39results about How to "Obstacle avoidance" patented technology

The invention relates to an automatic obstacle avoiding intelligent unit, system and method of a tele-operation plane redundancy mechanical arm of the field of mechanical control technology; wherein, the system comprises a data storage module, a microprocessor, a serial communication interface, a field bus interface and an intelligent unit; the intelligent unit which is arranged for each shaft motor collects the information of an infrared distance sensor arranged at an articulated arm; the states of the articulated arm are divided into three states of being normal, obstacle avoiding and stopping according to measured values of the sensing information; when the articulated arm is in the normal state, the intelligent unit adopts speed instructions planned by the microprocessor to control a driving unit ; when the articulated arm is in the obstacle avoiding state, the intelligent unit adopts the speed instructions which increase the distance between the articulated arm and obstacles to drive a control unit; when the articulated arm is in the stopping state, the intelligent unit stops the movement of an articulated motor and sends the states of the articulated arm to a movement coordination module. The intelligent unit, system and device can simplify the system wiring and fast sense the obstacles and realize the obstacle avoidance when controlling the end of the mechanical arm to get close to targets through the tele-operation.

The invention discloses an industrial robot high-speed high-precision obstacle avoidance track planning method based on torque control. The method comprises the following steps that 1, a robot dynamics model is established by identifying kinematics and inertial parameters of all joints; 2, displacements of all joint angles are obtained through inverse kinematics solution when a robot moves to an end point; 3, the displacements of the joint angles are adopted as motion tracks, speeds and accelerated speeds of all joints are planned through a sine jerk planning method, the speeds and the accelerated speeds are substituted into the dynamics model so as to solve control torque in the motion tracks; 4, collision detection is carried out by adopting a method of judging the distance between key points after detecting the interference conditions of joint projections; and 5, when it is detected that the collision may occur, an impedance accelerated speed is applied to the dangerous joints to reduce the motion speed of the joints so as to achieve the obstacle avoidance. The industrial robot obstacle avoidance track planning method based on the torque control has the advantages that the control precision is high, the obstacle avoidance is effectively realized, and the safety is high.

The invention discloses a real-time obstacle avoidance method of a collaborative robot. The method comprises the steps that an obstacle avoidance model is established in advance to build an inequationwhich describes real-time obstacle avoidance of the robot, the minimum speed norm is selected as a redundancy analysis scheme, a motion control mode of a mechanical arm is designed, the physical constraint of the mechanical arm is modeled, the obstacle avoidance problem of the mechanical arm is modeled, the obstacle avoidance problem model of the mechanical arm is optimized and solved, the jointangular velocity control quantity of the robot mechanical arm is obtained and sent to a mechanical arm controller, and the mechanical arm is controlled to avoid obstacles. According to the method, offline planning is not needed, the proposed obstacle avoidance algorithm can achieve avoidance for static and dynamic obstacles without affecting the operation required to be executed by an end-effector, the two operations are carried out at the same time without contradiction, the proposed obstacle avoidance algorithm can simultaneously avoid the physical overrun of the mechanical arm, and in otherwords, the joint angle and angular velocity do not exceed practical limits.

The invention discloses an RGB-D camera and stereophonic sound-based passage prediction system and method for visually impaired people. The method comprises the steps of projecting invisible near-infrared static speckles by utilizing an infrared projector; collecting an image by utilizing two infrared cameras and an RGB color camera; processing the collected image by a small processor; and performing calculation to obtain a depth image. According to the method, attitude angle information of the cameras is obtained by utilizing an attitude angle sensor; the small processor performs calculation by utilizing depth information and the attitude angle information to obtain a height image; the height image is subjected to block segmentation; the depth information obtained by the block segmentation is converted into a stereophonic sound signal; and finally the stereophonic sound signal is transmitted to the visually impaired people for performing assistance by utilizing bone conduction earphones, so that the passage prediction requirements of the visually impaired people can be well met.

