CN106291535B - A kind of obstacle detector, robot and obstacle avoidance system - Google Patents
A kind of obstacle detector, robot and obstacle avoidance system Download PDFInfo
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- CN106291535B CN106291535B CN201610581017.XA CN201610581017A CN106291535B CN 106291535 B CN106291535 B CN 106291535B CN 201610581017 A CN201610581017 A CN 201610581017A CN 106291535 B CN106291535 B CN 106291535B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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Abstract
The present invention provides a kind of obstacle detector, robot and obstacle avoidance system, which includes: radar range finding device, image acquisition device and information fusion device；Radar range finding device and image acquisition device merge device connection with information；The range information of radar range finding device measurement front obstacle, and it transmits the range information and merges device to information, image acquisition device acquires forward image, and it is transferred to information fusion device, information merges device and carries out fusion treatment to the image and range information, determine obstacle information, and export the obstacle information, in the present invention, radar range finding device and image acquisition device detect front obstacle information jointly, the detection angles of image acquisition device are larger, and radar range finding device is able to detect that some barriers that image acquisition device can not detect or detection accuracy is not high, therefore front obstacle information can be comprehensively detected, and avoid the multiple radar range finding devices of installation, it reduces costs.
Description
Technical field
The present invention relates to obstacle detection technology field, in particular to a kind of obstacle detector, robot and
Obstacle avoidance system.
Background technique
It is widely applied currently, robot, inspection car etc. have been obtained in fields such as industry, lives, in order to prevent machine
Device people or inspection car etc. at work, bump against front wall or other barriers, need to detect robot or inspection car etc. and exist
When walking, whether there are obstacles in front.
It in the prior art, is mostly but the detection of radar using the obstacle detector based on single radar information source
Angle is too small, needs comprehensively detect front obstacle information, and radar valence in different angle installations several
Lattice are expensive, lead to higher cost.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of obstacle detector, robot and avoidance system
System leads to higher cost to solve the problem of that the prior art installs multiple radars in different angles.
In a first aspect, the embodiment of the invention provides a kind of obstacle detectors, wherein described device includes: radar
Range finding device, image acquisition device and information merge device；
The radar range finding device and described image sampler merge device connection with the information；
The range information of the radar range finding device measurement front obstacle, and the range information is transmitted to the information
Device is merged, described image sampler acquires forward image, and transmits described image and merge device, the letter to the information
Breath fusion device carries out fusion treatment to described image and the range information, determines obstacle information, and export the barrier
Hinder object information.
With reference to first aspect, the embodiment of the invention provides the first possible implementation of above-mentioned first aspect,
In, the information fusion device receives the range information of the radar range finding device transmission, and receives described image sampler
The image information of transmission, and according to preset order, obstacle information is determined according to described image and the range information；
The preset order is according to described image to determine obstacle information, when can not determine obstacle according to described image
When object information, the obstacle information is determined according to the range information.
The possible implementation of with reference to first aspect the first, the embodiment of the invention provides the of above-mentioned first aspect
Two kinds of possible implementations, wherein described device further includes Inertial Measurement Unit IMU；
The IMU merges device connection with the information, transmits nine axis informations of the obstacle detector to described
Information merges device, and nine axis information includes 3-axis acceleration information, three axis angular rate information and three axis magnetic induction information；
When information fusion device can not determine obstacle information according to described image, according to the range information
And nine axis information determines the obstacle information.
With reference to first aspect, the embodiment of the invention provides the third possible implementation of above-mentioned first aspect,
In, the information fusion device includes receiving element, conversion element and determining element；
The receiving element is connect with described image sampler and the conversion element, receives described image sampler
The image of transmission, and described image is transmitted to the conversion element；
The conversion element is connect with the determining element, is received the image of the receiving element transmission, is obtained the figure
The 3-D image of picture, and the 3-D image is transmitted to the determining element；
The determining element receives the 3-D image of the conversion element transmission, carries out image to the 3-D image
Segmentation, determines obstacle information.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible implementation of above-mentioned first aspect,
In, the radar range finding device, described image sampler and information fusion device are installed on circuit board.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible implementation of above-mentioned first aspect,
In, described device further includes global position system GPS device and/or big-dipper satellite positioning devices；
The GPS device and the big-dipper satellite positioning devices merge device connection with the information, position the barrier
Hinder the current location of analyte detection device, and transmits the current location and merge device to the information.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible implementation of above-mentioned first aspect,
In, described image sampler includes one or more cameras.
