CN116400710A - Robot and system capable of automatically avoiding obstacles - Google Patents
Robot and system capable of automatically avoiding obstacles Download PDFInfo
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- CN116400710A CN116400710A CN202310563723.1A CN202310563723A CN116400710A CN 116400710 A CN116400710 A CN 116400710A CN 202310563723 A CN202310563723 A CN 202310563723A CN 116400710 A CN116400710 A CN 116400710A
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- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 6
- 238000007689 inspection Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a robot capable of automatically avoiding obstacles and a system thereof, and relates to the technical field of robots, wherein the robot comprises a robot body, an obstacle detection sensor and a polyhedral prism, and the robot body comprises a wheel rotation speed sensor, a wheel angle sensor, an image acquisition module, a laser range finder and a course angle detector; the obstacle detection sensor is arranged on the outer side of the robot body, the ranging medium used by the laser ranging device used by the robot is fan beam laser, a plurality of light beams can be emitted to the obstacle in extremely short time, the coverage surface is wider, the judgment interference of external factors on the obstacle is reduced, the fan beam laser can cover small obstacles such as cables and the like in a certain range, the avoidance capability on the small obstacles is improved, the comparison module can monitor the distance between the robot body and radio wave transceivers on two sides to judge whether the distance deviates from the original set path, and the situation that the robot deviates from the path to collide with the obstacle can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of automatically avoiding obstacles and a system thereof.
Background
With the development of science and technology, the application of robots is also more and more extensive, especially in workshop and factory building inspection can alleviate workman's burden greatly, through retrieving, chinese patent grant number CN108136582 a's patent discloses a robot of automated inspection and evasion obstacle, this robot is according to calculation parameter and speed parameter value, calculate the velocity of movement and the direction of obstacle through control module, judge whether the obstacle can collide with the robot, when judging that the robot can collide with the obstacle, the speed that control velocity output module adjustment robot marched avoids the obstacle, thereby realize making the robot that marchs can automated inspection and evade the obstacle in moving, though this robot low cost, degree of automation is high, easily popularize, but this robot is comparatively single to the obstacle judgement, can not in time rectify when the robot moves the in-process along appointed route and take place the displacement, thereby accuracy when leading to this robot to moving is lower, and traditional robot is poor to the fine object judging ability such as cable.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot and a system capable of automatically avoiding obstacles, and solves the problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: a robot capable of automatically avoiding obstacles and a system thereof comprise a robot body, an obstacle detection sensor and a polyhedral prism, wherein the robot body comprises a wheel rotation speed sensor, a wheel angle sensor, an image acquisition module, a laser range finder and a course angle detector; the obstacle detection sensor is arranged on the outer side of the robot body and comprises a laser controller, a high-frequency main vibrator, a laser modulator, a data processing module and a signal control system, and the polyhedral prism is arranged on the top of the robot body.
Preferably, the steps are as follows:
s1: moving the robot according to an original route, controlling the mobile robot to move on a path set by an original system, monitoring the running condition in real time through a wheel rotating speed sensor, a wheel angle sensor, an obstacle detection sensor, an image acquisition module and a course angle detector in the moving process, periodically measuring the distance between the obstacle detection sensor and surrounding obstacles according to the moving speed, starting a laser controller and a data processing module in the obstacle detection sensor, and transmitting a high-frequency laser signal by a high-frequency main vibration, and transmitting pulse laser by loading a pulse signal through a laser modulator;
s2: the method comprises the steps that a transmitted high-frequency pulse laser signal is synchronously transmitted in an inner light path and an outer light path, a receiving channel I receives the pulse laser signal reflected by the inner light path, a receiving channel II receives the pulse laser signal reflected by an outer light path from a measured object through a receiving module, the outer light path is reflected by a rotating polygon prism to generate fan-beam surface light to be transmitted outwards, the pulse laser signals of the inner light path and the outer light path are judged by identifying laser feedback round trip time, the laser feedback signals transmitted by a laser range finder are judged, when the signal received by an obstacle detection sensor exceeds the upper limit of a preset measuring distance, no obstacle is detected, and the robot continues to keep the original set route to move until the laser range finder detects the obstacle;
s3: when the robot detects an obstacle in the moving process, the data processing module of the obstacle detection sensor transmits a distance signal to the signal control system, the signal control system compares the distance signal with the preset threshold distance, when the distance between the robot body and the obstacle is greater than the preset threshold distance, a control command signal is not generated, and the robot moves according to the path set by the original system;
s4: when the distance between the robot laser range finder and the obstacle fed back to the outer side of the robot body is smaller than the distance preset by the original system, the signal control system analyzes a specific operation method for avoiding the obstacle when the robot continues to move according to the moving state of the robot and the distance between the robot laser range finder and the obstacle, and meanwhile generates a control command signal, the control command signal is transmitted to the control system, and the obstacle on the moving path of the robot is avoided through the control system.
