CN211478964U - Obstacle avoidance system for intelligent transportation device - Google Patents
Obstacle avoidance system for intelligent transportation device Download PDFInfo
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- CN211478964U CN211478964U CN202020663202.5U CN202020663202U CN211478964U CN 211478964 U CN211478964 U CN 211478964U CN 202020663202 U CN202020663202 U CN 202020663202U CN 211478964 U CN211478964 U CN 211478964U
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Abstract
The utility model discloses a keep away barrier system for intelligent conveyer belongs to intelligent conveyer and keeps away barrier technical field. The intelligent transportation device comprises an intelligent transportation device body, an obstacle detection device and a central processing unit, wherein a driving mechanism is connected with the central processing unit; the obstacle detection device comprises a detection sensor for measuring the distance of the running path, a locator for locating the running path and a camera for shooting the running path, wherein the locator and the camera are connected with the central processing unit; the detection sensor comprises a laser scanning radar, a laser sensor and an ultrasonic sensor which are all connected with the central processing unit; the central processing unit is connected with a display screen and an alarm. The system acquires the information of the obstacles in the movement process of the intelligent transportation device through detection, and then decelerates or stops through the central processing unit control device, so that the obstacle avoidance is realized.
Description
Technical Field
The utility model relates to a keep away barrier system for intelligent conveyer belongs to intelligent conveyer and keeps away barrier technical field.
Background
The intelligent transportation device is a transportation vehicle for carrying people and goods, and is a device for realizing movement through underground special pipelines and ground roads, so that convenience service is provided for people. But present intelligent transportation device can not realize the complete effectual obstacle avoidance of autonomy, and this not only has transportation safety risk, still has the not high scheduling condition of conveying efficiency.
In 2019, 10 and 25, a patent document with publication number CN110371112A entitled "intelligent obstacle avoidance system and method for automatically driving vehicle" is disclosed, wherein: the method comprises the following steps that an obstacle detection device, an obstacle track prediction subsystem, a vehicle decision subsystem and a data set acquisition device are installed on an automatic driving vehicle, the coordinates of an obstacle vehicle detected by the obstacle detection device are transmitted into an obstacle track prediction algorithm model trained by the data set acquisition device, and the future track of the obstacle is predicted according to the historical track of the obstacle; and the vehicle decision subsystem makes a decision according to the future track predicted by the obstacle track prediction algorithm model, and calibrates the future track according to the position where the future track of the vehicle is likely to appear and bypasses the calibrated position. In the technical scheme, a recurrent neural network is mainly adopted to detect the code head environment, and a sidewalk with complex changes is not involved.
In 2013, 11, and 13, a patent document with publication number CN103386975A entitled "vehicle obstacle avoidance method and system based on machine vision" is disclosed, in which: the obstacle avoidance method comprises the following steps: the processor adopts a single image-based obstacle detection algorithm to judge whether an obstacle exists in the front of the miniature vehicle; the processor calibrates the two cameras, determines the height of the barrier by adopting a stereoscopic vision method and transmits height information to the controller; the distance measuring device detects the vehicle conditions of two adjacent lanes, provides a drivable area for obstacle avoidance and lane change and transmits information of the feasible area to the controller; and the controller adopts a self-adaptive lane changing strategy according to the obtained information and sends a command to the operation control module to finish the autonomous lane changing of the vehicle. The obstacle avoidance method is stable, high in self-adaptation degree, smooth in obstacle avoidance posture of the vehicle and high in obstacle avoidance success rate of more than 98%. In the technical scheme, the method mainly aims at autonomous lane change, and the method relates to more autonomous path planning and emergency handling only for detecting whether the lane change can be performed or not.
In 2017, 14.07.78, a patent document with publication number CN106950983A entitled "method and apparatus for avoiding obstacles for unmanned aerial vehicle" is disclosed, in which: the obstacle avoidance method of the unmanned aerial vehicle mainly comprises the following steps: s1, the unmanned aerial vehicle transmits an ultrasonic signal; s2 receiving ultrasonic signals reflected by the obstacles; s3 sampling the effective ultrasonic signal; s4 correcting the ultrasonic transmission speed; s5, calculating the distance between the unmanned aerial vehicle and the obstacle at the current moment; s6 controlling the unmanned aerial vehicle to avoid the obstacle according to the distance. The obstacle avoidance method and the obstacle avoidance device for the unmanned aerial vehicle have the advantages that the ultrasonic echo receiving detection is accurate, the measurement precision is high, the position of an obstacle can be effectively judged when the unmanned aerial vehicle flies, and the obstacle avoidance effect is good. In the technical scheme, the obstacle avoidance is accurate mainly by using ultrasonic accurate distance measurement, and how to realize the obstacle avoidance is realized.
