CN108153301B - Intelligent obstacle avoidance system based on polar coordinates - Google Patents
Intelligent obstacle avoidance system based on polar coordinates Download PDFInfo
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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
- 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
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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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
- 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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- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention relates to an intelligent obstacle avoidance system based on polar coordinates, which comprises: the system comprises a cloud processor, a camera system, a processing device, a control device, a reversing device and a carrier, wherein the cloud processor is respectively synchronous with the processing device and the camera system data, the processing device is respectively connected with the camera device and the control device, the carrier carries the processing device, the control device and the reversing device, the camera system is used for shooting street real scenes, the cloud processor generates a real scene electronic map according to the street real scenes, the cloud processor judges a first obstacle according to the electronic map, a first preset distance is arranged in the cloud processor, the cloud processor generates a main polar coordinate system by taking the position of the first preset distance as a pole and a ray consistent with the advancing direction of the carrier as a polar axis, and the range of the first obstacle is marked in a polar coordinate mode, the cloud processor extracts the polar coordinate of the range of the carrier where the carrier moves and completely departs from the first obstacle, and the polar coordinate angle is synchronized to the processing device.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an intelligent obstacle avoidance system based on polar coordinates.
Background
With the development and progress of social civilization, the quality of life of vulnerable groups such as the old and the disabled is ensured and improved. A great deal of research shows that the mobility of the old and the disabled is effectively enhanced, so that the daily life of the old and the disabled is convenient, and the old and the disabled have profound influence on the mental health, self evaluation and mental state of the old and the disabled. Therefore, the wheelchair capable of replacing the walk and providing convenience for the people is produced. The traditional wheelchair is manual, a hand wheel is rotated by a person to advance, a large amount of physical strength is required, and the traditional wheelchair is not suitable for the old and the disabled. There is electronic wheelchair today, and this kind of electronic wheelchair generally includes the automobile body, front and back wheel, driving motor, control rod and motor drive, and driving motor is supplied power by the battery, and the drive rear wheel gos forward, and the person of sitting on the wheelchair only need press the control rod, can realize advancing, the back and the turn of wheelchair. For some people who have poor self-care ability, the common electric wheelchairs do not have poor operation; for some people with fractures or for some elderly people who are out of doors occasionally, the wheelchair becomes an extra consumer. In addition, for the disabled, the traveling process is difficult due to the obstacle in the traveling process of the traveling tool, and therefore, it is urgently needed to develop an intelligent obstacle avoidance system capable of being implanted with various kinds of traveling tools.
Disclosure of Invention
The purpose of the invention is as follows:
in order to solve the problems, the invention provides an intelligent obstacle avoidance system based on polar coordinates.
The technical scheme is as follows:
an intelligent obstacle avoidance system based on polar coordinates, comprising: the system comprises a cloud processor, a camera system, a processing device, a control device, a reversing device and a carrier, wherein the cloud processor is respectively synchronous with the processing device and the camera system in data, the processing device is respectively connected with the camera device and the control device, the carrier carries the processing device, the control device and the reversing device, the camera system is used for shooting street scenes, the cloud processor generates a scene electronic map according to the street scenes, the cloud processor judges a first obstacle according to the electronic map, a first preset distance is arranged in the cloud processor, the cloud processor generates a polar coordinate system by taking the position of the first preset distance as a pole and the direction of a perpendicular line from the pole to the first obstacle as a polar axis, the range of the first obstacle is marked in the form of polar coordinates, and the cloud processor extracts the polar coordinates of which the advancing direction of the carrier is completely separated from the range of the first obstacle, and synchronizing the polar angle to the processing device.
As a preferable mode of the present invention, the cloud processor is further configured to measure an actual distance from the carrier to the first obstacle according to the electronic map, and when the cloud processor determines that the actual distance is not greater than the first preset distance, the cloud processor sends an adjustment allowing instruction to the processing device.
As a preferred aspect of the present invention, the processing device sends an adjustment command to the control device according to the polar angle in which the carrier moving direction completely deviates from the range in which the first obstacle is located, and the control device controls the carrier to adjust the moving direction according to the adjustment command.
