Intelligent navigation path planning system for robot

Abstract

The invention relates to the technical field of robot navigation, and discloses an intelligent navigation path planning system for a robot, which comprises a controller, a throwing module, a driving wheel, a radio frequency identification module and a positioning module, the input end of the controller is connected with a laser radar, a camera, a distance measuring sensor, a cliff sensor and a collision sensor, the controller is used for shooting and recognizing the environment, obstacles and high fall around the advancing route, and the output end of the controller is connected with a driving wheel. According to the invention, when there is an obstacle and a route needs to be planned again, the RFID tag is thrown on the ground, and in the subsequent inspection process, it is determined that the obstacle still exists as long as the equipment identification module identifies that the RFID tag still exists, so that a standby inspection route is directly used without re-planning the route; and when the tag cannot be identified after the obstacle and the RFID tag are cleaned together, the original planned route is used, so that the number of times of route planning is reduced, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot navigation, and in particular to an intelligent navigation path planning system for a robot. Background Art

[0002] A robot is an automated machine that possesses intelligent capabilities similar to those of humans or living things, such as perception, planning, movement and coordination. It is a highly flexible automated machine. As people's understanding of the intelligent nature of robotics technology deepens, robotics technology has begun to continuously penetrate into all areas of human activities. It can not only accept human commands, but also run pre-programmed programs, and can also act according to principles and guidelines formulated with artificial intelligence technology. It is often used for inspections in various places. It usually inspects along a set route, and automatically plans a route when encountering obstacles.

[0003] During the robot inspection process, when encountering temporary obstacles caused by dumped or dropped items, it is necessary to automatically re-plan the route when passing the obstacle to ensure its normal inspection. However, it is impossible to know when the temporary obstacles will be cleared. The robot needs to plan the route every time it passes according to the set route, which affects the inspection efficiency. The planned route has inspection points that must be passed and cannot be directly abandoned and replaced. Therefore, we propose an intelligent navigation path planning system for robots. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent navigation path planning system for a robot. When an obstacle exists and the route needs to be replanned, an RFID tag is thrown onto the ground. During the subsequent inspection process, as long as the equipment recognition module recognizes that the RFID tag is still present, it is determined that the obstacle still exists. There is no need to replan the route again and a backup inspection route is directly used. When the obstacle and the RFID tag are cleared away together and the tag cannot be identified, the original planned route is used, thereby reducing the number of planned routes and improving inspection efficiency, thereby solving the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent navigation path planning system for a robot, comprising a controller, a throwing module, a driving wheel, a radio frequency identification module and a positioning module; the input end of the controller is connected to a laser radar, a camera, a ranging sensor, a cliff sensor and a collision sensor, which are used to realize the shooting and identification of the environment, obstacles and high drop around the travel route; the output end of the controller is connected to a driving wheel, which is used to control the robot to move forward, backward and turn; the input end of the controller is also connected to a positioning module, which is used to realize the real-time positioning of the robot. The controller is composed of a single-chip microcomputer, a storage unit, a data processing module, a route planning module and an obstacle avoidance module. The storage unit, the data processing module, the route planning module and the obstacle avoidance module are connected to the input end of the controller. The data processing module, route planning module and obstacle avoidance module are all connected to the single-chip microcomputer, the output end of the single-chip microcomputer is connected to the output module, and the input end of the single-chip microcomputer is connected to the input module, the storage unit stores the specified route and the temporary route, the data processing module processes the data of the laser radar, camera, ranging sensor, cliff sensor and collision sensor, and uses the obstacle avoidance module and route planning module to achieve the robot's obstacle avoidance and automatic route planning purposes; the throwing module is composed of an RFID tag throwing machine, the throwing module is connected to the output end of the controller, and the input end of the controller is also connected to a radio frequency identification module for short-range identification of RFID tags; the controller is connected to an interactive module, and the interactive module is connected to the user terminal data.

[0006] By adopting the above technical solution, the robot can normally patrol along the set route and cooperate with the camera and various sensors to avoid obstacles. When encountering an obstacle that cannot be passed, the robot will throw down the RFID tag as a mark and re-plan an alternative route. When the personnel clear the obstacle, the RFID tag will also be cleared away. Therefore, in the subsequent inspection process, if the RFID tag is detected, it is directly judged that the obstacle still exists and the alternative route can be taken directly. Otherwise, the original planned route will be taken, reducing the number of unnecessary route planning times and thus improving the efficiency of the inspection.

[0007] As a preferred embodiment of the present invention, the throwing module includes an information writing module for writing data to the RFID tag.

[0008] As a preferred embodiment of the present invention, the throwing module also includes an RFID tag remaining amount detection module for detecting the remaining amount of the RFID tag.

[0009] As a preferred embodiment of the present invention, the controller includes a self-checking module, and the self-checking module is connected to the single-chip microcomputer.

[0010] By adopting the above technical solution, each component is self-checked by the self-check module before the device is started, and the device works when there is no fault.

[0011] As a preferred embodiment of the present invention, the controller further includes a stop button, and an output end of the stop button is connected to the single chip microcomputer.

[0012] By adopting the above technical solution, when a person passes by the machine and needs to stop the operation, the machine can be controlled to stop moving by using the stop button.

[0013] As a preferred embodiment of the present invention, the stop button is connected to the single-chip microcomputer of the controller by wire or wirelessly, and the stop button is installed on the body surface of the robot.

[0014] As a preferred implementation manner of the present invention, the user terminal is connected to the interaction module by wireless connection via an antenna, and the wireless connection manner is a 4G / 5G module.

[0015] By adopting the above technical solution, the robot can be operated through the user terminal, and the image data captured by the machine camera can also be observed.

[0016] As a preferred implementation mode of the present invention, the user terminal is a mobile computer or a mobile communication phone to achieve interaction and control.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The intelligent navigation path planning system for robots of the present invention is provided with a throwing module and can carry RFID tags. When the robot identifies an impassable obstacle and needs to re-plan the route, the data is first written into the RFID tag, and then the RFID tag is thrown onto the ground. Thereafter, the robot inspects along the re-planned backup route. During the subsequent inspection process, as long as the device identification module identifies that the RFID tag still exists, it is determined that the obstacle still exists, and there is no need to avoid the obstacle and re-plan the route again, and the backup inspection route is directly used. When the obstacle and the RFID tag are cleared together and the tag cannot be identified, the original planned route is used, thereby reducing the number of planned routes and improving the inspection efficiency.

[0019] 2. The intelligent navigation path planning system for robots of the present invention is provided with an information writing module, which can write data about obstacles before the RFID tag is thrown, and the type of obstacles can be directly determined during machine recognition.

[0020] 3. The intelligent navigation path planning system for robots of the present invention is provided with an RFID tag remainder detection module, which can detect the RFID tag remainder after each RFID tag is thrown, so as to facilitate timely addition when the RFID tag is insufficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 The figure is a schematic diagram of the overall structure of the intelligent navigation path planning system for robots according to the present invention;

[0023] Figure 2 This is a schematic diagram of the controller structure of the intelligent navigation path planning system for robots of the present invention;

[0024] Figure 3 The figure is a schematic diagram of the structure of the casting module of the intelligent navigation path planning system for robots of the present invention.

[0025] In the figure: 1. controller; 11. single-chip microcomputer; 12. storage unit; 13. data processing module; 14. route planning module; 15. self-test module; 16. stop button; 17. input module; 18. obstacle avoidance module; 19. output module; 2. throwing module; 21. RFID tag throwing machine; 22. information writing module; 23. RFID tag remaining detection module; 3. driving wheel; 4. interaction module; 41. antenna; 42. user terminal; 5. radio frequency identification module; 6. positioning module; 7. lidar; 71. camera; 72. ranging sensor; 73. cliff sensor; 74. collision sensor. DETAILED DESCRIPTION

[0026] See also Figure 1-3 The present invention provides a technical solution: an intelligent navigation path planning system for a robot, comprising a controller 1, a driving wheel 3, a radio frequency identification module 5 and a positioning module 6; the driving wheel 3 is installed on the output end of the controller 1, and is controlled to rotate by a stepper motor, and is controlled by the controller 1 to control the robot to move forward, backward and turn.

[0027] Embodiment 1

[0028] The input end of the controller 1 is connected to a laser radar 7, a camera 71, a distance sensor 72, a cliff sensor 73 and a collision sensor 74. When working, the laser radar 7 cooperates with the camera 71 and the distance sensor 72 to identify the surrounding environment and obstacles. When a collision occurs, it can be identified by the collision sensor 74. The cliff sensor 73 is installed at the front end of the robot's forward direction and faces downward. When it travels to a position with a high drop, the cliff sensor 73 detects the data and drives each wheel to stop rotating in time to prevent the robot from falling.

[0029] A positioning module 6 is also connected to the input end of the controller 1 for realizing real-time positioning of the robot, and the controller 1 is composed of a single-chip microcomputer 11, a storage unit 12, a data processing module 13, a route planning module 14 and an obstacle avoidance module 18. The storage unit 12, the data processing module 13, the route planning module 14 and the obstacle avoidance module 18 are all connected to the single-chip microcomputer 11, an output module 19 is connected to the output end of the single-chip microcomputer 11, and an input module 17 is connected to the input end of the single-chip microcomputer 11. The set travel route of the robot is stored in the storage unit 12. Therefore, when in use, the driving wheel 3 can be controlled according to the travel route stored in the storage unit 12, so that it moves forward according to the set route. When the laser radar 7, camera 71, ranging sensor 72, cliff sensor 73 and collision sensor 74 detect obstacle data, it is transmitted to the data processing module 13. The data processing module 13 processes the data of the laser radar 7, camera 71, ranging sensor 72, cliff sensor 73 and collision sensor 74, and uses the obstacle avoidance module 18 to achieve the obstacle avoidance control purpose of the robot.

[0030] Furthermore, the route planning module 14 provided in the controller 1 automatically plans a new route when there is an obstacle and it is impossible to pass normally, and uses it as a temporary route, so that the robot moves along the new route and stores the new route as a temporary route in the storage unit 12. When the robot subsequently determines that the fault has not been eliminated, the robot moves along the original planned route again to the obstacle position, and always moves along the temporary route, thereby optimizing and achieving the purpose of reducing the number of path planning times each time, thereby improving inspection efficiency.

[0031] In order to achieve the purpose of automatically identifying whether an obstacle has been eliminated without human intervention, a throwing module 2 is also provided, which is connected to the output end of the controller 1. The throwing module 2 is composed of an RFID tag throwing machine 21. At the same time, a radio frequency identification module 5 is also connected to the input end of the controller 1 for short-range identification of RFID tags. Therefore, when in use, when an impassable obstacle is identified, the RFID tag containing marking information is thrown on the ground by the RFID tag throwing machine 21. If the personnel eliminates the obstacle, the RFID tag is taken away at the same time. Otherwise, the obstacle and the RFID tag exist together, so that when the robot passes by later, the radio frequency identification module 5 can be used to identify whether the RFID tag exists, thereby achieving the purpose of judging whether the obstacle exists. When the obstacle is not eliminated, it proceeds along the temporary route. Otherwise, it proceeds along the original set route to meet the inspection requirements during the original inspection.

[0032] Embodiment 2

[0033] See also Figure 1The only difference from the first embodiment is that an interactive module is also provided. The interactive module 4 is directly connected to the single-chip microcomputer 11 in the controller 1, and the interactive module 4 is data-connected to the user terminal 42. The user terminal 42 is connected to the interactive module 4 by wireless connection through the antenna 41. The wireless connection method is a WiFi module and a 4G / 5G module, etc., preferably a 4G / 5G module. The user terminal 42 is a fixed computer, a mobile computer or a mobile communication phone to achieve interaction and control, preferably a mobile phone, which can achieve the purpose of shooting data by using the terminal observation camera 71, and can send instructions to the single-chip microcomputer 11 of the controller 1 to achieve control of the robot, so that it moves or stops along a specific route, or performs specified instructions. In addition, the identified obstacle data and the newly planned route are all sent to the user terminal 42 at the same time, which can achieve the purpose of reminder.

[0034] In order to facilitate personnel to control the robot directly next to it, a stop button 16 is also provided. The output end of the stop button 16 is connected to the single-chip microcomputer 11. The stop button 16 is connected to the single-chip microcomputer 11 of the controller 1 by wired or wireless connection. The stop button 16 is installed on the body surface of the robot. Therefore, when personnel pass by the robot, they can directly press the stop button 16 to stop the robot when maintenance or other operations are required, so as to facilitate subsequent operations.

[0035] Embodiment 3

[0036] See also Figure 2 and Figure 3 The throwing module 2 also includes an information writing module 22 and an RFID tag remaining detection module 23. Before the RFID tag throwing machine 21 throws the RFID tag on the ground, the information writing module 22 is used to write data to the RFID tag to mark the obstacle type, location and other data of the test cup. After that, the robot can obtain the category of the obstacle when it recognizes it again. When there are multiple obstacles on the route, it can identify the specific obstacle to avoid confusion with other obstacles. After each RFID tag is thrown, the RFID tag remaining detection module 23 is used to detect the remaining RFID tag, and a reminder is given when the RFID tag is missing, so as to facilitate timely addition and replenishment. After the RFID tag is stored in the RFID tag throwing machine 21, the information writing module 22 first erases the original data on the RFID tag and keeps it for standby use.

[0037] The controller 1 also includes a self-checking module 15, which is connected to the single-chip computer 11. When the robot is turned on, the self-checking module 15 performs a self-check on each component to avoid malfunctions.

