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WO2018018597A1 - Robot capable de détecter et d'éviter automatiquement un obstacle, système et procédé - Google Patents

Robot capable de détecter et d'éviter automatiquement un obstacle, système et procédé Download PDF

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Publication number
WO2018018597A1
WO2018018597A1 PCT/CN2016/092241 CN2016092241W WO2018018597A1 WO 2018018597 A1 WO2018018597 A1 WO 2018018597A1 CN 2016092241 W CN2016092241 W CN 2016092241W WO 2018018597 A1 WO2018018597 A1 WO 2018018597A1
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WO
WIPO (PCT)
Prior art keywords
robot
speed
obstacle
distance value
distance
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/092241
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English (en)
Chinese (zh)
Inventor
苏明珠
林华山
覃国秘
刘波
陈阳
李万建
钟志威
韩仲亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Saiyi Technology Development Co Ltd
Original Assignee
Shenzhen Saiyi Technology Development Co Ltd
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 Shenzhen Saiyi Technology Development Co Ltd filed Critical Shenzhen Saiyi Technology Development Co Ltd
Priority to CN201680056159.2A priority Critical patent/CN108136579A/zh
Priority to PCT/CN2016/092241 priority patent/WO2018018597A1/fr
Publication of WO2018018597A1 publication Critical patent/WO2018018597A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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 the field of robot technology, and in particular, to a robot, system and method for automatically detecting and evading obstacles.
  • the technical problem to be solved by the present invention is to provide a system and method for automatically detecting and evading obstacles.
  • a system for automatically detecting and evading obstacles including: robots, obstacles;
  • the robot includes: a speed output module, a sensor detection module, and a control module;
  • the speed output module is connected to the control module for detecting a speed at which the robot travels;
  • the sensor detecting module is connected to the control module, and is configured to detect a distance between the robot and the obstacle, and sort the distance value, and the first distance value of the obstacle is sorted as The first distance value and the second closest distance value are sorted into a second distance value, and the calculation parameters of the movement speed and the movement direction of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value;
  • the control module is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, a speed parameter value of the detected speed of the robot traveling, according to the read calculation parameter and the speed a parameter value, combined with a triangle formula, calculating a moving speed and direction of the obstacle, and determining whether the obstacle collides with the robot, and when it is determined that the robot will collide with the obstacle, the control center
  • the speed output module adjusts the speed at which the robot travels to circumvent the obstacle;
  • the speed output module is further configured to adjust a speed of the robot to adjust the obstacle according to the control of the control module.
  • the speed output module includes: a first driving wheel, a second driving wheel, a first servo motor, a second servo motor, and a speed sensor;
  • the first driving wheel is coaxial with the second driving wheel and connected to the first servo motor;
  • the second driving wheel is connected to the second servo motor
  • the first servo motor is configured to rotate to drive the rotation of the first driving wheel, thereby driving the robot to travel;
  • the second servo motor is configured to rotate to drive the rotation of the second driving wheel, thereby driving the robot to travel;
  • a difference in rotation speed between the first servo motor and the second servo motor rotates to generate a speed difference between the first driving wheel and the second driving wheel, thereby enabling the robot to achieve steering;
  • the speed sensor is configured to detect the speed at which the robot travels, and adjust the speed of the robot to adjust to avoid obstacles according to the control of the control module.
  • the angular velocity of the steering of the robot is proportional to the difference in rotational speed between the first servo motor and the second servo motor, and inversely proportional to the distance between the first drive wheel and the second drive wheel.
  • the sensor detecting module includes: an ultrasonic sensor and an infrared sensor;
  • the ultrasonic sensor and the infrared sensor are distributed on a 360-degree circular arc in a horizontal direction on the robot, and the ultrasonic sensor is distributed at equal arc intervals on a 360-degree circular arc in the horizontal direction, and the infrared sensor is distributed. Located at an intermediate arc point of two adjacent ultrasonic sensors.
  • the infrared sensor is configured to detect a distance between the robot and the obstacle, and sort the distance value, and The first closest distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, and the motion speed and motion of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value.
  • the calculation parameters of the direction when the sensor detecting module detects that the distance between the robot and the obstacle is less than a preset value, the infrared sensor is configured to detect a distance between the robot and the obstacle, and sort the distance value, and The first closest distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, and the motion speed and motion of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value.
