WO2018213964A1 - Mobile robot obstacle avoidance apparatus and method - Google Patents
Mobile robot obstacle avoidance apparatus and method Download PDFInfo
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- WO2018213964A1 WO2018213964A1 PCT/CN2017/085257 CN2017085257W WO2018213964A1 WO 2018213964 A1 WO2018213964 A1 WO 2018213964A1 CN 2017085257 W CN2017085257 W CN 2017085257W WO 2018213964 A1 WO2018213964 A1 WO 2018213964A1
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- 238000009826 distribution Methods 0.000 claims abstract description 51
- 230000036760 body temperature Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 3
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- 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
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- the present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.
- the prior art obstacle avoidance technology generally does not set the obstacle avoidance priority. For example, when the mobile robot is within the same obstacle avoidance range, it is found that both the living body (such as a person) and the non-living body (for example, suddenly flying) The object needs to be avoided. At this time, the existing mobile robot usually avoids the closest object, such as the suddenly flying object, and may hit the person. However, this is not what we expect.
- the main object of the present invention is to solve the above technical problems.
- an embodiment of the present invention provides a mobile robot obstacle avoidance device, comprising: at least an electromagnetic wave sensing module, configured to emit electromagnetic waves and determine an obstacle according to the feedback signal; and a temperature distribution sensing module for sensing Measure the temperature distribution of objects within a certain area and identify obstacles.
- the system further includes: a storage device, configured to store a plurality of instructions; a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and prioritizing The level setting preferentially controls the mobile robot to avoid the corresponding object according to the temperature distribution sensing module, and secondly controls the mobile robot to avoid the corresponding object according to the electromagnetic wave sensing module.
- Another embodiment of the present invention provides a mobile robot obstacle avoidance method suitable for execution in a computing device.
- the method includes: emitting electromagnetic waves and determining an obstacle according to the feedback signal; and sensing an object temperature distribution within a certain area and determining an obstacle; and setting the temperature distribution sensing result to the highest priority, and setting according to the priority, It is preferred to control the mobile robot to avoid the corresponding object according to the temperature distribution data, and secondly, to sense the data according to the electromagnetic wave. Control the mobile robot to avoid the corresponding object.
- the mobile robot obstacle avoidance device and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby enabling Improve the safety of mobile robots.
- FIG. 1 is a functional block diagram of a mobile robot obstacle avoidance device provided by the present invention.
- FIG. 2 is a temperature distribution diagram of an object detected by the mobile robot obstacle avoidance device of FIG. 1;
- FIG. 3 is a flowchart of a method for obstacle avoidance of a mobile robot according to the present invention.
- the present invention provides a mobile robot obstacle avoidance device 100.
- the system includes at least an electromagnetic wave sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30.
- the obstacle avoidance control module 30 receives signals or data of the electromagnetic wave sensing module 10 and the temperature distribution sensing module 20, And performing analysis, the obstacle avoidance control module 30 controls the mobile robot according to the analysis result.
- the function of the obstacle avoidance control module 30 is implemented by a storage device and a processor, the storage device being adapted to store a plurality of instructions, the processor for loading the instructions of the storage device and performing corresponding steps.
- the electromagnetic wave sensing module 10 is configured to emit electromagnetic waves and determine an obstacle according to the feedback signal. More specifically, the electromagnetic wave sensing module 10 includes at least one electromagnetic wave transmitter and at least one electromagnetic wave receiver, and the electromagnetic wave transmitter transmits electromagnetic waves to the outside, and the electromagnetic wave receiver receives electromagnetic waves reflected from external obstacles. The signal is sent to the obstacle avoidance control module 30 of the mobile robot. In this embodiment, the number of the electromagnetic wave transmitter and the electromagnetic wave receiver is four, respectively.
- the temperature distribution sensing module 20 is configured to sense an object temperature distribution within a certain area and determine an obstacle.
- the temperature distribution sensing module 20 includes a non-contact infrared thermometer that determines the surface temperature by measuring the infrared energy radiated by the target surface.
