CN212276270U - Intelligent omnidirectional mobile robot and ultrasonic obstacle avoidance system and posture correction system thereof - Google Patents
Intelligent omnidirectional mobile robot and ultrasonic obstacle avoidance system and posture correction system thereof Download PDFInfo
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- CN212276270U CN212276270U CN202022008257.5U CN202022008257U CN212276270U CN 212276270 U CN212276270 U CN 212276270U CN 202022008257 U CN202022008257 U CN 202022008257U CN 212276270 U CN212276270 U CN 212276270U
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Abstract
The utility model discloses an intelligence omnidirectional movement robot and barrier system, gesture correction system are kept away to supersound thereof. The ultrasonic obstacle avoidance system comprises a plurality of ultrasonic sensors and an ultrasonic sensor control module; a plurality of ultrasonic sensor set up on intelligent omnidirectional movement robot body and be array distribution, a plurality of ultrasonic sensor set up and be connected with ultrasonic sensor control module, ultrasonic sensor control module is connected with central processing unit. The utility model provides a barrier system is kept away to supersound can make intelligent omnidirectional movement robot obtain the environmental information under the various motion state, judges the barrier position, can also utilize the flexibility of intelligent omnidirectional movement robot motion simultaneously, realizes the optimization of route orbit, avoids the barrier, guarantees its actual application process's security, can also realize intelligent omnidirectional movement robot's gesture recognition and correction in addition.
Description
Technical Field
The utility model relates to an intelligence omnidirectional movement robot especially relates to an obstacle system is kept away to intelligence omnidirectional movement robot supersound and uses thereof.
Background
The intelligent omnidirectional mobile robot can sense the surrounding environment and adjust and optimize the running track in real time according to the environmental information on the premise of realizing the autonomous obstacle avoidance function. Various sensors are needed for sensing the surrounding environment and are realized by measuring and analyzing sensor feedback data. Sensors such as vision, infrared, laser, ultrasonic and the like are practically applied to a mobile robot obstacle avoidance system. Among them, the ultrasonic sensor is more widely used due to its advantages such as high cost performance and simple hardware implementation. However, due to the limitations of the ultrasonic sensors, such as large beam angle, poor directivity, unstable range finding (under non-perpendicular reflection), etc., a plurality of ultrasonic sensors are often used in an array combination manner, thereby enhancing the accuracy and reliability of system detection.
At present, for a traditional mobile robot, the motion modes are mainly one-way and two-way, and the steering function (including pivot steering) is realized by utilizing the differential motion of left and right driving wheels of the mobile robot. Therefore, lateral and oblique actions based on self coordinates cannot occur in the movement process of the traditional mobile robot, and the ultrasonic sensor array combination only needs to be installed at the front end (in a one-way movement mode) or the front end and the rear end (in a two-way movement mode) of the mobile robot. However, for the intelligent omnidirectional mobile robot, the movement mode is flexible, the actions such as front, back, lateral, oblique and rotation can be realized, the complex movement track planning can be realized, and the intelligent omnidirectional mobile robot is not limited to a specific operation route. Therefore, the ultrasonic obstacle avoidance system needs to be optimally distributed according to the motion characteristics of the intelligent omnidirectional mobile robot so as to ensure the safe application of the intelligent omnidirectional mobile robot.
Disclosure of Invention
An object of the utility model is to provide an obstacle system and intelligent omnidirectional movement robot are kept away to intelligence omnidirectional movement robot supersound to overcome not enough among the prior art.
In order to achieve the above object, the utility model provides a following technical scheme:
some embodiments of the utility model provide an obstacle system is kept away to intelligence omnidirectional movement robot supersound, it includes: a plurality of ultrasonic sensors and an ultrasonic sensor control module; the intelligent omnidirectional mobile robot comprises an intelligent omnidirectional mobile robot body, a plurality of ultrasonic sensors, an ultrasonic sensor control module and a central processing unit, wherein the plurality of ultrasonic sensors are arranged on the intelligent omnidirectional mobile robot body and distributed in an array manner, the plurality of ultrasonic sensors are connected with the ultrasonic sensor control module, and the ultrasonic sensor control module is connected with the central processing unit.
In some embodiments, the plurality of ultrasonic sensors are distributed on the robot body in an array manner, which includes any one or more of a single-layer surrounding distribution manner, a multi-layer surrounding distribution manner, and a multi-layer surface-mounted distribution manner.