The invention discloses visually impaired people passage prediction glasses based on an RGB-D camera and stereophonic sound. An infrared projector can project invisible near-infrared static speckles, images are captured through two infrared cameras and an RGB color camera, a small processor processes the acquired images and calculates to obtain depth images, an attitude angle sensor acquires camera attitude angle information, the small processor uses the depth information and the attitude angle information to compute the height image and divides the height image into pieces, the divided depth information is transformed into a stereophonic sound and finally a bone conduction headphone transmits the stereophonic sound to visually impaired people for assistance. The visually impaired people passage prediction glasses can well meet the prediction requirements on visually impaired people passage.

The embodiment of the invention provides a robot arm obstacle avoidance method and system. The method comprises the following steps: obtaining the measured distance value of an obstacle avoidance detector, corresponding to the current swing direction, on a robot arm according to the control to the current swing direction of the robot arm, which shows the distance between the robot arm and an obstacle in the current swing direction; controlling the robot arm to stop swinging to the current swing direction if the measured distance value is smaller than or equal to a preset obstacle avoidance distance threshold value, so as to realize obstacle avoidance of the robot arm in the current swing direction.

The invention discloses a ground transport vehicle control device and a control method thereof. An upper and lower integrated control system is formed by an upper computer and an AGV system. Optimal task allocation and cooperative allocation of a plurality of AGVs forming the AGV system can be obtained through an upper computer running program, and butt joint can be accomplished through a plurality of ultrasonic receiving systems in an ultrasonic automatic following, receiving and positioning system to completely cover the whole control area, so that errors caused by wave losing and restrictions of a blind area can be avoided, the positioning range of each ultrasonic receiving system is enabled to be wider, the number of the ultrasonic receiving systems is reduced, the cost is reduced, thepositioning data is more accurate, and the reliability is high; a vehicle-mounted display screen can display the located position, the speed and local obstacle information in real time; meanwhile, anobstacle avoidance system is adopted, static and dynamic obstacles within different ranges can be avoided in a fast response and accurate distance manner, and the fault tolerance rate is improved; and the overall system is stable in performance, a problem that the traditional ultrasonic positioning system is too large in blind area is solved, and the operation cost and the maintenance cost are low.

The invention discloses a three dimensional electric field difference obstacle avoidance method for patrolling charged transmission lines by an unmanned helicopter, and the method comprises the steps of installing three electric field sensors on the unmanned helicopter in the patrol line; electric field intensity values measured by the three electric field sensors are collected to a data acquisition processor; the data acquisition processor comprises a DSP module; the electric field sensors and a signal acquisition processing unit enter into the DSP data processing module; the DSP data processing module outputs the values to the unmanned helicopter flight control system; an instruction is sent from inside the DSP data processor based on a certain algorithm and a strategy to avoid lead through the airborne flight control system to adjust the flight height and direction of the unmanned helicopter; obstacle avoidance to high tension transmission lines by the unmanned helicopter can be realized; the unmanned helicopter can be prevented from deviating a predetermined course and bumping into transmission lines while patrolling the charged transmission lines; and the safety of the unmanned helicopter patrol system and the transmission lines can be guaranteed.

The invention provides a 3D positioning device and method for formulating a follow-up guide rail curved surface based on the shape of an engineering structure, and the device comprises a follow-up rail frame, a detection trolley, and a trolley drive mechanism, wherein the shape of the follow-up rail frame is matched with the geometric shape of a detected engineering structure. The detection trolley is disposed on the follow-up rail frame. The detection trolley walks on the follow-up rail frame through the trolley drive mechanism. The device is advantageous in that 1, there is no need of high-altitude work, so the device is safe and efficient; 2, the device can achieve the single-lane operation under the condition that the traffic is guaranteed to be smooth when the device is used for a full-automatic intelligent tunnel detection vehicle for the detection of a special project of a road; 3, the detection platform can automatically rise and fall to avoid obstacles; 4, the follow-up rail frame achieves the full-section data collection; 5, the device is provided with a multi-channel radars, achieves the full coverage through lateral and longitudinal measurement lines, and achieves the three-dimensional detection of the structure and surrounding rock; 6, the device can enable panoramic photographing and infrared imaging equipment to be extended, and achieves the intelligent recognition of cracks and water damages.