With reference to first aspect, the embodiment of the invention provides the 7th kind of possible implementation of above-mentioned first aspect,
In, the radar range finding device is radar sensor；
The radar sensor can 360 ° of rotations.
Second aspect, the embodiment of the invention provides a kind of robots, wherein the robot include robot body,
Obstacle detector described in control element and above-mentioned first aspect；
The control element is connect with the obstacle detector and the robot body respectively, receives the obstacle
The obstacle information of analyte detection device transmission generates robot ambulation according to the obstacle information and controls signal, and transmits institute
Robot ambulation control signal is stated to the robot body.
The obstacle detector and the control element are installed on the robot body.
The third aspect, the embodiment of the invention provides a kind of obstacle avoidance systems, wherein the system comprises long-range host computer and
Robot described in above-mentioned second aspect；
The long-range host computer and the robot are wirelessly connected, and receive the obstacle information of the robotic transfer, root
Robot ambulation is generated according to the obstacle information and controls signal, and transmits the robot ambulation control signal to the machine
People.
The embodiment of the invention provides a kind of obstacle detector, robot and obstacle avoidance system, detection of obstacles dresses
It sets and merges device including radar range finding device, image acquisition device and information, radar range finding device and image acquisition device are common
Front obstacle information is detected, the detection angles of image acquisition device are larger, and radar range finding device is able to detect that image is adopted
Some barriers that collection device can not detect or detection accuracy is not high, therefore can comprehensively detect that front obstacle is believed
Breath, and the multiple radar range finding devices of installation are avoided, it reduces costs.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram of obstacle detector provided by the embodiment of the present invention 1；
Fig. 2 shows a kind of second of structural schematic diagrams of obstacle detector provided by the embodiment of the present invention 1；
Fig. 3 shows a kind of structural schematic diagram of robot provided by the embodiment of the present invention 2；
Fig. 4 shows a kind of structural schematic diagram of obstacle avoidance system provided by the embodiment of the present invention 3.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
It is mostly but the detection angles of radar using single radar information source in view of existing obstacle detector
It is too small, it needs comprehensively detect front obstacle information, and radar price is high in different angle installations several
It is expensive, lead to higher cost.Based on this, the embodiment of the invention provides a kind of obstacle detector, robot and obstacle avoidance system,
It is described below by embodiment.
Embodiment 1
The embodiment of the invention provides a kind of obstacle detector, radar range finding device and image acquisition device in the device
Part detects front obstacle information simultaneously, and image acquisition device survey detection angles are larger, can comprehensively detect preceding object
Object information avoids the multiple radar range finding devices of installation, reduces costs.
As shown in Figure 1, obstacle detector provided in an embodiment of the present invention, including radar range finding device 110, image are adopted
Collect device 120 and information merges device 130；
Radar range finding device 110 and image acquisition device 120 merge the connection of device 130 with information；
Radar range finding device 110 measures the range information of front obstacle, and transmits the range information and give information fusion device
Part 130, image acquisition device 120 acquire forward image, and transmit the image and merge device 130 to information, and information merges device
130 pairs of above-mentioned images and range information carry out fusion treatment, determine obstacle information, and export the obstacle information.
The range information of above-mentioned front obstacle refers to distance of the front obstacle apart from obstacle detector, above-mentioned
Radar range finding device 110 can be laser radar range device, can be microwave radar range device, can also be ultrasonic wave thunder
Up to range finding device etc., the embodiment of the present invention does not limit the specific type of above-mentioned radar range finding device 110, wherein laser thunder
Laser is launched outward up to range finding device, and microwave radar range device launches outward microwave, and ultrasonic radar range finding device is to outgoing
Ultrasonic wave is penetrated, for launching outward laser, thunder will be introduced with radar range finding device 110 for laser radar range device below
Up to range finding device 110 measure front obstacle range information detailed process, radar range finding device 110 can in real time or periodically to
Front emits laser, and starts timing at the time of emitting laser, and laser is propagated in air, when laser encounter barrier it
After can return to come immediately, the receiver of radar range finding device 110 receives reflection signal and just stops timing immediately, and laser is in sky
Spread speed in gas is 3 × 108M/s can calculate Laser emission by following formula according to the time of timer record
Point arrives the distance between front obstacle, wherein laser emission point is exactly the position where radar range finding device 110, i.e. obstacle
Position where analyte detection device.