Furthermore, the array distribution mode of the ultrasonic sensors on the robot body meets the requirement that the ultrasonic sensors perform dead-angle-free measurement on the three-dimensional space around the intelligent omnidirectional mobile robot body.
Further, the single-layer surrounding distribution mode is as follows: a plurality of ultrasonic sensors are arranged in a single layer around the robot body.
Further, the multilayer surrounding distribution mode is as follows: the plurality of ultrasonic sensors are arranged in more than two layers around the robot body.
Further, the multilayer surface mount distribution mode is as follows: at least a plurality of ultrasonic sensors are arranged on the upper end surface of the robot body in a multi-layer arrangement.
In some embodiments, the ultrasonic sensor is capable of transmitting an ultrasonic beam and receiving the same ultrasonic beam reflected by an obstacle; the ultrasonic sensor control module can measure and calculate the propagation time of ultrasonic beams emitted by a plurality of ultrasonic sensors so as to obtain the exact distance value of the obstacle corresponding to the coverage range of the ultrasonic beams; the central processing unit can receive the plurality of obstacle exact distance values output by the ultrasonic sensor control module, and carry out calculation and analysis, so that the three-dimensional information of the detected surface of the obstacle is obtained.
Further, the central processing unit can also send a parameter configuration instruction to the ultrasonic sensor control module according to the requirement of the ultrasonic obstacle avoidance system.
Some embodiments of the utility model also provide an intelligence omnidirectional movement robot, it include intelligence omnidirectional movement robot body with intelligence omnidirectional movement robot supersound keep away barrier system, intelligence omnidirectional movement robot can realize one-way, two-way, turn, side direction, slant and rotary motion mode at least.
Some embodiments of the utility model also provide an intelligence omnidirectional movement robot gesture correction system, it includes:
intelligent omnidirectional mobile robot ultrasonic obstacle avoidance system and
the pose reference barrier is arranged in the motion space of the intelligent omnidirectional mobile robot, the surface of the pose reference barrier is flat, and the pose reference barrier is placed in the forward direction according to a space coordinate system.
Further, when the posture of the intelligent omnidirectional mobile robot body is normal, the distances between the selected more than two ultrasonic sensors in the ultrasonic obstacle avoidance system and the surface of the pose reference obstacle are equal.
Some embodiments of the utility model also provide an obstacle avoidance method of intelligence omnidirectional movement robot, it includes:
the intelligent omnidirectional mobile robot ultrasonic obstacle avoidance system is arranged on the intelligent omnidirectional mobile robot;
the ultrasonic obstacle avoidance system is used for obtaining environment information of the intelligent omnidirectional mobile robot in various motion states, judging the position of an obstacle, uploading data related to the position of the obstacle to the central processing unit, and the central processing unit analyzes the data in real time and makes judgment in time, so that the path track of the intelligent omnidirectional mobile robot is optimized, and the obstacle is avoided.
Some embodiments of the utility model also provide an intelligence omnidirectional movement robot gesture correction method, it includes:
the intelligent omnidirectional mobile robot ultrasonic obstacle avoidance system is arranged on the intelligent omnidirectional mobile robot;
actively placing a pose reference obstacle with a flat surface in a motion space of the intelligent omnidirectional mobile robot, and placing the pose reference obstacle in the forward direction according to a space coordinate system;
enabling the intelligent omnidirectional mobile robot to approach to the pose reference obstacle, and enabling the ultrasonic obstacle avoidance system to work;
monitoring whether the measurement results of more than two selected ultrasonic sensors in the ultrasonic obstacle avoidance system on the pose reference obstacle surface are the same or not by using a central processing unit to judge whether the current pose of the intelligent omnidirectional mobile robot body is normal or not, if the measurement results are different, indicating that the pose of the intelligent omnidirectional mobile robot has deviation, controlling the intelligent omnidirectional mobile robot to correct the pose, and realizing the pose recognition and correction of the intelligent omnidirectional mobile robot;
when the intelligent omnidirectional mobile robot body is normal in posture, the distances between the selected more than two ultrasonic sensors and the posture reference obstacle surface are equal.
