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Robot autonomous barrier avoiding method and device

A robot and sensor technology, applied in the field of robots, can solve problems such as poor adaptability

Active Publication Date: 2016-10-26
深圳市三宝创新机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a robot autonomous obstacle avoidance method, to solve the existing robot obstacle avoidance of robots in the prior art, which can only adapt to wide scenes, and the adaptability in narrower scenes (such as corridors) is relatively small. bad question

Method used

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  • Robot autonomous barrier avoiding method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] figure 1 The implementation flow of the robot autonomous obstacle avoidance method provided by the first embodiment of the present invention is shown, and the details are as follows:

[0040] In step S101, the distance values ​​between the robot and obstacles detected by a plurality of sensors respectively arranged on the left side, the middle part and the right side of the robot are obtained. For the sensors of the feet, the right side of the robot includes sensors that are respectively arranged on the right hand and the right foot of the robot, and the middle part of the robot includes sensors that are respectively arranged on the head and the torso of the robot.

[0041] Specifically, the sensor described in the embodiment of the present invention may use an infrared sensor, an ultrasonic sensor, or a depth sensor to detect the distance. In order to better judge obstacles, we can divide the front ranging sensors of the robot into three groups: left, middle, and right,...

Embodiment 2

[0065] figure 2 The implementation process of the robot autonomous obstacle avoidance method provided by the second embodiment of the present invention is shown, and the details are as follows:

[0066] In step S201, the robot reads the distance data detected by the sensor, which may include the sensor data detected by the 17 sensors listed in Embodiment 1, and for each group of sensor data, automatically obtains the smallest value as the sensor of the group output value. Among them, DL, DM, DR and DF are used to indicate the minimum distance of the left, middle, right and anti-drop of the robot, and DS is used as the obstacle critical distance of the obstacle confirmation layer. DFS is the obstacle critical distance to prevent falling. Every time you avoid obstacles, you must record the direction of rotation and the distance you move. After avoiding obstacles, perform rotation compensation and continue to walk in the original direction.

[0067] In step S202, it is determ...

Embodiment 3

[0085] image 3 The implementation process of the robot autonomous obstacle avoidance method provided by the third embodiment of the present invention is shown, and the details are as follows:

[0086] In the embodiment of the present invention, we use DS as the critical distance of the obstacle confirmation layer. DFS is the critical distance of obstacles to prevent falling, DRN is the shortest critical distance for walking to the right, DRF is the farthest critical distance for walking to the right, and DRTF is the distance against the wall that is too far away to stop walking along the wall.

[0087] In step S301, the robot reads the distance data detected by the sensor, which may include the sensor data detected by the 17 sensors listed in Embodiment 1, and for each group of sensor data, automatically obtains the smallest value as the sensor of the group output value. Among them, DL, DM, DR and DF are used to represent the left, middle, right and minimum distances of the...

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Abstract

The invention provides a robot autonomous barrier avoiding method. The method includes acquiring the distance values between a robot and a barrier detected by a plurality of sensors respectively arranged at the left, middle and right sides of the robot; turning for 90 degrees toward the side where the detected smallest distance value is greater than the preset barrier critical distance if the smallest distance value detected by the sensor at the left side or the right side is greater than the preset barrier critical distance when the smallest distance value detected by the middle sensor of the robot is less than the preset middle distance threshold; and turning toward the left side for a first angle value if only the smallest distance value detected the sensor at the left side is greater than the preset barrier critical distance when the smallest distance value detected by the middle sensor of the robot is greater than the preset middle distance threshold. The robot can sensitively detect the barrier by arranging a plurality of sensors on the same direction side and obtaining the detected distance minimum values for comparison.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a robot autonomous obstacle avoidance method. Background technique [0002] With the development of intelligent control technology, more and more intelligent robots have entered people's lives. For example, home service robots such as sweeping robots and window cleaning robots can automatically and efficiently help people complete daily sweeping or window cleaning tasks, bringing great convenience to people's lives. [0003] During the working process of the home service robot, it usually needs to walk automatically indoors or outdoors. In the process of walking, you will inevitably encounter various obstacles, such as furniture, walls, trees, etc. Therefore, how to efficiently and accurately avoid obstacles when the home service robot is working is an important technical point to ensure the service quality of the intelligent robot. [0004] When current home service robots a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0255G05B2219/39091B25J9/1676Y10S901/01G05D1/0214B25J9/1694
Inventor 林绿德庄永军
Owner 深圳市三宝创新机器人有限公司
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