Multi-infrared based robot obstacle avoidance device, control method thereof, and robot edgewise control method

A control method and robot technology, applied in two-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as inconsistency in infrared reflection, improve robot perception and reduce errors The effect of judging and consistent distance from the wall

Pending Publication Date: 2017-08-15
AMICRO SEMICON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, when the device of the present invention is used for edge-alonging behavior, the problem of inconsistent infrar

Method used

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  • Multi-infrared based robot obstacle avoidance device, control method thereof, and robot edgewise control method
  • Multi-infrared based robot obstacle avoidance device, control method thereof, and robot edgewise control method
  • Multi-infrared based robot obstacle avoidance device, control method thereof, and robot edgewise control method

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Embodiment 1

[0036] see figure 1 As shown, the robot based on the present invention includes a body 1, action wheels 2 and 3, a control module 4 and an obstacle avoidance device, wherein the obstacle avoidance device includes a collision detection unit 5 and an anti-fall detection unit 6-11, and the collision detection unit 5 It is arranged at the front end of the robot for collision detection during travel; the anti-fall detection unit 6-11 is arranged at the lower edge of the robot for anti-fall detection of steps and the like. The control module 4 is used for receiving command signals or collecting signals, performing data analysis and processing and generating control signals. The number of obstacle detection and drop detection depends on the needs. Generally, there are 6 groups of obstacle detection, which are distributed in front of the machine, and there are 6 groups of drop detection, which are evenly distributed on the outer circle of the machine. Of course, it is not ruled out t...

Embodiment 2

[0053] According to the above principle, multi-infrared detection can also have other structures, such as Figure 8 shown. E1 and E2 do not share one receiving tube, but separate two receiving tubes, and the receiving tube is not perpendicular to the sensing plane. E1 and D1 are paired, and the formed intersection is on the 306 plane; E2 and D2 are paired, and the formed intersection is on the 305 plane. The signal processing method is similar to the method described above.

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Abstract

The invention discloses a multi-infrared based robot obstacle avoidance device, a control method thereof, and a robot edgewise control method. The robot obstacle avoidance device comprises at least one infrared intensity detection unit, the infrared intensity detection unit comprises an bearing mechanism, at least two infrared transmitting tubes and an infrared receiving tube, the infrared transmitting tubes and the infrared receiving tube are arranged on the bearing mechanism, an included angle is formed between each infrared transmitting tube and the infrared receiving tube and cross points of central lines of the infrared transmitting tubes and the infrared receiving tube are placed in different planes respectively. A multi-infrared detection manner is used to calculate the distance to an obstacle accurately, the detection precision of a robot is improved, determining errors are reduced, and compared with schemes of the same precision, the cost is reduced greatly. When the obstacle avoidance device is used to make edgewise behaviors, inconsistency in infrared reflection caused by different wall materials can be overcome, and an edgewise effect of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of autonomous action robots, and in particular relates to a robot obstacle avoidance device based on multi-infrared, a control method thereof and a robot edge control method. Background technique [0002] With the development of technology and people's pursuit of a comfortable life, more and more autonomous robots have entered people's lives, such as companion robots and sweeping robots. The basic functions of the robot are environment perception, command reception and behavior control. The first difficulty of the robot is the perception of the environment. The robot needs to know where to go, what obstacles are in front, whether there are walls on the side, and so on. The perception of the environment depends on the acquisition of various sensor data. Currently, common sensors include: infrared light intensity sensors, infrared ranging sensors, ultrasonic sensors, visual sensors, laser sensors, and so on. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242
Inventor 肖刚军赖钦伟
Owner AMICRO SEMICON CORP
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