Disclosure of Invention
The utility model discloses aim at solving the prior art problem, and provide a keep away barrier system for intelligent conveyer. The system is suitable for obstacle avoidance of the intelligent transportation device when the intelligent transportation device moves on a ground road, obtains obstacle information in the movement process of the intelligent transportation device based on a recognition system consisting of various sensors, and then decelerates or stops through the central processing unit control device, so that an obstacle avoidance strategy is realized.
In order to achieve the technical purpose, the following technical scheme is proposed:
the obstacle avoidance system for the intelligent transportation device comprises an intelligent transportation device body with a driving mechanism, an obstacle detection device and a central processing unit, wherein the obstacle detection device and the central processing unit are arranged on the intelligent transportation device body; the obstacle detection device comprises a detection sensor for measuring the distance of the running path, a locator for locating the running path and a camera for shooting the running path, wherein the locator and the camera are connected with the central processing unit;
the detection sensor comprises a laser scanning radar, a laser sensor and an ultrasonic sensor which are all connected with the central processing unit;
the central processing unit is connected with a display screen and an alarm.
Further, the camera is binocular camera, and its distribution position and quantity on intelligent transportation device body can be according to actual demand and decide.
Further, the identification range of the laser scanning radar is 0.09-24m, and the specific identification range is set according to the actual situation; the distribution positions and the number of the intelligent transportation devices on the intelligent transportation device body can be determined according to actual requirements; the intelligent transportation device is used for scanning the road surface condition of the running path, transmitting the collected signals to the central processing unit, analyzing and calculating by the central processing unit, and issuing a matched motion instruction to the intelligent transportation device body. The laser scanning radar has an operating range of X-Y meters, wherein the value "X, Y" is determined by the performance of the laser scanning radar and the actual use environment, such as: the moving speed, weather, barrier material and the like of the intelligent transportation device; x < Y1 (e.g., X =10cm, Y =25 m); the volume is small, the scanning frequency is high, the device can be used outdoors, and multiple machines work together.
Furthermore, the identification range of the ultrasonic sensor is 0.02-5m, and the specific identification range is set according to the actual situation; the distribution positions and the number of the intelligent transportation devices on the intelligent transportation device body can be determined according to actual requirements; it is possible to detect an object that cannot be detected by the laser sensor.
Furthermore, the distribution positions and the number of the laser sensors on the intelligent transportation device body can be determined according to actual requirements; high precision, small environmental interference and outdoor use.
Furthermore, the alarm is an alarm with flashing lights and whistling.
By adopting the technical scheme, the beneficial technical effects brought are as follows:
1) the obstacle avoidance system in the technical scheme is suitable for obstacle avoidance of the intelligent transportation device when the intelligent transportation device moves on a ground road, and the obstacle avoidance system acquires obstacle information in the movement process of the intelligent transportation device based on an identification system consisting of a plurality of sensors, and then controls the device to decelerate or stop through a processor, so that an obstacle avoidance strategy is realized;
2) in the utility model, based on the obstacle avoidance system, the obstacle avoidance can be better carried out on the obstacle target, the collision probability of the intelligent transportation device and other obstacle targets is reduced, and the passing efficiency of the obstacle target is increased;
3) the utility model relates to an obstacle avoidance method which has strong applicability, wide application range, difficult interference, high precision, long distance measurement and stable obstacle avoidance; the obstacle avoidance system has clear division of labor and can better match each other, wherein the detection device acquires accurate, comprehensive and complete information;
4) the utility model discloses in, real time control is carried out according to the barrier distance to the speed of intelligent conveyer, and the reply is dangerous, and can have very fast reaction and buffering time.
Drawings
Fig. 1 is a logical connection block diagram (one) of the working principle of the obstacle avoidance system of the present invention;
fig. 2 is a logic connection block diagram of the working principle of the obstacle avoidance system of the present invention;
in the figure, 1, intelligent transportation device body, 2, actuating mechanism, 3, obstacle detection device, 31, detection sensor, 32, locator, 33, camera, 4, central processing unit, 5, laser scanning radar, 6, laser sensor, 7, ultrasonic sensor, 8, display screen, 9, alarm.
