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Intelligent sweeper multi-level three-dimensional obstacle avoidance control method and device

A control method and technology for sweeping vehicles, which are applied in vehicle position/route/height control, non-electric variable control, control/regulation systems, etc., can solve problems such as many obstacles in equipment, difficult and intelligent obstacle avoidance, and complex operating environment. To achieve the effect of improving safety and good safety

Pending Publication Date: 2020-04-17
华南智能机器人创新研究院
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Problems solved by technology

Intelligent unmanned sweeper is a kind of intelligent mobile robot, but its working environment is more complicated, there are many equipment obstacles, and it is not easy to distinguish the background environment. The existing mobile robot adopts a single visual slam method or a laser slam method and other obstacle avoidance modes, it is difficult to realize intelligent obstacle avoidance in complex and dynamic environments

Method used

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  • Intelligent sweeper multi-level three-dimensional obstacle avoidance control method and device

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Embodiment

[0049] see figure 1 , figure 1 It is a schematic flowchart of a multi-level three-dimensional obstacle avoidance control method for an intelligent sweeper based on multi-sensor information fusion in an embodiment of the present invention.

[0050] like figure 1 As shown, a multi-level three-dimensional obstacle avoidance control method for an intelligent sweeper based on multi-sensor information fusion, the method includes:

[0051] S11: Deploy and configure multiple different sensors on the intelligent sweeper to collect different sensing information, and perform data preprocessing based on the different sensing information;

[0052] In the specific implementation process of the present invention, the deployment and configuration of a plurality of different sensors on the intelligent sweeper to collect different sensing information includes: setting four ultrasonic radars and left and right sides of the intelligent sweeper directly in front of the bottom of the intelligent sw...

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Abstract

The invention discloses an intelligent sweeper multi-level three-dimensional obstacle avoidance control method and device based on multi-sensor information fusion, and the method comprises the steps:deploying and configuring a plurality of different sensors on an intelligent sweeper to collect different sensing information, and carrying out the data preprocessing based on the different sensing information; performing sensing area division processing on the preprocessed different sensing information based on the sensing ranges of the different sensors to obtain divided sensing areas; inputtingthe preprocessed different sensing information of the divided sensing areas into a convergence fuzzy neural network model for control prediction, and outputting the speed and the rotation direction of the intelligent sweeper; and allowing the intelligent sweeper to perform obstacle avoidance based on the speed and the rotation direction. According to the embodiment of the invention, different sensor sensing ranges are combined at the same time, so that the autonomous navigation of the intelligent sweeper in a complex environment has a remarkable effect, and the safety of the intelligent sweeper during operation can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to a multi-level three-dimensional obstacle avoidance control method and device for an intelligent sweeping vehicle based on multi-sensor information fusion. Background technique [0002] Against the background of scientific and technological progress and accelerated market competition, sanitation equipment companies are also constantly upgrading their technologies. New products with high technological content, such as innovative smart sweepers, have emerged one after another, making "intelligence" the trend of environmental sanitation technology changes. Intelligent unmanned sweeper is a kind of intelligent mobile robot, but its working environment is more complicated, there are many equipment obstacles, and it is not easy to distinguish the background environment. Existing mobile robots use a single visual slam method or a laser slam method And other obstacle avoidanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0255G05D1/0257
Inventor 周广兵柯晶晶
Owner 华南智能机器人创新研究院
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