  • the calculation parameters of the direction when the sensor detecting module detects that the distance between the robot and the obstacle is less than a preset value, the infrared sensor is configured to detect a
  • the ultrasonic sensor is configured to detect a distance between the robot and the obstacle, and sort the distance value, and The first closest distance value of the obstacle is sorted into a first distance value, and the second closest distance value is sorted into a second distance value, and the motion speed and motion of the obstacle are obtained according to the detected speed of the robot traveling and the first distance value.
  • the calculation parameters of the direction are configured to calculate the speed of the robot traveling and the first distance value.
  • the preset value includes: 0.4 m.
  • the ultrasonic sensor comprises nine.
  • the control module includes: a microprocessor
  • the microprocessor is configured to read, according to a fixed frequency, a calculation parameter obtained by the sensor detection module, and a speed parameter value of the detected speed of the robot traveling.
  • the speed parameter value of the speed includes a first period speed parameter value
  • the detected distance between the robot and the obstacle includes a first period first distance value, a first period second distance value, and in the second time period
  • the detected The speed parameter value of the speed at which the robot travels includes a second period speed parameter value
  • the detected distance between the robot and the obstacle includes a second period first distance value, a second period second distance value, and the first detected
  • the distance between the first sensor detecting module applied in the time period and the second sensor detecting module applied in the second time period is a first pitch distance value, according to the first period first distance value, the first period second distance value, a first pitch distance value, combined with a triangle formula, and a first distance value according to the second period, a second period second distance value, and a first pitch distance And combined with the triangle
  • the invention also provides a method for automatically detecting and evading obstacles, comprising:
  • the robot comprising: a speed output module, a sensor detection module, and a control module;
  • the speed output module detects a speed at which the robot travels
  • the control module reads the calculation parameter obtained by the sensor detection module and the speed parameter value of the detected speed of the robot travel according to a fixed frequency, according to the read calculation parameter and the speed parameter value, and combine The triangle formula calculates the moving speed and direction of the obstacle, and determines whether the obstacle will collide with the robot. When it is determined that the robot will collide with the obstacle, the speed output module adjusts the speed of the robot to avoid obstacles. .
  • the invention provides a system for automatically detecting and evading obstacles, including a robot and an obstacle; a robot, comprising a speed output module, a sensor detecting module and a control module; a speed output module detecting a speed of the robot traveling; a sensor detecting module, detecting the robot and the obstacle
  • the detecting module obtains the calculation parameters of the movement speed and the movement direction of the obstacle according to the detected speed of the robot and the first distance value;
  • the control module reads the calculation parameters obtained by the sensor detection module according to the fixed frequency, and reads the sensor detection.
  • the speed parameter value of the speed of the robot travel detected by the module calculate the moving speed and direction of the obstacle, and determine whether the obstacle will be
  • the robot hits, when it is judged that the robot will collide with the obstacle Control module adjusts the speed of the output speed of the robot travels to circumvent obstacles to achieve the realization of the traveling robot can automatically detect and avoid moving obstacles, low cost, high degree of automation, easy to spread.
  • the invention provides a method for automatically detecting and evading an obstacle, comprising providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detecting module, a control module; a speed output module detecting a speed of the robot traveling; and a sensor detecting module detecting a distance between the robot and the obstacle, and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second near distance value is sorted into a second distance
  • the sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot traveling detected by the sensor detecting module, calculating the moving speed and direction of the obstacle according to the calculated calculating parameter and the speed parameter value, and combining the triangle formula, and determining the obstacle Will it
  • FIG. 1 is a schematic view of a robot for automatically detecting and evading an obstacle according to the present invention
  • FIG. 2 is a schematic diagram of a system for automatically detecting and evading obstacles according to the present invention
  • FIG. 3 is a schematic diagram of a method for automatically detecting and evading obstacles according to the present invention.
  • the invention provides a system and method for automatically detecting and evading obstacles, and is applied to the field of robot technology, wherein the robot comprises a speed output module, a sensor detection module and a control module; the speed output module detects the speed of the robot traveling; the sensor detection module detects the robot a distance from the obstacle and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second closest distance value is sorted into a second distance value
  • the sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads
  • the present invention provides a robot that automatically detects and evades obstacles.
