CN117192618A - Obstacle detection method and obstacle avoidance control method for movement mechanism - Google Patents
Obstacle detection method and obstacle avoidance control method for movement mechanism Download PDFInfo
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Abstract
The application provides an obstacle detection method and an obstacle avoidance control method for a movement mechanism, and belongs to the technical field of obstacle avoidance detection. The obstacle detection method of the straight movement mechanism comprises the following steps: determining current characteristic thresholds of the motor corresponding to different types of obstacles; collecting the working current of the motor in real time; and determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold value. The application also provides an obstacle avoidance control method of the obstacle detection method comprising the movement mechanism. The obstacle detection method can solve the problem that the sensor detection blind area cannot effectively identify the type of the obstacle, so that the subsequent movement mechanism is damaged by collision with the obstacle or the obstacle.
Description
Technical Field
The application relates to the technical field of obstacle avoidance detection, in particular to an obstacle detection method and an obstacle avoidance control method of a movement mechanism.
Background
With the rapid development of new energy automobiles, the market of charging piles is also in rapid progress, and automatic charging robots are generated. The robot can automatically identify the position coordinates of the charging port of the vehicle in the parking space, and is linked with a motor, a mechanical arm and the like to finish actions such as automatic gun insertion, charging and the like.
In the motion process of the automatic robot, obstacles (cat and dog pets, pedestrians, scattered objects and the like) can be possibly encountered, so that the obstacles can be detected and found in time, and damage to the robot, the obstacles and the like is prevented. At present, the mainstream obstacle detection is a fusion mode of ultrasonic waves, 3D depth point clouds, AI vision and the like, but certain detection dead zones exist, so that the situation that the robot itself or the obstacle is lost due to collision caused by the fact that the obstacle cannot be effectively identified exists later.
Disclosure of Invention
An object of the first aspect of the present application is to provide an obstacle detection method for a movement mechanism, which can solve the problem that a sensor detection blind area cannot effectively identify an obstacle type, so that a subsequent movement mechanism is damaged by collision with the obstacle or the obstacle.
It is a further object of the present application to accurately determine the type of obstacle that a motion mechanism is striking.
An object of the second aspect of the present application is to provide an obstacle avoidance control method including the obstacle detection method of the above-described movement mechanism.
In particular, the present application provides a method of obstacle detection of a moving mechanism driven by a motor, the method comprising:
determining current characteristic thresholds of the motor corresponding to different types of obstacles;
collecting the working current of the motor in real time;
and determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold value.
Optionally, the current characteristic threshold is a current integration threshold, and the step of determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold includes:
performing integral operation on the working current in a plurality of preset integral time intervals to obtain corresponding integral values, wherein each preset integral time interval corresponds to one type of obstacle, and the maximum value of each preset integral time interval corresponds to the latest acquisition time of the working current;
comparing the integrated value with the current integrated threshold corresponding to the obstacle corresponding to the corresponding preset integrated time interval;
and when the integral value is larger than a target current integral threshold value, determining that the obstacle is of an obstacle type corresponding to the target current integral threshold value, wherein the target current integral threshold value is one of all the current integral threshold values.
Optionally, before the step of performing an integration operation on the working current in a plurality of preset integration time intervals and obtaining corresponding integrated values, the method further includes:
comparing the working current with a current upper limit value;
and when the working current is larger than the current upper limit value, judging that the obstacle is of an obstacle type requiring the motor to stop suddenly.
Optionally, the step of determining a current characteristic threshold for the motor corresponding to different types of obstacles comprises:
the current integration threshold D0 is determined according to the following formula:
D0＝(F+I0)*C；
wherein f=f=p, p=i0/W, I0 is a constant load working current of the motor, W is a load weight of the motor, F is an acting force of the obstacle on the motor, and C is the corresponding preset integration time interval.
Optionally, the step of determining a current characteristic threshold for the motor corresponding to different types of obstacles comprises:
calibrating a current integration limit value of the motor when contacting different types of obstacles according to an experiment;
and taking the product of the current integration limit value and a control coefficient as the current integration threshold value, wherein the control coefficient is a numerical value between 0 and 1.
Optionally, the preset integration time interval is determined according to a variation trend of the working current.
