Method for measuring moving speed of dynamic obstacle by mobile robot in unknown environment

A technology for mobile robots and dynamic obstacles, applied in the field of mobile robots, can solve the problems of inability to effectively overcome collisions between mobile robots and obstacles, slow calculation time for obstacle movement changes, expensive lidar test system, etc., and achieve fast calculation speed , Easy to popularize and apply, low cost effect

Pending Publication Date: 2020-06-19
UNIV OF SHANGHAI FOR SCI & TECH
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Problems solved by technology

The present invention can effectively overcome the large error of the ultrasonic velocimetry method used in the prior art, and ca

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  • Method for measuring moving speed of dynamic obstacle by mobile robot in unknown environment
  • Method for measuring moving speed of dynamic obstacle by mobile robot in unknown environment

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[0039] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0040] The present invention is a method for measuring the moving speed of dynamic obstacles in an unknown environment.

[0041] like figure 1 As shown, the computer is the upper computer, which controls the mobile robot and performs data transmission with it. The computer can communicate and control with the mobile robot system through the data acquisition card; the single-chip control unit of the mobile robot controls the mobile robot body to move and rotate autonomously, and controls the ultrasonic generator it carries to transmit ultrasonic waves and receive echoes into the front detection area. For example, if there are obstacles in the detection area, ultrasonic waves have echo information. The computer first sends a control command to the mobile robot, and controls the single-chip control unit of the mobile robot system to send ultrasonic wave...

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Abstract

The invention relates to a method for measuring the moving speed of a dynamic obstacle by a mobile robot in an unknown environment. A computer and a mobile robot system controlled by a single-chip microcomputer are used. An ultrasonic generator of the mobile robot system emits multiple groups of pairwise continuous ultrasonic waves to the same obstacle in front at a certain frequency and speed; the time of the ultrasonic wave from emission to reception is obtained through two echo signals in each group, and a distance between an obstacle and the mobile robot and the moving speed and directionof the obstacle in the echo information time are calculated; pairwise information fusion calculation is carried out on the multiple groups of information; the moving speed and direction of the dynamicobstacle are accurately calculated; the mobile robot system transmits the obtained information and calculation data to a computer for data filtering, analysis and calculation; finally, a more accurate measurement result is obtained and fed back to the mobile robot system, so that the purpose of autonomous obstacle avoidance moving control is achieved. The method is high in calculation speed, accurate in result, low in system manufacturing cost and convenient to apply and popularize.

Description

technical field [0001] The invention relates to a method for measuring the moving speed of a dynamic obstacle in an unknown environment by a mobile robot, which realizes the autonomous obstacle avoidance movement of the mobile robot, and belongs to the technical field of mobile robots. Background technique [0002] Instead of human labor, the research and application of mobile robots in various fields has developed rapidly. Mobile robots are one aspect of the development of robotics. The research on the mobile robot's autonomous obstacle avoidance control can be divided into the path planning of the mobile robot in the known environment and the autonomous obstacle avoidance mobile control of the mobile robot in the unknown environment. There have been extensive theoretical researches on the algorithm for the path planning of mobile robots in a known environment. The main research method is to search for the best path from the starting point to the target point in the known o...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01S15/58G01S15/06G01S7/539
CPCG05D1/0255G01S15/58G01S15/06G01S7/539
Inventor 于莲芝刘海宁胡婵娟薛震柏语蔓
Owner UNIV OF SHANGHAI FOR SCI & TECH
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