Ultrasonic-rotation-scanning-based obstacle avoiding method

Abstract

The embodiment of the invention discloses an ultrasonic-rotation-scanning-based obstacle avoiding method. The method comprises: a rotating motor is controlled to drive a mechanical arm of a platform vehicle to carry out 180-degree repeated rotation scanning from an initial position to an end position and an ultrasonic sensor is controlled to transmit ultrasonic waves with different frequencies; time of rotation scanning of the mechanical arm is obtained in real time; whether an ultrasonic wave reflected back is received is determined; if so, a reflection frequency and receiving time for receiving the ultrasonic wave reflected back are recorded; time of transmitting the ultrasonic wave corresponding to the ultrasonic wave reflected back is determined; and an included angle between a direction of transmitting the ultrasonic wave at the corresponding transmitting time and a platform vehicle marking direction is determined, thereby controlling the platform vehicle to carry out obstacle avoidance processing. According to the method disclosed by the invention, obstacle distance measurement and direction determination can be realized without the need to install a plurality of ultrasonic sensors at the platform vehicle during the realization process of the method.

Description

technical field [0001] The invention relates to the technical field of ultrasonic obstacle avoidance, in particular to an obstacle avoidance method based on ultrasonic rotational scanning. Background technique [0002] With the development of the power system, the intelligent inspection robot gradually replaces the manual inspection method. The intelligent inspection robot can avoid the surrounding obstacles during the inspection process, and conduct inspections on the inspected equipment at a suitable distance from the inspected equipment. Infrared detection, to find the fault of the tested equipment. [0003] In the prior art, the common robot obstacle avoidance method is to install distance sensors in multiple directions of the robot, judge the orientation of obstacles according to the data sent back by the distance sensors and the positions of the corresponding sensors, and perform the obstacle avoidance behavior of the robot. [0004] However, this obstacle avoidance m...

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Problems solved by technology

[0005] In the embodiment of the present invention, an obstacle avoidance method based on ultrasonic rotary scanning is provided to solve the problem in the prior art that the robot is large in size due to multiple distance sensors and is not flexible enough in the process of distance measurement and obstacle avoidance

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