As a preferred aspect of the present invention, the cloud processor determines whether the turning of the carrier is completed according to the polar coordinates of the carrier, and if so, the cloud processor sends a signal for synchronously stopping turning to the processing device, the processing device sends a command for stopping turning to the control device, and the control device stops controlling the turning of the carrier.
As a preferable mode of the invention, the polar coordinate-based intelligent obstacle avoidance system further includes a GPS surveying and mapping system, the GPS surveying and mapping system is connected to the cloud processor, the GPS surveying and mapping system is used for surveying and mapping a map, and the cloud processor generates an electronic map according to the map surveyed by the GPS surveying and mapping system and a real scene shot by the camera system.
As a preferable mode of the present invention, the carrier further includes an alarm device, and the alarm device is connected to the processing device.
As a preferred mode of the present invention, the cloud processor forms a new real-time polar coordinate system with the carrier as a pole, the cloud processor is provided with a second preset distance, the cloud processor determines whether an object is present in a range with the second preset distance as a length of ρ in the real-time polar coordinate system, if so, a warning signal is synchronized to the processing device, the processing device sends a warning instruction to the warning device according to the warning signal, and the warning device sends a warning sound.
As a preferable mode of the present invention, the cloud processor determines a range at the pole of the polar coordinate system by using the length of the second preset distance ρ, and when the carrier enters the range, the cloud processor synchronizes a warning signal to the processing device, and the processing device sends a warning instruction to the warning device according to the warning signal, and the warning device sends a warning sound.
As a preferable mode of the present invention, when the cloud processor determines that there is an obstacle within the range of the first obstacle, the cloud processor confirms the polar coordinate angle, selects a second obstacle, and indicates a range in which the second obstacle is located by polar coordinates, where the second obstacle is an obstacle closest to the first obstacle.
As a preferred aspect of the present invention, the cloud processor extracts a polar coordinate in a range where the carrier just enters the second obstacle in the traveling direction, and synchronizes the polar coordinate angle to the processing device, and the cloud processor generates an angle range in which the carrier is steered, based on the first obstacle polar coordinate angle and the second obstacle polar coordinate angle.
The invention realizes the following beneficial effects:
1. the position of the obstacle is recorded in a polar coordinate mode, and the steering angle of the carrier is judged through the angle of the polar coordinate, so that the control device can control the steering of the carrier conveniently.
2. By measuring the polar coordinates of the range where the plurality of obstacles are located, a most suitable angle is integrated, and the most suitable steering route is convenient to find.
3. The warning range is confirmed based on the polar coordinates, and surrounding pedestrians and vehicles can be warned.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a system framework diagram of the present invention;
FIG. 2 is a diagram illustrating an obstacle avoidance procedure according to the present invention;
FIG. 3 is a diagram illustrating the warning steps of the present invention;
FIG. 4 is a diagram showing three steps of the embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The first embodiment is as follows:
an intelligent obstacle avoidance system based on polar coordinates, comprising: the system comprises a cloud processor 1, a camera system 2, a processing device 3, a control device 4, a reversing device 5 and a carrier, wherein the cloud processor 1 is respectively in data synchronization with the processing device 3 and the camera system 2, the processing device 3 is respectively connected with the camera device and the control device 4, the carrier carries the processing device 3, the control device 4 and the reversing device 5, the camera system 2 is used for shooting street scenes, the cloud processor 1 generates a scene electronic map according to the street scenes, the cloud processor 1 judges a first obstacle according to the electronic map, a first preset distance is arranged in the cloud processor 1, the cloud processor 1 generates a polar coordinate system by taking the position of the first preset distance as a pole and the direction of a perpendicular line from the pole to the first obstacle as a polar axis, and indicates the range of the first obstacle in the form of the polar coordinate, the cloud processor 1 extracts the polar coordinates of the range where the carrier traveling direction completely departs from the first obstacle, and synchronizes the polar coordinate angle to the processing device 3.
As a preferable mode of the present invention, the cloud processor 1 is further configured to measure an actual distance from the carrier to the first obstacle according to the electronic map, and when the cloud processor 1 determines that the actual distance is not greater than the first preset distance, the cloud processor 1 sends an adjustment allowing instruction to the processing device 3.
