation obstacle 4 can be conveniently and rapidly obtained, and the minimum graduation of the scale mark 5a can be 1mm so as to meet the minimum safety distance quantification test requirement before the robot collides with the simulation obstacle 4.
In this embodiment, the power supply module 1 includes an ac power source and a dc power source, the ac power source is 220V mains supply to supply power to the computer module, the dc power source includes a power adapter and a single-path light source controller 8a, the power adapter outputs a dc voltage to supply power to the image capturing module 2, the single-path light source controller 8a supplies power to the dimming module 8 and controls the illumination intensity of the dimming module 8, the optional model of the individual light source controller 8a is YS24V-1L to output a dc 24V voltage, the dimming module 8 adopts an annular white LED lamp, and the white LED lamp is installed around the image capturing module 2 by 360 °. The image capturing module 2 uploads captured image information to the computer module 6 through an Ethernet RJ45 port, and the image capturing module 2 selects a Baumer CX series industrial camera to ensure that the frame rate of the high-frame rate and excellent image quality camera is up to 1000fps, the industrial camera has an anti-seismic function, supports Windows platform software development, can realize dynamic matching of a focus and an aperture, improves the detection precision and the detection efficiency of a detection system, and is very suitable for dynamic instantaneous measurement application scenes of a mobile robot.
The force sensing module 4b selects 200N measuring range, the precision is 0.5 grade (the measuring error is less than or equal to 0.5 percent) so as to meet the collision force measuring requirement of the current indoor scene service robot (the moving speed of the robot is not more than 1m/s, and the mass is not more than 100 kg); the high-speed data acquisition module 9 selects Noevent Hess NOS-FVA200, integrates a high-speed AD and an input-output bidirectional digital interface with a composite function, and is easy to form a measurement system for specially measuring high-speed dynamic force values such as moving collision force with a sensor and analysis control software; the collision force data acquired by the force sensing module 4b are transmitted to the high-speed data acquisition module 9 through a force sensing cable 4c (EX+, EX-, SIG+, SIG-, GND ports); the mV voltage signal of the force sensing module 4b is acquired and converted into a digital signal, the sampling frequency of the high-speed data acquisition module 9 is up to 100kHz, the acquisition resolution is 24 bits, the high-speed data acquisition module communicates with the computer module 6 through the USB2.0 high-speed bus interface 9a, the maximum transmission rate is up to 480Mb/s, and the force value requirement of the computer module 6 in the moment of collision acquisition can be met. The computer module 6 is provided with a display 6a for drawing, calculating, generating a test report from the collected image data and the force sensing data, and storing the data.
The detection method adopting the detection system for the obstacle avoidance function of the intelligent service robot for the indoor scene comprises the following steps:
step 1: after power-on, the computer module 6 is started up and the monitoring software is self-checked, and the parameters are initialized and in a test preparation state;
step 2: placing the prepared robot sample to be tested in a starting position area 5b in a collision scene test activity tool area surrounded by a fence 5, and enabling the advancing direction of the robot to be tested to horizontally face against the simulated obstacle 4, wherein the robot to be tested is a sweeping robot, a cleaning robot, a meal delivery robot, a logistics delivery robot, a shopping guide robot or a greeting robot;
step 3: the vertical height of the image capturing module 2 is adjusted to match the test height of the robot to be tested, and the illumination condition is adjusted through the dimming module 8 so that the image capturing module 2 can clearly capture the values of the scale marks 5a of the collision scene test movable tool area;
step 4: setting a test robot moving path program to ensure that the robot to be tested can move straight from a specified starting position area 5b to the simulated obstacle 4;
step 5: starting the monitoring software of the computer module 6 for testing, and starting the robot to be tested;
step 6: force value data of the collision of the robot to be tested and the simulated obstacle 4 in the collision area 5c and position track data of the robot to be tested in the test process are recorded and stored, and the minimum obstacle avoidance distance L when the robot to be tested and the simulated obstacle do not collide is obtained through the position track data of the robot to be tested min After stopping the robot to be tested, the test is ended.
The monitoring software of the computer module 6 comprises a computer program that performs the following procedure:
acquiring acquired data of the image capturing module 2 and the force sensing module, analyzing and generating the minimum obstacle avoidance distance between the robot to be tested and the simulated obstacle 4 when the robot to be tested and the simulated obstacle 4 do not collide, and analyzing and generating the collision force between the robot to be tested and the simulated obstacle 4 when the robot to be tested collides with the simulated obstacle 4 to obtain the maximum collision force F max 。
The computer module 6 also obtains the average collision force when the robot under test collides with the simulated obstacle 4:
wherein:
f, simulating the maximum stress of the obstacle by the ith collision;
n-number of times of collision with simulated obstacle;
The above embodiments are merely preferred embodiments of the present invention, but they should not be construed as limiting the invention, and any modifications and improvements made on the basis of the inventive concept should fall within the scope of the invention, which is defined by the claims.
