Method and device for controlling multi-joint moving robot to avoid obstacle

Abstract

The invention provides a method and device for controlling multi-joint moving robot to avoid an obstacle. The method is characterized in that a vision guidance device and the infrared obstacle avoidance device are mutually coordinated to control the robot to move during the process that the robot moves from a starting point to a target point along a pre-planned global optimal route; when a vision system detects the obstacle in the preset distance, a robot base is stopped marching, the movement posture of each joint can be automatically adjusted by grade on the basis of a pre-constructed kinematic geometric model of each joint, and the joints can be swung, from a tail end performer to the base, within a feasible region of each joint, so as to avoid the obstacle by grade; a servo system can control the pose position of each joint and the chassis movement direction, so as to continuously control the robot to move toward the target point until the robot reaches the target point; the movement postures of each joint and the base can be synchronously adjusted during the infrared obstacle avoiding process, thereby avoiding subsequent repeated adjusting, and as a result, the obstacle avoiding efficiency of the multi-joint moving robot can be improved.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and device for controlling a multi-joint mobile robot to avoid obstacles. Background technique [0002] At present, with the rapid development of social economy and the continuous advancement of social intelligence, intelligent robots have emerged as the times require. Intelligent robots are robots that can continuously move autonomously in real time on roads and in the wild, and have become a hot spot in the field of scientific and technological research today. The main purpose is to study the application of artificial intelligence technology, so that intelligent robots can achieve autonomous reasoning, planning and control in complex and changeable environments; in addition, with the increasing scope of robot applications and the gradual strengthening of intelligence, intelligent robots are gradually becoming anthropomorphic. Therefore, multi-joint mobile robots...

AI Technical Summary

Problems solved by technology

[0003] At present, a method for controlling a multi-joint mobile robot to avoid obstacles is provided in the related art. The method includes: first, performing global path planning on the robot, that is, controlling the robot to move from the initial position to the final position, and collecting According to the image information of the surrounding environment and fixed obstacles of the movement path, the environment image of the entire movement path is generated, and the global path is determined by the shortest path algorithm according to the collected environment image; then, the robot starts from the starting position and passes through the Install an infrared sensor on it, when the infrared sensor detects an obstacle, plan and explore the feasible area where the robot base avoids the obstacle and moves near the global point, but only considers the movement of the robot base and obstacle avoidance. The multi-dimensional and multi-joint obstacle avoidance of the above robot has not been planned. Since the infrared sensors and vision systems of the existing multi-joint mobile robots are installed on the base of the robot, when the robot encounters an obstacle, it can only be detected by changing the position of the base. The movement direction is used to avoid obstacles, and the adjustment of each movement posture only ensures that the base can avoid obstacles, but cannot guarantee that the robot arm can avoid obstacles, so the movement posture of the base needs to be adjusted repeatedly

[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the related art: when the robot senses an obstacle in the related art, it only performs obstacle avoidance processing on the base, causing each joint to collide with the obstacle in the process of continuing to move. Collisions occur, so it is necessary to continuously adjust the driving path. The accuracy of the planned obstacle avoidance path is low, which not only increases the adjustment time, but also reduces the obstacle avoidance efficiency. It is impossible to make the multi-joint mobile robot avoid obstacles quickly and accurately.

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