CN110764517A - System and method for avoiding obstacles by using mobile robot to drag skip car - Google Patents
System and method for avoiding obstacles by using mobile robot to drag skip car Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a system and a method for avoiding obstacles by a skip pulled by a mobile robot, wherein the system comprises the mobile robot, a laser scanner and a skip, the laser scanner is installed on the mobile robot, and the skip is drawn by the mobile robot to move; the laser scanner is used for measuring the distance between the skip car and the mobile robot; according to the invention, the laser scanner carried in the mobile robot is utilized, the angle information is obtained through measuring the distance information and calculating, the obstacle avoidance can be realized, the additional addition of the laser scanner is not needed, the precision is high, the cost is low, the structural complexity of the mobile robot and the skip car is reduced, the fault rate is reduced, and the safety of the operation of the mobile robot is ensured.
Description
Technical Field
The invention relates to the technical field of automatic operation, in particular to a method and a device for avoiding obstacles by a mobile robot dragging a skip car.
Background
With the development and progress of automation technology, in order to improve the efficiency and accuracy of production, it is imperative to improve the automation degree of equipment in factories, warehouses, laboratories and other work places. At present, the skip in the work occasion adopts the manpower to drag the transportation and the transfer that realize the material usually, and this kind of mode human input is many, efficiency is comparatively low, repetitive work is numerous and complicated, and intensity of labour is great moreover.
The mobile robot is an intelligent device that moves according to human command or running a preset program, and has become popular, so people have designed a scheme of using the mobile robot to drag a skip car to move. When the material trolley is used, the material trolley is pulled behind the mobile robot, and the mobile robot moves to drive the material trolley to move. However, how to know the running path of the trailer in real time so as to perform path planning, and further realize safe running of the mobile robot and the trailer in a factory is a problem to be solved.
In order to solve the problems, the currently adopted solution is to install an angle sensor on the skip car, and the running path of the skip car is known after the data collected by the angle sensor is processed. The application of the scheme brings a series of problems, for example, the angle sensor needs to be installed at a rotating part on the skip car, but the skip car and the mobile robot are separated into two parts without any electrical connection, so that the arrangement is inconvenient; in addition, if each skip car is provided with an angle sensor, a corresponding power supply and other auxiliary electronic components need to be equipped, and the running cost of using the mobile robot to drag the skip car is greatly increased.
Disclosure of Invention
In view of the above technical problems in the prior art, an object of the present application is to provide a system and a method for avoiding obstacles for a mobile robot towing a skip car.
In order to achieve the purpose of the invention, the system for the mobile robot to drag the skip car to avoid the obstacle comprises the mobile robot, a laser scanner and the skip car, wherein the laser scanner is installed on the mobile robot, and the skip car is drawn by the mobile robot to move; a characteristic identification plate is arranged on the skip car and is flush with the scanning plane of the laser scanner,
the laser scanner is used for measuring the distance between the skip car and the mobile robot;
a robot control system and a robot navigation system are arranged in the mobile robot, and the robot control system is used for resolving angle information between the mobile robot and the skip after receiving distance information sent by the laser scanner;
and the robot navigation system is used for avoiding obstacles according to a local path planning algorithm after receiving the angle information sent by the robot control system.
Wherein the laser scanner measures the reflection of laser light from the emitting to receiving of the feature recognition board
And calculating the distance between the skip car and the mobile robot by the TOF principle.
The robot navigation system comprises a path planning module, an obstacle recognition module and a preset map, wherein the obstacle recognition module is used for measuring the distance of an obstacle through the laser scanner, the robot navigation system calculates the positions of the mobile robot, the skip car and the obstacle in the preset map through a Monte Carlo algorithm after receiving angle information sent by the robot control system, and the path planning module enables the mobile robot and the skip car to avoid the obstacle according to a local path planning algorithm by calculating the distance between the mobile robot, the skip car and the obstacle on the preset map.
The material trolley is characterized by further comprising a manipulator, wherein the manipulator is installed on the mobile robot, and the mobile robot clamps the material trolley through the manipulator and pulls the material trolley to move.