The invention relates to the technical field of robots, in particular to an obstacle avoidance method and device and a cooperative robot. By means of the obstacle avoidance method and device and the cooperative robot in the embodiment, the working range of the cooperative robot is obtained; a detecting mode is determined according to the working range; detection information of a detection area isobtained based on the detecting mode; and a deceleration command or brake command is generated based on the detection information. According to the embodiment, the detection area is determined by theworking range of the cooperative robot, the detecting mode is determined, the type of the detection area is further determined, and the deceleration command or braking instruction is generated throughdifferent kinds of detection information, so that obstacle avoidance of the cooperative robot is achieved. Compared with traditional obstacle avoidance arranged to be in a brake mode, the obstacle avoidance mode can improve the working efficiency of the cooperative robot.

The embodiment of the invention discloses a vehicle obstacle avoidance method, a vehicle obstacle avoidance device, a vehicle obstacle avoidance system and a vehicle. The vehicle obstacle avoidance method comprises the steps of determining a detour direction of the vehicle according to a preset travel route and obstacle position information of the vehicle; determining a detouring starting point, adetouring turning point and a detouring ending point of the vehicle according to the minimum turning radius of the vehicle, the extension width of the obstacle in the detouring direction, the vehiclebody width of the vehicle, the safety distance between the vehicle and the obstacle and a preset advancing route; and controlling the vehicle to detour between the detour starting point and the detour turning point at a maximum steering angle in the first hour hand direction and detour between the detour turning point and the detour ending point at a maximum steering angle in the second hour handdirection to avoid an obstacle. By the adoption of the vehicle obstacle avoidance method, a short vehicle detouring track can be obtained, the vehicle can detour the obstacle only by steering at themaximum steering angle, it is guaranteed that the vehicle obstacle avoidance method is simple, the steering angle does not need to be adjusted in the advancing process, and the vehicle obstacle avoidance efficiency is improved.

The invention discloses a novel electromagnetic levitation obstacle avoiding apparatus. The structure of the apparatus consists of a mounting pedestal, an alarming device for power disconnection, a connecting rod, obstacle avoiding lenses, an outer rotor, an inner stator, and a universal joint. The inner stator is arranged inside the outer rotor. One end of the inner stator is movably connected with the inner side of the outer rotor through the universal joint, and the other end of the inner stator extends out of the outer rotor through the connecting rod to be connected with an unmanned aerial vehicle. Compared with the prior art, the novel electromagnetic levitation obstacle avoiding apparatus has the beneficial effects that the electromagnetic levitation obstacle avoiding apparatus is provided with the alarming device for power disconnection, which has an alarming function for power disconnection and can give an alarm when the apparatus is powered off, so that operators can replacebatteries in time to make the apparatus control adjustment of postures of the obstacle avoiding lenses under the effect of magnetic buoyancy, the unmanned aerial vehicle can avoid obstacles in a vibration situation, and obstacles can be all avoided.

The invention discloses a computer vision-based robot walking control system and method. The system and method are characterized in that an camera is used for scanning an environment space in which arobot is located to acquire the image data of the environment space; an input keyboard is used for inputting a robot control instruction through an instruction input module; a target object of an image is processed through an image processing program; the feature information of the image is identified by using a recognition program; the obstacle distance is measured by using a distance measuring sensor; and the robot walking route navigation is performed by using a navigation program according to the obstacle identification distance measuring data. According to the system and method, a seriesof tasks such as visual processing, spatial representation, self-positioning and map updating are completed, and the robot navigation with high bionic property and strong autonomy in an unknown environment is realized.