In a preferred embodiment of the present invention, the processing device 3 sends an adjustment command to the control device 4 according to the polar angle in which the carrier moving direction completely deviates from the range of the first obstacle, and the control device 4 controls the carrier to adjust the moving direction according to the adjustment command.
In a preferred embodiment of the present invention, the cloud processor 1 determines whether the turning of the carrier is completed based on the polar coordinates of the carrier, and if so, synchronizes a turning stop signal to the processing device 3, the processing device 3 sends a turning stop command to the control device 4, and the control device 4 stops controlling the turning of the carrier.
As a preferable mode of the present invention, the polar coordinate-based intelligent obstacle avoidance system further includes a GPS mapping system 6, the GPS mapping system 6 is connected to the cloud processor 1, the GPS mapping system 6 is configured to map a map, and the cloud processor 1 generates an electronic map according to the map mapped by the GPS mapping system 6 and a real scene photographed by the camera system 2.
In a specific implementation process, the cloud processor 1 combines a two-dimensional map mapped by the GPS mapping system 6 with a real-time street view shot by the camera system 2 to generate an electronic map, and the electronic map is marked with first obstacle information identified by the cloud processor 1.
The cloud processor 1 is provided with a first preset distance, for example, 5m, the cloud processor 1 determines a first obstacle as the first obstacle according to the carrier traveling direction, determines a position according to the first obstacle and the first preset distance, and generates a polar coordinate system by using the position as a pole and using a direction of a perpendicular line from the pole to the first obstacle as a polar axis. The method comprises the steps that the cloud processor 1 marks the position of a first obstacle in the electronic map with a polar coordinate according to the polar coordinate system, the cloud processor 1 confirms a reference edge according to a polar axis of the polar coordinate system, the cloud processor 1 rotates the reference edge, when the reference edge rotates to the position where the first obstacle is located, the cloud processor 1 obtains the polar coordinate of the position where the obstacle is located and extracts the angle of the polar coordinate, the cloud processor 1 takes the angle of the polar coordinate as the angle of turning of a carrier, the cloud processor 1 synchronizes the turning angle to the processing device 3, the processing device 3 sends a turning instruction to the control device 4 according to the turning angle, and the control device 4 controls the turning of the carrier according to the turning instruction. It should be noted that, the cloud processor 1 extracts ρ of a polar coordinate according to a polar coordinate of the carrier in the polar coordinate system, where ρ is a distance from the carrier to the first preset distance position, the cloud processor 1 generates an actual distance from the carrier to the first obstacle according to ρ and the first preset distance, and determines a size of the actual distance and the first preset distance, that is, 5m, and if it is determined that the actual distance is not greater than 5m, the cloud processor 1 sends an adjustment allowing instruction to the processing device 3.
It should be noted that the cloud processor 1 marks an outward range of the reference edge when the position of the first obstacle is deviated from the position of the first obstacle, and confirms the polar coordinates of the carrier in real time, when all the polar coordinates of the carrier completely enter the marked range, the cloud processor 1 synchronously stops the steering signal to the processing device 3, the processing device 3 sends a steering stopping instruction to the control device 4, and the control device 4 stops controlling the steering of the carrier.
Example two:
for the first embodiment, the present embodiment is different in that:
as a preferred mode of the present invention, the carrier further includes a warning device 7, and the warning device 7 is connected to the processing device 3.
As a preferred mode of the present invention, the cloud processor 1 forms a new real-time polar coordinate system with the carrier as a pole, the cloud processor 1 is provided with a second preset distance, the cloud processor 1 determines whether an object is present in a range with the second preset distance as a length of ρ in the real-time polar coordinate system, if so, a warning signal is synchronized to the processing device 3, the processing device 3 sends a warning instruction to the warning device 7 according to the warning signal, and the warning device 7 sends a warning sound.
As a preferred aspect of the present invention, the cloud processor 1 confirms a range at the pole of the polar coordinate system by using the length of the second preset distance ρ, when the carrier enters the range, the cloud processor 1 synchronizes a warning signal to the processing device 3, the processing device 3 sends a warning instruction to the warning device 7 according to the warning signal, and the warning device 7 sends a warning sound.
In a specific implementation process, the second preset distance is 2m, the cloud processor 1 generates a new polar coordinate system by using the carrier as a pole and the carrier movement direction as a base axis, and the new polar coordinate system is used as a real-time polar coordinate system. The cloud processor 1 plans a range in the real-time polar coordinate system according to the second preset distance: the cloud processor 1 makes a circle with ρ =2, which is the planning range. The cloud processor 1 judges whether polar coordinates appear in the range or not, if other polar coordinates appear, the cloud processor 1 judges that obstacles appear in the planning range, the cloud processor 1 synchronously warns signals to the processing device 3, the processing device 3 sends warning instructions to the warning device 7, and the warning device 7 sends warning sounds to the periphery according to the warning instructions.
The cloud processor 1 plans another range according to the second preset distance at the pole of the polar coordinate system, the cloud processor 1 judges whether the carrier enters the range according to the polar coordinate of the carrier in the polar coordinate system, when the cloud processor 1 judges that the polar coordinate of the carrier enters the range, the cloud processor 1 sends a synchronous warning signal to the processing device 3, the processing device 3 sends a warning instruction to the warning device 7 according to the warning signal, and the warning device 7 sends a warning sound according to the warning instruction.
It is worth mentioning that when the carrier completely enters the range, the cloud processor 1 synchronizes the steering-allowed information to the processing device 3, and the processing device 3 can perform steering only when obtaining the steering-allowed information.
Example three:
for the first embodiment, the present embodiment is different in that:
as a preferable aspect of the present invention, when the cloud processor 1 determines that there is an obstacle in the range of the first obstacle, the cloud processor 1 checks the polar coordinate angle, selects a second obstacle, and indicates a range in which the second obstacle is located by polar coordinates, where the second obstacle is an obstacle closest to the first obstacle.
As a preferred aspect of the present invention, the cloud processor 1 extracts a polar coordinate in a range where the carrier traveling direction just enters the second obstacle, and synchronizes the polar coordinate angle to the processing device 3, and the cloud processor 1 generates an angle range in which the carrier turns from the first obstacle polar coordinate angle and the second obstacle polar coordinate angle.
In a specific implementation process, the cloud processor 1 indicates a range of the object around the first obstacle in a polar coordinate mode, and determines a distance from the first obstacle by using the polar coordinate: and the cloud processor 1 calculates the distance from the polar coordinate point to the first obstacle according to the left side and by taking a cosine law as a calculation basis, and selects a range where a coordinate point with the shortest distance to the first obstacle is located as a second obstacle according to the distance. It is worth mentioning that the cloud processor 1 selects an angle of the polar coordinate larger than an angle of any one polar coordinate point of the range where the first obstacle is located.
The cloud processor 1 rotates with rho along a polar axis as a reference edge, when the reference edge rotates to a range where the second obstacle is located, the cloud processor 1 records a polar coordinate of the contact point, extracts an angle of the polar coordinate, and records the angle as a second obstacle polar coordinate angle, the second obstacle polar coordinate angle is larger than the first obstacle polar coordinate angle, the cloud processor 1 generates a polar coordinate angle range according to the first obstacle polar coordinate angle and the second obstacle polar coordinate angle, and the polar coordinate angle is used as a steering range of the carrier steering angle. The cloud processor 1 sends the polar coordinate angle range to the processing device 3, the processing device 3 sends a steering instruction to the control device 4 according to the polar coordinate angle range, and the control device 4 controls the carrier to steer. It should be mentioned that, the cloud processor 1 generates a polar coordinate of the carrier according to the carrier when the carrier turns to, where the polar coordinate angle of the carrier is a vertex angle polar coordinate angle of a minimum rectangle where the carrier is located, and determines an angle of the polar coordinate, where the polar coordinate angle is in a turning range of the carrier turning angle.
It should be noted that the steps in this embodiment are all implemented in the polar coordinate system.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. An intelligent obstacle avoidance system based on polar coordinates, comprising: cloud treater, camera system, processing apparatus, controlling means, switching-over device, carrier, the cloud treater respectively with processing apparatus and camera system data synchronization, processing apparatus respectively with camera device and controlling means are connected, the carrier carries on processing apparatus, controlling means and switching-over device, camera system is used for shooing the street outdoor scene, its characterized in that: the cloud processor generates a real-scene electronic map according to the street real scene, judges a first obstacle according to the electronic map, and generates a polar coordinate system by taking the position of the first preset distance as a pole and the direction of a perpendicular line from the pole to the first obstacle as a polar axis, and marks the range of the first obstacle in a polar coordinate form;
the cloud processor forms a new real-time polar coordinate system by taking the carrier as a pole, the cloud processor is provided with a second preset distance, the cloud processor judges whether an object exists in a range with the second preset distance as rho length in the real-time polar coordinate system, if so, a warning signal is synchronized to the processing device, the processing device sends a warning instruction to the warning device according to the warning signal, and the warning device sends warning sound;
the cloud processor confirms a range at the pole of the polar coordinate system by taking the length with the second preset distance as rho, when the carrier enters the range, the cloud processor synchronously warns a signal to the processing device, the processing device sends a warning instruction to the warning device according to the warning signal, and the warning device sends warning sound.
2. The polar coordinate-based intelligent obstacle avoidance system of claim 1, wherein: the cloud processor is further used for measuring an actual distance from the carrier to the first obstacle according to the electronic map, and when the cloud processor judges that the actual distance is not larger than the first preset distance, the cloud processor sends an adjustment allowing instruction to the processing device.
3. The polar coordinate-based intelligent obstacle avoidance system according to claim 2, wherein: and the processing device sends an adjusting instruction to the control device according to the polar coordinate angle in the range of the first obstacle from which the advancing direction of the carrier is completely separated, and the control device controls the carrier to adjust the advancing direction according to the adjusting instruction.
4. The polar coordinate-based intelligent obstacle avoidance system of claim 3, wherein: the cloud processor judges whether the carrier turns to the carrier according to the polar coordinates of the carrier, if so, a turning stopping signal is synchronously sent to the processing device, the processing device sends a turning stopping instruction to the control device, and the control device stops controlling the turning of the carrier.
5. The polar coordinate-based intelligent obstacle avoidance system of claim 1, wherein: still include GPS mapping system, GPS mapping system with the cloud treater is connected, GPS mapping system is used for carrying out the survey and drawing of map, the cloud treater basis the map of GPS mapping system survey and drawing and the outdoor scene that camera system shot generate electronic map.
6. The polar coordinate-based intelligent obstacle avoidance system of claim 1, wherein: the carrier further comprises a warning device, and the warning device is connected with the processing device.
7. The polar coordinate-based intelligent obstacle avoidance system of claim 1, wherein: and when the cloud processor judges that obstacles exist in the range of the first obstacle, the cloud processor confirms the polar coordinate angle and then selects a second obstacle, and the range of the second obstacle is marked by polar coordinates, wherein the second obstacle is the obstacle closest to the first obstacle.
8. The polar coordinate-based intelligent obstacle avoidance system of claim 7, wherein: the cloud processor extracts the polar coordinates of the range where the carrier just enters the second obstacle in the advancing direction, synchronizes the polar coordinate angle to the processing device, and generates the angle range of the carrier turning according to the first obstacle polar coordinate angle and the second obstacle polar coordinate angle.
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| CN108681339A (en) * | 2018-06-15 | 2018-10-19 | 东汉太阳能无人机技术有限公司 | Navigation of Pilotless Aircraft method, navigation system and unmanned plane |
| CN109765885A (en) * | 2018-11-21 | 2019-05-17 | 深圳市迈康信医用机器人有限公司 | The method and its system of Wheelchair indoor automatic Pilot |
| CN110826512B (en) * | 2019-11-12 | 2022-03-08 | 深圳创维数字技术有限公司 | Ground obstacle detection method, ground obstacle detection device, and computer-readable storage medium |
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