A mobile robot dynamic detection safety protection method
A mobile robot and safety protection technology, applied in the field of mobile robots, can solve the problems of high traffic conditions and impassable areas of mobile robots, and achieve the effect of ensuring consistency and strong anti-interference
Active Publication Date: 2019-03-12
ZHEJIANG GUOZI ROBOT TECH
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Problems solved by technology
[0003] The establishment of a static stop area can well protect the mobile robot from collisions, but it will also make the mobile robot's traffic conditions higher, resulting in some specific areas being impassable
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[0022] Mobile robots usually require obstacle detection during operation. When the detection area is set unreasonably, the robot cannot pass through the path in some environments. like figure 1 Shown is a schematic diagram of a mobile robot encountering an obstacle in a traditional static detection area (the circle represents the mobile robot, the black solid line represents the path, the triangle or rectangle of the grid shading represents the obstacle, the rectangle of the left shadow shading and the right shadow The rectangles with shading represent the deceleration zone and stop zone of the detection area respectively. The robot will stop if an obstacle is detected in the stop zone, and the robot will decelerate smoothly if an obstacle is detected in the deceleration zone. Figure 2-4 expressed in the same way). from figure 1 It can be seen that when the deceleration zone of the mobile robot detects an obstacle, it will decelerate, and when the obstacle enters the stop ...
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The invention discloses a dynamic detection safety protection method of a mobile robot. The mobile robot is provided with a sensor, the sensor obtains obstacle information of the detection area in front of the mobile robot, when obstacles appear in the detection area, the mobile robot slows down step by step, the detection area is dynamically adjusted, and if the obstacle is not detected in the adjusted detection area, the mobile robot continues to move; if the obstacle is still detected in the adjusted detection area, the mobile robot continues to slow down until the mobile robot stops. The sensor arranges different detection areas according to the running speed and the running direction of the mobile robot, or the detection area is preset according to the path, and during running of the mobile robot, dynamic adjustment is carried out. According to the dynamic detection safety protection method of the mobile robot, the mobile robot can pass through a path with many interference objects and is high in anti-interference performance, and meanwhile consistency of a processing mechanism and the detection range of a bent way and a straight line is ensured.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to a dynamic detection safety protection method for a mobile robot. Background technique [0002] A mobile robot is a machine device that performs work autonomously. It can accept both human command and run pre-programmed programs. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. In the process of performing tasks, mobile robots usually need to perceive obstacles on the running route and avoid them. That is to say, the mobile robot needs to detect obstacles in real time during the movement process, and the detection area of obstacles is generally a stop area and a deceleration area. When the safety sensor detects an obstacle in the deceleration zone, it will decelerate, and when it detects an obstacle in the stop zone, it will stop the movement of the robot. Usually, a large stop area is statically set to ensure that th...
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IPC IPC(8): B25J19/06B25J19/02
CPCB25J19/02B25J19/022B25J19/06
Inventor 丁猛陶熠昆王霞宓旭东朱玲芬郑洪波杜鑫峰沈继中
Owner ZHEJIANG GUOZI ROBOT TECH