WO2018213961A1

WO2018213961A1 - Mobile robot obstacle avoidance apparatus and method

Info

Publication number: WO2018213961A1
Application number: PCT/CN2017/085254
Authority: WO
Inventors: 李仁涛
Original assignee: 李仁涛
Priority date: 2017-05-21
Filing date: 2017-05-21
Publication date: 2018-11-29

Abstract

A mobile robot obstacle avoidance apparatus (100), comprising: an infrared ray sensing module (10), used for emitting infrared rays, and determining obstacles according to feedback signals; a temperature distribution sensing module (20), used for sensing object temperature distributions within a certain area range, and determining obstacles; an obstacle avoidance control module (30). The apparatus also comprises: a storage device, suitable for storing a plurality of commands; a processor, used for loading the commands of the storage device, and executing: setting a sensing result of the temperature distribution sensing module (20) as a highest priority, and according to the priority setting, first controlling a mobile robot to avoid corresponding objects according to the temperature distribution sensing module (20), and then controlling the mobile robot to avoid corresponding objects according to the infrared ray sensing module (10).

Description

Mobile robot obstacle avoiding device and method

Technical field

The present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.

Background technique

Moreover, 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.

Summary of the invention

The main object of the present invention is to solve the above technical problems.

To achieve the above object, an embodiment of the present invention provides a mobile robot obstacle avoidance device, comprising: at least an infrared sensing module, configured to emit infrared rays and determine an obstacle according to a 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 infrared 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: emitting infrared rays 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 infrared 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.

DRAWINGS

1 is a functional block diagram of a mobile robot obstacle avoidance device provided by the present invention;

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 implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

The preferred embodiments of the present invention are described in conjunction with the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention, and not to limit the invention, and The embodiments and the features in the embodiments can be combined with each other.

The invention will now be described in detail in conjunction with the drawings and embodiments.

Referring to FIG. 1, the present invention provides a mobile robot obstacle avoidance device 100. The system includes at least an infrared 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 infrared 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. It can be understood that 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.

Specifically, the infrared sensing module 10 is configured to emit infrared rays and determine an obstacle according to the feedback signal. More specifically, the infrared sensing module 10 includes at least one infrared emitter and at least one infrared receiver, and the infrared emitter transmits infrared rays to the outside, and the infrared receiver receives infrared rays reflected by an external obstacle. The infrared rays are sent to the obstacle avoidance control module 30 of the mobile robot. In this embodiment, the number of the infrared emitters and the infrared receivers 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. In this embodiment, 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.

Referring to FIG. 2, in the embodiment, 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 infrared sense The measurement module 10 controls the mobile robot to avoid the corresponding object. In this embodiment, 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. Wherein, 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. In another embodiment, after determining whether the temperature distribution in the range of the detected region falls within the reference range, the processor further performs: determining whether the object temperature distribution data and the infrared feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.

In still another embodiment, 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 infrared 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.

Referring to FIG. 3, the present invention provides a mobile robot obstacle avoidance method suitable for execution in the above computing device. The method includes:

In step S301, infrared rays are emitted and an obstacle is determined according to 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 infrared 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.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A mobile robot obstacle avoidance device, comprising at least:

An infrared sensing module for emitting infrared rays and determining an obstacle based on the feedback signal;

a temperature distribution sensing module for sensing an object temperature distribution within a certain area and determining an obstacle;

The system also includes:

a storage device adapted 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 according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding according to the temperature distribution sensing module The object, secondly, controls the mobile robot to avoid the corresponding object according to the infrared sensing module.
The obstacle avoidance device for a mobile robot according to claim 1, wherein said infrared sensing module comprises at least one infrared emitter and at least one infrared receiver, said infrared emitter transmitting infrared rays to the outside, said infrared receiving The device receives infrared rays reflected from external obstacles and transmits the infrared rays to the processor of the mobile robot.
The mobile robot obstacle avoidance device according to claim 1, wherein the temperature distribution sensing module comprises a non-contact infrared thermometer that determines a surface temperature by measuring infrared energy radiated from a target surface.
The obstacle avoidance device for a mobile robot according to claim 1, wherein before the setting the sensing result of the temperature distribution sensing module to the highest priority, the processor further executes:

According to the temperature distribution of the object, it is judged whether the temperature distribution in the detected region falls within the reference range.
The mobile robot obstacle avoidance device according to claim 4, wherein the reference range is a range of body temperature distribution values.
The obstacle avoidance device for a mobile robot according to claim 4, wherein after determining whether the temperature distribution in the range of the detected region falls within a reference range, The processor further executes:

It is judged whether the object temperature distribution data and the infrared feedback signal are received, and if yes, the priority setting is performed, otherwise the priority setting is not performed.
The obstacle avoidance device for a mobile robot according to claim 1, wherein the processor further performs:

According to the priority setting, the mobile robot is controlled to perform the obstacle avoidance operation according to the object temperature distribution data, and the obstacle avoidance operation is performed according to the infrared feedback signal until the temperature distribution in the detected region does not fall within the reference range.
A mobile robot obstacle avoidance method is suitable for execution in a computing device, the method comprising:

Infrared rays are emitted and obstacles are determined based on the feedback signals;

Sensing the temperature distribution of objects within a certain area and determining obstacles;

The temperature distribution sensing result is set to the highest priority, and according to the priority setting, the mobile robot is controlled to avoid the corresponding object according to the temperature distribution data, and then the mobile robot is controlled to avoid the corresponding object according to the infrared sensing data.