[0038] When the device is in use, when it is turned on, the existing self-check module 15 performs a self-check on the working status of each sensor and module, and the single-chip microcomputer 11 in the controller 1 sends a control signal to the driving motor of the driving wheel 3 through the output module 19, so that the driving wheel 3 rotates to drive the robot to move forward, backward, turn and stop. The storage unit 12 of the controller 1 stores a set inspection route, and cooperates with the positioning module 6 to obtain the position of the robot in real time to realize the control of the robot's travel route. The robot moves forward according to the set inspection route. In the process of moving forward, the laser radar 7, camera 71, distance sensor 72, cliff sensor 73 and collision sensor 74 are used to realize the inspection route. The obstacles, height differences and environments in the process of traveling are identified, and the data is transmitted to the single chip microcomputer 11 of the controller 1. The data is processed by the data processing module 13 to obtain the obstacle data, and the obstacle avoidance module 18 controls the rotation of the driving wheel 3 to achieve the purpose of automatic obstacle avoidance. When the data detected and identified by each sensor is analyzed and processed by the data processing module 13 and it is determined that there are obstacles that cannot be passed normally, the route planning module 14 automatically plans the path, first using the information writing module 22 in the throwing module 2 to write the location of the obstacle and other information in the RFID tag in the RFID tag throwing machine 21, and then the RFID tag throwing machine 21 writes the RFID with data The tag is thrown to the ground next to the obstacle, and then the robot bypasses the obstacle section and continues to inspect, and the automatically planned alternative route is stored in the storage unit 12. After the robot completes the inspection, it continues to operate according to the originally set inspection route. When it moves to the area where the obstacle is, if the RFID tag thrown on the ground is recognized by the radio frequency identification module 5, it is judged that the obstacle still exists, and there is no need to avoid the obstacle and plan the route again. The robot can directly proceed to inspect according to the alternative route stored in the storage unit 12. When the obstacle is cleared by the personnel, the thrown RFID tag is taken away at the same time. At this time, the robot cannot be detected by the radio frequency identification module 5 when passing by again When the RFID tag is found, it can be determined that the obstacle has been cleared and the robot can continue to run according to the originally set inspection route. During the robot inspection, the personnel can also control the robot to stop moving by using the stop button 16, or transmit the control signal through the user terminal 42 and the antenna 41, and transmit it to the controller 1 through the interactive module 4 to stop the robot. The video data captured by the camera 71 can also be transmitted to the user terminal 42 through the interactive module 4 and the antenna 41. After each RFID tag throwing machine 21 throws an RFID tag, the RFID tag remaining detection module 23 detects the remaining RFID tag quantity to facilitate timely reminder and addition when it is insufficient.

Claims

1. An intelligent navigation path planning system for a robot, characterized in that: The robot comprises a controller (1), a throwing module (2), a driving wheel (3), a radio frequency identification module (5) and a positioning module (6); the input end of the controller (1) is connected to a laser radar (7), a camera (71), a distance sensor (72), a cliff sensor (73) and a collision sensor (74) for realizing the shooting and identification of the environment, obstacles and height difference around the travel route; the output end of the controller (1) is connected to a driving wheel (3) for controlling the robot to move forward, move backward and turn; The controller (1) is also connected to a positioning module (6) at the input end thereof for achieving real-time positioning of the robot. The controller (1) is composed of a single-chip microcomputer (11), a storage unit (12), a data processing module (13), a route planning module (14) and an obstacle avoidance module (18). The storage unit (12), the data processing module (13), the route planning module (14) and the obstacle avoidance module (18) are all connected to the single-chip microcomputer (11). The output end of the single-chip microcomputer (11) is connected to an output module (19), and the input end of the single-chip microcomputer (11) is connected to an input module (17). The storage unit (12) stores a prescribed route and a temporary route. The data processing module (13) processes data from a laser radar (7), a camera (71), a distance measuring sensor (72), a cliff sensor (73) and a collision sensor (74). The obstacle avoidance module (18) and the route planning module (14) are used to achieve the purpose of obstacle avoidance and automatic route planning of the robot. The throwing module (2) is composed of an RFID tag throwing machine (21), and the throwing module (2) is connected to the output end of the controller (1). The input end of the controller (1) is also connected to a radio frequency identification module (5) for short-range identification of RFID tags. The controller (1) is connected to an interaction module (4), and the interaction module (4) is data-connected to a user terminal (42).

2. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The throwing module (2) comprises an information writing module (22) for writing data into the RFID tag.

3. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The throwing module (2) also includes an RFID tag remaining amount detection module (23) for detecting the remaining amount of the RFID tag.

4. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The controller (1) comprises a self-checking module (15), and the self-checking module (15) is connected to the single-chip computer (11).

5. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The controller (1) also includes a stop button (16), and an output end of the stop button (16) is connected to the single-chip computer (11).

6. The intelligent navigation path planning system for a robot according to claim 5, characterized in that: The stop button (16) is connected to the single chip microcomputer (11) of the controller (1) via a wired connection or a wireless connection, and the stop button (16) is mounted on the body surface of the robot.

7. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The user terminal (42) is connected to the interaction module (4) by means of a wireless connection via an antenna (41), and the wireless connection is a 4G / 5G module.

8. The intelligent navigation path planning system for a robot according to claim 1, characterized in that: The user terminal (42) is a mobile computer or a mobile communication phone for realizing interaction and control.

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