Obstacle avoidance warning system and warning method for data-based laser radar robot

Abstract

The invention provides an obstacle avoidance early warning system and early warning method for a data-type laser radar robot. The early warning system is composed of a basic graphic unit, a configuration unit, a storage unit, a detection unit, a graphic drawing unit and an early warning display unit; the early warning method includes a basic The graphics unit establishes a polar coordinate system, receives user input data to form a configuration file, obtains the obstacle attribute data obtained by radar scanning through the detection unit, draws the defense zone graphics and obstacle graphics within the polar coordinate system, and displays the defense zone graphics to the user. and obstacle graphics to alert the user. By adopting the technical scheme of the present invention, by establishing a conversational interface with the obstacle avoidance warning system, the user can divide the defense area in his own way, and under different conditions of use, the resources consumed by the system can be greatly saved, providing a robot The foundation for safe operation has been laid.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an obstacle avoidance early warning system and an early warning method for a data type laser radar robot. Background technique [0002] Lidar is a common high-precision ranging sensor, which has the characteristics of high ranging accuracy, low environmental impact, and high data resolution. It has been widely used in mobile robots, drones, and motor vehicle obstacle avoidance. According to the data type of lidar, lidar mainly includes data type lidar and obstacle avoidance type lidar. Among them, the output data of the data type laser radar is the distance information of obstacles at various angles in the sensor window; the output data of the obstacle avoidance type laser radar is a Boolean value indicating whether there is an obstacle in the preset defense area. The mobile robot mainly uses data-based lidar. Before the robot moves, it first needs to plan the path. The l...

AI Technical Summary

Problems solved by technology

When using this method for path planning, when the robot does not find a suitable path through the first path planning, it will clear the obstacle information originally stored in the navigation frame during the second path planning and then perform the second path planning. Path planning, however, since the obstacle still exists in the original position, when the robot moves, there will be a high probability of bumping into the obstacle, causing a safety accident

And if the obstacle-avoiding lidar is installed on the robot, at present, the output data of the obstacle-avoiding lidar is a Boolean value indicating whether there is an obstacle in the preset defense zone. In this case, the obstacle-avoiding lidar will The laser radar scanning range is divided into several early warning areas. When there is an obstacle in the preset early warning area, the corresponding flag is set. In this way, the resolution of the laser radar is determined by the manufacturer, and the corresponding early warning area The number and size of divisions are also determined by the manufacturer. If the number of divisions in the warning area is too small or the size of the division is too large, it is not conducive to the robot to completely discover the obstacles within each warning area, which will cause the robot to collide with obstacles. cause a safety incident

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