S=(3 × 108)t/2
Wherein, in above-mentioned formula, S is distance of the laser emission point apart from barrier, i.e. 110 distance of radar range finding device
The distance of barrier, t are that the slave laser of timer record is issued to the time for receiving reflection signal.
If there is no barriers or radar range finding device 110 not to detect front obstacle information, radar in front
Range finding device 110 would not receive reflection signal, i.e., the distance that radar range finding device 110 is not measured by front obstacle is believed
Breath.
When radar range finding device 110 detects the range information of front obstacle, radar range finding device 110 will be measured
Front obstacle be sent to information with the distance between radar range finding device 110 information and merge device 130.
Above-mentioned radar range finding device 110 can also detect detection of obstacles dress other than the range information of detection barrier
Set the information such as the position relation between range rate, barrier and the obstacle detector apart from barrier.
Above-mentioned image acquisition device 120 can be continuously shot the image in road ahead, obtain the continuous image information of dynamic,
And the image information that will acquire is converted to the image of YUV (Luma and Chroma, brightness and color difference signals) format, and will turn
The image transmitting of chemical conversion yuv format can also will acquire to information fusion device 130 or above-mentioned image acquisition device 120
Image is converted into the image of other formats, and the embodiment of the present invention does not limit the specific format of the above-mentioned image being converted into.
When information fusion device 130 receives image and the transmission of radar range finding device 110 of the transmission of image acquisition device 120
Barrier range information after, fusion treatment is carried out to image and range information, determines obstacle information, and export the barrier
Hinder object information.
Wherein, above-mentioned obstacle information include barrier be what and obstacle distance obstacle detector away from
From.
Information merges device 130 and carries out fusion treatment to the image and range information received, specifically includes: when information is melted
After clutch part 130 receives the image of the transmission of image acquisition device 120, obstacle information is extracted from image, if image
In obstacle information is not present, and information fusion device 130 is also not received by the barrier of the transmission of radar range finding device 110
Range information is then judged as that there is no barriers in front, if obstacle information is not present in image, but receive radar range finding
The range information that radar range finding device 110 transmits then is determined as barrier letter by the range information for the barrier that device 110 transmits
Breath；If information merges device 130 and extracts obstacle information from the image that the image acquisition device 120 received is transmitted,
And be not received by the range information of the barrier of the transmission of radar range finding device 110, then the obstacle information extracted is determined
For front obstacle information, if receiving the obstacle information of the transmission of radar range finding device 110, the obstacle that basis extracts
Object information and the range information received, determine front obstacle information jointly.
Since the detection angles of radar range finding device 110 are too small, so in some cases, can not detect front
Obstacle information, therefore, a radar range finding device 110 can not comprehensively detect the obstacle information in front, therefore scheme
As sampler 120 and radar range finding device 110 cooperation detection front obstacle range information, image acquisition device 120
Detection angles are larger, and radar range finding device 110 is able to detect that some barriers that image acquisition device 120 cannot detect,
Such as spoken parts in an opera wall, therefore the embodiment of the present invention can comprehensively detect the obstacle information in front, avoid installing multiple radars
Range finding device 110, reduces costs.
Obstacle detector provided in an embodiment of the present invention can be using with robot, inspection car and unmanned plane etc..
Above-mentioned image acquisition device 120 includes one or more cameras.
It is above-mentioned it is multiple can be the numerical value such as two, three, i.e., above-mentioned image acquisition device 120 can be monocular cam,
Or binocular camera, it can also be more mesh cameras.
Above-mentioned radar range finding device 110 can be radar sensor, and can 360 ° of rotations, pass through rotating radar sensing in this way
Device can detecte the range information of the barrier in multiple directions.
