WO2018213959A1 - Appareil et procédé d'évitement d'obstacle par un robot mobile - Google Patents

Appareil et procédé d'évitement d'obstacle par un robot mobile Download PDF

Info

Publication number
WO2018213959A1
WO2018213959A1 PCT/CN2017/085252 CN2017085252W WO2018213959A1 WO 2018213959 A1 WO2018213959 A1 WO 2018213959A1 CN 2017085252 W CN2017085252 W CN 2017085252W WO 2018213959 A1 WO2018213959 A1 WO 2018213959A1
Authority
WO
WIPO (PCT)
Prior art keywords
temperature distribution
mobile robot
ultrasonic
obstacle avoidance
sensing module
Prior art date
Application number
PCT/CN2017/085252
Other languages
English (en)
Chinese (zh)
Inventor
李仁涛
Original Assignee
李仁涛
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 李仁涛 filed Critical 李仁涛
Priority to PCT/CN2017/085252 priority Critical patent/WO2018213959A1/fr
Publication of WO2018213959A1 publication Critical patent/WO2018213959A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.
  • the prior art obstacle avoidance technology generally does not set the obstacle avoidance priority. For example, when the mobile robot is within the same obstacle avoidance range, it is found that both the living body (such as a person) and the non-living body (for example, suddenly flying) The object needs to be avoided. At this time, the existing mobile robot usually avoids the closest object, such as the suddenly flying object, and may hit the person. However, this is not what we expect.
  • the main object of the present invention is to solve the above technical problems.
  • an embodiment of the present invention provides a mobile robot obstacle avoidance apparatus, comprising: at least an ultrasonic sensing module, configured to transmit an ultrasonic wave and determine an obstacle according to the feedback signal; and a temperature distribution sensing module for sensing Measure the temperature distribution of objects within a certain area and identify obstacles.
  • the system further includes: a storage device, configured to store a plurality of instructions; a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and prioritizing The level setting preferentially controls the mobile robot to avoid the corresponding object according to the temperature distribution sensing module, and secondly controls the mobile robot to avoid the corresponding object according to the ultrasonic sensing module.
  • Another embodiment of the present invention provides a mobile robot obstacle avoidance method suitable for execution in a computing device.
  • the method includes: transmitting an ultrasonic wave and determining an obstacle according to the feedback signal; and sensing an object temperature distribution within a certain area and determining an obstacle; and setting the temperature distribution sensing result to the highest priority and setting according to the priority, It is preferred to control the mobile robot to avoid the corresponding object according to the temperature distribution data, and secondly, according to the ultrasonic sensing data Control the mobile robot to avoid the corresponding object.
  • the mobile robot obstacle avoidance device and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby enabling Improve the safety of mobile robots.
  • FIG. 1 is a functional block diagram of a mobile robot obstacle avoidance device provided by the present invention.
  • FIG. 2 is a temperature distribution diagram of an object detected by the mobile robot obstacle avoidance device of FIG. 1;
  • FIG. 3 is a flowchart of a method for obstacle avoidance of a mobile robot according to the present invention.
  • the present invention provides a mobile robot obstacle avoidance device 100.
  • the system includes at least an ultrasonic sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30.
  • the obstacle avoidance control module 30 receives signals or data of the ultrasonic sensing module 10 and the temperature distribution sensing module 20, And performing analysis, the obstacle avoidance control module 30 controls the mobile robot according to the analysis result.
  • the function of the obstacle avoidance control module 30 is implemented by a storage device and a processor, the storage device being adapted to store a plurality of instructions, the processor for loading the instructions of the storage device and performing corresponding steps.
  • the ultrasonic sensing module 10 is configured to emit ultrasonic waves and determine an obstacle according to the feedback signal. More specifically, the ultrasonic sensing module 10 includes at least one ultrasonic transmitter and at least one ultrasonic receiver, the ultrasonic transmitter transmitting ultrasonic waves to the outside, the ultrasonic receiver receiving ultrasonic waves reflected by external obstacles, The ultrasonic waves are sent to the obstacle avoidance control module 30 of the mobile robot. In this embodiment, the number of the ultrasonic transmitter and the ultrasonic receiver is four, respectively.
