Multi-directional barrier avoiding system of mobile robot

Abstract

The invention discloses a multi-directional barrier avoiding system of a mobile robot. The multi-directional barrier avoiding system comprises an ultrasonic sensor (1), an infrared sensor (2), a pyroelectric sensor (3), analog signal processing circuits and a central control unit. The ultrasonic sensor (1) is connected to the central control unit through one analog signal processing circuit and an A / D conversion circuit. Analog signals fed back by the infrared sensor (2) are amplified, filtered, subjected to peak extraction and shaped through the other analog signal processing circuit, and then are transmitted to the central control unit after passing through the A / D conversion circuit. The pyroelectric sensor (3) is connected to the central control unit. The multi-directional barrier avoiding system of the mobile robot can quickly detect information of barriers in the external environment in real time, detection dead zones are eliminated, parameters measured by the multiple sensors are used in a complementation mode, and the most authentic external environment parameters can be reliably provided for a robot control center in real time so that the robot control center can optimize advancing lines in real time to enable the robot to quickly avoid barriers.

Description

technical field [0001] The invention belongs to the technical field of path planning, navigation and obstacle avoidance of a mobile robot, in particular to a multi-directional obstacle avoidance system for a mobile robot. Background technique [0002] In order for the robot to drive reliably and automatically avoid obstacles on the route, a system is needed to obtain information about the external environment, sense the existence of obstacles, and measure the distance of obstacles, so that the robot can correctly plan the route and automatically avoid obstacles. Sensors are one of the essential components of an autonomous mobile robot system. In a fully structured known environment, the sensor system is used to guide the movement of the robot, monitor the execution of expected tasks, and deal with possible unexpected situations; while in an unknown or dynamically changing environment, because the information of the environment cannot be known in advance, the robot Completel...

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Problems solved by technology

[0005] The problem to be solved by the present invention is to provide a mobile robot multi-sensor ranging system for the defects of slow response of ultrasonic sensors, blind spots in measurement, and inability to detect sudden moving obstacles in real time. The ranging range of ultrasonic sensors used in this system is : 30 ~ 600 cm, infrared ranging sensor Range: 10 ~ 80 cm

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