CN208922121U - Robot based on infrared distance measurement - Google Patents
Robot based on infrared distance measurement Download PDFInfo
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- CN208922121U CN208922121U CN201822125804.0U CN201822125804U CN208922121U CN 208922121 U CN208922121 U CN 208922121U CN 201822125804 U CN201822125804 U CN 201822125804U CN 208922121 U CN208922121 U CN 208922121U
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Abstract
The utility model relates to robotic technology fields, disclose a kind of robot based on infrared distance measurement.The robot includes robot body, and robot body is equipped with movement mechanism and obstacle avoidance apparatus, and obstacle avoidance apparatus includes: the first infrared sensor group, the second infrared sensor group, third infrared sensor group and avoidance processing unit；Short distance barrier-avoiding method includes: the avoidance notification signal for obtaining each infrared sensor group in real time；According to the transmission end position of avoidance notification signal, the relative position of barrier and robot body is estimated, and then carry out corresponding avoidance processing.The utility model uses the multiple infrared sensors being distributed according to ad hoc fashion to combine to be detected, corresponding avoidance processing is carried out after analyzing according to the association of multiple infrared sensors, the defect that laser ranging and visual token can be made up effectively improves the accuracy of short distance avoidance judgement.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of robots based on infrared distance measurement.
Background technique
In recent years, with the fast development of AI (Artificial Intelligence, artificial intelligence) technology, intelligence
Robot using more and more extensive, intelligent robot may include sweeping robot, transfer robot, chat robots etc.,
With boundless market prospects.
Robot is during independent navigation, in order to avoid colliding with the barrier of surrounding, need to barrier into
Row avoidance.But for emergent barrier (such as pedestrian, wall) in short distance, traditional barrier-avoiding method exists
The defect of avoidance judgment accuracy difference.
Utility model content
The purpose of this utility model is to provide a kind of robots based on infrared distance measurement, overcome barrier of the existing technology
Hinder the defect of object judgment accuracy difference.
For this purpose, the utility model uses following technical scheme:
A kind of robot based on infrared distance measurement, including robot body, the robot body are equipped with movement mechanism
And obstacle avoidance apparatus, the obstacle avoidance apparatus include: the first infrared sensor group, the second infrared sensor group, third infrared sensor
Group and avoidance processing unit；
For detecting the barrier within the scope of the first avoidance distance threshold in front of the first setting area and feeding back avoidance notice
First infrared sensor group of signal is distributed in first setting area, including at least one infrared sensor；
For detecting the barrier within the scope of the second avoidance distance threshold in front of the second setting area and feeding back avoidance notice
Second infrared sensor group of signal is distributed in second setting area, including at least one infrared sensor；
For detecting the barrier within the scope of the third avoidance distance threshold in front of third setting area and feeding back avoidance notice
The third infrared sensor group of signal is distributed in third setting area；And
The avoidance processing unit of corresponding avoidance processing is carried out for the transmission end position according to the avoidance notification signal；
First setting area is located on the left of the robot body, and second setting area is located at the robot body
Front side, third setting area are located on the right side of the robot body.
Optionally, the robot body includes robot head, robot trunk and robot base interconnected；
Optionally, first setting area, the second setting area and third setting area are set to the robot head/machine simultaneously
On device people trunk/robot base.
Optionally, it is described first setting area, second setting area and third setting distinguish be set to the robot head,
In robot trunk and robot base.
Optionally, in the first infrared sensor group, the second infrared sensor group and third infrared sensor group
All infrared sensors are located at same level and using the rotation centers of the movement mechanism as the arc-shaped distribution in the center of circle.
Optionally, in the first infrared sensor group, the second infrared sensor group and third infrared sensor group
Each infrared sensor is located in different level；And in same projected horizontal face, each infrared sensor surrounds the fitness machine
The curved distribution of the rotation center of structure.
Optionally, the first avoidance distance threshold, the second avoidance distance threshold and third avoidance distance threshold are equal.
Optionally, if in same projected horizontal face, between each infrared sensor and the rotation center of the movement mechanism
Away from being not completely equivalent, then the spacing is smaller, corresponding first avoidance distance threshold/the second avoidance distance threshold/third avoidance
Distance threshold is bigger.