  • the temperature distribution sensing module 20 is configured to sense an object temperature distribution within a certain area and determine an obstacle.
  • the temperature distribution sensing module 20 includes a non-contact infrared thermometer that determines the surface temperature by measuring the infrared energy radiated by the target surface.
  • Non-contact meter temperature measurement is based on the principle of thermal radiation.
  • the temperature measuring element does not need to be in contact with the measured medium.
  • the temperature range is wide, and it is not limited by the upper limit of the temperature measurement. It does not damage the temperature field of the measured object.
  • the reaction speed is generally faster.
  • the temperature distribution sensing module 20 determines a temperature scanning area by using an auxiliary device such as a camera, and divides the temperature scanning area into a plurality of sub-areas. Then, the temperature of the plurality of sub-regions in the temperature scanning region is detected by a plurality of the non-contact infrared thermometers.
  • the processor performs: setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly, according to the ultrasonic sense
  • the measurement module 10 controls the mobile robot to avoid the corresponding object.
  • the processor before the sensing result of the temperature distribution sensing module 20 is set to the highest priority, the processor further performs: determining, according to the temperature distribution of the object, whether the temperature distribution in the detected area falls Enter the reference range.
  • the reference range may be a range of body temperature distribution values, for example, may also be a range of temperature distribution values of a plurality of organisms set in advance.
  • the processor further performs: determining whether the object temperature distribution data and the ultrasonic feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.
  • the processor further performs: according to the priority setting, preferentially controlling the mobile robot to perform the obstacle avoidance operation according to the object temperature distribution data until the temperature distribution in the detected region does not fall within the reference range.
  • the obstacle avoidance operation is performed according to the ultrasonic feedback signal.
  • the mobile robot obstacle avoidance device 100 provided by the present invention can detect the object temperature distribution data, and prioritizes the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby improving moving robot Security.
  • the present invention provides a mobile robot obstacle avoidance method suitable for execution in the above computing device.
  • the method includes:
  • step S301 ultrasonic waves are transmitted and an obstacle is determined based on the feedback signal.
  • Step S302 sensing an object temperature distribution within a certain area and determining an obstacle.
  • Step S303 setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly according to the ultrasonic sensing module 10 Control the mobile robot to avoid the corresponding object.
  • the mobile robot obstacle avoidance device 100 and method provided by the present invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions. Can improve the safety of mobile robots.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un appareil d'évitement d'obstacle par un robot mobile (100), comprenant au moins : un module de détection d'ondes ultrasonores (10), utilisé pour émettre des ondes ultrasonores, et déterminer des obstacles selon des signaux de rétroaction ; un module de détection de distributions de température (20), utilisé pour détecter des distributions de température d'objet dans une certaine plage de zone, et déterminer des obstacles. L'appareil comprend également : un dispositif de stockage, approprié pour stocker une pluralité d'instructions ; un processeur, utilisé pour charger les instructions du dispositif de stockage, et exécuter : le réglage d'un résultat de détection du module de détection de distributions de température (20) en tant que priorité la plus élevée, et selon le réglage de priorité, tout d'abord la commande d'un robot mobile pour éviter des objets correspondants selon le module de détection de distributions de température (20), puis la commande du robot mobile pour éviter des objets correspondants selon le module de détection d'ondes ultrasonores (10).
PCT/CN2017/085252 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle par un robot mobile WO2018213959A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085252 WO2018213959A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle par un robot mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/085252 WO2018213959A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle par un robot mobile