The invention discloses an indoor substation unmanned aerial vehicle visual navigation system and method. The system comprises a forward binocular perception module and a downward binocular perceptionmodule which are connected with an unmanned aerial vehicle flight control end. The flight control terminal comprises: a path planning unit configured to obtain a binocular image in real time throughan unmanned aerial vehicle forward visual perception module in the flight process of the unmanned aerial vehicle, construct a depth map, and perform path planning based on the depth map; and a visualodometer unit which is configured to acquire an image in real time through the downward visual perception module and calculate the current mileage of the unmanned aerial vehicle in the flight processof the unmanned aerial vehicle. Obstacle avoidance and path planning can be achieved only through a local map, and the operand is greatly reduced; and through multiple identification codes, accumulated errors in the unmanned aerial vehicle positioning process can be conveniently corrected in time.

The invention belongs to the technical field of unmanned aerial vehicle cluster control, and particularly relates to an unmanned aerial vehicle cluster overall obstacle avoidance method based on a behavior control method. Firstly, a lattice formation control method is designed by utilizing a behavior control method, then formation boundary constraint is added on the basis of the lattice formation, each unmanned aerial vehicle in a cluster is controlled to try to enter an area defined by boundaries, and then formation control of dense formation flight is formed. And finally, a new route planning method is designed based on a particle swarm algorithm, a safe and drivable channel matched with the formation width is planned for the unmanned aerial vehicle cluster in an area where obstacles exist, the planned channel serves as consensus information of the unmanned aerial vehicle cluster, and overall obstacle avoidance of the unmanned aerial vehicle cluster is achieved.

The invention relates to the technical field of middle troughs of the landing section of a mining reversed loader, in particular to a reversed loader lap joint middle trough with guide mechanisms. The reversed loader lap joint middle trough is structurally characterized in that the trough body of an original reversed loader middle trough is widened, the guide mechanisms are arranged above the two sides of the trough body, limit devices are arranged at the two ends of each guide mechanism, an original vertical double-high baffle of the middle trough is changed to be of a bend V-shaped structure, pin and bolt linked structures are arranged at the two ends of the trough body and are in rigid connection with the middle trough of the landing section of the reversed loader, and the complete reversed loader lap joint middle trough with the guide mechanisms is formed. The guide mechanisms on the two sides of the upper portion of the trough body are in lap joint with a walking part of a bridging section of the reversed loader, so that the purpose that the reversed loader replaces a belt conveyor to avoid roadway ground obstacles is achieved. The reversed loader lap joint middle trough with the guide mechanisms is simple and reliable in process and applicable.

The invention provides a low-temperature pressure vessel diagnosis and monitoring system. The system comprises a monitoring device, a storage device, a reaction device, a detection device, a heat preservation device and a processor, and is characterized in that the monitoring device is configured to detect a pressure value in a vessel, the storage device is configured to store the monitoring device, the reaction device, the detection device and the heat preservation device, the reaction device is configured to collect parameters in the vessel and detect the vessel based on the collected parameters, the detection device is configured to acquire the vessel and each parameter outside the vessel, and the heat preservation device is configured to preserve heat of the vessel. By adopting a moving mechanism, a lifting unit and the detection operation of a detection camera, an accurate detection signal is provided for diagnosis or monitoring of the vessel.

The present invention provides a method for controlling a projection device, comprising: receiving a projection instruction, analyzing projection information included in the projection instruction, the projection information including destination location information and target projection location information; and a preset map, controlling the projection device to move to a target position; controlling and adjusting the projection height and/or angle according to the target projection position information, so that the projection position of the projection device is adjusted to the target projection position. The present invention realizes the rapid pick-and-place of the projector and the automatic adjustment mechanism of the projection angle, and can ensure stable and vibration-free projection during the projection process.

The invention discloses a pair of RGB-D-camera-and-stereo-based obstacle early-warning glasses for visual impaired people. According to the pair of glasses, an infrared projector is used for projecting visible near-infrared static speckle; two infrared cameras and one RGB camera are used for collecting images; a micro processor processed the collected images, calculation is carried out to obtain a depth image and block division is carried out on the depth image, depth information obtained by block division is converted into a stereo signal; and then a bone conduction earphone is used for transmitting the stereo signal to a visual impaired user for assisting. Therefore, a requirement of obstacle early warning of visual impaired people can be met well.