- Non-contact meter temperature measurement is based on the principle of thermal radiation.
- the temperature measuring element does not need to be in contact with the measured medium.
- the temperature range is wide, and it is not limited by the upper limit of the temperature measurement. It does not damage the temperature field of the measured object.
- the reaction speed is generally faster.
- the temperature distribution sensing module 20 determines a temperature scanning area by using an auxiliary device such as a camera, and divides the temperature scanning area into a plurality of sub-areas. Then, the temperature of the plurality of sub-regions in the temperature scanning region is detected by a plurality of the non-contact infrared thermometers.
- the processor performs: setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly, according to the electromagnetic wave sense
- the measurement module 10 controls the mobile robot to avoid the corresponding object.
- the processor before the sensing result of the temperature distribution sensing module 20 is set to the highest priority, the processor further performs: determining, according to the temperature distribution of the object, whether the temperature distribution in the detected area falls Enter the reference range.
- the reference range may be a range of body temperature distribution values, for example, may also be a range of temperature distribution values of a plurality of organisms set in advance.
- the processor further performs: determining whether the object temperature distribution data and the electromagnetic wave feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.
- the processor further performs: according to the priority setting, preferentially controlling the mobile robot to perform the obstacle avoidance operation according to the object temperature distribution data until the temperature distribution in the detected region does not fall within the reference range.
- the obstacle avoidance operation is performed according to the electromagnetic wave feedback signal.
- the mobile robot obstacle avoidance device 100 provided by the present invention can detect the object temperature distribution data, and prioritizes the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby improving moving robot Security.
- the present invention provides a mobile robot obstacle avoidance method suitable for execution in the above computing device.
- the method includes:
- Step S301 transmitting electromagnetic waves and determining an obstacle according to the feedback signal.
- Step S302 sensing an object temperature distribution within a certain area and determining an obstacle.
- Step S303 setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly according to the electromagnetic wave sensing module 10 Control the mobile robot to avoid the corresponding object.
- the mobile robot obstacle avoidance device 100 and method provided by the present invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions. Can improve the safety of mobile robots.
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Abstract
A mobile robot obstacle avoidance apparatus (100), at least comprising: an electromagnetic wave sensing module (10), used for emitting electromagnetic waves, and determining obstacles according to feedback signals; a temperature distribution sensing module (20), used for sensing object temperature distributions within a certain area range, and determining obstacles. The apparatus also comprises: a storage device, suitable for storing a plurality of commands; a processor, used for loading the commands of the storage device, and executing: setting a sensing result of the temperature distribution sensing module (20) as a highest priority, and according to the priority setting, first controlling a mobile robot to avoid corresponding objects according to the temperature distribution sensing module (20), and then controlling the mobile robot to avoid corresponding objects according to the electromagnetic wave sensing module (10).
Description
本发明涉及无人驾驶技术,尤其涉及一种无人驾驶避障装置及方法。The present invention relates to unmanned driving technology, and in particular to an unmanned obstacle avoiding device and method.
而且,现有技术的避障技术,通常不对避障优先级进行设置,例如,当移动机器人在同一避障范围内,发现同时有生物体(例如人)以及非生物体(例如突然飞来的物体)需要避绕,此时,现有的移动机器人通常会先避开距离最近的物体,例如所述突然飞来的物体,从而有可能撞上人。然而,这并不是我们期望的。Moreover, the prior art obstacle avoidance technology generally does not set the obstacle avoidance priority. For example, when the mobile robot is within the same obstacle avoidance range, it is found that both the living body (such as a person) and the non-living body (for example, suddenly flying) The object needs to be avoided. At this time, the existing mobile robot usually avoids the closest object, such as the suddenly flying object, and may hit the person. However, this is not what we expect.
发明内容Summary of the invention
本发明的主要目的在于解决上述技术问题。The main object of the present invention is to solve the above technical problems.
为实现上述目的,本发明一实施例提供一种移动机器人避障装置,至少包括:电磁波感测模块,用于发射电磁波并根据反馈的信号确定障碍物;以及温度分布感测模块,用于感测一定区域范围内的物体温度分布并确定障碍物。所述***还包括:存储设备,适于存储多条指令;处理器,用于加载所述存储设备的指令并执行:将温度分布感测模块的感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布感测模块控制移动机器人避开对应的物体,其次根据电磁波感测模块控制移动机器人避开对应的物体。To achieve the above object, an embodiment of the present invention provides a mobile robot obstacle avoidance device, comprising: at least an electromagnetic wave sensing module, configured to emit electromagnetic waves and determine an obstacle according to the feedback signal; and a temperature distribution sensing module for sensing Measure the temperature distribution of objects within a certain area and identify obstacles. The system further includes: a storage device, configured to store a plurality of instructions; a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and prioritizing The level setting preferentially controls the mobile robot to avoid the corresponding object according to the temperature distribution sensing module, and secondly controls the mobile robot to avoid the corresponding object according to the electromagnetic wave sensing module.
本发明另一实施例提供一种移动机器人避障方法,适于在计算设备中执行。该方法包括:发射电磁波并根据反馈的信号确定障碍物;以及感测一定区域范围内的物体温度分布并确定障碍物;以及将温度分布感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布数据控制移动机器人避开对应的物体,其次根据电磁波感测数据
控制移动机器人避开对应的物体。Another embodiment of the present invention provides a mobile robot obstacle avoidance method suitable for execution in a computing device. The method includes: emitting electromagnetic waves and determining an obstacle according to the feedback signal; and sensing an object temperature distribution within a certain area and determining an obstacle; and setting the temperature distribution sensing result to the highest priority, and setting according to the priority, It is preferred to control the mobile robot to avoid the corresponding object according to the temperature distribution data, and secondly, to sense the data according to the electromagnetic wave.
Control the mobile robot to avoid the corresponding object.
本发明提供的移动机器人避障装置以及方法,能够对物体温度分布数据进行检测,而且对避障检测数据进行优先级设置,可使移动机器人优先躲避符合一定条件的障碍物,例如人,从而能够提高移动机器人的安全性。The mobile robot obstacle avoidance device and method provided by the invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby enabling Improve the safety of mobile robots.
图1为本发明提供的移动机器人避障装置的功能模块图;1 is a functional block diagram of a mobile robot obstacle avoidance device provided by the present invention;
图2为图1的移动机器人避障装置检测到的物体温度分布图;2 is a temperature distribution diagram of an object detected by the mobile robot obstacle avoidance device of FIG. 1;
图3为本发明提供的移动机器人避障方法的流程图。FIG. 3 is a flowchart of a method for obstacle avoidance of a mobile robot according to the present invention.
本发明目的的实现、功能特点及优点将结合实施例,参照附图做进一步说明。The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.
以下结合说明书附图对本发明的优选实施例进行说明,应当理解,此处所描述的优选实施例仅用于说明和解释本发明,并不用于限定本发明,并且在不冲突的情况下,本发明中的实施例及实施例中的特征可以相互组合。The preferred embodiments of the present invention are described in conjunction with the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention, and not to limit the invention, and The embodiments and the features in the embodiments can be combined with each other.
下面结合附图和实施例对本发明进行详细说明。The invention will now be described in detail in conjunction with the drawings and embodiments.
请参阅图1,本发明提供一种移动机器人避障装置100。该***至少包括电磁波感测模块10、温度分布感测模块20以及避障控制模块30,所述避障控制模块30接收所述电磁波感测模块10以及温度分布感测模块20的信号或数据,并进行分析,所述避障控制模块30根据分析结果对移动机器人进行控制。可以理解,所述避障控制模块30的功能由存储设备和处理器实现,存储设备适于存储多条指令,处理器用于加载所述存储设备的指令并执行对应步骤。Referring to FIG. 1, the present invention provides a mobile robot obstacle avoidance device 100. The system includes at least an electromagnetic wave sensing module 10, a temperature distribution sensing module 20, and an obstacle avoidance control module 30. The obstacle avoidance control module 30 receives signals or data of the electromagnetic wave sensing module 10 and the temperature distribution sensing module 20, And performing analysis, the obstacle avoidance control module 30 controls the mobile robot according to the analysis result. It can be understood that the function of the obstacle avoidance control module 30 is implemented by a storage device and a processor, the storage device being adapted to store a plurality of instructions, the processor for loading the instructions of the storage device and performing corresponding steps.
具体来说,所述电磁波感测模块10用于发射电磁波并根据反馈的信号确定障碍物。更具体的,所述电磁波感测模块10包括至少一个电磁波发射器以及至少一个电磁波接收器,所述电磁波发射器向外界发送电磁波,所述电磁波接收器接收外界障碍物反射回来的电磁波
信号,并将电磁波信号发送至移动机器人的避障控制模块30。本实施例中,所述电磁波发射器和电磁波接收器的数量分别是4个。Specifically, the electromagnetic wave sensing module 10 is configured to emit electromagnetic waves and determine an obstacle according to the feedback signal. More specifically, the electromagnetic wave sensing module 10 includes at least one electromagnetic wave transmitter and at least one electromagnetic wave receiver, and the electromagnetic wave transmitter transmits electromagnetic waves to the outside, and the electromagnetic wave receiver receives electromagnetic waves reflected from external obstacles.
The signal is sent to the obstacle avoidance control module 30 of the mobile robot. In this embodiment, the number of the electromagnetic wave transmitter and the electromagnetic wave receiver is four, respectively.
所述温度分布感测模块20用于感测一定区域范围内的物体温度分布并确定障碍物。本实施例中,所述温度分布感测模块20包括非接触式红外测温仪,其通过测量目标表面所辐射的红外能量来确定表面温度。非接触式仪表测温是通过热辐射原理来测量温度的,测温元件不需与被测介质接触,测温范围广,不受测温上限的限制,也不会破坏被测物体的温度场,反应速度一般也比较快。The temperature distribution sensing module 20 is configured to sense an object temperature distribution within a certain area and determine an obstacle. In this embodiment, the temperature distribution sensing module 20 includes a non-contact infrared thermometer that determines the surface temperature by measuring the infrared energy radiated by the target surface. Non-contact meter temperature measurement is based on the principle of thermal radiation. The temperature measuring element does not need to be in contact with the measured medium. The temperature range is wide, and it is not limited by the upper limit of the temperature measurement. It does not damage the temperature field of the measured object. The reaction speed is generally faster.
请结合图2,本实施例中,所述温度分布感测模块20通过摄像头等辅助设备,确定温度扫描区域,并且将该温度扫描区域划分为多个子区域。然后,通过多个所述非接触式红外测温仪,分别检测到该温度扫描区域内的多个子区域的温度。Referring to FIG. 2, in the embodiment, the temperature distribution sensing module 20 determines a temperature scanning area by using an auxiliary device such as a camera, and divides the temperature scanning area into a plurality of sub-areas. Then, the temperature of the plurality of sub-regions in the temperature scanning region is detected by a plurality of the non-contact infrared thermometers.
所述处理器执行:将温度分布感测模块20的感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布感测模块20控制移动机器人避开对应的物体,其次根据电磁波感测模块10控制移动机器人避开对应的物体。本实施例中,在所述将温度分布感测模块20的感测结果设置为最高优先级之前,所述处理器还执行:根据物体温度分布,判断所检测的区域范围内的温度分布是否落入参考范围。其中,所述参考范围可以是人体温度分布值的范围,例如也可以是预先设置的多种生物体的温度分布值的范围。在另一实施例中,在所述判断所检测的区域范围内的温度分布是否落入参考范围之后,所述处理器进一步执行:判断是否均接收到物体温度分布数据以及电磁波反馈信号,如果是,则进行优先级设置,否则不进行优先级设置。The processor performs: setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly, according to the electromagnetic wave sense The measurement module 10 controls the mobile robot to avoid the corresponding object. In this embodiment, before the sensing result of the temperature distribution sensing module 20 is set to the highest priority, the processor further performs: determining, according to the temperature distribution of the object, whether the temperature distribution in the detected area falls Enter the reference range. Wherein, the reference range may be a range of body temperature distribution values, for example, may also be a range of temperature distribution values of a plurality of organisms set in advance. In another embodiment, after determining whether the temperature distribution in the range of the detected area falls within the reference range, the processor further performs: determining whether the object temperature distribution data and the electromagnetic wave feedback signal are both received, if , then the priority setting is made, otherwise the priority setting is not performed.
在又一个实施例中,所述处理器进一步执行:根据优先级设置,优先根据物体温度分布数据来控制移动机器人进行避障操作,直到所检测的区域范围内的温度分布未落入参考范围时,根据电磁波反馈信号进行避障操作。In still another embodiment, the processor further performs: according to the priority setting, preferentially controlling the mobile robot to perform the obstacle avoidance operation according to the object temperature distribution data until the temperature distribution in the detected region does not fall within the reference range. The obstacle avoidance operation is performed according to the electromagnetic wave feedback signal.
本发明提供的移动机器人避障装置100,能够对物体温度分布数据进行检测,而且对避障检测数据进行优先级设置,可使移动机器人优先躲避符合一定条件的障碍物,例如人,从而能够提高移动机器人
的安全性。The mobile robot obstacle avoidance device 100 provided by the present invention can detect the object temperature distribution data, and prioritizes the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions, thereby improving moving robot
Security.
请参阅图3,本发明提供一种移动机器人避障方法,适于在上述计算设备中执行。该方法包括:Referring to FIG. 3, the present invention provides a mobile robot obstacle avoidance method suitable for execution in the above computing device. The method includes:
步骤S301,发射电磁波并根据反馈的信号确定障碍物。Step S301, transmitting electromagnetic waves and determining an obstacle according to the feedback signal.
步骤S302,感测一定区域范围内的物体温度分布并确定障碍物。Step S302, sensing an object temperature distribution within a certain area and determining an obstacle.
步骤S303,将温度分布感测模块20的感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布感测模块20控制移动机器人避开对应的物体,其次根据电磁波感测模块10控制移动机器人避开对应的物体。Step S303, setting the sensing result of the temperature distribution sensing module 20 to the highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding object according to the temperature distribution sensing module 20, and secondly according to the electromagnetic wave sensing module 10 Control the mobile robot to avoid the corresponding object.
本发明提供的移动机器人避障装置100以及方法,能够对物体温度分布数据进行检测,而且对避障检测数据进行优先级设置,可使移动机器人优先躲避符合一定条件的障碍物,例如人,从而能够提高移动机器人的安全性。The mobile robot obstacle avoidance device 100 and method provided by the present invention can detect the object temperature distribution data, and prioritize the obstacle avoidance detection data, so that the mobile robot can preferentially avoid obstacles, such as people, that meet certain conditions. Can improve the safety of mobile robots.
以上仅为本发明的优选实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。
The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.
Claims (8)
- 一种移动机器人避障装置,至少包括:A mobile robot obstacle avoidance device, comprising at least:电磁波感测模块,用于发射电磁波并根据反馈的信号确定障碍物;以及An electromagnetic wave sensing module for transmitting electromagnetic waves and determining an obstacle based on the feedback signal;温度分布感测模块,用于感测一定区域范围内的物体温度分布并确定障碍物;a temperature distribution sensing module for sensing an object temperature distribution within a certain area and determining an obstacle;所述***还包括:The system also includes:存储设备,适于存储多条指令;a storage device adapted to store a plurality of instructions;处理器,用于加载所述存储设备的指令并执行:将温度分布感测模块的感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布感测模块控制移动机器人避开对应的物体,其次根据电磁波感测模块控制移动机器人避开对应的物体。a processor, configured to load an instruction of the storage device and execute: setting a sensing result of the temperature distribution sensing module to a highest priority, and according to the priority setting, preferentially controlling the mobile robot to avoid the corresponding according to the temperature distribution sensing module The object, secondly, controls the mobile robot to avoid the corresponding object according to the electromagnetic wave sensing module.
- 根据权利要求1所述的移动机器人避障装置,其特征在于:所述电磁波感测模块包括至少一个电磁波发射器以及至少一个电磁波接收器,所述电磁波发射器向外界发送电磁波,所述电磁波接收器接收外界障碍物反射回来的电磁波信号,并将电磁波信号发送至移动机器人的处理器。The obstacle avoidance device for a mobile robot according to claim 1, wherein said electromagnetic wave sensing module comprises at least one electromagnetic wave transmitter and at least one electromagnetic wave receiver, said electromagnetic wave transmitter transmitting electromagnetic waves to the outside, said electromagnetic wave receiving The device receives the electromagnetic wave signal reflected by the external obstacle and transmits the electromagnetic wave signal to the processor of the mobile robot.
- 根据权利要求1所述的移动机器人避障装置,其特征在于:所述温度分布感测模块包括非接触式红外测温仪,其通过测量目标表面所辐射的红外能量来确定表面温度。The mobile robot obstacle avoidance device according to claim 1, wherein the temperature distribution sensing module comprises a non-contact infrared thermometer that determines a surface temperature by measuring infrared energy radiated from a target surface.
- 根据权利要求1所述的移动机器人避障装置,其特征在于:在所述将温度分布感测模块的感测结果设置为最高优先级之前,所述处理器还执行:The obstacle avoidance device for a mobile robot according to claim 1, wherein before the setting the sensing result of the temperature distribution sensing module to the highest priority, the processor further executes:根据物体温度分布,判断所检测的区域范围内的温度分布是否落入参考范围。According to the temperature distribution of the object, it is judged whether the temperature distribution in the detected region falls within the reference range.
- 根据权利要求4所述的移动机器人避障装置,其特征在于:所述参考范围是人体温度分布值的范围。The mobile robot obstacle avoidance device according to claim 4, wherein the reference range is a range of body temperature distribution values.
- 根据权利要求4所述的移动机器人避障装置,其特征在于:在所述判断所检测的区域范围内的温度分布是否落入参考范围之后,所 述处理器进一步执行:The obstacle avoidance device for a mobile robot according to claim 4, wherein after determining whether the temperature distribution in the range of the detected region falls within a reference range, The processor further executes:判断是否均接收到物体温度分布数据以及电磁波反馈信号,如果是,则进行优先级设置,否则不进行优先级设置。It is judged whether the object temperature distribution data and the electromagnetic wave feedback signal are received, and if yes, the priority setting is performed, otherwise the priority setting is not performed.
- 根据权利要求1所述的移动机器人避障装置,其特征在于:所述处理器进一步执行:The obstacle avoidance device for a mobile robot according to claim 1, wherein the processor further performs:根据优先级设置,优先根据物体温度分布数据来控制移动机器人进行避障操作,直到所检测的区域范围内的温度分布未落入参考范围时,根据电磁波反馈信号进行避障操作。According to the priority setting, the mobile robot is controlled according to the temperature distribution data of the object to perform the obstacle avoidance operation until the temperature distribution in the detected region does not fall within the reference range, and the obstacle avoidance operation is performed according to the electromagnetic wave feedback signal.
- 一种移动机器人避障方法,适于在计算设备中执行,该方法包括:A mobile robot obstacle avoidance method is suitable for execution in a computing device, the method comprising:发射电磁波并根据反馈的信号确定障碍物;以及Emit electromagnetic waves and determine obstacles based on feedback signals;感测一定区域范围内的物体温度分布并确定障碍物;以及Sensing the temperature distribution of objects within a certain area and determining obstacles;将温度分布感测结果设置为最高优先级,并按照优先级设置,优先根据温度分布数据控制移动机器人避开对应的物体,其次根据电磁波感测数据控制移动机器人避开对应的物体。 The temperature distribution sensing result is set to the highest priority, and according to the priority setting, the mobile robot is controlled to avoid the corresponding object according to the temperature distribution data, and then the mobile robot is controlled to avoid the corresponding object according to the electromagnetic wave sensing data.
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