Detailed Description
In the following, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Example 1
As shown in fig. 1-2: the obstacle avoidance system for the intelligent transportation device comprises an intelligent transportation device body 1 with a driving mechanism 2, an obstacle detection device 3 and a central processing unit 4, wherein the obstacle detection device 3 and the central processing unit 4 are arranged on the intelligent transportation device body 1, and the driving mechanism 2 is connected with the central processing unit 4; the obstacle detection device 3 comprises a detection sensor 31 for measuring the distance of the running path, a locator 32 for locating the running path and a camera 33 for shooting the running path, wherein the locator 32 and the camera 33 are both connected with the central processing unit 4;
the detection sensor 31 comprises a laser scanning radar 5, a laser sensor 6 and an ultrasonic sensor 7, and the laser scanning radar 5, the laser sensor 6 and the ultrasonic sensor 7 are all connected with the central processing unit 4; the laser sensor 6 and the ultrasonic sensor 7 are combined for use, the ultrasonic sensor 7 recognizes the road condition in the range of X1-Y1, and the laser sensor 6 recognizes the road condition in the range of X2-Y2; the laser sensor 6 and the ultrasonic sensor 7 are used in a combined mode and work together, wherein the laser sensor 6 has the advantages of being not prone to interference, high in precision, long in distance measurement and the like, the ultrasonic sensor 7 is used for making up the defect that the laser sensor 6 cannot identify transparent objects, detection blind areas can be effectively reduced, and the intelligent transportation device body 1 is guaranteed to achieve 360-degree dead-angle-free obstacle avoidance; the two sensors work together, and the data are transmitted to the central processing unit 4 for comprehensive judgment to determine intelligence (for example, X1=3cm, Y1=5m, X1 < Y1; X2=5cm, Y2=10m, X2 < Y2);
the central processing unit 4 is connected with a display screen 8 and an alarm 9, wherein the alarm 9 is an alarm with flashing light and whistling.
In the technical scheme, the related intelligent transportation device comprises an intelligent transportation robot or a balance car and the like. Wherein, intelligent conveyer includes intelligent control by temperature change storehouse, high strength nanometer shell and integrated high-end intelligent chip, and it adopts high-energy graphite alkene battery, and the top is equipped with the foot and steps on anti-skidding footboard, and the bottom is equipped with wear-resisting resistance to compression double-row wheel and all-direction axle direction pulley. Can be used for riding with people, logistics transportation and the like.
Example 2
Based on the embodiment 1, the present embodiment is further,
regarding the camera 33, the camera 33 is a binocular camera, and the distribution position and the number of the camera on the intelligent transportation device body 1 can be determined according to actual conditions, such as: set up camera 33 one, the distribution sets up the front end at intelligent conveyer body 1.
Example 3
Based on examples 1-2, this example was further,
regarding the laser scanning radar 5, the identification range is 0.09-24m, and the specific identification range setting is determined according to the actual situation; the distribution positions and the number of the intelligent transportation device on the intelligent transportation device body 1 can be determined according to actual conditions, such as: set up laser scanning radar 5 at least two, the distribution sets up front end and the rear end at intelligent conveyer body 1. The intelligent transportation device is used for scanning the road surface condition of the running path, transmitting the collected signals to the central processing unit 4, analyzing and calculating the central processing unit 4, and issuing a matched motion instruction to the intelligent transportation device body 1. The working range of the laser scanning radar 5 is X3-Y3 m, wherein the values of X3 and Y3 are determined by the performance of the laser scanning radar 5 and the conditions in the actual use environment, such as: the moving speed, weather, barrier material and the like of the intelligent transportation device; x3 < Y3 (e.g., X3=10cm, Y3=25 m).
Example 4
Based on examples 1-3, this example was further,
regarding the laser sensors 6, the distribution positions and the number thereof on the intelligent transportation device body 1 can be determined according to the actual situation, such as: set up four at least, at 1 evenly distributed of intelligent transportation device body.
Example 5
Based on examples 1-4, this example was further,
regarding the ultrasonic sensor 7, the recognition range is 0.02-5m, and the specific recognition range setting is determined according to the actual situation; the distribution positions and the number of the intelligent transportation device on the intelligent transportation device body 1 can be determined according to actual conditions, such as: set up four at least, at 1 evenly distributed of intelligent transportation device body.
