WO2020103297A1 - 机器人的传感器布局系统 - Google Patents
机器人的传感器布局系统Info
- Publication number
- WO2020103297A1 WO2020103297A1 PCT/CN2018/125146 CN2018125146W WO2020103297A1 WO 2020103297 A1 WO2020103297 A1 WO 2020103297A1 CN 2018125146 W CN2018125146 W CN 2018125146W WO 2020103297 A1 WO2020103297 A1 WO 2020103297A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- robot
- image sensor
- layout system
- robot according
- Prior art date
Links
- 230000003287 optical effect Effects 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 13
- 230000008859 change Effects 0.000 abstract description 8
- 230000004927 fusion Effects 0.000 description 10
- 230000008447 perception Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003930 cognitive ability Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39091—Avoid collision with moving obstacles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
Definitions
- the existing robot sensing system has the technical problems that there are many sensing blind areas of the sensor group and the cooperation degree is low.
- an object of the present invention is to provide a sensor layout system for a robot to solve the technical problem that the sensing system of the robot has many sensor blind spots and a low degree of cooperation.
- the relative position of the image sensor (1001, 1002) and the first inertial sensor 1007 is determined, it does not change with changes in external physical conditions such as vibration and temperature changes, so the collected information of the determined position can be controlled,
- Each sensor is responsible for its own collection range, and then sends the collected information to the robot system to improve the fusion operation, forming a stable division of labor cooperation relationship, which improves the accuracy of the sensor fusion algorithm, improves the robot's robustness, and is conducive to the robot's autonomous perception of the environment and execution task.
- the visible light image sensor 1002 and the depth image sensor 1001 are fixed on at least one piece of rigid material, and the relative positions of the visible light image sensor 1002 and the depth image sensor 1001 can be determined.
- rigid materials refer to materials that do not deform with changes in external physical conditions such as vibration and temperature changes. It should be understood that the rigid material fixing method is merely a preferred embodiment for determining the relative positions of the visible light image sensor 1002 and the depth image sensor 1001.
- the sensor group includes: an optical ranging sensor 1004, a second inertial sensor 1006, and a mechanical odometer 1005 whose relative positions are determined relative to each other.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
- 一种机器人的传感器布局系统,包括机器人本体,所述机器人本体上分布有至少一个传感器组,其中,所述传感器组包括图像传感器和与所述图像传感器的相对位置确定的第一惯性传感器;所述图像传感器的位置与竖直方向的夹角处于第一角度区间。
- 如权利要求1所述的机器人的传感器布局系统,其中,所述图像传感器包括可见光图像传感器和与所述可见光图像传感器的相对位置确定的深度图像传感器;所述深度图像传感器与所述可见光图像传感器离地面的距离处于第一距离值区间,以使其可视区域覆盖采集范围。
- 如权利要求2所述的机器人的传感器布局系统,其中,所述可见光图像传感器和所述第一惯性传感器固定在至少一片刚性材料上。
- 如权利要求1所述的机器人的传感器布局系统,其中,所述第一角度区间为5°-90°。
- 如权利要求2所述的机器人的传感器布局系统,其中,所述第一距离值区间为50㎝-160㎝。
- 如权利要求1-5任一项所述的机器人的传感器布局系统,其中,所述传感器组包括:彼此之间的相对位置确定的光学测距传感器、第二惯性传感器以及机械里程计;所述机械里程计固定于所述机器人轮子内部;所述光学测距传感器与所述第二惯性传感器的位置处于同一平面或者上、下垂直距离处于第二距离值区间。
- 如权利要求6所述的机器人的传感器布局系统,其中,所述第二距离值区间为0-40㎝。
- 如权利要求7所述的机器人的传感器布局系统,其中,所述传感器组包括:与所述光学测距传感器的相对位置确定的超声波传感器;所述超声波传感器的采集方向与所述光学测距传感器的采集方向相同;所述超声波传感器的位置以所述光学测距传感器的扫描平面为基准,离所述扫描平面的距离处于第三距离值区间,以使所述超声波传感器弥补所述光学测距传感器对透明物体的感测不足。
- 如权利要求8所述的机器人的传感器布局系统,其中,所述第三距离值区间为0-40㎝。
- 如权利要求9所述的机器人的传感器布局系统,其中,所述传感器组中的传感器均安装于刚体结构上并由所述刚体结构的至少一片构成整机。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA3120403A CA3120403A1 (en) | 2018-11-19 | 2018-12-29 | Robot sensor arrangement system |
SG11202105248QA SG11202105248QA (en) | 2018-11-19 | 2018-12-29 | Robot sensor arrangement system |
KR2020207000057U KR20200002742U (ko) | 2018-11-19 | 2018-12-29 | 로봇 센서 배치 시스템 |
US17/294,429 US20210409647A1 (en) | 2018-11-19 | 2018-12-29 | Robot sensor arrangement system |
EP18940501.2A EP3885077A4 (en) | 2018-11-19 | 2018-12-29 | ROBOT SENSOR ARRANGEMENT SYSTEM |
JP2021500384A JP2021523496A (ja) | 2018-11-19 | 2018-12-29 | ロボットのセンサ配置システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201821895318.0 | 2018-11-19 | ||
CN201821895318.0U CN209224071U (zh) | 2018-11-19 | 2018-11-19 | 机器人的传感器布局系统 |
Publications (1)
Publication Number | Publication Date |
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WO2020103297A1 true WO2020103297A1 (zh) | 2020-05-28 |
Family
ID=67503401
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/125146 WO2020103297A1 (zh) | 2018-11-19 | 2018-12-29 | 机器人的传感器布局系统 |
Country Status (8)
Country | Link |
---|---|
US (1) | US20210409647A1 (zh) |
EP (1) | EP3885077A4 (zh) |
JP (2) | JP2021523496A (zh) |
KR (1) | KR20200002742U (zh) |
CN (1) | CN209224071U (zh) |
CA (1) | CA3120403A1 (zh) |
SG (1) | SG11202105248QA (zh) |
WO (1) | WO2020103297A1 (zh) |
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2018
- 2018-11-19 CN CN201821895318.0U patent/CN209224071U/zh active Active
- 2018-12-29 US US17/294,429 patent/US20210409647A1/en active Pending
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EP3885077A4 (en) | 2022-08-10 |
SG11202105248QA (en) | 2021-06-29 |
KR20200002742U (ko) | 2020-12-18 |
EP3885077A1 (en) | 2021-09-29 |
US20210409647A1 (en) | 2021-12-30 |
CN209224071U (zh) | 2019-08-09 |
JP3222663U (ja) | 2019-08-15 |
CA3120403A1 (en) | 2020-05-28 |
JP2021523496A (ja) | 2021-09-02 |
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