Robot ultrasonic sensor obstacle detection method and system
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A technology of obstacle detection and sensors, applied in radio wave measurement systems, sound wave reradiation, instruments, etc., to avoid inaccurate estimates
Active Publication Date: 2021-05-11
山东新一代信息产业技术研究院有限公司
View PDF9 Cites 0 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0006] The technical task of the present invention is to provide a robot ultrasonic sensor obstacle detection method and system to solve the problem of how to make the robot avoid obstacles more accurately
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0083] as attached figure 1 Shown, robot ultrasonic sensor obstacle detection method of the present invention, this method is to adopt the FPGA processor platform of robot to carry out real-time calculation and processing of data, adopts Verilog hardware description language to carry out digital logic design in FPGA interior; Specifically as follows:
[0084] S1. Ultrasonic sensor variable field of view measurement and ultrasonic sensor rotation measurement;
[0085] S2, distance measurement after t time;
[0086] S3, record the real-time distance value after t time;
[0087] S4. According to the Kalman filter algorithm, calculate and obtain the optimal estimate of the current distance value;
[0088] S5. Iterative operation to obtain the optimal estimated value of the distance;
[0089] S6. Updating the grid map and making a decision to avoid obstacles;
[0090] S7, FPGA processor platform provides decision-making basis to the robot navigation control module to realize pr...
Embodiment 2
[0118] The robot ultrasonic sensor obstacle detection system of the present invention, the system includes,
[0119] Field of view and rotation measurement module, used for ultrasonic sensor variable field of view measurement and ultrasonic sensor rotation measurement;
[0120] A distance measurement module, used for distance measurement after t time;
[0121] Recording module, for recording the real-time distance value after passing through t time;
[0122]The calculation module is used to calculate the optimal estimate of the current distance value according to the Kalman filter algorithm;
[0123] The iteration module is used for iterative operation to obtain the optimal estimated value of the distance;
[0124] The update module is used to update the grid map and make decision-making obstacle avoidance;
[0125] The push module is used for the FPGA processor platform to provide decision-making basis to the robot navigation control module, so as to realize the precise ob...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention discloses a robot ultrasonic sensor obstacle detection method and system, belongs to the field of robots and embedded systems, and aims to solve the technical problem of how to enable a robot to more accurately avoid obstacles. The robot ultrasonic sensor obstacle detection method is characterized in that an FPGA processor platform of a robot is adopted for real-time calculation and processing of data, and a Verilog hardware description language is adopted in an FPGA for digital logic design. The robot ultrasonic sensor obstacle detection method specifically comprises the following steps of: ultrasonic sensor variable-view measurement and ultrasonic sensor rotation measurement; carrying out distance measurement after t time; recording a real-time distance value after t time; according to a Kalman filtering algorithm, calculating to obtain the optimal estimation of the current distance value; performing iterative operation to obtain an optimal distance estimation value; and updating a grid map and deciding obstacle avoidance. The FPGA processor platform provides a decision basis for the robot navigation control module to realize precise obstacle avoidance of the robot.
Description
technical field [0001] The invention relates to the field of robots and embedded systems, in particular to a method and system for detecting obstacles by ultrasonic sensors of robots. Background technique [0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. [0003] When robots use ultrasonic sensors to avoid obstacles, they usually use probability models to model, estimate the possibility of obstacles in the grid according to the probability models, and think that the probability of obstacles at the center line is the highest. But there is following shortcoming in this obstacle avoidance method: [0004] Due to the rough estimation o...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more 
Login to view more