CN114114285A - Obstacle avoidance device and method for detecting obstacles based on multi-path ultrasonic waves - Google Patents
Obstacle avoidance device and method for detecting obstacles based on multi-path ultrasonic waves Download PDFInfo
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- CN114114285A CN114114285A CN202111414721.3A CN202111414721A CN114114285A CN 114114285 A CN114114285 A CN 114114285A CN 202111414721 A CN202111414721 A CN 202111414721A CN 114114285 A CN114114285 A CN 114114285A
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention provides an obstacle avoidance device and a method for detecting obstacles based on multi-path ultrasonic waves, wherein the obstacle avoidance device comprises a controller and a plurality of ultrasonic sensors, and the method comprises the following steps: the controller performs initialization configuration on the plurality of ultrasonic sensors; the controller randomly selects one of the plurality of ultrasonic sensors; the controller sends an inquiry command to the selected ultrasonic sensor, so that the ultrasonic sensor performs distance detection after receiving the inquiry command and sends detected distance measurement data to the controller; repeating the randomly selecting step and the ultrasonic inquiring step until the plurality of ultrasonic sensors complete the distance detection and transmitting the detected distance measurement data to the controller. The method adopts interval non-fixed periods for the multiple ultrasonic waves, and inquires data of one ultrasonic wave in a random mode, so that stable interference generated by the multiple ultrasonic waves of the multiple obstacle avoidance devices can be prevented, and crosstalk prevention of the multiple ultrasonic sensors is effectively realized.
Description
Technical Field
The invention relates to the technical field of obstacle avoidance, in particular to an obstacle avoidance device and a method for detecting obstacles based on multi-path ultrasonic waves.
Background
Ultrasonic transducer sends the ultrasonic wave according to fixed frequency, and ultrasonic receiver can receive the ultrasonic wave through barrier reflection, and through twice time difference and acoustic velocity, the air propagation speed of ultrasonic wave can compensate along with temperature variation, calculates the time difference of sending the ultrasonic wave to receiving the ultrasonic wave, and the round trip distance of ultrasonic wave to the barrier can be reachd to process time and speed to reachd the distance of ultrasonic wave to the barrier. If a plurality of ultrasonic waves are installed on different robots, the ultrasonic waves transmitted by the two robots interfere with each other when the robots travel, that is, the two robots interfere with each other.
Disclosure of Invention
In view of this, the embodiments of the present invention provide an obstacle avoidance apparatus and a method for detecting an obstacle based on multiple ultrasonic waves, so as to eliminate or improve one or more defects in the prior art.
The technical scheme of the invention is as follows:
according to an aspect of the present invention, a method for detecting an obstacle of an obstacle avoidance device based on multiple ultrasonic waves is provided, where the obstacle avoidance device includes a controller and multiple ultrasonic sensors connected to the controller, and the multiple ultrasonic sensors are located at different positions of the obstacle avoidance device;
the method comprises the following steps:
an initialization step: the controller performs initialization configuration on a plurality of ultrasonic sensors;
a random selection step: the controller randomly selects one of the plurality of ultrasonic sensors;
ultrasonic inquiry step: the controller sends an inquiry instruction to the selected ultrasonic sensor, so that the ultrasonic sensor carries out distance detection after receiving the inquiry instruction, and sends detected distance measurement data to the controller;
repeating the randomly selecting step and the ultrasonic inquiring step until the plurality of ultrasonic sensors complete the distance detection and transmitting the detected distance measurement data to the controller.
In some embodiments, the step of ultrasonically interrogating further comprises: and after sending an inquiry command to the selected ultrasonic sensor, the ultrasonic sensor receives an echo after delaying for a set time.
In some embodiments, the set point time of delay is the sum of a fixed delay time and a random delay time.
In some embodiments, the method further comprises the step of filtering: and performing median filtering processing on the ranging data detected by each ultrasonic sensor.
In some embodiments, the filtering step stores the ranging data acquired five times in succession for each of the plurality of ultrasonic sensors, sorts the ranging data by size, takes an intermediate value as a structure, and discards other values.