Compared with the prior art, the embodiment of the utility model provides an obstacle system is kept away to intelligence omnidirectional movement robot supersound is to intelligence omnidirectional movement robot motion characteristics and designs, can make intelligence omnidirectional movement robot obtain the environmental information under the various motion state, judge the barrier position, can also utilize the flexibility of intelligence omnidirectional movement robot motion simultaneously, realize the route orbit optimization, avoid the barrier, guarantee its actual application process's security, can also realize the gesture recognition and the correction of intelligence omnidirectional movement robot in addition.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a frame of an ultrasonic obstacle avoidance system of an intelligent omnidirectional mobile robot in an embodiment of the present invention.
Fig. 2 is an equivalent diagram of the measurement range of a single ultrasonic sensor in an embodiment of the present invention.
Fig. 3a is a top view of a plurality of ultrasonic sensors distributed in a single layer around the periphery of an embodiment of the present invention;
fig. 3b is a diagram (front view) illustrating the measurement effect of a plurality of ultrasonic sensors distributed around a single layer according to an embodiment of the present invention.
Fig. 4a is a diagram (front view) illustrating the measurement effect of a plurality of ultrasonic sensors distributed in a multi-layer surrounding manner according to an embodiment of the present invention;
fig. 4b is a diagram (front view) illustrating the measurement effect of a plurality of ultrasonic sensors distributed in a honeycomb-type surrounding manner according to an embodiment of the present invention.
Fig. 5 is a diagram (front view) illustrating the measurement effect of a plurality of ultrasonic sensors distributed around the single-layer and multi-layer hybrid ring according to an embodiment of the present invention.
Fig. 6 is a diagram (top view) illustrating the measurement effect of a plurality of ultrasonic sensors distributed on a multi-layer surface.
Detailed Description
As described in the foregoing, in view of the deficiencies of the prior art, the present invention provides an ultrasonic obstacle avoidance system for an intelligent omnidirectional mobile robot through long-term research and a large amount of practice, which enables the intelligent omnidirectional mobile robot to obtain environmental information under various motion states, determines the position of an obstacle, and simultaneously utilizes the flexibility of the motion of the intelligent omnidirectional mobile robot, thereby optimizing the path track, avoiding the obstacle, ensuring the safety of the actual application process thereof, and further realizing the posture recognition and correction of the intelligent omnidirectional mobile robot.
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, 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.
Referring to fig. 1, an ultrasonic obstacle avoidance system of an intelligent omnidirectional mobile robot provided in an exemplary embodiment of the present invention includes a plurality of ultrasonic sensors T00, T1F, etc. and an ultrasonic sensor control module 2; the plurality of ultrasonic sensors are arranged on an intelligent omnidirectional mobile robot body 4 (hereinafter referred to as a robot body) and distributed in an array manner, the plurality of ultrasonic sensors are connected with an ultrasonic sensor control module, and the ultrasonic sensor control module is connected with a central processing unit 3.
Furthermore, the intelligent omnidirectional mobile robot is mainly characterized in that the movement mode can realize the movements of lateral, oblique, rotation and the like by utilizing a control strategy of driving the caster wheel besides the unidirectional, bidirectional and turning movements of the traditional mobile robot (AGV). The driving caster wheel is mainly used for providing power output for the intelligent omnidirectional mobile robot, and the unidirectional, bidirectional, turning, lateral, oblique, rotary and other motion modes of the robot can be realized through a kinematic control algorithm. Classes of such drive casters include, but are not limited to, active casters, mecanum wheels, steering wheels, and the like. For example, but not limited to, an active caster may be used in this embodiment.
Further, the ultrasonic sensor may be of a type known in the art, such as SRF02 ultrasonic sensor, HY _ SRF05 ultrasonic sensor (Daventech corporation), and the like. Each ultrasonic sensor can send ultrasonic beams and receive the same ultrasonic beams reflected by obstacles, and then the ultrasonic sensor control module can obtain the exact distance value of the obstacles in the coverage range of the ultrasonic beams emitted by the ultrasonic sensors, so that the environmental information near the ultrasonic sensors is sensed. For example, the SRF02 ultrasonic sensor may be used in this embodiment, but is not limited thereto. Generally, the ultrasonic beam emitted by the ultrasonic sensor propagates in a conical divergence with the ultrasonic sensor as a center, and the measurement accuracy is lower as the angle is larger and the measurement accuracy is lower as the distance is longer.
