Robot obstacle-avoiding system
Technical field
The utility model relates to robotics, particularly relates to a kind of robot obstacle-avoiding system.
Background technology
Robot is a kind of device that can automatically perform task.Current robot can be widely used in the scene of entertainment.
Inventor finds under study for action, and robot may meet with barrier at any time in performance scene, will cause various problem, such as, may affect the performance process of robot, even damages robot hardware's equipment.Therefore, need to provide a kind of robot obstacle-avoiding system.
Utility model content
Based on this, be necessary to provide a kind of robot obstacle-avoiding system, robot can be made to avoid performing the barrier in environment.
A kind of robot obstacle-avoiding system, comprising:
The barrier distance-measuring equipment of robot measurement front, rear, left and right four direction obstacle distance;
The watch-dog of monitoring either direction obstacle distance whether below threshold values;
Be less than threshold values monitoring either direction obstacle distance, drive machines people is to the controller of the direction movement away from barrier, until distance barrier is greater than default safe distance;
And the mechanical movement means that robot can be made to move to any direction.
In one embodiment, described barrier distance-measuring equipment is supersonic range finder, infrared distance measurement device or laser ranging system.
In one embodiment, the described direction away from barrier is the direction in described barrier range finding contrary 180 ° of direction.
Above-mentioned robot obstacle-avoiding system, by the distance of the robot measurement all around barrier of four direction, and monitor, after distance is less than threshold values, more than drive machines people moves to safe distance to the direction away from barrier, robot just can be made to avoid performing the barrier in environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the robot obstacle-avoiding system in an embodiment.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
See Fig. 1, a kind of robot obstacle-avoiding system, comprising: the barrier distance-measuring equipment of robot measurement front, rear, left and right four direction obstacle distance; The watch-dog of monitoring either direction obstacle distance whether below threshold values; Be less than threshold values monitoring either direction obstacle distance, drive machines people is to the controller of the direction movement away from barrier, until distance barrier is greater than default safe distance; And the mechanical movement means that robot can be made to move to any direction.
Concrete, barrier distance-measuring equipment is supersonic range finder, infrared distance measurement device or laser ranging system, respectively arranges one in the front, rear, left and right of robot.
Optionally, away from the direction of barrier be the direction in described barrier range finding contrary 180 ° of direction.Foregoing threshold values example can be, but not limited to be set to 1 meter, and safe distance can be set to 5 meters.Mechanical movement means can be the various ways such as wheeled, crawler type.
Robot obstacle-avoiding system in above-described embodiment, by the distance of the robot measurement all around barrier of four direction, and monitor, after distance is less than threshold values, more than drive machines people moves to safe distance to the direction away from barrier, robot just can be made to avoid performing the barrier in environment.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.