In some embodiments, the controller is configured to control each of the ultrasonic sensors to perform the ranging in a randomly selected manner, such that the sequence and delay time of each of the ultrasonic sensors in one period are not fixed, and such that the plurality of ultrasonic sensors perform the ranging in a non-fixed period in a plurality of periods.
In some embodiments, all the ultrasonic sensors are connected to the same 485 bus, the communication protocol of the ultrasonic sensors is in an inquiry and response mode, the ultrasonic sensors include ultrasonic transducers and ultrasonic receivers, the ultrasonic transducers are installed with fixed frequency to transmit ultrasonic waves after receiving the inquiry instruction, and the ultrasonic receivers receive echo waves after delaying a set time.
In some embodiments, the initializing step comprises: hardware initialization is carried out on the 485 serial port, and beam angle configuration is carried out on the ultrasonic sensors.
According to another aspect of the present invention, an obstacle avoidance apparatus for implementing a method for detecting an obstacle based on multiple ultrasonic waves is also provided, where the obstacle avoidance apparatus includes a controller and a plurality of ultrasonic sensors connected to the controller, the plurality of ultrasonic sensors are located at different positions of the obstacle avoidance apparatus, and each ultrasonic sensor performs a range finding in a randomly selected manner, so that the plurality of ultrasonic sensors perform range finding at intervals of a non-fixed period.
In some embodiments, the obstacle avoidance device is a robot, and the obstacle avoidance device includes three ultrasonic sensors, which are respectively located at the left side, the middle part and the right side of a chassis of the robot.
According to the obstacle avoidance device and the method for detecting the obstacle based on the multi-path ultrasonic waves, the obstacle avoidance device has the following beneficial effects that: the method of the invention adopts the interval non-fixed period for the multi-path ultrasonic waves and inquires the data of one ultrasonic wave in a random mode, the mode can prevent the multi-path ultrasonic waves of a plurality of obstacle avoidance devices from generating stable interference, and can effectively realize the crosstalk prevention of a plurality of ultrasonic sensors by combining with a subsequent filtering algorithm.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a schematic block diagram of a method for detecting an obstacle by using an obstacle avoidance device based on multiple ultrasonic waves according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for detecting an obstacle by using an obstacle avoidance device based on multiple ultrasonic waves according to an embodiment of the present invention.
Fig. 3 is a schematic composition diagram of an obstacle avoidance device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The invention provides an obstacle avoidance device and a method for detecting obstacles based on multi-path ultrasonic waves, which mainly solve the problem of multi-path ultrasonic wave crosstalk on a plurality of robots. For example: the robot A is respectively provided with three ultrasonic sensors which are positioned on the left, the middle and the right sides of a chassis of the robot, the serial numbers are respectively No. 0, No. 1 and No. 2, and the robot B is the same as the robot A. When the physical positions of the two robots cause that two ultrasonic sensors are right opposite and are simultaneously used for collecting, and the detection moments of the two ultrasonic sensors are also the same, the two ultrasonic sensors are in a stable interference state, and because the detection sequence and the detection time interval of the 3 ultrasonic sensors of the robot are fixed, the interference can be continuously caused, and the detection distances of the ultrasonic sensors which are mutually interfered are inaccurate.
The method of the invention adopts the random access ultrasonic sensor, so that the interval of the ultrasonic sensor is not a fixed period, the problem of mutual crosstalk of multi-path ultrasonic waves of multiple robots can be effectively avoided, and then the obtained ultrasonic data is filtered by a median filtering algorithm to remove interference data.
Fig. 1 is a schematic block diagram of a method for detecting an obstacle by using an obstacle avoidance device according to an embodiment of the present invention based on multiple ultrasonic waves, and fig. 3 is a schematic composition diagram of an obstacle avoidance device according to an embodiment of the present invention. The obstacle avoidance device comprises a controller 10 and a plurality of ultrasonic sensors (for example, 0, 1 and 2) connected with the controller 10, wherein the plurality of ultrasonic sensors are located at different positions of the obstacle avoidance device.
The method comprises the following steps:
initialization step (S110): the controller performs initialization configuration on a plurality of ultrasonic sensors;
random selection step (S120): the controller randomly selects one of the plurality of ultrasonic sensors;
ultrasonic inquiry step (S130): the controller sends an inquiry instruction to the selected ultrasonic sensor, so that the ultrasonic sensor carries out distance detection after receiving the inquiry instruction, and sends detected distance measurement data to the controller;
s140: repeating the randomly selecting step and the ultrasonic inquiring step until the plurality of ultrasonic sensors complete the distance detection and transmitting the detected distance measurement data to the controller.
In the method, all the ultrasonic sensors 10 can be connected to the same 485 bus, the communication protocol of the ultrasonic sensors can be in a query and response mode, a non-fixed interval period is adopted, and data of certain ultrasonic wave can be queried in a random mode, so that stable interference generated by ultrasonic waves of multiple robots can be prevented, and the anti-crosstalk of the multiple ultrasonic sensors can be effectively realized by combining with a subsequent filtering algorithm.
In the above method, the initializing step includes: hardware initialization is carried out on the 485 serial port, and beam angle configuration is carried out on the ultrasonic sensors. This step can be implemented by the prior art, and the main purpose is to make the initial configuration of the hardware, wherein the ultrasonic beam angle configuration can be 45 degrees.
In the method, in the step of randomly selecting, one of the ultrasonic sensor addresses can be randomly selected, and the purpose of the step is to randomly visit each ultrasonic sensor and avoid that the ultrasonic address is polled and inquired periodically according to a fixed sequence and the ultrasonic waves among different robots form stable crosstalk. For example, assume that the robot mounts three ultrasonic sensors, applies an algorithm to randomly access one of the three ultrasonic sensors, and completes the operation in a loop. The algorithm may use a rand command, specifically, where rand () generates a random number, and then modulo ultrasonac _ POS _ MAX (value is 3), and the obtained result ePos is 0 or 1 or 2. The three results for ePos are approximately the same, when the value of ePos is 0, it means that ultrasound transducer No. 0 is visited, 485 addresses of the ultrasound are found from the index, and then communication is made with the ultrasound transducer.
If a mode of polling and inquiring ultrasonic addresses according to a fixed sequence in a period is used, the ultrasonic sensor No. 0 of the robot A and the ultrasonic sensor No. 1 of the robot B form stable interference and trigger detection at the same time, and by adopting the random selection step of the invention, the ultrasonic sensor No. 0 of the robot A and the ultrasonic sensor No. 1 of the robot B can not detect at the same time in the next period, so that the ultrasonic sensors of the two robots are prevented from generating stable interference.
In the ultrasonic inquiry step, the inquiry command of the ultrasonic sensor is an inquiry message fixed by a manufacturer of the ultrasonic sensor, when the ultrasonic sensor receives the inquiry command, the ultrasonic sensor starts to detect the distance and generates a detection result, and then the detection result is sent to the controller, and the controller is in a state of waiting for the result in this period.
Further, as shown in fig. 2, in some embodiments, the step of ultrasonically interrogating further comprises: and after sending an inquiry command to the selected ultrasonic sensor, the ultrasonic sensor receives an echo after delaying for a set time. In order to wait for the ultrasonic wave to generate a receiving echo, a system delay time is set, and the step is a step which is necessary for acquiring the data of the ultrasonic wave.
For example, in one embodiment, the waiting time is greater than 30ms to receive the detection result (echo) of the ultrasonic wave according to the characteristics of the ultrasonic sensor. Preferably, the set value time of the delay is the sum of a fixed delay time and a random delay time. The fixed delay time is a fixed system delay, the fixed system delay is an existing technical means, and the random delay time is added to the fixed delay time.
For example, the fixed delay TIME DETECT _ RSP _ TIME _ MS is 30MS, and the random delay TIME randms is an arbitrary value between 0 and 40MS generated when the system is powered on. I.e. a random value between 30ms and 70ms for the system delay of the ultrasonic sensors of each robot. Therefore, different robots have different acquisition periods, and data acquisition in the same period can be prevented to form stable interference. The values or ranges of the fixed delay time and the random delay time may vary from one application scenario to another.
In some embodiments, the method further comprises the step of filtering: and filtering the ranging data detected by each ultrasonic sensor. The filtering process described herein may be clipping filtering, median filtering, arithmetic mean filtering, first order lag filtering, clipping jitter-removing filtering, or the like.
Preferably, the filtering process is median filtering (median filtering). The median filtering has good filtering effect on impulse noise, and particularly, the median filtering can protect the edge of a signal from being blurred while filtering the noise. These good characteristics are not available with linear filtering methods. Moreover, the algorithm of median filtering is simple and is easy to realize by hardware.
Further, the filtering step stores the ranging data acquired five times continuously for each ultrasonic sensor of the plurality of ultrasonic sensors, sorts the ranging data according to size, takes an intermediate value as a structure, and discards other values. In some embodiments, median filtering is performed on each path of ultrasonic waves, 5 data are taken as a group, and a median value is taken to increase stability of the data; the data of the following 5 acquisitions are then stored, and 5 data can be stored.
As shown in fig. 2, each ultrasonic wave query then waits for a response, and then the ultrasonic wave continuously performs five detections to obtain five acquired data, the five data are a group, and the intermediate value is taken as the final ranging result, and then the random selection step and the ultrasonic wave query step are repeated to and fro to obtain the ranging results of other ultrasonic waves.
It is understood that the controller is configured to control each ultrasonic sensor to perform the ranging in a randomly selected manner, so that the sequence and the delay time of each ultrasonic sensor in one period are not fixed, and the plurality of ultrasonic sensors perform the ranging at intervals of non-fixed delay times in a plurality of periods, and the delay time may be set to be a conventional fixed delay time or a fixed delay time in the present invention plus a random delay time.
In the above embodiment, the mode of randomly accessing the ultrasonic waves of the present invention prevents the generation of stable interference, and then processes the data obtained by the ultrasonic sensor by using a median filtering algorithm to obtain stable ranging data.
The obstacle detection method of the present invention is particularly suitable for a scene in which a plurality of robots provided with multiple ultrasonic waves are used in the same area space, but is not limited thereto.
According to another aspect of the present invention, an obstacle avoidance apparatus is also provided, where the obstacle avoidance apparatus is configured to implement the method for detecting an obstacle based on multiple ultrasonic waves, and the obstacle avoidance apparatus includes a controller and a plurality of ultrasonic sensors connected to the controller, where the plurality of ultrasonic sensors are located at different positions of the obstacle avoidance apparatus, and each ultrasonic sensor performs a range finding in a randomly selected manner, so that the plurality of ultrasonic sensors perform range finding at intervals of non-fixed periods.
Wherein, all ultrasonic sensor can all be connected on the same 485 buses of a way, and its communication protocol is inquiry and response mode, ultrasonic sensor includes ultrasonic transducer and ultrasonic receiver, ultrasonic transducer is receiving install fixed frequency behind the inquiry instruction and send the ultrasonic wave, ultrasonic receiver receives the echo after delaying the set point time.
Optionally, the obstacle avoidance device is a robot, and includes three ultrasonic sensors, where the three ultrasonic sensors are respectively located on the left side, the middle part, and the right side of the robot chassis.
According to the obstacle avoidance device and the method for detecting the obstacle based on the multi-path ultrasonic waves, the obstacle avoidance device has the following beneficial effects that: the method of the invention adopts the interval non-fixed period for the multi-path ultrasonic waves and inquires the data of one ultrasonic wave in a random mode, the mode can prevent the multi-path ultrasonic waves of a plurality of obstacle avoidance devices from generating stable interference, and can effectively realize the crosstalk prevention of a plurality of ultrasonic sensors by combining with a subsequent median filtering algorithm.