Further, the ultrasonic sensor control module is capable of measuring and calculating the propagation time (the time elapsed from transmission to reflection and reception by the same ultrasonic sensor) of the ultrasonic beam transmitted by one or more ultrasonic sensors, and converting the calculation result into an obstacle distance value. In addition, the ultrasonic sensor control module has a serial port communication function and can output the barrier distance value. The ultrasonic sensor control module can also be connected with an ultrasonic sensor, a central processing unit and the like in a wireless communication mode and the like, and can transmit information. The ultrasonic sensor control module may be of a type known in the art. For example, the ultrasonic sensor control module employed in the present embodiment may include PIC16F687 (MICROCHIP corporation, usa) and the like, and is not limited thereto.
Furthermore, the plurality of ultrasonic sensors adopt the array distribution mode, and the full coverage of the measurement range of the ultrasonic obstacle avoidance system is mainly met. Wherein a single ultrasonic sensor and its measuring range can be equivalent to a regular hexagon with a central point, as shown in fig. 2. According to the motion characteristics of the intelligent omnidirectional mobile robot, namely, the motion modes of one-way, two-way, turning, lateral, oblique, rotation and the like, the plurality of ultrasonic sensors can be arranged on the robot body in a single-layer surrounding distribution mode, a multi-layer surrounding distribution mode, a single-layer and multi-layer mixed surrounding distribution mode, a multi-layer surface-mounted distribution mode and the like. The plurality of ultrasonic sensors are distributed on the robot body in an array mode, so that the measuring ranges of the ultrasonic sensors can cover the three-dimensional space around the robot body, and dead-angle-free measurement of the three-dimensional space around the intelligent omnidirectional mobile robot is achieved.
The single-layer surrounding distribution mode is that a plurality of ultrasonic sensors are arranged around the robot body in a single layer, the overall plan view effect is shown in fig. 3a, and the front measurement effect is shown in fig. 3 b. The single-layer surrounding distribution mode is mainly used for the situation that the height of the robot body is low, for example, the height value of the robot body is smaller than or equal to the effective measurement range of a single ultrasonic sensor. As shown in fig. 3a, in this embodiment, the ultrasonic sensors T00, T01, T02, T03, T04, T05, T06, T07, T08, T09, T0A, T0B, T0C, T0D, T0E, and T0F may be used as a group, and may be installed on the robot body in a single-layer surrounding distribution manner with another group of ultrasonic sensors T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T1A, T1B, T1C, T1D, T1E, and T1F.
The multilayer surrounding distribution mode is to arrange the plurality of ultrasonic sensors in two or more layers around the robot body, and the specific distribution mode includes, but is not limited to, multilayer distribution, honeycomb distribution (as shown in fig. 4 b), and the like, and the front measurement effect can be respectively shown in fig. 4a and 4 b. The multilayer surrounding distribution mode is mainly used for the situation that the height of the robot body is high, and in the situation, if the single-layer surrounding distribution mode is adopted, the measurement range is not enough to fully cover the obstacle detection in the height range of the robot body.
The single-layer and multi-layer mixed surrounding distribution mode mainly aims at the condition that the height size of the robot body has large difference at different positions, if the single-layer surrounding distribution mode is adopted, the ultrasonic obstacle avoidance system can fully cover the obstacle detection range, a single-layer surrounding arrangement mode is adopted, and otherwise, a multi-layer surrounding arrangement mode is adopted. The positive measurement results are shown in fig. 5.
The multilayer surface-mounted distribution mode is mainly characterized in that a plurality of ultrasonic sensors are mounted on the upper surface of the robot body in a multilayer arrangement mode, the main function is to detect obstacles possibly existing in the space above the path through which the robot passes in the operation process of the robot, and the overall overlooking effect is as shown in fig. 6.
Further, the central processing unit mainly sends a parameter configuration instruction to the ultrasonic sensor control module according to the working requirement of the ultrasonic obstacle avoidance system, and receives an obstacle distance value output by the ultrasonic sensor control module. Because the ultrasonic obstacle avoidance system adopts an array distribution mode, the full coverage of obstacle avoidance space measurement is realized, and therefore, the central processing unit can obtain the three-dimensional information of the detected surface of the obstacle after calculating and analyzing the received numerical information of all the ultrasonic sensors.