In embodiments of the present invention, information fusion device 130 receives the range information that radar range finding device 110 transmits, and
The image information that image acquisition device 120 is transmitted is received, and according to preset order, is determined according to above-mentioned image and range information
Obstacle information；
Above-mentioned preset order is according to image to determine obstacle information, when can not determine obstacle information according to image
When, obstacle information is determined according to range information.
In embodiments of the present invention, when information fusion device 130 receives the image and thunder of the transmission of image acquisition device 120
After the range information of the barrier transmitted up to range finding device 110, image is handled first, barrier is extracted from image
At this moment information, is believed if can not extract obstacle information from image further according to the distance that radar range finding device 110 transmits
Breath determines obstacle information；
Alternatively, if information merges what device 130 was extracted from the image that the image acquisition device 120 received is transmitted
Barrier is unintelligible, comparison is fuzzy, i.e., when confidence level is poor, needs the range information transmitted according to radar range finding device 110
Determine obstacle information.
Wherein, information merges device 130 according to the image received, determines obstacle information, first especially by receiving
Part 131, conversion element 132 and determining element 133 are come what is realized, and therefore, information merges device 130 in order to determine obstacle
Object information, specifically includes: receiving element 131, conversion element 132 and determining element 133, as shown in Figure 2；
Receiving element 131 is connect with image acquisition device 120 and conversion element 132, is received image acquisition device 120 and is transmitted
Image, and transmit the image to conversion element 132；
Conversion element 132 is connect with element 133 is determined, is received the image that above-mentioned receiving element 131 transmits, is obtained the image
3-D image, and transmit the 3-D image give determine element 133；
It determines that element 133 receives the 3-D image that above-mentioned conversion element 132 transmits, image point is carried out to the 3-D image
It cuts, determines obstacle information.
In embodiments of the present invention, image acquisition device 120 understands real-time or taken at regular intervals road ahead image information, and
Acquired image information is converted into yuv format, the image information for transmitting yuv format merges device 130 to information, and information is melted
The receiving element 131 of clutch part 130 can receive image acquisition device 120 transmission image, and by the image transmitting received to
Conversion element 132, conversion element 132 obtain the 3-D image of the image received.
Wherein, conversion element 132 obtains the detailed process of the 3-D image of the image received are as follows:
After conversion element 132 receives the image of the transmission of receiving element 131, image drawing is arrived and image acquisition device
On 120 same positions, since in shooting process, using wide angle shot, therefore the edge for the image shot can be distorted, because
This, will be corrected the edge of image, the image after being corrected, and according to the image and photo-geometry after correction, calculate
The distance of obstacle distance image acquisition device 120 and the height on obstacle distance ground in image out, that is, obtain out to scheme
Three-dimensional coordinate as sampler 120 as the barrier of origin, to obtain the 3-D image of the image.
After conversion element 132 gets the 3-D image of the image received, which is transferred to and determines member
Part 133 determines that the 3-D image is carried out image segmentation by element 133, and extracts the foreground layer in the image, in the image
Foreground layer, that is, barrier the object stored in the barrier extracted and information bank is compared, to judge barrier
What is, in this way, the distance of obstacle distance image acquisition device 120 is obtained, meanwhile, also learn that the barrier is assorted
, determine the obstacle information.
Due to when the image transmitted according to image acquisition device 120 can not extract obstacle information, only according to thunder
The range information transmitted up to range finding device 110, the obstacle information determined are not very accurately, therefore, in order to improve according to thunder
The range information transmitted up to range finding device 110 determines the accuracy of obstacle information, obstacle quality testing provided in an embodiment of the present invention
Surveying device further includes IMU (Inertial Measurement Unit, Inertial Measurement Unit)；
IMU merges the connection of device 130 with information, and nine axis informations for transmitting obstacle detector merge device to information
130, which includes 3-axis acceleration information, three axis angular rate information and three axis magnetic induction information；
When information fusion device 130 can not determine obstacle information according to above-mentioned image, according to above-mentioned range information
And nine axis information determine obstacle information.
Three axis in above-mentioned 3-axis acceleration information, three axis angular rate information and three axis magnetic induction information refer to space
Three reference axis.