Optionally, the current characteristic threshold is a current slope threshold, and the step of determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold includes:
determining the change trend of the working current according to the comparison result of the slope of the working current and the current slope threshold;
and determining the type of the obstacle according to the change trend.
Particularly, the application also provides an obstacle avoidance control method, which comprises the obstacle detection method of the movement mechanism;
after the step of determining the type of obstacle from the characteristic of the operating current and the current characteristic threshold, it comprises:
and controlling the motor to act according to the type of the obstacle.
Optionally, the obstacle types include a primary obstacle having an elasticity or weight less than a first threshold, a secondary obstacle having a weight greater than the first threshold and less than a second threshold, and a tertiary obstacle having a weight greater than the second threshold or abrupt;
the step of controlling the motor action according to the obstacle type comprises:
when the obstacle is the primary obstacle or the secondary obstacle, controlling the motor to stop in a decelerating way;
and when the obstacle is the three-level obstacle, controlling the motor to suddenly stop.
Optionally, the step of controlling the motor to stop in a decelerating way or the step of controlling the motor to stop suddenly further comprises:
and returning to the step of collecting the working current of the motor in real time, and repeating the steps.
According to the embodiment of the application, the type of the obstacle encountered by the movement mechanism is judged by utilizing the characteristic of the working current of the motor of the movement mechanism and the corresponding current characteristic threshold value, so that the damage of the subsequent movement mechanism or the obstacle caused by collision of the obstacle due to the fact that the sensor detection blind area cannot effectively identify the type of the obstacle can be solved.
According to one embodiment of the application, each obstacle has a relative preset integration time interval and a current integration threshold value, and the type of the obstacle impacted by the motion mechanism can be accurately determined by integrating the working current in a plurality of preset integration time intervals at the same time and comparing the integrated value with the corresponding current integration threshold value.
According to one embodiment of the application, the integral value of the working current is compared with the current integral threshold value, meanwhile, the working current is also directly compared with the current upper limit value, if the working current is increased to the current upper limit value, the movement mechanism encounters a larger hard obstacle to cause the working current to be rapidly and sharply increased, and the type of the obstacle can be directly judged.
According to one embodiment of the application, the type of obstacle can be effectively resolved by identifying the slope of the operating current of the motor.
According to the embodiment of the application, different motor control strategies are carried out according to the identified obstacle types, so that the movement mechanism can timely and effectively perform corresponding actions when the movement mechanism collides with different obstacles, and mutual injury caused by collision is avoided.
The above, as well as additional objectives, advantages, and features of the present application will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present application when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
fig. 1 is a flowchart of an obstacle detection method of a movement mechanism according to an embodiment of the present application;
fig. 2 is a flowchart of an obstacle detecting method of a moving mechanism according to another embodiment of the present application;
fig. 3 is a flowchart of an obstacle detecting method of a movement mechanism according to still another embodiment of the present application;
FIG. 4 is a flow chart of a method of obstacle avoidance control according to an embodiment of the present application;
fig. 5 is a flowchart of a method of obstacle avoidance control according to another embodiment of the present application.
Detailed Description
Unless otherwise defined, all terms (including technical and scientific terms) used in the description of this embodiment have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Fig. 1 is a flowchart of an obstacle detection method of a movement mechanism according to an embodiment of the present application. The application provides an obstacle detection method of a movement mechanism, wherein the movement mechanism is driven by a motor, for example, the movement mechanism can be a movement mechanism of an automatic charging robot, the motor can be any driving motor of the movement mechanism of the automatic charging robot, for example, a driving motor for driving the automatic charging robot to move back and forth on a sliding rail, or a driving motor of a cabin door mechanism which can be opened only when a charging gun is operated, and also can be a driving motor for controlling a mechanical arm to extend out of a cabin door when the automatic charging robot reaches a charging port of a vehicle. The components driven by these motors may encounter obstacles during movement. In one embodiment, as shown in fig. 1, the obstacle detection method includes:
step S100, determining current characteristic thresholds of the motor corresponding to different types of obstacles;
step S200, collecting working current of a motor in real time;
step S300, determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold value.
The current characteristic threshold in step S100 refers to a threshold related to the operating current of the motor, and may be a current threshold, or a threshold of a processed value of the current, for example, a threshold corresponding to a value obtained by mathematical processing such as slope and integration of the current.