Claims (9)
1. The obstacle avoidance function detection system of the indoor scene intelligent service robot is characterized by comprising a power supply module, an image capturing module, a force sensing module, a high-speed data acquisition module, a computer module, a fixed base, an obstacle substrate and a fence, wherein the fence encloses a collision scene test movable tool area with an outlet, a simulated obstacle arranged at the outlet of the fence is arranged on the fixed base, the obstacle substrate connected with the force sensing module is arranged on the simulated obstacle, the force sensing module is connected with the high-speed data acquisition module, and the high-speed data acquisition module and the image capturing module are both connected with the computer module;
the power supply module is used for supplying power to the image capturing module, the image capturing module monitors whether the robot collides with the simulated obstacle in real time,
the robot does not collide with the simulated obstacle: capturing real-time position information of the robot and the simulated obstacle through the image capturing module, and acquiring the shortest distance between the robot and the simulated obstacle, namely the minimum obstacle avoidance distance through the computer module;
the robot collides with the simulated obstacle: and the force sensing module and the high-speed data acquisition module are used for monitoring and recording the collision force change instantaneous value and the maximum collision force value of the robot and the simulated obstacle in the collision process.
2. The indoor scene intelligent service robot obstacle avoidance function detection system of claim 1, wherein: the image capturing module is arranged above the simulated obstacle.
3. The indoor scene intelligent service robot obstacle avoidance function detection system of claim 2, wherein: the device also comprises a dimming module, wherein the dimming module is arranged above the simulation obstacle.
4. The indoor scene intelligent service robot obstacle avoidance function detection system of claim 3, wherein: the image capturing module and the dimming module are arranged on a height-adjustable supporting rod, and the adjustable supporting rod is fixedly connected to the fixed base.
5. The indoor scene intelligent service robot obstacle avoidance function detection system according to claim 4, wherein: the collision scene test activity tool area in front of the simulated obstacle is provided with horizontal scale marks.
6. A detection method using the indoor scene intelligent service robot obstacle avoidance function detection system according to any one of claims 1 to 5, comprising:
step 1: after the power is on, the computer module is started and the monitoring software is self-checked, and then the parameters are initialized and in a test preparation state;
step 2: placing the prepared robot sample to be tested in a starting position area in a collision scene test activity tool area surrounded by the fence, and enabling the advancing direction of the robot to be tested to horizontally face the simulated obstacle;
step 3: the vertical height of the image capturing module is adjusted to match the test height of the robot to be tested, and the illumination condition is adjusted through the dimming module so that the image capturing module can clearly capture the scale line values of the collision scene test movable tool area;
step 4: setting a test robot moving path program to ensure that the robot to be tested can linearly move forward from a specified starting position area to a simulated obstacle;
step 5: starting monitoring software of the computer module for testing, and starting a robot to be tested at the same time;
step 6: and recording and storing force value data of the collision between the tested robot and the simulated obstacle and position track data of the tested robot in the testing process, and ending the test after stopping the tested robot.
7. The method of claim 6, wherein the monitoring software of the computer module comprises a computer program that performs the following process:
acquiring acquisition data of the image capturing module and the force sensing module, and analyzing and generating a minimum obstacle avoidance distance between the robot to be tested and the simulated obstacle when the robot to be tested does not collide with the simulated obstacle; and analyzing and generating the collision force of the robot to be tested and the simulated obstacle when the robot to be tested collides with the simulated obstacle, so as to obtain the maximum collision force.