The parameters related to the parameter configuration instruction include, but are not limited to, one or more of the following parameters, for example: units of measure, such as inches, centimeters, or microseconds; an address number for setting the number of each ultrasonic sensor; and setting the effective distance to set the minimum or maximum measuring distance value.
In this embodiment, a certain number of ultrasonic sensors are installed in the robot body in an array distribution manner, so that the robot can obtain environmental information in various motion states, determine the position of an obstacle, upload data to the central processing unit, analyze the data in real time by the central processing unit, make a judgment in time, optimize a path trajectory by using the motion flexibility of the intelligent omnidirectional mobile robot, avoid the obstacle, and ensure the safety of the actual application process.
Further, in this embodiment, the ultrasonic obstacle avoidance system may be further used to recognize and correct the posture of the intelligent omnidirectional mobile robot, and the implementation manner may be as follows:
when the intelligent omnidirectional mobile robot is close to the pose reference obstacle, the central processing unit judges whether the current pose of the robot body is normal or not by monitoring whether the measurement results of the ultrasonic sensor on the surface of the reference obstacle are the same or not. If the measured data are different and the deviation of the robot posture is shown, the robot is controlled to correct the deviation, and the posture recognition and correction functions are realized.
The central processor in the present embodiment may be of a type known in the art, such as, but not limited to, STM32F103C8T6 (jew semiconductors).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group of processes, methods, articles, or devices that include the element.
The foregoing is only a detailed description of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides an obstacle system is kept away to intelligence omnidirectional movement robot supersound which characterized in that includes: a plurality of ultrasonic sensors and an ultrasonic sensor control module; the intelligent omnidirectional mobile robot comprises an intelligent omnidirectional mobile robot body, a plurality of ultrasonic sensors, an ultrasonic sensor control module and a central processing unit, wherein the plurality of ultrasonic sensors are arranged on the intelligent omnidirectional mobile robot body and distributed in an array manner, the plurality of ultrasonic sensors are connected with the ultrasonic sensor control module, and the ultrasonic sensor control module is connected with the central processing unit.
2. The ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot as claimed in claim 1, wherein the array distribution of the plurality of ultrasonic sensors on the robot body includes any one or a combination of a single-layer surrounding distribution, a multi-layer surrounding distribution, and a multi-layer surface-mounted distribution.
3. The ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot according to claim 2, wherein the single-layer surrounding distribution mode is as follows: a plurality of ultrasonic sensors are arranged in a single layer around the robot body.
4. The ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot according to claim 2, wherein the multilayer surrounding distribution manner is as follows: the plurality of ultrasonic sensors are arranged in more than two layers around the robot body.
5. The ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot according to claim 2, wherein the multilayer surface-mounted distribution mode is as follows: at least a plurality of ultrasonic sensors are arranged on the upper end surface of the robot body in a multi-layer arrangement.
6. The ultrasonic obstacle avoidance system of claim 2, wherein a plurality of ultrasonic sensors are mounted on an outer wall of the robot body.
7. The ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot as claimed in claim 1 or 2, wherein the array distribution manner of the plurality of ultrasonic sensors on the robot body meets the requirement that the plurality of ultrasonic sensors perform dead-angle-free measurement on a three-dimensional space around the intelligent omnidirectional mobile robot body.
8. The ultrasonic obstacle avoidance system of claim 1, wherein the intelligent omni-directional mobile robot is capable of at least one of unidirectional, bidirectional, turning, sideways, and rotational motion modes.
9. An intelligent omnidirectional mobile robot, which is characterized by comprising an intelligent omnidirectional mobile robot body and the ultrasonic obstacle avoidance system of the intelligent omnidirectional mobile robot as recited in any one of claims 1 to 8.
10. The utility model provides an intelligence omnidirectional movement robot posture correction system which characterized in that includes:
the intelligent omnidirectional mobile robot ultrasonic obstacle avoidance system of any one of claims 1-8, and
the pose reference barrier is arranged in the motion space of the intelligent omnidirectional mobile robot, the surface of the pose reference barrier is flat, and the pose reference barrier is placed in the positive direction according to a space coordinate system;
when the intelligent omnidirectional mobile robot body is normal in posture, the distances between the selected more than two ultrasonic sensors in the ultrasonic obstacle avoidance system and the pose reference obstacle surface are equal.
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