Preferably, in the fourth step, the control system controls the robot to move and execute changing of the moving path and the moving speed according to the received control command signal.
Preferably, in S1, the laser round trip time is measured to calculate a time difference between laser round trips, and the data processing unit calculates the height or distance of the object to be measured based on the measured time difference.
Preferably, the height or distance of the object to be measured is calculated through the data processing unit according to the measured time difference, the obstacle is avoided according to the measured height and distance of the obstacle, the mobile robot is controlled to bypass from one side of the obstacle through the obstacle avoidance module, and if the obstacle is large, the mobile robot re-plans a new route through the route planning module when the obstacle cannot pass.
Preferably, the system is provided with a mobile control terminal, the mobile control terminal is one or more of a mobile phone and a tablet personal computer, and the mobile control terminal is connected with the control terminal through a network.
Preferably, the outside of robot is equipped with the obstacle and detects the sensor, the obstacle detects the sensor and is provided with the multiunit, and every group all is provided with four, four groups obstacle detects the sensor and is located the robot respectively in front of, back, left and right four sides.
Preferably, the radio wave transceivers are provided with a plurality of groups, each group is provided with two radio wave transceivers, the two radio wave transceivers are respectively located at two sides of the advancing direction, the radio wave transceivers at the two sides are symmetrically distributed, the linear distance between every two adjacent groups of the radio wave transceivers is fifty meters, when the robot moves and deviates from the originally set path in the process, the distance comparison module monitors that the distances between the robot body and the radio wave transceivers at the two sides are respectively greatly different, and the position of the mobile robot is corrected by the wheel angle correction module and the robot position deviation correction module until the distances between the radio wave transceivers at the advancing directions at the two sides of the robot body and the robot body are equal.
Preferably, the robot control module is further connected with a GPS positioning system and a Beidou positioning system.
Preferably, the receiving module comprises a laser photosensitive device and an optical tele lens arranged at the receiving end of the laser photosensitive device.
The invention provides a robot capable of automatically avoiding obstacles and a system thereof. The beneficial effects are as follows:
this kind of robot and system that can avoid barrier automatically, through the combination each other of each part, the range finding medium that laser rangefinder that this robot used is fan beam laser, can be in very short time to barrier transmission multiple light beam, the coverage is wider, external factor's judgement interference to the barrier has been reduced, can cover tiny barriers such as cable in certain limit through fan beam laser, the evasion ability to tiny barriers has been improved, and the contrast module can monitor the radio wave transceiver distance judgement of robot body and both sides and deviate from original settlement route, can effectively avoid the robot to deviate from the route and hit the barrier.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic elevational view of the present invention;
FIG. 5 is a schematic diagram of a system module according to the present invention;
FIG. 6 is a flow chart of the present invention.
In the figure, 1, a robot body; 2. an obstacle detection sensor; 3. a polyhedral prism.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the embodiment of the present invention provides a technical solution: the robot capable of automatically avoiding obstacles comprises a robot body 1, an obstacle detection sensor 2 and a polyhedral prism 3, wherein the robot body 1 comprises a wheel rotation speed sensor, a wheel angle sensor, an image acquisition module, a laser range finder and a course angle detector; the obstacle detection sensor 2 is arranged on the outer side of the robot body 1, the obstacle detection sensor 2 comprises a laser controller, a high-frequency main vibrator, a laser modulator, a data processing module and a signal control system, and the polyhedral prism 3 is arranged on the top of the robot body 1.