8. The method of claim 7, wherein the computer module further obtains an average collision force when the robot under test collides with the simulated obstacle:
wherein:
f, simulating the maximum stress of the obstacle by the ith collision;
n-number of times of collision with simulated obstacle;
9. The detection method according to claim 8, wherein the robot to be detected is a sweeping robot or a cleaning robot or a meal delivery robot or a logistics delivery robot or a shopping guide robot or a greeting robot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022114883404 | 2022-11-25 | ||
| CN202211488340 | 2022-11-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116352756A true CN116352756A (en) | 2023-06-30 |
Family
ID=86932182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310153321.4A Pending CN116352756A (en) | 2022-11-25 | 2023-02-21 | Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116352756A (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201617251D0 (en) * | 2015-10-16 | 2016-11-23 | Ford Global Tech Llc | Lane boundary detection data generation in virtual environment |
| KR101810151B1 (en) * | 2016-07-19 | 2017-12-19 | 재단법인대구경북과학기술원 | Robot mobility test system with collapse simulation |
| CN206772594U (en) * | 2016-12-14 | 2017-12-19 | 特路（北京）科技有限公司 | Automatic driving vehicle avoids the checkout area of dynamic barrier ability |
| CN107817110A (en) * | 2016-09-13 | 2018-03-20 | 现代自动车株式会社 | For the device and its control method of the driver assistance system for detecting vehicle |
| CN109079856A (en) * | 2018-10-30 | 2018-12-25 | 珠海格力智能装备有限公司 | Collision detection method and device for robot |
| CN109910057A (en) * | 2019-03-22 | 2019-06-21 | 上海电气集团股份有限公司 | The crash tests method and system of healing robot |
| CN210791052U (en) * | 2019-09-04 | 2020-06-19 | 华南理工大学 | A buffer stop for robot collision detection |
| CN112092015A (en) * | 2020-09-10 | 2020-12-18 | 中科新松有限公司 | Robot collision detection test method |
| KR102241003B1 (en) * | 2020-06-22 | 2021-04-19 | 주식회사 숨비 | Ground test system for multicopter |
| CN213688378U (en) * | 2020-11-04 | 2021-07-13 | 上海电器科学研究所（集团）有限公司 | Service robot keeps away barrier and collision force test platform |
| CN113209588A (en) * | 2021-05-31 | 2021-08-06 | 重庆文理学院 | Boxing training partner machine |
| KR20210102778A (en) * | 2020-02-12 | 2021-08-20 | 한국전자기술연구원 | Robot safety testing apparatus using dummy for contact force valuation of robot |
| CN214724383U (en) * | 2021-03-12 | 2021-11-16 | 北京布科思科技有限公司 | Robot chassis collision detection device |
| CN215272462U (en) * | 2020-12-08 | 2021-12-24 | 深圳市云视机器人有限公司 | Remove robot collision that sweeps floor and detect buffer |
| CN113916285A (en) * | 2021-09-18 | 2022-01-11 | 西京学院 | Visual detection device and detection process for washing machine roller fastening screw |
| CN215509594U (en) * | 2021-05-28 | 2022-01-14 | 广州中设机器人智能装备股份有限公司 | Anti-collision device for welding robot |
| CN114035166A (en) * | 2021-10-12 | 2022-02-11 | 威凯检测技术有限公司 | Testing arrangement of millimeter wave radar |
| CN114252286A (en) * | 2021-12-29 | 2022-03-29 | 南京科田科技有限公司 | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof |
| CN114299039A (en) * | 2021-12-30 | 2022-04-08 | 广西大学 | Robot and collision detection device and method thereof |
| CN114474076A (en) * | 2022-03-28 | 2022-05-13 | 法奥意威(苏州)机器人系统有限公司 | Robot collision detection method, device, detection equipment and readable storage medium |
| CN114791368A (en) * | 2022-06-02 | 2022-07-26 | 哈尔滨理工大学 | Wheel type multi-robot multifunctional test platform and test method |
| CN114952946A (en) * | 2022-06-28 | 2022-08-30 | 广州商学院 | Anti-collision assembly of artificial intelligent education robot |
| CN115026870A (en) * | 2022-05-24 | 2022-09-09 | 芜湖赛宝机器人产业技术研究院有限公司 | Robot safety collision performance testing device |
-
2023
- 2023-02-21 CN CN202310153321.4A patent/CN116352756A/en active Pending
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201617251D0 (en) * | 2015-10-16 | 2016-11-23 | Ford Global Tech Llc | Lane boundary detection data generation in virtual environment |
| KR101810151B1 (en) * | 2016-07-19 | 2017-12-19 | 재단법인대구경북과학기술원 | Robot mobility test system with collapse simulation |
| CN107817110A (en) * | 2016-09-13 | 2018-03-20 | 现代自动车株式会社 | For the device and its control method of the driver assistance system for detecting vehicle |
| CN206772594U (en) * | 2016-12-14 | 2017-12-19 | 特路（北京）科技有限公司 | Automatic driving vehicle avoids the checkout area of dynamic barrier ability |
| CN109079856A (en) * | 2018-10-30 | 2018-12-25 | 珠海格力智能装备有限公司 | Collision detection method and device for robot |