In embodiments of the present invention, above-mentioned IMU includes acceleration transducer, angular-rate sensor and magnetic induction sensor,
And velocity sensor obtains the 3-axis acceleration information of obstacle detector, angular-rate sensor obtains obstacle detector
Three axis angular rate information, and magnetic induction sensor obtain obstacle detector magnetic induction information, the obstacle that IMU will acquire
Nine axis informations of analyte detection device be transferred to information fusion device 130, information merge device 130 to nine axis informations received into
Row Integral Processing, obtains the directional information of obstacle detector, and the barrier for combining radar range finding device 110 to transmit away from
From information, the position of barrier is determined, the position of the barrier obtained in this way is more acurrate.
Above- mentioned information merge device 130 and carry out Integral Processing to nine axis informations received, and detailed process is as follows:
Information merges device 130 to the 3-axis acceleration of the obstacle detector of the acceleration transducer measurement received
It is integrated within a preset period of time, obtains the speed of the obstacle detector, the speed to obtained obstacle detector
Degree is integrated within a preset period of time again, obtains the distance that obstacle detector is mobile in the preset time period, equally
, three axis angular rates of the obstacle detector of the angular-rate sensor measurement received are accumulated within a preset period of time
Point, the move angle of obstacle detector in preset time period is obtained, and believe according to the earth magnetism of magnetic induction sensor measurement
Cease the direction change information of available obstacle detector within a preset period of time, therefore can be with according to above-mentioned nine axis information
Accurately determine the present position of obstacle detector.
Wherein, above-mentioned preset time period can be 2S, 5S etc., and the embodiment of the present invention does not limit above-mentioned preset time period
Specific value.
It is more convenient in order to apply obstacle detector provided in an embodiment of the present invention, above-mentioned radar range finding device
110, image acquisition device 120 and information fusion device 130 are respectively mounted on circuit boards, are made into detection of obstacles card, are worked as application
In occasions such as robot, inspection car and unmanned planes, directly above-mentioned detection card insertion can be entered.
Foregoing circuit plate can be PCB (Printed Circuit Board, printed circuit board) plate.
In order to which the real time position of obstacle detector, barrier provided in an embodiment of the present invention is precisely located out
Detection device further includes that GPS (Global Positioning System, global positioning system) device and/or big-dipper satellite are fixed
Position device；
GPS device and big-dipper satellite positioning devices merge the connection of device 130 with information, orient obstacle detector
Current location, and transmit the current location and merge device 130 to information.
Obstacle detector provided in an embodiment of the present invention can only include GPS device, or only include big-dipper satellite
Positioning devices can also include GPS device and big-dipper satellite positioning devices simultaneously.
GPS device and big-dipper satellite positioning devices can orient the current location of obstacle detector, and will positioning
The current location of obstacle detector out is transferred to information fusion device 130, and information merges device 130 according to orienting
Accurately judge the specific location of obstacle detector in current location.
Obstacle detector provided in an embodiment of the present invention, including radar range finding device, image acquisition device and information
Device is merged, radar range finding device and image acquisition device detect front obstacle information, the detection of image acquisition device jointly
Angle is larger, and radar range finding device is able to detect that some barriers that image acquisition device can not detect or detection accuracy is not high
Hinder object, therefore can comprehensively detect front obstacle information, and avoid that multiple detections of radar devices are installed, reduces into
This.
Embodiment 2
The embodiment of the invention provides a kind of robots, as shown in figure 3, robot provided in an embodiment of the present invention includes machine
The obstacle detector 330 that device human body 310, control element 320 and embodiment 1 provide；
Control element 320 is connect with obstacle detector 330 and robot body 310 respectively, receives detection of obstacles
The obstacle information that device 330 transmits generates robot ambulation according to the obstacle information and controls signal, and transmits the robot
Travelling control signal is to robot body 310；
Obstacle detector 330 and control element 320 are installed on robot body 310.
If necessary to detect the obstacle information in 310 front of robot body, then need above-mentioned obstacle detector
330 are mounted on the front of robot body 310, and what is detected if necessary is the obstacle information of 310 two sides of robot body,
Then need for obstacle detector 330 to be mounted on the two sides of robot body 310, obstacle detector 330 is in robot
Specific installation site on ontology 310 can be configured according to practical application scene, and the embodiment of the present invention does not limit above-mentioned
Installation site of the obstacle detector 330 on robot body 310.