The method comprises the following steps:
s1: moving the robot according to an original route, controlling the mobile robot to move on a path set by an original system, monitoring the running condition in real time through a wheel rotating speed sensor, a wheel angle sensor, an obstacle detection sensor 2, an image acquisition module and a course angle detector in the moving process, periodically measuring the distance between the obstacle detection sensor 2 and surrounding obstacles according to the moving speed, and after a laser controller and a data processing module in the obstacle detection sensor 2 are started, transmitting a high-frequency laser signal by a high-frequency main vibration, and transmitting pulse laser by loading a pulse signal through a laser modulator; s2: the method comprises the steps that a transmitted high-frequency pulse laser signal is synchronously transmitted in an inner light path and an outer light path, a receiving channel I receives the pulse laser signal reflected by the inner light path, a receiving channel II receives the pulse laser signal reflected by an outer light path from a measured object through a receiving module, the outer light path is reflected by a rotating polygon prism 3 to generate fan beam surface light to be transmitted outwards, the pulse laser signals of the inner light path and the outer light path are judged by identifying laser feedback round trip time, the laser feedback signals transmitted by a laser range finder are judged, when the signal received by an obstacle detection sensor 2 exceeds the upper limit of a preset measuring distance, no obstacle is detected, and the robot continues to keep moving an original set route until the laser range finder detects the obstacle; s3: when the robot detects an obstacle in the moving process, the data processing module of the obstacle detection sensor 2 transmits a distance signal to the signal control system, the signal control system compares the distance signal with the preset threshold distance, when the distance between the robot body and the obstacle is greater than the preset threshold distance, a control command signal is not generated, and the robot moves according to the path set by the original system; s4: when the distance between the robot laser range finder and the obstacle fed back to the outer side of the robot body is smaller than the distance preset by the original system, the signal control system analyzes a specific operation method for avoiding the obstacle when the robot continues to move according to the moving state of the robot and the distance between the robot laser range finder and the obstacle, and meanwhile generates a control command signal, the control command signal is transmitted to the control system, and the obstacle on the moving path of the robot is avoided through the control system.
And in the fourth step, the control system controls the robot to move and execute to change the moving path and the moving speed according to the received control command signal.
In S1, the round trip time of the laser is measured to calculate the time difference between laser round trips, and the data processing unit calculates the height or distance of the object to be measured based on the measured time difference.
And calculating the height or distance of the measured object through the data processing unit according to the measured time difference, avoiding the obstacle according to the measured height and distance of the obstacle, controlling the mobile robot to bypass from one side of the obstacle through the obstacle avoidance module, and re-planning a new route through the route planning module if the obstacle is larger and the mobile robot cannot pass.
The system is provided with a mobile control terminal, wherein the mobile control terminal is one or more of a mobile phone and a tablet personal computer, and the mobile control terminal is connected with the control terminal through a network.
The robot is externally provided with obstacle detection sensors 2, the obstacle detection sensors 2 are provided with a plurality of groups, each group is provided with four obstacle detection sensors, and the four obstacle detection sensors 2 are respectively positioned on the front side, the rear side, the left side and the right side of the robot.
The wireless wave transceivers are provided with a plurality of groups, each group is provided with two wireless wave transceivers, the two wireless wave transceivers are respectively positioned at two sides of the advancing direction, the wireless wave transceivers at the two sides are symmetrically distributed, the linear distance between every two adjacent groups of wireless wave transceivers is fifty meters, when the robot moves in the process of shifting the originally set path, the distance comparison module can monitor that the distance between the robot body 1 and the wireless wave transceivers at the two sides can be greatly different, and the position of the mobile robot is rectified through the wheel angle correction module and the robot position deviation correction module until the distance between the wireless wave transceivers at the advancing directions at the two sides of the robot body 1 and the robot body 1 is equal.
The robot control module is also connected with a GPS positioning system and a Beidou positioning system.
The receiving module comprises a laser photosensitive device and an optical tele lens arranged at the receiving end of the laser photosensitive device.
The ranging medium used by the laser ranging device for the robot is fan beam laser, multiple light beams can be emitted to the obstacle in extremely short time, the coverage area is wider, the judgment interference of external factors to the obstacle is reduced, small obstacles such as cables can be covered in a certain range through the fan beam laser, the evading capacity to the small obstacles is improved, and the comparison module can monitor the distance judgment of the radio wave transceivers of the robot body 1 and two sides to judge whether the distance deviates from the original set path or not, so that the robot can be effectively prevented from colliding with the obstacle from deviating from the path.
The invention relates to a robot body, in particular to a robot body; 2. an obstacle detection sensor; 3. the polyhedral prism is characterized in that the components are universal standard components or components known to a person skilled in the art, and the structure and the principle of the polyhedral prism are known to the person skilled in the art through technical manuals or through routine experimental methods.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. A robot capable of automatically avoiding obstacles, characterized in that: the robot comprises a robot body (1), an obstacle detection sensor (2) and a polyhedral prism (3), wherein the robot body (1) comprises a wheel rotation speed sensor, a wheel angle sensor, an image acquisition module, a laser range finder and a course angle detector; the obstacle detection sensor (2) is arranged on the outer side of the robot body (1), the obstacle detection sensor (2) comprises a laser controller, a high-frequency main vibrator, a laser modulator, a data processing module and a signal control system, and the polyhedral prism (3) is arranged on the top of the robot body (1).
2. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the method comprises the following steps:
s1: moving the robot according to an original route, controlling the mobile robot to move on a path set by an original system, monitoring the running condition in real time through a wheel rotating speed sensor, a wheel angle sensor, an obstacle detection sensor (2), an image acquisition module and a course angle detector in the moving process, periodically measuring the distance between the obstacle detection sensor (2) and surrounding obstacles according to the moving speed, and after a laser controller and a data processing module in the obstacle detection sensor (2) are started, transmitting a high-frequency laser signal by a high-frequency main vibration, and transmitting pulse laser by loading a pulse signal through a laser modulator;
s2: the method comprises the steps that a transmitted high-frequency pulse laser signal is synchronously transmitted in an inner light path and an outer light path, a receiving channel I receives the pulse laser signal reflected by the inner light path, a receiving channel II receives the pulse laser signal reflected by an outer light path from a measured object through a receiving module, the outer light path is reflected by a rotating polygon prism (3) to generate fan beam surface light to be transmitted outwards, the pulse laser signals of the inner light path and the outer light path are judged by identifying laser feedback round trip time, the laser feedback signals transmitted by a laser range finder are judged, when the signal received by an obstacle detection sensor (2) exceeds the upper limit of a preset measuring distance, no obstacle is detected, and the robot continues to keep moving an original set route until the laser range finder detects the obstacle;
s3: when the robot detects an obstacle in the moving process, the data processing module of the obstacle detection sensor (2) transmits a distance signal to the signal control system, the signal control system compares the distance signal with the preset threshold distance, when the distance between the robot body and the obstacle is larger than the preset threshold distance, a control command signal is not generated, and the robot moves according to the path set by the original system;
s4: when the distance between the robot laser range finder and the obstacle fed back to the outer side of the robot body is smaller than the distance preset by the original system, the signal control system analyzes a specific operation method for avoiding the obstacle when the robot continues to move according to the moving state of the robot and the distance between the robot laser range finder and the obstacle, and meanwhile generates a control command signal, the control command signal is transmitted to the control system, and the obstacle on the moving path of the robot is avoided through the control system.
3. A robotic system for automatically evading obstacles as recited in claim 1, wherein: and in the fourth step, the control system controls the robot to move and execute to change the moving path and the moving speed according to the received control command signal.
4. A robotic system for automatically evading obstacles as recited in claim 1, wherein: in S1, the round trip time of the laser is measured to calculate the time difference between laser round trips, and the data processing unit calculates the height or distance of the object to be measured based on the measured time difference.
5. A robotic system for automatically evading obstacles as recited in claim 4, wherein: and calculating the height or distance of the measured object through the data processing unit according to the measured time difference, avoiding the obstacle according to the measured height and distance of the obstacle, controlling the mobile robot to bypass from one side of the obstacle through the obstacle avoidance module, and re-planning a new route through the route planning module when the obstacle is larger and the mobile robot cannot pass.
6. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the system is provided with a mobile control terminal, wherein the mobile control terminal is one or more of a mobile phone and a tablet personal computer, and the mobile control terminal is connected with the control terminal through a network.
7. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the robot is provided with obstacle detection sensors (2) outside, the obstacle detection sensors (2) are provided with a plurality of groups, each group is provided with four obstacle detection sensors, and the four groups of obstacle detection sensors (2) are respectively positioned on the front side, the rear side, the left side and the right side of the robot.
8. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the wireless wave transceivers are provided with a plurality of groups, each group is provided with two wireless wave transceivers, the two wireless wave transceivers are respectively located at two sides of the advancing direction, the wireless wave transceivers at the two sides are symmetrically distributed, the linear distance between every two adjacent groups of wireless wave transceivers is fifty meters, when the robot moves in the process of shifting the originally set path, the distance comparison module can monitor that the distance between the robot body (1) and the wireless wave transceivers at the two sides is greatly different, and the position of the mobile robot is rectified through the wheel angle correction module and the robot position deviation correction module until the distance between the wireless wave transceivers at the two sides of the robot body (1) and the robot body (1) is equal.
9. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the robot control module is also connected with a GPS positioning system and a Beidou positioning system.
10. A robotic system for automatically evading obstacles as recited in claim 1, wherein: the receiving module comprises a laser photosensitive device and an optical tele lens arranged at the receiving end of the laser photosensitive device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310563723.1A CN116400710A (en) | 2023-05-18 | 2023-05-18 | Robot and system capable of automatically avoiding obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310563723.1A CN116400710A (en) | 2023-05-18 | 2023-05-18 | Robot and system capable of automatically avoiding obstacles |
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| Publication Number | Publication Date |
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| CN116400710A true CN116400710A (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310563723.1A Withdrawn CN116400710A (en) | 2023-05-18 | 2023-05-18 | Robot and system capable of automatically avoiding obstacles |
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| Country | Link |
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| CN (1) | CN116400710A (en) |
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2023
- 2023-05-18 CN CN202310563723.1A patent/CN116400710A/en not_active Withdrawn
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