| CN109910057A (en) * | 2019-03-22 | 2019-06-21 | 上海电气集团股份有限公司 | The crash tests method and system of healing robot |
| CN210791052U (en) * | 2019-09-04 | 2020-06-19 | 华南理工大学 | A buffer stop for robot collision detection |
| KR20210102778A (en) * | 2020-02-12 | 2021-08-20 | 한국전자기술연구원 | Robot safety testing apparatus using dummy for contact force valuation of robot |
| KR102241003B1 (en) * | 2020-06-22 | 2021-04-19 | 주식회사 숨비 | Ground test system for multicopter |
| CN112092015A (en) * | 2020-09-10 | 2020-12-18 | 中科新松有限公司 | Robot collision detection test method |
| CN213688378U (en) * | 2020-11-04 | 2021-07-13 | 上海电器科学研究所（集团）有限公司 | Service robot keeps away barrier and collision force test platform |
| CN215272462U (en) * | 2020-12-08 | 2021-12-24 | 深圳市云视机器人有限公司 | Remove robot collision that sweeps floor and detect buffer |
| CN214724383U (en) * | 2021-03-12 | 2021-11-16 | 北京布科思科技有限公司 | Robot chassis collision detection device |
| CN215509594U (en) * | 2021-05-28 | 2022-01-14 | 广州中设机器人智能装备股份有限公司 | Anti-collision device for welding robot |
| CN113209588A (en) * | 2021-05-31 | 2021-08-06 | 重庆文理学院 | Boxing training partner machine |
| CN113916285A (en) * | 2021-09-18 | 2022-01-11 | 西京学院 | Visual detection device and detection process for washing machine roller fastening screw |
| CN114035166A (en) * | 2021-10-12 | 2022-02-11 | 威凯检测技术有限公司 | Testing arrangement of millimeter wave radar |
| CN114252286A (en) * | 2021-12-29 | 2022-03-29 | 南京科田科技有限公司 | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof |
| CN114299039A (en) * | 2021-12-30 | 2022-04-08 | 广西大学 | Robot and collision detection device and method thereof |
| CN114474076A (en) * | 2022-03-28 | 2022-05-13 | 法奥意威(苏州)机器人系统有限公司 | Robot collision detection method, device, detection equipment and readable storage medium |
| CN115026870A (en) * | 2022-05-24 | 2022-09-09 | 芜湖赛宝机器人产业技术研究院有限公司 | Robot safety collision performance testing device |
| CN114791368A (en) * | 2022-06-02 | 2022-07-26 | 哈尔滨理工大学 | Wheel type multi-robot multifunctional test platform and test method |
| CN114952946A (en) * | 2022-06-28 | 2022-08-30 | 广州商学院 | Anti-collision assembly of artificial intelligent education robot |
Non-Patent Citations (1)
| Title |
|---|
| 刘旺旺等: "天问一号探测器火星着陆自主避障技术设计与验证", 《宇航学报》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10573010B2 (en) | Measuring device | |
| US9531967B2 (en) | Dynamic range of a line scanner having a photosensitive array that provides variable exposure | |
| CN110170996B (en) | Robot rapid teaching system based on stereoscopic vision | |
| CN108860354A (en) | A kind of electric power tower climbing robot and its obstacle-detouring method | |
| CN108489361A (en) | A kind of logical only detecting system of workpiece with hole | |
| EP1221076B1 (en) | Micropositioning system | |
| CN104275547A (en) | Method for automatically switching welding parameters of manual resistance spot welding | |
| CN101750022A (en) | Sintering paving material thickness online detection method | |
| CN219633827U (en) | Obstacle avoidance function detection system of intelligent service robot for indoor scene | |
| CN105415382A (en) | Intelligent automobile body paint-spraying manipulator for automobile maintenance | |
| CN109278021A (en) | It is a kind of for grabbing the robot tool system of thin-wall case class workpiece | |
| CN116352756A (en) | Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene | |
| CN207789007U (en) | A kind of testing agency of robot work position offset | |
| CN106391493A (en) | Operating method for flexible production line based on visual inspection | |
| CN208744837U (en) | Intelligent machine arm system based on three-dimensional machine vision | |
| CN110763137A (en) | Method and device for determining product posture | |
| CN203606298U (en) | Image acquisition device for monitoring abrasion state of wooden floor | |
| CN113916133A (en) | CCD-based linear array camera and infrared ray composite tunnel crack detection system | |
| CN211696251U (en) | Concrete crack detection equipment | |
| CN116202501A (en) | Standardized construction detection system and method | |
| CN102175146B (en) | Automatic three-dimensional vision measuring system based on measuring pen with touch function | |
| CN112783076B (en) | Method and system for guiding manipulator positioning based on high-precision displacement sensor | |
| CN209632368U (en) | A kind of welding robot of ship group Vertical board support structure | |
| CN205761960U (en) | A kind of automatic spray apparatus | |
| CN203108698U (en) | Spraying system capable of automatically acquiring spraying position size |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |