CN108958243A - A kind of robot avoiding barrier control method - Google Patents
A kind of robot avoiding barrier control method Download PDFInfo
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- CN108958243A CN108958243A CN201810678925.XA CN201810678925A CN108958243A CN 108958243 A CN108958243 A CN 108958243A CN 201810678925 A CN201810678925 A CN 201810678925A CN 108958243 A CN108958243 A CN 108958243A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000005070 sampling Methods 0.000 claims abstract description 4
- 230000003252 repetitive effect Effects 0.000 claims description 6
- 238000012372 quality testing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 239000012491 analyte Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot avoiding barrier control method, it is related to technical field of robot control, the robot includes control unit, binocular sensor, detection of obstacles instrument and environment acquisition device, described control unit receives the detection of obstacles information of detection of obstacles instrument output and carries out sampling of taking pictures to indoor environment by environment acquisition device, the direction of travel for controlling robot, establishes plane right-angle coordinate for region locating for robot.The present invention is based on the modes of images match to carry out detection of obstacles, and detection effect is accurate, can effectively improve the validity of obstacle detection method, can be balanced between the accuracy and cost performance of detection of obstacles.
Description
Technical field
The present invention relates to technical field of robot control, especially a kind of robot avoiding barrier control method.
Background technique
In recent years, robot technology has obtained constantly developing as high and new technology, robot also increasingly close to
And enter our life.For robot, the function that independent navigation is commonly necessary, and detection of obstacles ability is to robot
Independent navigation be extremely important.
In the related technology, the common detection of obstacles sensor of robot has ultrasonic sensor and laser radar.It is based on
Error rate is high when the obstacle detection method of ultrasonic sensor detects barrier, can not carry out precise positioning；Based on laser thunder
Although the obstacle detection method reached, to barrier accurate positioning, its cost performance is low, it is difficult to promote and apply in robot.
Summary of the invention
It is at low cost, cost performance is high, Neng Gou the object of the present invention is to provide a kind of robot avoiding barrier control method
It is promoted and applied in robot.
Robot avoiding barrier control method of the present invention, the robot include control unit, binocular sensor, obstacle
Analyte detection instrument and environment acquisition device, described control unit receive the detection of obstacles information of detection of obstacles instrument output and lead to
It crosses environment acquisition device and sampling of taking pictures is carried out to indoor environment, control the direction of travel of robot, region locating for robot is built
Vertical plane right-angle coordinate, described method includes following steps: specific steps are as follows:
Step 1, the walking of Robot Y-axis, when self-movement robot detects barrier along the walking of Y-axis forward direction, if should
Position barrier point is uplink barrier point, and storing effective uplink barrier point is that uplink records point；When self-movement robot is anti-along Y-axis
When detecting barrier to walking, if the position barrier point is downlink barrier point, effective downlink barrier point is stored as downlink note
Record point；
If step 2, the current barrier point are uplink barrier point, judge to whether there is one before current uplink barrier point
First uplink records point, and the coordinate of the first uplink record point in Y-axis is less than seat of the current uplink barrier point in Y-axis
Mark；If the current barrier point is downlink barrier point, judge to whether there is a first downlink note before current downlink barrier point
Point is recorded, and the coordinate of the first downlink record point in Y-axis is greater than coordinate of the current downlink barrier point in Y-axis；
Step 3 obtains left image and right image that the binocular sensor being arranged in robot shoots the outside of robot,
And obtain the characteristic point in characteristic point and the right image in the left image；
Step 4 matches the characteristic point in the characteristic point and the right image in the left image, obtains first
With point to set and the second matching double points set, wherein the first matching double points set includes the feature in the left image
The fisrt feature point to match in point and the right image with the characteristic point in the left image, second matching double points
Set includes the to match in characteristic point and the left image in the right image with the characteristic point in the right image
Two characteristic points；
The reversed walking of step 5, self-movement robot along former Y-axis direction of travel, return step 1；
Step 6, according to the ranging parameters of binocular sensor and the safety movement range of robot, judge the matching characteristic
Whether point is barrier to corresponding true location point；
Step 7, circulation step 1 to step 6, until completing the traversal walking of travel region.
Preferably, described control unit will be when reaching a predetermined time, it will be sequentially from first according to a preset interval value
Rank is reduced to second-order, third rank to N rank, until barrier is encountered by the robot.
Preferably, multiple unidirectional ambient images are compared in described control unit, if same in ambient image
The barrier repetitive rate in one place is higher than preset value, then judges the barrier for fixed obstacle, if in ambient image samely
The barrier repetitive rate of point is lower than preset value, then judges the barrier for loose impediment.