Correspondingly, the invention also provides a method for avoiding obstacles by using the mobile robot to drag the skip car, which comprises the following steps:
s1, a laser scanner measures the distance between a skip car and a mobile robot and sends the distance to a robot control system;
s2, the robot control system calculates angle information according to the distance between the skip car and the mobile robot;
s3, the robot navigation system receives the angle information sent by the robot control system and then carries out obstacle avoidance according to a local path planning algorithm; wherein, the step S2 specifically includes:
s21, before angle information is resolved, distance information belonging to a skip is found in data of a laser scanner;
s22, performing straight line fitting on the found distance information belonging to the skip car;
s23, calculating the angle between the fitted straight line and the mobile robot;
wherein, before executing the step S21, the method comprises:
s211, establishing a Cartesian coordinate system by taking a laser scanner as a center;
s212, converting data based on a coordinate system of the laser scanner into data based on a central coordinate system of the mobile robot;
s213, dividing the data of the laser scanner into areas;
s214, according to the size information of the characteristic identification plate, data belonging to the skip car in the laser scanner data are found.
Wherein, the step S3 specifically includes:
s31, the robot navigation system presets size information of the skip car;
s32, the robot navigation system receives angle information of the skip car and the mobile robot, which is sent by the robot control system;
s33, the robot navigation system identifies the position of the skip according to the size information of the skip and the angle information of the skip and the mobile robot;
and S34, carrying out obstacle avoidance according to the position of the skip car by using a local path planning algorithm.
Wherein the step S34 further includes:
s341, measuring the distance of an obstacle by using a laser scanner;
s342, the robot navigation system identifies the position of the obstacle according to the distance information of the obstacle;
s343, the robot navigation system calculates the distance between the obstacle and the skip according to the position of the skip and the position of the obstacle;
and S344, carrying out path planning according to the distance between the obstacle and the skip car by using a local path planning algorithm to avoid the obstacle.
Compared with the prior art, the obstacle avoidance method has the advantages that the obstacle avoidance can be realized by utilizing the laser scanner carried in the mobile robot per se and calculating the angle information through measuring the distance information, the laser scanner is not required to be additionally arranged, the precision is high, the cost is low, the structural complexity of the mobile robot and a skip car is reduced, the failure rate is reduced, and the operation safety of the mobile robot is ensured.
Drawings
FIG. 1 is a schematic diagram of the system of the present application;
FIG. 2 is a block diagram of the system of the present application;
fig. 3 is a flowchart illustrating a method for avoiding obstacles by a mobile robot towing a skip car according to the present application;
fig. 4 is a flowchart illustrating an embodiment of a method for avoiding an obstacle of a skip towed by a mobile robot according to the present application.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Examples
In this embodiment, a system for avoiding an obstacle for a skip pulled by a mobile robot is shown in fig. 1 and 2:
including mobile robot 1, laser scanner 2, skip 5 passes through mobile robot 1 traction motion, laser scanner 2 install in on the mobile robot 1, mobile robot 1 includes robot control system 8 and robot navigation 7, robot control system 8 install in inside the mobile robot 1, robot navigation 7 installs inside the mobile robot 1.
The skip car 5 is provided with a characteristic identification plate 4 which is flush with a scanning plane of the laser scanner 2 and used for assisting the laser scanner 2 in measuring the distance between the skip car and the mobile robot 1;
the laser scanner 2 is an HDDM non-contact laser scanner, and calculates an object distance according to the TOF principle by measuring a time of flight of laser light from emission to reflection.
The mobile robot 1 is provided with a manipulator 3, and the manipulator 3 clamps a rotating shaft of the skip car 5 and then performs traction movement.
The robot navigation system 7 includes a path planning module 71, an obstacle recognition module 72, and a preset map 73.
Specifically, the distance between the skip car 5 and the mobile robot 1 is measured by the laser scanner 2 installed on the mobile robot 1, the robot control system 8 calculates angle information according to the distance between the skip car 5 and the mobile robot 1, the robot navigation system 7 calculates the positions of the mobile robot 1 and the skip car 5 on the preset map by using a monte carlo algorithm, the obstacle recognition module 72 measures the distance between the obstacles 6 by using the laser scanner 2, calculates the positions of the obstacles 6 on the preset map 73, and the path planning module 71 enables the mobile robot 1 and the skip car 5 to avoid the obstacles 6 by using a local path planning algorithm by calculating the distances between the mobile robot 1, the skip car 5 and the obstacles 6 on the preset map 73.