According to the embodiment, the type of the obstacle encountered by the movement mechanism is judged by utilizing the characteristics of the working current of the motor of the movement mechanism and the corresponding current characteristic threshold value, and the problem that the movement mechanism is damaged by collision with the obstacle or the obstacle caused by the fact that the type of the obstacle cannot be effectively identified due to the detection blind area of the sensor can be solved.
Fig. 2 is a flowchart of an obstacle detecting method of a moving mechanism according to another embodiment of the present application. As shown in fig. 2, in one embodiment, the current characteristic threshold is a current integration threshold, and step S300 includes:
step S310, performing integral operation on the working current in a plurality of preset integral time intervals to obtain corresponding integral values, wherein each preset integral time interval corresponds to one type of obstacle, and the maximum value of each preset integral time interval corresponds to the latest acquisition time of the working current;
step S320, comparing the integral value with a current integral threshold value corresponding to an obstacle corresponding to a corresponding preset integral time interval;
step S330, judging whether the integral value is larger than a target current integral threshold value, if yes, proceeding to step S340, otherwise returning to step S200;
step S340, when the integrated value is greater than the target current integration threshold, determining that the obstacle is the obstacle type corresponding to the target current integration threshold, where the target current integration threshold is one of all the current integration thresholds.
The preset integration time interval in step S310 corresponds to a sliding window of time, and the rightmost end of the sliding window on the time axis is always the latest collection time of the working current, that is, the integration is performed while collecting the working current. In one embodiment, the preset integration time interval is determined according to a trend of the operating current. This is because the trend of the operating current tends to be able to react to the type of obstacle that is impacted. The working current is acquired through the ADC or obtained from the server, and the latest numerical value in each preset integration time interval is cached.
The current integration threshold and the preset integration time interval are corresponding to the type of the obstacle. For example, the types of obstacles include primary obstacles having an elasticity or weight less than a first threshold, secondary obstacles having a weight greater than the first threshold and less than a second threshold, and tertiary obstacles having a weight greater than the second threshold or abrupt. The preset integration time intervals of the primary obstacle, the secondary obstacle and the tertiary obstacle are sequentially reduced, for example, 400ms, 200ms and 100ms can be sequentially taken, and the current integration thresholds of the primary obstacle, the secondary obstacle and the tertiary obstacle are also different.
In this embodiment, each obstacle has a preset integration time interval and a current integration threshold value, and the type of the obstacle impacted by the motion mechanism can be accurately determined by integrating the working current in a plurality of preset integration time intervals at the same time and comparing the integrated value with the corresponding current integration threshold value.
In another embodiment, as shown in fig. 2, step S310 further includes:
step S250, comparing the working current with a current upper limit value;
step S260, judging whether the working current is larger than the upper limit value of the current, if so, entering step S270, otherwise, entering step S310;
and step S270, when the working current is larger than the upper current limit value, judging that the obstacle is the type of obstacle requiring the motor to suddenly stop.
In this embodiment, the integral value of the working current is compared with the current integral threshold value, and the working current is also compared with the current upper limit value directly, if the working current is increased to the current upper limit value, it is indicated that the movement mechanism encounters a larger hard obstacle to cause the working current to be rapidly and abruptly increased, and the type of the obstacle can be directly determined.
In one embodiment, the current integration threshold D0 is determined according to the following formula:
D0＝(F+I0)*C；
wherein f=f=p, p=i0/W, I0 is a constant load operating current of the motor, W is a load weight of the motor, F is an acting force of the obstacle on the motor, and C is a corresponding preset integration time interval.
In another embodiment, the current integration threshold is obtained according to the following steps:
calibrating a current integration limit value of the motor when contacting different types of obstacles according to an experiment;
the product of the current integration limit value and the control coefficient is taken as a current integration threshold value, and the control coefficient is a value between 0 and 1.
Taking an automatic charging robot as an example, the experimental calibration process is as follows: and sequentially placing various types of obstacles in front of the automatic charging robot, and simulating corresponding obstacle collision scenes. Recording working currents of all motors of the automatic charging robot, and integrating corresponding preset integration time intervals by taking a time point at which the working currents start to change as a starting point to obtain corresponding current integration values.
The current integral value is then reduced by an appropriate value, such as some nominal value, or the current integral value is multiplied by a percentage (less than 100%) to obtain the final current integral threshold. The corresponding obstacle category can be identified earlier through the current integral threshold value obtained after the value is properly reduced, so that the movement mechanism can conservatively make emergency response, and collision injury is prevented.