Compared with prior art, the utility model embodiment has the advantages that
The utility model embodiment uses the multiple infrared sensors being distributed according to ad hoc fashion to combine to be detected, root
Carrying out corresponding avoidance processing according to the association analysis of multiple infrared sensors can be more compared with traditional scheme
The defect for mending laser ranging and visual token effectively improves the accuracy of short distance avoidance judgement, guarantees the safety of robot.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure principle chart of robot provided by the embodiment of the utility model；
Fig. 2 is short distance barrier-avoiding method flow chart provided by the embodiment of the utility model；
Fig. 3 is the distribution schematic diagram of infrared sensor provided by the embodiment of the utility model.
Specific embodiment
It, below will knot to enable the purpose of utility model, feature, advantage of the utility model more obvious and understandable
The attached drawing in the utility model embodiment is closed, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the embodiments described below are only the utility model a part of the embodiment, and not all embodiment.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts all other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
Referring to Fig. 1, present embodiments providing a kind of robot, including robot body, robot body is equipped with fortune
Motivation structure, motion control unit and obstacle avoidance apparatus；Wherein, motion control unit, for carrying out motion control to movement mechanism, with
Make robot body according to Navigational Movements；
Obstacle avoidance apparatus specifically includes the first infrared sensor group, the second infrared sensing for realizing the processing of short distance avoidance
Device group, third infrared sensor group and avoidance processing unit.
First infrared sensor group is distributed in the first setting area, including at least one infrared sensor, for detecting first
It is arranged within the scope of the first avoidance distance threshold in front of area that whether there are obstacles, it is single to avoidance processing when detecting barrier
Member sends avoidance notification signal；
Second infrared sensor group is distributed in the second setting area, including at least one infrared sensor, for detecting second
It is arranged within the scope of the second avoidance distance threshold in front of area that whether there are obstacles, it is single to avoidance processing when detecting barrier
Member sends avoidance notification signal；
Third infrared sensor group is distributed in third setting area, including at least one infrared sensor, for detecting third
It is arranged within the scope of the third avoidance distance threshold in front of area that whether there are obstacles, it is single to avoidance processing when detecting barrier
Member sends avoidance notification signal；
First setting area is located on the left of robot body, and the second setting area is located on front side of robot body, and area is arranged in third
On the right side of robot body；It between adjacent setting area, can partly overlap, can also not be overlapped completely.
Avoidance processing unit, for the transmission end position of avoidance notification signal based on the received, estimate barrier with
The relative position of robot body carries out corresponding avoidance processing depending on the relative position.
In addition, robot body includes robot head, robot trunk and robot base.First setting area, second
Area and third setting area, which is arranged, to be set on robot head/robot trunk/robot base simultaneously, can also be separately positioned in
It is specific unlimited on robot head, robot trunk and robot base.
All infrared sensings in first infrared sensor group, the second infrared sensor group and third infrared sensor group
Device can be located in the same horizontal plane and surround the curved distribution of rotation center of movement mechanism.First avoidance distance threshold, second
Avoidance distance threshold and third avoidance distance threshold may be the same or different, specifically can be according to each infrared sensor group
It is set with the relative position of the rotation center of movement mechanism；For example, if during respectively setting area with the rotation center of movement mechanism is
The arc-shaped distribution of the heart, then three avoidance distance thresholds can be set as identical value；Otherwise, then with rotation center at a distance of remoter infrared biography
The avoidance distance threshold of sensor group is smaller.
Certainly, each infrared in the first infrared sensor group, the second infrared sensor group and third infrared sensor group
Sensor may be alternatively located in different level, at this point, projecting the rotation center of infrared sensor and movement mechanism to same
When horizontal plane, the projection sequence of each infrared sensor and curved distribution, the first avoidance distance threshold, the second avoidance distance threshold
And third avoidance distance threshold can also be set according to the relative position of infrared sensor group and the rotation center of movement mechanism,
Specific to be same as above, details are not described herein again.
