A method and device for controlling a multi-joint mobile robot to avoid obstacles

Abstract

The invention provides a method and device for controlling a multi-joint mobile robot to avoid obstacles. The method includes: using visual navigation and infrared obstacle avoidance when the robot moves from a starting point to a target point according to a pre-planned global optimal path Coordinate with each other to control the movement of the robot. When the vision system detects an obstacle within the preset distance, it will suspend the advancement of the robot base, refer to the pre-established kinematic geometric model of each joint, and automatically adjust the motion posture of each joint step by step. Swing the joint within the feasible area of ​​the joint, from the end effector to the base, avoid obstacles step by step, control the pose of each joint and the movement direction of the chassis through the servo system, and continue to control the robot to move to the target point until the robot reaches the target point. During the infrared obstacle avoidance process, the motion postures of each joint and the base are simultaneously adjusted to avoid subsequent repeated adjustments and improve the obstacle avoidance efficiency of the multi-joint mobile robot.

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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