Fig. 3 is a flowchart of an obstacle detecting method of a moving mechanism according to still another embodiment of the present application. In another embodiment, as shown in fig. 3, the current characteristic threshold is a current slope threshold, and step S300 includes:
step S350, determining the change trend of the working current according to the comparison result of the slope of the working current and the current slope threshold;
step S352, determining the type of the obstacle according to the change trend.
Because the change curve of the working current of the motor can show different shapes along with time when encountering different types of obstacles, for example, when encountering the first-stage obstacle, the change curve of the working current of the motor can show a wave shape, and whether the motor is in the wave shape can be identified through the identification of the slope of the working current. When encountering a secondary obstacle, the change curve of the working current rises with a certain slope at the initial stage of contact with the obstacle, then the movement mechanism pushes the obstacle to slide, and the change curve of the working current is traced to be stable, so that the trend of rising first and then being stable is generally presented. When encountering three-level barriers, the resistance of the barriers to the motor is larger, and the working current of the motor is steeply increased, namely the slope is larger.
The present embodiment can effectively distinguish the type of obstacle by identifying the slope of the operating current of the motor.
Fig. 4 is a flow chart of a method of obstacle avoidance control according to one embodiment of the present application. As shown in fig. 4, the present application further provides an obstacle avoidance control method, which includes the obstacle detection method of the movement mechanism in any of the above embodiments. In one embodiment, after step S300, the method further includes:
step S400, controlling the motor to act according to the type of the obstacle.
Fig. 5 is a flowchart of a method of obstacle avoidance control according to another embodiment of the present application. As shown in fig. 5, in one embodiment,
step S310 includes steps S312 to S316 which are simultaneously performed:
step S312, performing integral operation on the working current in a first preset integral time interval, and obtaining a corresponding integral value, wherein the first preset integral time interval corresponds to the first-stage obstacle;
step S314, performing integral operation on the working current in a second preset integral time interval, and obtaining a corresponding integral value, wherein the second preset integral time interval corresponds to the second-level obstacle;
step S316, performing an integration operation on the working current in a third preset integration time interval, and obtaining a corresponding integration value, wherein the third preset integration time interval corresponds to the three-level obstacle.
Step S320 includes:
step S322, comparing the integral value obtained in the step S312 with a first current integral threshold value, wherein the first current integral threshold value corresponds to the first-level obstacle;
step S324, comparing the integrated value obtained in step S314 with a second current integration threshold value, the second current integration threshold value corresponding to the second-level obstacle;
step S326, the integrated value obtained in step S316 is compared with a third current integration threshold value, which corresponds to the three-level obstacle.
Step S330 includes:
step S332, determining whether the integrated value obtained in step S312 is greater than the first current integration threshold, if yes, proceeding to step S410;
step S334, judging whether the integral value obtained in step S314 is larger than a second current integral threshold value, if so, proceeding to step S420;
step S336, judging whether the integral value obtained in step S316 is larger than a third current integral threshold value, if so, proceeding to step S430;
step S400 includes:
step S410, when the obstacle is the first-stage obstacle, controlling the motor to stop in a decelerating way;
step S420, when the obstacle is the secondary obstacle, controlling the motor to stop in a decelerating way;
in step S430, when the obstacle is the three-stage obstacle, the motor is controlled to stop suddenly.
Of course, the types of the obstacle are not limited to the three types of obstacle described above, and in other embodiments, there may be more types of obstacle that can be distinguished by the integration time interval and the current integration threshold.
In this embodiment, different motor control strategies are performed for the identified obstacle types, so that the movement mechanism can timely and effectively perform corresponding actions when colliding with different obstacles, so as to avoid mutual injury caused by collision.
In a further embodiment, as shown in fig. 4, step S400 is followed by a return to the step of collecting the operating current of the motor in real time, and the above steps are repeated.
In this embodiment, after the motor is controlled to perform a corresponding action according to the type of the obstacle, the step of collecting the working current is continued to be returned, then the type of the obstacle is judged, and if the corresponding type of the obstacle is detected, the motor is correspondingly controlled to perform the corresponding action, so that the movement mechanism can respond correspondingly according to the specific type of the obstacle in real time.