Publications (1)

Publication Number Publication Date
WO2018213959A1 true WO2018213959A1 (fr) 2018-11-29

Family

ID=64395206

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/085252 WO2018213959A1 (fr) 2017-05-21 2017-05-21 Appareil et procédé d'évitement d'obstacle par un robot mobile

Country Status (1)

Country Link
WO (1) WO2018213959A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006154975A (ja) * 2004-11-25 2006-06-15 Matsushita Electric Works Ltd 超音波センサを備えた移動機械
CN102513987A (zh) * 2011-12-26 2012-06-27 浙江金刚汽车有限公司 智能消防救援机器人
CN102760276A (zh) * 2012-06-20 2012-10-31 山东大陆科技有限公司 一种机器人点餐系统及其点餐方法
CN104669280A (zh) * 2013-11-30 2015-06-03 西安奥赛福科技有限公司 一种家用机器人自动避障控制系统
CN106313046A (zh) * 2016-09-27 2017-01-11 成都普诺思博科技有限公司 移动机器人多级避障系统
CN106324619A (zh) * 2016-10-28 2017-01-11 武汉大学 一种变电站巡检机器人自动避障方法
CN206096939U (zh) * 2016-10-28 2017-04-12 武汉大学 一种可自动避障的变电站巡检机器人
CN106647768A (zh) * 2017-01-18 2017-05-10 成都黑盒子电子技术有限公司 服务型机器人自主运动避障方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006154975A (ja) * 2004-11-25 2006-06-15 Matsushita Electric Works Ltd 超音波センサを備えた移動機械
CN102513987A (zh) * 2011-12-26 2012-06-27 浙江金刚汽车有限公司 智能消防救援机器人
CN102760276A (zh) * 2012-06-20 2012-10-31 山东大陆科技有限公司 一种机器人点餐系统及其点餐方法
CN104669280A (zh) * 2013-11-30 2015-06-03 西安奥赛福科技有限公司 一种家用机器人自动避障控制系统
CN106313046A (zh) * 2016-09-27 2017-01-11 成都普诺思博科技有限公司 移动机器人多级避障系统
CN106324619A (zh) * 2016-10-28 2017-01-11 武汉大学 一种变电站巡检机器人自动避障方法
CN206096939U (zh) * 2016-10-28 2017-04-12 武汉大学 一种可自动避障的变电站巡检机器人
CN106647768A (zh) * 2017-01-18 2017-05-10 成都黑盒子电子技术有限公司 服务型机器人自主运动避障方法

Similar Documents

Publication Publication Date Title
US20170269117A1 (en) Ultrasound wind measurement device and method
CN107957581B (zh) 一种雷达探测方法、装置、存储介质及雷达
US20170308760A1 (en) Collision avoidance method and apparatus using depth sensor
US11421965B2 (en) Method to identify routes of unmanned aerial vehicles approaching a protected site
RU2017120684A (ru) Выявление объектов на внешней поверхности транспортного средства
US20160033334A1 (en) Method and system for passive tracking of moving objects
US11745350B2 (en) Control method and control system of manipulator
CN105698900A (zh) 激光高温液体高度测控系统及方法
JPH0431075B2 (fr)
US20190293773A1 (en) Object sensing apparatus and object sensing method
CN104656083A (zh) 一种具有温度补偿的采用脉冲计数的超声波测距系统
CN105572673A (zh) 超声波测距方法及装置
KR101036286B1 (ko) 수중 표적 시뮬레이션 시스템 및 방법
WO2018213963A1 (fr) Appareil et procédé d'évitement d'obstacle par un robot mobile
WO2018213962A1 (fr) Appareil et procédé d'évitement d'obstacle par un robot mobile
TW201831920A (zh) 自主移動設備
WO2018213959A1 (fr) Appareil et procédé d'évitement d'obstacle par un robot mobile
WO2018213964A1 (fr) Appareil et procédé d'évitement d'obstacles robotique mobile
WO2018213958A1 (fr) Appareil et procédé d'évitement d'obstacle pour une voiture sans conducteur
WO2018213961A1 (fr) Appareil et procédé d'évitement d'obstacle par un robot mobile
WO2018213960A1 (fr) Appareil et procédé d'évitement d'obstacle par un robot mobile
WO2018213953A1 (fr) Appareil et procédé d'évitement d'obstacles par une voiture sans conducteur
WO2018213965A1 (fr) Appareil et procédé d'évitement d'obstacles pour voiture sans conducteur
WO2018213957A1 (fr) Appareil et procédé d'évitement d'obstacles pour voiture sans conducteur
US11790706B2 (en) Methods and systems for calibrating vehicle sensors

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17911311

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17911311

Country of ref document: EP

Kind code of ref document: A1