Robot avoiding barrier control method provided by the invention, the beneficial effect is that: it is obtained by binocular sensor
Take robot
External left images carry out characteristic matching to left images, if the characteristic point that matching obtains is to corresponding reality
Location point is within the scope of the safety movement of robot, it is determined that the true location point is barrier, otherwise, it determines the physical location
Point is not barrier.Obstacle detection method, device and robot in through the embodiment of the present invention, the side based on images match
Formula carries out detection of obstacles, and detection effect is accurate, can effectively improve the validity of obstacle detection method, can be in obstacle
It is balanced between the accuracy and cost performance of analyte detection.
Detailed description of the invention
Fig. 1 is the flow chart of robot avoiding barrier control method of the present invention.
Specific embodiment
To further illustrate each embodiment, those of ordinary skill in the art will be understood that other possible embodiments and
Advantages of the present invention.
Robot avoiding barrier control method provided in this embodiment, as shown in Figure 1, the robot includes that control is single
Member, binocular sensor, detection of obstacles instrument and environment acquisition device, described control unit receive the output of detection of obstacles instrument
Detection of obstacles information simultaneously carries out sampling of taking pictures to indoor environment by environment acquisition device, controls the direction of travel of robot,
Plane right-angle coordinate is established into region locating for robot, described method includes following steps: specific steps are as follows:
Step 1, the walking of Robot Y-axis, when self-movement robot detects barrier along the walking of Y-axis forward direction, if should
Position barrier point is uplink barrier point, and storing effective uplink barrier point is that uplink records point；When self-movement robot is anti-along Y-axis
When detecting barrier to walking, if the position barrier point is downlink barrier point, effective downlink barrier point is stored as downlink note
Record point；
If step 2, the current barrier point are uplink barrier point, judge to whether there is one before current uplink barrier point
First uplink records point, and the coordinate of the first uplink record point in Y-axis is less than seat of the current uplink barrier point in Y-axis
Mark；If the current barrier point is downlink barrier point, judge to whether there is a first downlink note before current downlink barrier point
Point is recorded, and the coordinate of the first downlink record point in Y-axis is greater than coordinate of the current downlink barrier point in Y-axis；
Step 3 obtains left image and right image that the binocular sensor being arranged in robot shoots the outside of robot,
And obtain the characteristic point in characteristic point and the right image in the left image；
Step 4 matches the characteristic point in the characteristic point and the right image in the left image, obtains first
With point to set and the second matching double points set, wherein the first matching double points set includes the feature in the left image
The fisrt feature point to match in point and the right image with the characteristic point in the left image, second matching double points
Set includes the to match in characteristic point and the left image in the right image with the characteristic point in the right image
Two characteristic points；
The reversed walking of step 5, self-movement robot along former Y-axis direction of travel, return step 1；
Step 6, according to the ranging parameters of binocular sensor and the safety movement range of robot, judge the matching characteristic
Whether point is barrier to corresponding true location point；
Step 7, circulation step 1 to step 6, until completing the traversal walking of travel region.
Described control unit will sequentially will be reduced from the first rank to the when reaching a predetermined time according to a preset interval value
Second order, third rank to N rank, until barrier is encountered by the robot.