In this embodiment, a method for avoiding an obstacle by a mobile robot towing a skip car is correspondingly provided, as shown in fig. 3, the method includes:
s1, measuring the distance between a skip car and a mobile robot by using a laser scanner and sending the distance to a robot control system;
s2, resolving angle information by a robot control system according to the distance between the skip car and the mobile robot;
and S3, the robot navigation system receives the angle information sent by the robot control system and then carries out obstacle avoidance according to a preset algorithm.
The method for avoiding the obstacle by using the mobile robot to drag the skip car mainly comprises a process of converting data of the laser scanner, a process of finding data belonging to the skip car in the data of the laser scanner, a process of resolving distance information into angle information and a process of avoiding the obstacle by combining the angle information, which is described in detail below and shown in fig. 4.
1. Laser scanner data conversion process:
s1.1, a Cartesian coordinate system is established by taking the center of the laser scanner as an origin.
S1.2, original data measured by the laser scanner are data under a polar coordinate system, and the data of the polar coordinate system needs to be converted into data of a laser scanner Cartesian coordinate system, as shown in formula 1, the method comprises the following two formulas:
wherein,θthe included angle between the distance of the object to be measured and the polar coordinate system of the laser scanner;r: distance between the laser scanner and the object to be measured;x’:the X-axis coordinate value of the measured object in a laser scanner Cartesian coordinate system;y’the Y-axis coordinate value of the measured object in the laser scanner Cartesian coordinate system.
S1.3, converting the data of the laser scanner Cartesian coordinate system into the data of the mobile robot center Cartesian coordinate system, as shown in the formula 2, and comprising the following two formulas:
wherein,x’:the X-axis coordinate value of the measured object in a laser scanner Cartesian coordinate system;y’the object to be measured is
A Y-axis coordinate value of a laser scanner Cartesian coordinate system;xx-axis coordinate values of the object to be measured in a Cartesian coordinate system of the center of the mobile robot; y is the Y-axis coordinate value of the measured object in the Cartesian coordinate system of the center of the mobile robot;θ’an included angle between the laser scanner and the center of the mobile robot,ax-axis coordinate value of the laser scanner in a Cartesian coordinate system of the center of the mobile robot;bthe laser scanner is arranged at the Y-axis coordinate value of a Cartesian coordinate system of the center of the mobile robot.
2. And (3) finding data belonging to the skip in the laser scanner data:
s1.4, dividing the data area of the laser scanner, wherein in order to screen out the parts belonging to the skip car in the data of the laser scanner and reduce the calculated amount, the scanning points of the laser scanner of the mobile robot need to be divided into areas, and the dividing method comprises the following steps: dividing scanning point of laser scanner into different regions, and setting threshold d0Calculating the distance d between two consecutive scan points, as in equation 31If the distance d between two consecutive scanning points is, as in equation 41Less than threshold d0Then the two points are in the same region, and the region is divided according to the method:
Wherein,
: the angle between two adjacent lasers of the laser scanner,xthe object to be measured is in the mobile robot
And the X-axis coordinate value of the central Cartesian coordinate system, and the Y-axis coordinate value of the measured object in the central Cartesian coordinate system of the mobile robot.
Wherein d is1: the distance between two adjacent scanning points;x1the coordinate value of the previous X axis of the measured object in the Cartesian coordinate system of the center of the mobile robot;y1the coordinate value of the previous Y axis of the measured object in a Cartesian coordinate system of the center of the mobile robot;x2the current X-axis coordinate value of the measured object in a Cartesian coordinate system of the center of the mobile robot;y2the current Y-axis coordinate value of the measured object in a Cartesian coordinate system of the center of the mobile robot.
S1.5, traversing the areas in the step S1.4, and calculating the distance d between the initial point and the final point of each area2Such as
Fruit d2Equal to the length d of the feature recognition board, the region is further calculatedDistance d from center point of domain to center point of mobile robot3If d is3And if the distance L from the central point of the feature identification plate to the central point of the mobile robot is equal to the distance L, judging that the area is the feature identification plate, and finding partial data belonging to the skip in the laser scanner data.
3. Process of resolving distance information into angle information:
s1.6, performing straight line fitting on the data found in the step S1.5 for further calculation, wherein the formula is as follows:
Wherein,
the sum of squares of x-axis coordinate values of data to be fitted;
: number of to-be-fitted
According to the sum of the coordinate values of the x axis;
: the product of the X-axis coordinate value and the Y-axis coordinate value of the data to be fitted;
: the sum of the coordinate values of the Y axis of the data to be fitted;x i the coordinate value of the ith X axis;y i :the ith Y-axis coordinate value;
: the number of data to be fitted;cthe proportion after fitting;dthe fitted constant.
