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Robot ultrasonic sensor obstacle detection method and system

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: 2022-05-10
山东新一代信息产业技术研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

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  • Robot ultrasonic sensor obstacle detection method and system
  • Robot ultrasonic sensor obstacle detection method and system
  • Robot ultrasonic sensor obstacle detection method and system

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Experimental program
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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...

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Abstract

The invention discloses a robot ultrasonic sensor obstacle detection method and system, which belong to the field of robots and embedded systems. The technical problem to be solved in the invention is how to make the robot avoid obstacles more accurately. The technical solution adopted is: The FPGA processor platform of the robot performs real-time calculation and processing of data, and the Verilog hardware description language is used in the FPGA for digital logic design; the details are as follows: ultrasonic sensor variable field of view measurement and ultrasonic sensor rotation measurement; distance measurement after t time; Record the real-time distance value after time; calculate the optimal estimate of the current distance value according to the Kalman filter algorithm; iteratively calculate the optimal estimate of the distance; update the grid map and make decisions to avoid obstacles; the FPGA processor platform controls the robot navigation The module provides decision-making basis 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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/93
CPCG01S15/93
Inventor 崔欣高明马辰
Owner 山东新一代信息产业技术研究院有限公司
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