Example 6
Based on the obstacle avoidance system for the intelligent transportation device in embodiments 1 to 5, an obstacle avoidance method for the intelligent transportation device is provided, which includes the following steps:
information acquisition: opening the intelligent transportation device, and opening a driving mechanism 2, a central processing unit 4 and an obstacle detection device 3 on the intelligent transportation device body 1;
measuring the distance of the running path of the intelligent transportation device body 1 by using a detection sensor 31 in the obstacle detection device 3, and transmitting the collected distance information to the central processing unit 4;
positioning the running path of the intelligent transportation device body 1 by using a positioner 32 in the obstacle detection device 3, and transmitting the acquired position information to the central processing unit 4;
the camera 33 in the obstacle detection device 3 is used for shooting the running path of the intelligent transportation device body 1, and the collected image information is transmitted to the central processing unit 4;
and (3) information processing: the central processing unit 4 receives the distance information, the position information and the image information, analyzes and calculates;
and (3) obstacle avoidance prediction: combining the obtained calculation results, positioning in real time, constructing a 3D map of the operation path, identifying obstacle targets in the operation path in advance, and carrying out obstacle avoidance prediction on the operation path identified in advance to obtain an obstacle-free route; combining the obtained barrier-free route, the central processing unit 4 sends out an obstacle avoidance instruction to command the driving mechanism 2 to detour around the obstacle avoidance in advance;
emergency obstacle avoidance: and in combination with the distance information acquired by the obstacle detection device 3 and the obtained calculation result, the central processing unit 4 performs speed limiting processing on the driving mechanism 2, and specifically, when the distance is lower than the set closest distance, the central processing unit 4 controls the driving mechanism 2 to brake.
Wherein, in the information processing, the calculation includes a SLAM calculation mode.
The information processing also includes the storage of the distance information, the position information and the image information by the central processing unit 4.
In obstacle avoidance prediction, the obstacle target comprises a low-speed moving target, a long-distance high-speed moving target and a static target.
Wherein, promptly keeping away the barrier including speed reduction and speed limit mode and brake mode, wherein, combine actual conditions, set for: x =1cm, Y =50m, Z =10 km/h;
the speed reduction and limiting mode is as follows: when the distance between the obstacle target and the intelligent transportation device body is within 11-50m, limiting the speed of the intelligent transportation device body 1 to 10 km/h; if the current speed is higher than 10km/h, uniformly decelerating the intelligent transportation device body 1 to a speed limit range of 1-50 m;
and (3) braking mode: when the obstacle target is 11m away from the intelligent transportation device body, the intelligent transportation device body 1 is quickly decelerated until the deceleration is 0.
Claims (5)
1. The obstacle avoidance system for the intelligent transportation device is characterized by comprising an intelligent transportation device body (1) with a driving mechanism (2), an obstacle detection device (3) and a central processing unit (4), wherein the obstacle detection device (3) and the central processing unit (4) are arranged on the intelligent transportation device body (1), and the driving mechanism (2) is connected with the central processing unit (4); the obstacle detection device (3) comprises a detection sensor (31) for measuring the distance of the running path, a locator (32) for locating the running path and a camera (33) for shooting the running path, wherein the locator (32) and the camera (33) are both connected with the central processing unit (4);
the detection sensor (31) comprises a laser scanning radar (5), a laser sensor (6) and an ultrasonic sensor (7), and the laser scanning radar (5), the laser sensor (6) and the ultrasonic sensor (7) are all connected with the central processing unit (4);
the central processing unit (4) is connected with a display screen (8) and an alarm (9).
2. The obstacle avoidance system for an intelligent conveyance device, as recited in claim 1, wherein the camera (33) is a binocular camera.
3. Obstacle avoidance system for an intelligent transportation device according to claim 1, characterized in that the laser scanning radar (5) is a laser scanning radar with an identification range of 0.09-24 m.
4. Obstacle avoidance system for intelligent transportation devices according to claim 1, characterized in that the ultrasonic sensor (7) is an ultrasonic sensor with an identification range of 0.02-5 m.
5. An obstacle avoidance system for an intelligent transportation device according to claim 1, wherein the alarm (9) is an alarm with flashing lights and whistling.
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Effective date of registration: 20201216 Address after: 706, building 12, Meigui yuan community, 38 Park Road, wenzhuyuan community, merchants street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Dimo Holding Co.,Ltd. Address before: No.33, 2 / F, block B, building 1, no.1480, north section of Tianfu Avenue, high tech Zone, Chengdu, Sichuan 610041 Patentee before: Chengdu Mahuang Timo Technology Co.,Ltd. |
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