  • the robot 10 for automatically detecting and evading obstacles includes: a speed output module 101, a sensor detecting module 102, and a control module 103;
  • the speed output module 101 is connected to the control module 103, and includes: a first driving wheel 1011, a second driving wheel 1012, a first servo motor 1013, a second servo motor 1014, and a speed sensor 1015;
  • the first driving wheel 1011 is coaxial with the second driving wheel 1012 and connected to the first servo motor 1013;
  • the second driving wheel 1012 is coaxial with the first driving wheel 1011 and connected to the second servo motor 1014;
  • the first servo motor 1013 is connected to the first driving wheel 1011 for rotating to drive the rotation of the first driving wheel 1011, thereby driving the robot 10 to travel;
  • the second servo motor 1014 is connected to the second driving wheel 1012 for rotating to drive the rotation of the second driving wheel 1012, thereby driving the robot 10 to travel;
  • the difference in rotational speed between the first servo motor 1013 and the second servo motor 1014 causes the first drive wheel 1011 and the second drive wheel 1012 to rotate to generate a speed difference, thereby causing the robot 10 to achieve steering;
  • the angular velocity of the steering of the robot 10 is proportional to the difference in rotational speed between the first servo motor 1013 and the second servo motor 1014, and inversely proportional to the distance between the first drive wheel 1011 and the second drive wheel 1012;
  • a speed sensor 1015 for detecting the speed at which the robot 10 travels
  • the sensor detecting module 102 is connected to the control module 103, and includes: an ultrasonic sensor 1021 and an infrared sensor 1022;
  • the ultrasonic sensor 1021 and the infrared sensor 1022 are distributed on the robot 10 in a horizontal arc of 360 degrees. Since the ultrasonic sensor 1021 has an incident angle greater than 40 degrees, a large error is caused in the detection result, and the ultrasonic sensor 1021 has 0. - 0.4m detection blind zone, therefore, there are 9 ultrasonic sensors 1021, distributed in equal arc spacing on a 360-degree arc in the horizontal direction, and an infrared sensor 1022 on the middle arc point of each two ultrasonic sensors 1021.
  • the effective detection accuracy range of the infrared sensor 1022 includes between 0.1 and 0.4 m, and when the sensor detecting module 102 detects that the obstacle is at a distance of 0.4 m, the ultrasonic sensor 1021 The detected value is a valid detection value. When the sensor detecting module 102 detects that the distance of the obstacle is less than 0.4 m, the value detected by the infrared sensor 1022 is a valid detection value;
  • the ultrasonic sensor 1021 detects the distance between the obstacle and the robot 10, and sorts the distance value, and the minimum distance from the obstacle is the first closest distance. The value is sorted into a first distance value, and the second closest distance value is sorted into a second distance value.
  • the ultrasonic sensor 1021 obtains the speed and motion of the obstacle according to the speed of the robot 10 and the first distance value detected by the speed sensor 1015.
  • the control module 103 is connected to the speed output module 101 and the sensor detecting module 102, respectively, and includes: a microprocessor 1031;
  • the microprocessor 1031 reads the calculation parameter obtained by the ultrasonic sensor 1021 and the speed parameter value of the speed of the robot 10 detected by the reading speed sensor 1015 at a fixed frequency, assuming that the read speed parameter value is V, and The L1 of the first distance value and the L2 of the second distance value detected by the ultrasonic sensor 1021, the robot 10 still travels at the speed of V when reading the next first distance value and the second distance value; After the read cycle, the first distance value read by the microprocessor 1031 is L11 and the second distance value L21, and the number of the ultrasonic sensor 1021 detected twice before and after is recorded, and the two control is assumed.
  • the distance between the ultrasonic sensors 1021 is 1, the period read by the microprocessor 1031 is t; the triangles formed by L1, L2, and l are compared with the L11, L21, l, and V and t, respectively, and combined with the corresponding
  • the formula of the triangle can calculate the moving speed and direction of the obstacle, and determine whether the obstacle will collide with the robot 10. When it is judged that the robot will collide with the obstacle, the speed is controlled.
  • the controller 1015 adjusts the speed of the robot 10 to avoid obstacles.
  • the ultrasonic sensor 1021 detects that the first distance value is less than 0.4 m
  • the calculation parameter of the infrared sensor 1022 is used as the first distance value and the second distance value, and is calculated according to The above calculation method performs calculation and judgment operations;
  • the speed output module 101 is further configured to adjust the speed at which the robot 10 travels according to the control of the microprocessor 1031 to evade obstacles.
  • the present invention also provides a system for automatically detecting and evading obstacles.
  • FIG. 2 is a schematic diagram of a system for automatically detecting and evading obstacles according to the present invention.