Multiple unidirectional ambient images are compared in described control unit, if in ambient image same place barrier
Hinder object repetitive rate be higher than preset value, then judge the barrier for fixed obstacle, if in ambient image same place barrier
Repetitive rate is lower than preset value, then judges the barrier for loose impediment.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (3)
1. a kind of robot avoiding barrier control method, the robot includes control unit, binocular sensor, obstacle quality testing
Instrument and environment acquisition device are surveyed, described control unit receives the detection of obstacles information of detection of obstacles instrument output and passes through ring
Border acquisition device carries out sampling of taking pictures to indoor environment, controls the direction of travel of robot, which is characterized in that will be locating for robot
Plane right-angle coordinate is established in region, and described method includes following steps: specific steps are as follows:
Step 1, the walking of Robot Y-axis, when self-movement robot detects barrier along the walking of Y-axis forward direction, if the position
Barrier point is uplink barrier point, and storing effective uplink barrier point is that uplink records point；When self-movement robot is along the reversed row of Y-axis
When walking to detect barrier, if the position barrier point is downlink barrier point, storing effective downlink barrier point is that downlink records point；
If step 2, the current barrier point are uplink barrier point, judge to whether there is before current uplink barrier point one formerly
Uplink records point, and the coordinate of the first uplink record point in Y-axis is less than coordinate of the current uplink barrier point in Y-axis；
If the current barrier point is downlink barrier point, judge to whether there is a first downlink record before current downlink barrier point
Point, and the coordinate of the first downlink record point in Y-axis is greater than coordinate of the current downlink barrier point in Y-axis；
Step 3 obtains left image and right image that the binocular sensor being arranged in robot shoots the outside of robot, and obtains
Take the characteristic point in the characteristic point and the right image in the left image；
Step 4 matches the characteristic point in the characteristic point and the right image in the left image, obtains the first match point
To set and the second matching double points set, wherein the first matching double points set includes the characteristic point in the left image, with
And the fisrt feature point to match in the right image with the characteristic point in the left image, the second matching double points set packet
Include the second feature to match in the characteristic point in the right image and the left image with the characteristic point in the right image
Point；
The reversed walking of step 5, self-movement robot along former Y-axis direction of travel, return step 1；
Step 6, according to the ranging parameters of binocular sensor and the safety movement range of robot, judge the matching characteristic point pair
Whether corresponding true location point is barrier；
Step 7, circulation step 1 to step 6, until completing the traversal walking of travel region.
2. a kind of robot avoiding barrier control method according to claim 1, it is characterised in that: described control unit
It will sequentially will be reduced from the first rank to second-order, third rank to N rank when reaching a predetermined time according to a preset interval value,
Until barrier is encountered by the robot.
3. a kind of robot avoiding barrier control method according to claim 1, it is characterised in that: described control unit
Multiple unidirectional ambient images are compared, if the barrier repetitive rate in same place is higher than default in ambient image
Value, then judge the barrier for fixed obstacle, if the barrier repetitive rate in same place is lower than preset value in ambient image,
Judge the barrier for loose impediment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810678925.XA CN108958243A (en) | 2018-06-27 | 2018-06-27 | A kind of robot avoiding barrier control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810678925.XA CN108958243A (en) | 2018-06-27 | 2018-06-27 | A kind of robot avoiding barrier control method |
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| Publication Number | Publication Date |
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| CN108958243A true CN108958243A (en) | 2018-12-07 |
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| JP2002328933A (en) * | 2001-05-01 | 2002-11-15 | Sharp Corp | Apparatus and method for presenting information |
| CN101498889A (en) * | 2009-03-03 | 2009-08-05 | 北京微视新纪元科技有限公司 | Multi-eye stereo camera shooting method and device |
| CN101549683A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Vehicle intelligent method for automatically identifying road pit or obstruction |
| CN102313536A (en) * | 2011-07-21 | 2012-01-11 | 清华大学 | Method for barrier perception based on airborne binocular vision |
| CN103324193A (en) * | 2012-03-22 | 2013-09-25 | 鸿奇机器人股份有限公司 | Cleaning robot and method for controlling cleaning robot to walk along obstacle |
| CN104972462A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Obstacle avoidance walking method of self-moving robot |
| CN107194350A (en) * | 2017-05-19 | 2017-09-22 | 北京进化者机器人科技有限公司 | Obstacle detection method, device and robot |
| CN107518833A (en) * | 2017-10-12 | 2017-12-29 | 南京中高知识产权股份有限公司 | A kind of obstacle recognition method of sweeping robot |
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2018
- 2018-06-27 CN CN201810678925.XA patent/CN108958243A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002328933A (en) * | 2001-05-01 | 2002-11-15 | Sharp Corp | Apparatus and method for presenting information |
| CN101498889A (en) * | 2009-03-03 | 2009-08-05 | 北京微视新纪元科技有限公司 | Multi-eye stereo camera shooting method and device |
| CN101549683A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Vehicle intelligent method for automatically identifying road pit or obstruction |
| CN102313536A (en) * | 2011-07-21 | 2012-01-11 | 清华大学 | Method for barrier perception based on airborne binocular vision |
| CN103324193A (en) * | 2012-03-22 | 2013-09-25 | 鸿奇机器人股份有限公司 | Cleaning robot and method for controlling cleaning robot to walk along obstacle |
| CN104972462A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Obstacle avoidance walking method of self-moving robot |
| CN107194350A (en) * | 2017-05-19 | 2017-09-22 | 北京进化者机器人科技有限公司 | Obstacle detection method, device and robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181207 |
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| RJ01 | Rejection of invention patent application after publication |