Correspondingly, referring to Fig. 2, the present embodiment additionally provides a kind of short distance barrier-avoiding method, comprising steps of
Step 101, the structural parameters (such as: robot diameter, motion model) according to robot, are arranged each avoidance distance
Threshold value.
Step 102, the avoidance notification signal for obtaining each infrared sensor group in real time.
The transmission end position for the avoidance notification signal that step 103, basis obtain in real time, estimates barrier and robot body
Relative position, carry out corresponding avoidance processing depending on the relative position.
Specifically, step 103 further comprises:
If avoidance notification signal is only from the first infrared sensor group, determine that barrier is currently located at a left side for robot body
Side, then control movement mechanism move right or to the right skew back move；
If avoidance notification signal is only from the second infrared sensor group, before determining that barrier is currently located at robot body
Side then controls movement mechanism to moving to left, move to right or move back；
If avoidance notification signal is only from third infrared sensor group, determine that barrier is currently located at the right side of robot body
Side, then control movement mechanism to move to left or to the left skew back move；
If avoidance notification signal respectively from the first infrared sensor group and third infrared sensor group, determines that barrier is worked as
Anteposition then controls movement mechanism and continues to move forward in the left and right sides of robot body.
An application example is provided below.
Referring to Fig. 3, in the example include five sensors: infrared sensor 1, infrared sensor 2, infrared sensor 3,
Infrared sensor 4 and infrared sensor 5.This five infrared sensors, which are arc-shaped using rotation center as the center of circle, to be spaced apart, and
Infrared sensor 1-5 is respectively arranged on directly to the left, upper left side, positive front side, upper right side and the directly to the right position of robot body.
At this point, avoidance processing can be divided into following a variety of situations:
Situation one: if only getting the avoidance notification signal of infrared sensor 1, show that barrier is located at a left side for robot
Side then controls robot and moves to right, until barrier is detached from avoidance distance threshold range.
Situation two: if only getting infrared sensor 2 or obtaining the avoidance notification signal of infrared sensor 1 and 2 simultaneously,
Show that barrier is located at the upper left side of robot, then control robot and tiltedly moved to the right with 45° angle, until barrier disengaging is kept away
Hinder distance threshold range.
Situation three: if only getting the avoidance notification signal of infrared sensor 3, show barrier be located at robot just before
Side then controls robot and moves to left until barrier moves forward again after being detached from avoidance distance threshold range；If being examined always during moving to left
It measures barrier to be within the scope of avoidance distance threshold, then controls robot and move to right, until barrier is detached from avoidance distance threshold
It moves forward again after range；If also constant testing is within the scope of avoidance distance threshold to barrier during moving to right, machine is controlled
People moves back, so that robot is mobile away from barrier, thus avoiding obstacles.
Situation four: if only getting infrared sensor 4 or obtaining the avoidance notification signal of infrared sensor 4 and 5 simultaneously,
Show that barrier is located at the upper right side of robot, then controlling robot, lower section is tiltedly moved to the left with 45° angle, until barrier disengaging is kept away
Hinder distance threshold range.
Situation five: if only getting the avoidance notification signal of infrared sensor 5, show that barrier is located at the right side of robot
Side then controls robot and moves to left, until barrier is detached from avoidance distance threshold range.
Situation six: if getting the avoidance notification signal of infrared sensor 1 and 5 simultaneously, show that barrier is located at robot
Two sides, then control robot and continue to move forward.
Situation seven: if getting the avoidance notification signal of infrared sensor 2 and 4 simultaneously, show that barrier is located at robot
Front, then control robot and move back.
For other situations, then it can control robot stop motion, report exception, intervened by staff.
It should be noted that the control of movement mechanism will return after barrier is detached from avoidance distance threshold range
To motion control unit, continue independent navigation.
It will appreciated by the skilled person that all or part of the steps in the various methods of above-described embodiment can be with
It is completed by instructing, or relevant hardware is controlled by instruction to complete, which can store computer-readable deposits in one
In storage media, and is loaded and executed by processor.
For this purpose, the utility model embodiment also provides a kind of storage medium, wherein being stored with a plurality of instruction, which can
It is loaded by processor, to execute the step in any short distance barrier-avoiding method provided by the utility model embodiment.