  • the system 20 for automatically detecting and evading obstacles includes: a robot 201 and an obstacle 202;
  • the robot 201 includes: a speed output module 2011, a sensor detection module 2012, and a control module 2013;
  • the speed output module 2011 is connected to the control module 2013 for detecting the speed at which the robot 201 travels;
  • the sensor detecting module 2012 is connected to the control module 2013 for detecting the distance between the robot 201 and the obstacle 202, and sorting the distance value, and the value of the minimum distance from the obstacle 202 is the first closest distance value. Sorting the first distance value and the second closest distance value into a second distance value, the sensor detecting module 2012 obtains the moving speed and the moving direction of the obstacle 202 according to the detected speed of the robot 201 and the first distance value. Calculation parameter
  • the control module 2013 is connected to the speed output module 2011 and the sensor detection module 2012, respectively, and reads the calculation parameters obtained by the sensor detection module 2012 according to a fixed frequency, and reads the speed of the speed of the robot 201 detected by the sensor detection module 2012.
  • the parameter value according to the read calculation parameter and the speed parameter value, combined with the triangle formula, calculate the moving speed and direction of the obstacle 202, and determine whether the obstacle 202 will collide with the robot 201, when judging When the robot 201 collides with the obstacle 202, the control speed output module 2011 adjusts the speed at which the robot 201 travels to evade the obstacle 202;
  • the speed output module 2011 is further configured to adjust the speed at which the robot 201 travels according to the control of the control module 2013 to evade the obstacle 202.
  • the structure, function, and the like of the robot 20 are the same as those of the robot 10 for automatically detecting and evading obstacles shown in FIG. 1 and will not be described herein.
  • the structure, function, and the like of the speed output module 2011 are the same as those of the speed output module 101 shown in FIG. 1 and will not be described herein.
  • the structure, function, and the like of the sensor detecting module 2012 are the same as those of the sensor detecting module 102 shown in FIG. 1 and will not be described herein.
  • control module 2013 The structure, function, and the like of the control module 2013 are the same as those of the control module 103 shown in FIG. 1 and will not be described herein.
  • the present invention further provides a method of automatically detecting and evading obstacles.
  • FIG. 3 is a schematic diagram of a method for automatically detecting and evading an obstacle according to the present invention.
  • the method for automatically detecting and evading an obstacle according to the present invention includes:
  • the robot includes: a speed output module, a sensor detection module, and a control module;
  • the speed output module detects the speed at which the robot travels
  • the control module reads the calculation parameter obtained by the sensor detection module according to a fixed frequency, and reads a speed parameter value of the speed of the robot travel detected by the sensor detection module, according to the read calculation parameter and the speed parameter value. Combined with the triangle formula, the moving speed and direction of the obstacle are calculated, and it is judged whether the obstacle will collide with the robot. When it is judged that the robot will collide with the obstacle, the speed output module adjusts the speed of the robot to avoid the obstacle. obstacle;
  • the speed output module adjusts the speed of the robot to adjust to avoid obstacles according to the control of the control module.
  • the structure, function, and the like of the robot in the method for automatically detecting and evading obstacles of the present invention are the same as those of the robot 10 for automatically detecting and evading obstacles shown in FIG. 1 , and details are not described herein. .
  • the structure, function, and the like of the speed output module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the speed output module 101 shown in FIG. 1 and will not be described herein.
  • the structure and function of the sensor detecting module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the sensor detecting module 102 shown in FIG. 1 and will not be described herein.
  • control module 103 The structure, function, and the like of the control module in the method for automatically detecting and evading obstacles of the present invention are the same as those of the control module 103 shown in FIG. 1, and are not described herein again.