Those of ordinary skill in the art will appreciate that the various illustrative components, systems, and methods described in connection with the embodiments disclosed herein may be implemented as hardware, software, or combinations of both. Whether this is done in hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
The software may be disposed in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for detecting obstacles by an obstacle avoidance device based on multiple paths of ultrasonic waves is characterized in that the obstacle avoidance device comprises a controller and a plurality of ultrasonic sensors connected with the controller, and the ultrasonic sensors are positioned at different positions of the obstacle avoidance device;
the method comprises the following steps:
an initialization step: the controller performs initialization configuration on a plurality of ultrasonic sensors;
a random selection step: the controller randomly selects one of the plurality of ultrasonic sensors;
ultrasonic inquiry step: the controller sends an inquiry instruction to the selected ultrasonic sensor, so that the ultrasonic sensor carries out distance detection after receiving the inquiry instruction, and sends detected distance measurement data to the controller;
repeating the randomly selecting step and the ultrasonic inquiring step until the plurality of ultrasonic sensors complete the distance detection and transmitting the detected distance measurement data to the controller.
2. The obstacle avoidance device of claim 1, wherein the ultrasonic query step further comprises: and after sending an inquiry command to the selected ultrasonic sensor, the ultrasonic sensor receives an echo after delaying for a set time.
3. The obstacle avoidance device according to claim 2, wherein the delay time is a sum of a fixed delay time and a random delay time.
4. The obstacle avoidance device according to any one of claims 1 to 3, wherein the method for detecting obstacles based on multiple ultrasonic waves further comprises:
a filtering step: and performing median filtering processing on the ranging data detected by each ultrasonic sensor.
5. The obstacle avoidance device obstacle detection method based on multiple ultrasonic waves according to claim 4, wherein the filtering step stores the ranging data acquired five times in succession for each of the plurality of ultrasonic sensors, sorts the ranging data according to size, takes a middle value as a structure, and discards other values.
6. The method for detecting the obstacle avoidance device based on the multiple ultrasonic waves according to claim 2 or 3, wherein the controller is configured to control each ultrasonic sensor to perform the ranging in a randomly selected manner, so that the sequence and the delay time of each ultrasonic sensor in one period are not fixed, and the plurality of ultrasonic sensors perform the ranging at intervals of a non-fixed delay time in a plurality of periods.
7. The method for detecting the obstacle avoidance device based on the multiple ultrasonic waves according to claim 2 or 3, wherein all the ultrasonic sensors are connected to the same 485 bus, a communication protocol of the ultrasonic sensors is an inquiry and response mode, the ultrasonic sensors comprise ultrasonic transducers and ultrasonic receivers, the ultrasonic transducers are installed with fixed frequency to send the ultrasonic waves after receiving the inquiry command, and the ultrasonic receivers receive the echo after delaying a set time.
8. The obstacle avoidance device of claim 6, wherein the initialization step comprises: hardware initialization is carried out on the 485 serial port, and beam angle configuration is carried out on the ultrasonic sensors.
9. An obstacle avoidance device, wherein the obstacle avoidance device is configured to implement the method for detecting obstacles based on multiple ultrasonic waves according to any one of claims 1 to 8, the obstacle avoidance device comprises a controller and a plurality of ultrasonic sensors connected to the controller, the plurality of ultrasonic sensors are located at different positions of the obstacle avoidance device, and each ultrasonic sensor performs a range in a randomly selected manner, so that the plurality of ultrasonic sensors perform range detection at intervals of non-fixed periods.
10. An obstacle avoidance device according to claim 9, wherein the obstacle avoidance device is a robot, and comprises three ultrasonic sensors, and the three ultrasonic sensors are respectively located at the left side, the middle part and the right side of a chassis of the robot.
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| WO2010146619A1 (en) * | 2009-06-15 | 2010-12-23 | 三菱電機株式会社 | Obstacle detection device and obstacle detection method |
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