For example, the instruction can execute following steps:
According to the structural parameters (such as: robot diameter, motion model) of robot, each avoidance distance threshold is set；
The avoidance notification signal of each infrared sensor group is obtained in real time；
According to the transmission end position of the avoidance notification signal obtained in real time, the opposite position of barrier and robot body is estimated
It sets, carries out corresponding avoidance processing depending on the relative position.
The specific implementation of above each operation can be found in the embodiment of front, and details are not described herein.
Wherein, which may include: read-only memory (ROM, Read Only Memory), random access memory
Body (RAM, Random Access Memory), disk or CD etc..
The above, above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng
The utility model is described in detail according to previous embodiment, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (8)
1. a kind of robot based on infrared distance measurement, including robot body, the robot body be equipped with movement mechanism and
Obstacle avoidance apparatus, which is characterized in that the obstacle avoidance apparatus includes: the first infrared sensor group, the second infrared sensor group, and third is red
Outer sensor group and avoidance processing unit；
For detecting the barrier within the scope of the first avoidance distance threshold in front of the first setting area and feeding back avoidance notification signal
The first infrared sensor group, be distributed in first setting area, including at least one infrared sensor；
For detecting the barrier within the scope of the second avoidance distance threshold in front of the second setting area and feeding back avoidance notification signal
The second infrared sensor group, be distributed in second setting area, including at least one infrared sensor；
For detecting the barrier within the scope of the third avoidance distance threshold in front of third setting area and feeding back avoidance notification signal
Third infrared sensor group, be distributed in third setting area；And
The avoidance processing unit of corresponding avoidance processing is carried out for the transmission end position according to the avoidance notification signal；
First setting area is located on the left of the robot body, before second setting area is located at the robot body
Side, third setting area are located on the right side of the robot body.
2. the robot according to claim 1 based on infrared distance measurement, which is characterized in that the robot body includes phase
Robot head, robot trunk and the robot base to connect.
3. the robot according to claim 2 based on infrared distance measurement, which is characterized in that first setting area, second
Setting area and third setting area are set on the robot head/robot trunk/robot base simultaneously.
4. the robot according to claim 2 based on infrared distance measurement, which is characterized in that first setting area, second
Setting area and third setting are distinguished and are set on the robot head, robot trunk and robot base.
5. the robot according to claim 1 based on infrared distance measurement, which is characterized in that first infrared sensor
All infrared sensors in group, the second infrared sensor group and third infrared sensor group are located at same level and with institutes
The rotation center for stating movement mechanism is the arc-shaped distribution in the center of circle.
6. the robot according to claim 1 based on infrared distance measurement, which is characterized in that first infrared sensor
Each infrared sensor in group, the second infrared sensor group and third infrared sensor group is located in different level；And
In same projected horizontal face, each infrared sensor surrounds the curved distribution of rotation center of the movement mechanism.
7. the robot according to claim 5 based on infrared distance measurement, which is characterized in that first avoidance is apart from threshold
Value, the second avoidance distance threshold and third avoidance distance threshold are equal.
8. the robot according to claim 6 based on infrared distance measurement, which is characterized in that if in same projected horizontal face
Interior, the spacing of each infrared sensor and the rotation center of the movement mechanism is not completely equivalent, then the spacing is smaller, accordingly
First avoidance distance threshold/the second avoidance distance threshold/third avoidance distance threshold is bigger.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822125804.0U CN208922121U (en) | 2018-12-18 | 2018-12-18 | Robot based on infrared distance measurement |
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| CN201822125804.0U CN208922121U (en) | 2018-12-18 | 2018-12-18 | Robot based on infrared distance measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324626A (en) * | 2018-12-18 | 2019-02-12 | 中新智擎科技有限公司 | Robot and its short distance barrier-avoiding method, storage medium based on infrared distance measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324626A (en) * | 2018-12-18 | 2019-02-12 | 中新智擎科技有限公司 | Robot and its short distance barrier-avoiding method, storage medium based on infrared distance measurement |
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