  • the robot 10 for automatically detecting and evading obstacles comprises a speed output module 101, a sensor detecting module 102, and a control module 103;
  • the speed output module 101 detects the speed at which the robot 10 travels;
  • the sensor detecting module 102 detects the robot 10 and the obstacle
  • the distance between the distance values is sorted, and the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into the first distance value, and the second closest distance value is sorted into the second distance value, and the sensor detects
  • the module 102 obtains the calculation parameters of the movement speed and the movement direction of the obstacle according to the detected speed of the robot 10 and the first distance value;
  • the control module 103 reads the calculation parameters obtained by the sensor detection module 102 according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot 10 detected by the sensor detecting module 102, calculating the moving speed and direction of the obstacle according to the read calculating parameter and the speed parameter value, and combining the triangle formula, and
  • the system for automatically detecting and evading obstacles includes a robot 201, an obstacle 202, a robot 201, including a speed output module 2011, a sensor detecting module 2012, a control module 2013, and a speed output module 2011 detecting a speed at which the robot 201 travels;
  • the sensor detecting module 2012 detects the distance between the robot 201 and the obstacle 202, and sorts the distance value, and the value of the minimum distance from the obstacle 202, that is, the first closest distance value, is sorted into a first distance value, and a second The near distance value is sorted into a second distance value, and the sensor detecting module 2012 obtains the calculation parameter of the moving speed and the moving direction of the obstacle 202 according to the detected speed of the robot 201 and the first distance value;
  • the control module 2013 is fixed according to The frequency is used to read the calculation parameter obtained by the sensor detection module 2012, read the speed parameter value of the speed of the robot 201 detected by the sensor detection module 2012, according to the read calculation parameter and the speed parameter value, and combine the
  • the invention provides a method for automatically detecting and evading an obstacle, comprising providing a robot and providing an obstacle, the robot comprising: a speed output module, a sensor detecting module, a control module; a speed output module detecting a speed of the robot traveling; and a sensor detecting module detecting a distance between the robot and the obstacle, and sorting the distance value, the value of the minimum distance from the obstacle, that is, the first closest distance value is sorted into a first distance value, and the second near distance value is sorted into a second distance
  • the sensor detecting module obtains the calculation parameter of the moving speed and the moving direction of the obstacle according to the detected speed of the robot and the first distance value; the control module reads the calculated parameter obtained by the sensor detecting module according to the fixed frequency, and reads Taking the speed parameter value of the speed of the robot traveling detected by the sensor detecting module, calculating the moving speed and direction of the obstacle according to the calculated calculating parameter and the speed parameter value, and combining the triangle formula, and determining the obstacle Will it

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (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 système et un procédé de détection et d'évitement automatiques d'obstacles. Le système comprend : un robot comprenant un module de sortie de vitesse (101) détectant une vitesse de déplacement du robot ; un module de capteur de détection (102) détectant des distances entre le robot et les obstacles, triant les distances pour obtenir une distance la plus proche du robot en tant que première distance et une seconde distance la plus proche du robot en tant que seconde distance, et obtenant, en fonction de la vitesse de déplacement et de la première distance, des paramètres de calcul d'une vitesse de déplacement et d'une direction de déplacement d'un obstacle ; et un module de commande (103) calculant, en fonction des paramètres de calcul et d'un paramètre de vitesse, combinés à une formule trigonométrique, la vitesse et la direction de déplacement de l'obstacle, déterminant si le robot va entrer en collision avec l'obstacle, et si tel est le cas, commandant le module de sortie de vitesse (101) pour ajuster la vitesse de déplacement du robot pour éviter l'obstacle. Par conséquent, le mode de réalisation est utilisé pour permettre à un robot en mouvement de détecter et d'éviter automatiquement un obstacle en mouvement, maintenir des coûts bas, augmenter l'automatisation et trouver facilement une application.
PCT/CN2016/092241 2016-07-29 2016-07-29 Robot capable de détecter et d'éviter automatiquement un obstacle, système et procédé Ceased WO2018018597A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680056159.2A CN108136579A (zh) 2016-07-29 2016-07-29 一种自动探测和规避障碍物的机器人、系统及方法
PCT/CN2016/092241 WO2018018597A1 (fr) 2016-07-29 2016-07-29 Robot capable de détecter et d'éviter automatiquement un obstacle, système et procédé

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Application Number Priority Date Filing Date Title
PCT/CN2016/092241 WO2018018597A1 (fr) 2016-07-29 2016-07-29 Robot capable de détecter et d'éviter automatiquement un obstacle, système et procédé

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CN116038684A (zh) * 2022-09-09 2023-05-02 南京埃斯顿机器人工程有限公司 一种基于视觉的机器人碰撞预警方法

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CN111413964A (zh) * 2020-03-09 2020-07-14 上海理工大学 一种环境内移动机器人实时探测障碍物移动状态的方法
CN116079717A (zh) * 2022-12-15 2023-05-09 武汉擎朗智能科技有限公司 机器人控制方法、机器人及计算机可读存储介质

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CN116038684A (zh) * 2022-09-09 2023-05-02 南京埃斯顿机器人工程有限公司 一种基于视觉的机器人碰撞预警方法

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