By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the application have been shown and described herein in detail, many other variations or modifications of the application consistent with the principles of the application may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the application. Accordingly, the scope of the present application should be understood and deemed to cover all such other variations or modifications.
Claims (10)
1. A method of detecting an obstacle in a moving mechanism, the moving mechanism being driven by a motor, the method comprising:
determining current characteristic thresholds of the motor corresponding to different types of obstacles;
collecting the working current of the motor in real time;
and determining the type of the obstacle according to the characteristic of the working current and the current characteristic threshold value.
2. The obstacle detection method of a movement mechanism according to claim 1, wherein the current characteristic threshold is a current integration threshold, and the step of determining the obstacle type from the characteristic of the operating current and the current characteristic threshold includes:
performing integral operation on the working current in a plurality of preset integral time intervals to obtain corresponding integral values, wherein each preset integral time interval corresponds to one type of obstacle, and the maximum value of each preset integral time interval corresponds to the latest acquisition time of the working current;
comparing the integrated value with the current integrated threshold corresponding to the obstacle corresponding to the corresponding preset integrated time interval;
and when the integral value is larger than a target current integral threshold value, determining that the obstacle is of an obstacle type corresponding to the target current integral threshold value, wherein the target current integral threshold value is one of all the current integral threshold values.
3. The obstacle detecting method according to claim 2, characterized in that the step of integrating the operating current over a plurality of preset integration time intervals and obtaining corresponding integrated values further comprises:
comparing the working current with a current upper limit value;
and when the working current is larger than the current upper limit value, judging that the obstacle is of an obstacle type requiring the motor to stop suddenly.
4. The obstacle detection method of a kinematic mechanism according to claim 2, characterized in that the step of determining the current characteristic threshold of the motor for different types of obstacles comprises:
the current integration threshold D0 is determined according to the following formula:
D0＝(F+I0)*C；
wherein f=f=p, p=i0/W, I0 is a constant load working current of the motor, W is a load weight of the motor, F is an acting force of the obstacle on the motor, and C is the corresponding preset integration time interval.
5. The obstacle detection method of a kinematic mechanism according to claim 2, characterized in that the step of determining the current characteristic threshold of the motor for different types of obstacles comprises:
calibrating a current integration limit value of the motor when contacting different types of obstacles according to an experiment;
and taking the product of the current integration limit value and a control coefficient as the current integration threshold value, wherein the control coefficient is a numerical value between 0 and 1.
6. The obstacle detecting method for a movement mechanism according to claim 2, wherein,
and the preset integration time interval is determined according to the change trend of the working current.
7. The obstacle detection method of a movement mechanism according to claim 1, wherein the current characteristic threshold is a current slope threshold, and the step of determining the obstacle type from the characteristic of the operating current and the current characteristic threshold includes:
determining the change trend of the working current according to the comparison result of the slope of the working current and the current slope threshold;
and determining the type of the obstacle according to the change trend.
8. An obstacle avoidance control method comprising the movement mechanism of any one of claims 1 to 7;
after the step of determining the type of obstacle from the characteristic of the operating current and the current characteristic threshold, it comprises:
and controlling the motor to act according to the type of the obstacle.
9. The obstacle avoidance control method of claim 8 wherein the obstacle types comprise primary obstacles having elasticity or weight less than a first threshold, secondary obstacles having weight greater than the first threshold and less than a second threshold, and tertiary obstacles having weight greater than the second threshold or abrupt;
the step of controlling the motor action according to the obstacle type comprises:
when the obstacle is the primary obstacle or the secondary obstacle, controlling the motor to stop in a decelerating way;
and when the obstacle is the three-level obstacle, controlling the motor to suddenly stop.
10. The obstacle avoidance control method of claim 9 wherein the step of controlling the motor to slow down to stop or the step of controlling the motor to scram further comprises:
and returning to the step of collecting the working current of the motor in real time, and repeating the steps.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311165584.3A CN117192618B (en) | 2023-09-11 | Obstacle detection method and obstacle avoidance control method for movement mechanism |
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| CN202311165584.3A CN117192618B (en) | 2023-09-11 | Obstacle detection method and obstacle avoidance control method for movement mechanism |
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| CN117192618A true CN117192618A (en) | 2023-12-08 |
| CN117192618B CN117192618B (en) | 2024-07-05 |
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