In embodiments of the present invention, the obstacle when robot ambulation, in front of the meeting real-time detection of obstacle detector 330
Object information, and the obstacle information that will test is transferred to control element 320, control element 320 receives detection of obstacles dress
After the obstacle information for setting 330 transmission, the running route of robot body 310 is adjusted, according to obstacle information to control machine
310 avoiding barrier of human body, such as, when obstacle detector 330 detect front 100 meters there are barriers, and should
When barrier is stone, control element 320 can generate a control signal according to the obstacle information, control robot body
310 turn left or turn right before 100 meters of front, to hide front obstacle.
Wherein, above-mentioned obstacle information includes the distance of obstacle distance robot body 310 and what barrier is.
Wherein, above-mentioned obstacle detector 330 before detection square obstacle information when, in obstacle detector 330
Image acquisition device can constantly acquire road ahead image, radar range finding device can constantly measure the distance letter of front obstacle
Breath, information, which merges device, determines obstacle information according to the image of acquisition and the range information of barrier.
Robot provided in an embodiment of the present invention, including robot body, control element and obstacle detector,
In, obstacle detector includes image acquisition device and radar range finding device, and image acquisition device and radar range finding device are total
With detection front obstacle information, the detection angles of image acquisition device are larger, and radar range finding device is able to detect that image
Some barriers that sampler can not detect or detection accuracy is not high, therefore can comprehensively detect that front obstacle is believed
Breath, and avoid that multiple detections of radar devices are installed, it reduces costs.
Embodiment 3
The embodiment of the invention provides a kind of obstacle avoidance systems, as shown in figure 4, the system includes long-range host computer 410 and reality
The robot 420 of the offer of example 2 is provided；
Long-range host computer 410 is wirelessly connected with robot 420, the obstacle information that robot 420 transmits is received, according to this
Obstacle information generates robot ambulation and controls signal, and transferring robot travelling control signal is to robot 420.
Above-mentioned long-range host computer 410 can be mobile phone, PAD (portable android device), computer etc..
Above-mentioned long-range host computer 410 is wirelessly connected with robot 420, which can be wireless network connection, than
Such as WI-FI (Wireless-Fidelity, Wireless Fidelity) network connection, 3G (3rd-Generation, 3G (Third Generation) Moblie
Technology) network connection etc..
Above-mentioned only citing lists several network connections, and there is no the specific types for limiting network connection.
Above-mentioned long-range host computer 410 can be connected with a robot 420, can also be connected with multiple robots 420, on
The case where Fig. 4 only depicts long-range host computer 410 and a connection of robot 420 is stated, there is no limit and long-range host computer
The specific number of the robot 420 of 410 connections, the specific number for the robot 420 connecting with long-range host computer 410 can be to appoint
Meaning numerical value.
In embodiments of the present invention, obstacle detector is provided in robot 420, obstacle detector can be real-time
The obstacle information in 420 front of robot is detected, and the distance information transmission for the front obstacle that will test is to long-range upper
Machine 410, long-range host computer 410 generates robot ambulation control signal according to the obstacle information received, and transmits the machine
People's travelling control signal gives corresponding robot 420, to control 420 avoiding barrier of robot.
Wherein, the route map that can store robot 420 in long-range host computer 410, when long-range host computer 410 connects
After the obstacle information for receiving the transmission of robot 420, according to obstacle information and the route map automatic adjusting machine of robot
The running route of device people 420, transferring robot travelling control signal give corresponding robot 420, to control the comparison of robot 420
Barrier.
Long-range host computer 410 can store machine list, include each robot machine pair in machine list
Route map and the robot number answered, when long-range host computer 410 receives the robot 420 fortune of the transmission of robot 420
After obstacle information on walking along the street line, which is transferred out according to the number of the robot 420
Figure generates robot ambulation according to the route map and corresponding obstacle information and controls signal.
