Multi-channel infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system
A technology of infrared sensor and autonomous movement, which is applied in the direction of control/adjustment system, instrument, motor vehicle, etc., which can solve the problems of ultrasonic sensor measurement distance, large safety distance, waste of resources, and small effect, so as to reduce the difficulty of data fusion and reduce data The effect of passing back
Active Publication Date: 2018-09-21
JIANGSU R & D CENTER FOR INTERNET OF THINGS
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However, because the autonomous mobile robot has the characteristics of movement, the measurement distance of the ultrasonic sensor is relatively large compared with the safety distance of the robot, and the blind area scanned in the static state can be covered during the movement process, and the robot that can rotate in place can avoid obstacles in the opposite direction. The role of the sensor is relatively small. This 360° uniform distribution method causes waste of resources and makes data processing more difficult.
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[0023] The present invention will be further described below in conjunction with drawings and embodiments.
[0024] Most of the ultrasonic sensors of existing robots on the market are evenly distributed. Such a layout is not only wasteful from the perspective of cost, but also increases the difficulty of post-information processing, because autonomous mobile robots have the characteristics of movement. Moreover, the measurement distance of the ultrasonic sensor is relatively large compared to the safe distance of the robot. At the same time, during the movement of the robot body, as the robot moves, the position of the sensor will also move accordingly, forming an area that can be scanned when the robot is moving. This area can cover the blind area of scanning in static state. Therefore, we use multi-channel infrared and ultrasonic sensors to measure and collect distance information, and apply the uneven distribution of obstacle avoidance sensors that the adaptive robot trav...
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The invention relates to a multi-channel infrared and ultrasonic sensor distribution structure of an autonomous mobile robot obstacle avoidance system. The invention uses multi-channel infrared and ultrasonic sensors to measure and collect distance information, and proposes an adaptable robot in a moving state. On the basis of completing the obstacle avoidance function, the corresponding distribution method is selected for specific sensor selection to reduce unnecessary data return and reduce the difficulty of data fusion.
Description
technical field [0001] The invention relates to the field of obstacle avoidance of mobile robots, in particular to a multi-channel infrared and ultrasonic sensor distribution structure of an autonomous mobile robot obstacle avoidance system. Background technique [0002] In the process of real-time obstacle avoidance and path planning of an autonomous mobile robot, the robot must rely on the acquisition of external environmental information, perceive the existence of obstacles, and measure the distance of obstacles. At present, robot obstacle avoidance and ranging sensors include infrared, ultrasonic, laser and visual sensors. Laser sensors and vision sensors are expensive and have high requirements for controllers. At the same time, soft materials such as sponges and plastics can absorb ultrasonic waves. Dark objects absorb infrared light. So we add infrared sensors to make up for the shortcomings of ultrasonic response to soft sound-absorbing materials. Therefore, in th...
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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0255
Inventor 刘宇萱赵旦谱台宪青
Owner JIANGSU R & D CENTER FOR INTERNET OF THINGS