Administrative staff can also control robot 420 by long-range host computer 410 and hide obstacle, when long-range host computer 410
After the obstacle information for receiving the transmission of robot 420, administrative staff believe according to the route map and barrier of robot 420
Transmission of control signals is ceased to corresponding robot 420, to control 420 avoiding barrier of robot.
Obstacle avoidance system provided in an embodiment of the present invention, including long-range host computer and robot are provided with obstacle in robot
Analyte detection device, image acquisition device and radar range finding device in obstacle detector detect front obstacle letter jointly
Breath, the detection angles of image acquisition device are larger, and radar range finding device be able to detect that image acquisition device can not detect or
The not high some barriers of person's detection accuracy, therefore can comprehensively detect front obstacle information, and avoid installation more
A detections of radar device, reduces costs, and hides front obstacle by long-range host computer remote control robot, is not required to
Field control machine people is wanted, it is easy to operate.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings or the hair
Bright product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot understand
For indication or suggestion relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, change or replacement, do not make corresponding
The essence of technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.It should all cover in protection scope of the present invention
Within.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of obstacle detector characterized by comprising radar range finding device, image acquisition device and information fusion
Device；
The radar range finding device and described image sampler merge device connection with the information；
The range information of the radar range finding device measurement front obstacle, and transmit the range information and merged to the information
Device, described image sampler acquire forward image, and transmit described image and merge device to the information, and the information is melted
Clutch part carries out fusion treatment to described image and the range information, determines obstacle information, and export the barrier
Information；
The information fusion device includes receiving element, conversion element and determining element；The receiving element is adopted with described image
Collect device and conversion element connection, receive the image of described image sampler transmission, and transmits described image to described
Conversion element；The conversion element is connect with the determining element, is received the image of the receiving element transmission, is obtained the figure
The 3-D image of picture, and the 3-D image is transmitted to the determining element；The determining element receives the conversion element and passes
The defeated 3-D image carries out image segmentation to the 3-D image, determines obstacle information.
2. the apparatus according to claim 1, which is characterized in that the information fusion device receives the radar range finding device
The range information of transmission, and the image information of described image sampler transmission is received, and according to preset order, according to the figure
Picture and the range information determine obstacle information；
The preset order is according to described image to determine obstacle information, when can not determine that barrier is believed according to described image
When breath, the obstacle information is determined according to the range information.
3. the apparatus of claim 2, which is characterized in that described device further includes Inertial Measurement Unit IMU；
The IMU merges device connection with the information, transmits nine axis informations of the obstacle detector to the information
Device is merged, nine axis information includes 3-axis acceleration information, three axis angular rate information and three axis magnetic induction information；
When information fusion device can not determine obstacle information according to described image, according to the range information and institute
It states nine axis informations and determines the obstacle information.
4. the apparatus according to claim 1, which is characterized in that the radar range finding device, described image sampler and
The information fusion device is installed on circuit board.
5. the apparatus according to claim 1, which is characterized in that described device further include global position system GPS device and/
Or big-dipper satellite positioning devices；
The GPS device and the big-dipper satellite positioning devices merge device connection with the information, position the barrier
The current location of detection device, and transmit the current location and merge device to the information.
6. the apparatus according to claim 1, which is characterized in that described image sampler includes one or more camera shootings
Head.
7. the apparatus according to claim 1, which is characterized in that the radar range finding device is radar sensor；
The radar sensor can 360 ° of rotations.
8. a kind of robot, which is characterized in that described in any item including robot body, control element and claim 1-7
Obstacle detector；
The control element is connect with the obstacle detector and the robot body respectively, receives the obstacle quality testing
The obstacle information for surveying device transmission generates robot ambulation according to the obstacle information and controls signal, and transmits the machine
Device people's travelling control signal gives the robot body；
The obstacle detector and the control element are installed on the robot body.
9. a kind of obstacle avoidance system, which is characterized in that the system comprises long-range host computer and robots according to any one of claims 8；
The long-range host computer and the robot are wirelessly connected, and the obstacle information of the robotic transfer are received, according to institute
It states obstacle information and generates robot ambulation control signal, and transmit the robot ambulation control signal to the robot.
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| CN201610581017.XA CN106291535B (en) | 2016-07-21 | 2016-07-21 | A kind of obstacle detector, robot and obstacle avoidance system |
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