S1.7, solving the included angle between the fitted straight line and the mobile robot, as shown in formula 6:
Wherein，KThe slope of the straight line;θ 1 the included angle between the fitted straight line and the mobile robot.
And S1.8, the robot control system sends the calculated angle information to a robot navigation system.
4. And (3) combining angle information to avoid obstacles:
s1.9, presetting size information of the skip car in the robot navigation system;
s2.0, loading a preset map in the robot navigation system;
s2.1, the robot navigation system receives angle information sent by the robot control system and calculates the position of the skip in a preset map by combining the size information of the skip;
s2.2, the obstacle recognition module measures the distance of an obstacle through the laser scanner, sends the distance to the robot navigation system, and calculates the position of the obstacle on a preset map through a preset algorithm;
s2.3, the robot navigation system calculates the distance between the mobile robot, the skip car and the barrier on a preset map;
and S2.4, enabling the mobile robot and the skip car to avoid the obstacle according to a preset algorithm by the path planning module, and enabling the mobile robot and the skip car to operate safely.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A system for avoiding obstacles by a skip dragged by a mobile robot is characterized by comprising the mobile robot, a laser scanner and a skip, wherein the laser scanner is installed on the mobile robot, and the skip is drawn by the mobile robot to move; a characteristic identification plate is arranged on the skip car and is flush with the scanning plane of the laser scanner,
the laser scanner is used for measuring the distance between the skip car and the mobile robot;
a robot control system and a robot navigation system are arranged in the mobile robot, and the robot control system is used for resolving angle information between the mobile robot and the skip after receiving distance information sent by the laser scanner;
and the robot navigation system is used for avoiding obstacles according to a local path planning algorithm after receiving the angle information sent by the robot control system.
2. The system for avoiding obstacles of the material vehicle dragged by the mobile robot as claimed in claim 1,
the laser scanner measures the flight time between the time when the laser is emitted and the time when the laser is reflected by the characteristic identification plate, and the distance between the skip car and the mobile robot is calculated through the TOF principle.
3. The system for avoiding obstacles of the mobile robot towing skip as claimed in claim 1 or 2,
the robot navigation system comprises a path planning module, an obstacle identification module and a preset map,
the obstacle identification module is used for measuring the distance of an obstacle through the laser scanner, the robot navigation system calculates the positions of the mobile robot, the skip car and the obstacle in the preset map through a Monte Carlo algorithm after receiving angle information sent by the robot control system, and the path planning module enables the mobile robot and the skip car to avoid the obstacle according to a local path planning algorithm by calculating the distance between the mobile robot, the skip car and the obstacle on the preset map.
4. The system for avoiding the obstacle of the material vehicle dragged by the mobile robot as claimed in claim 1, further comprising a manipulator, wherein the manipulator is mounted on the mobile robot, and the mobile robot grips the material vehicle by the manipulator and pulls the material vehicle to move.
5. A method for avoiding obstacles by a mobile robot dragging a skip car is characterized by comprising the following steps:
s1, a laser scanner measures the distance between a skip car and a mobile robot and sends the distance to a robot control system;
s2, the robot control system calculates angle information according to the distance between the skip car and the mobile robot;
s3, the robot navigation system receives the angle information sent by the robot control system and then carries out obstacle avoidance according to a local path planning algorithm; wherein, the step S2 specifically includes:
s21, before angle information is resolved, distance information belonging to a skip is found in data of a laser scanner;
s22, performing straight line fitting on the found distance information belonging to the skip car;
s23, calculating the angle between the fitted straight line and the mobile robot;
wherein, before executing the step S21, the method comprises:
s211, establishing a Cartesian coordinate system by taking a laser scanner as a center;
s212, converting data based on a coordinate system of the laser scanner into data based on a central coordinate system of the mobile robot;
s213, dividing the data of the laser scanner into areas;
s214, according to the size information of the characteristic identification plate, data belonging to the skip car in the laser scanner data are found.
6. The method as claimed in claim 5, wherein the step S3 specifically includes:
s31, the robot navigation system presets size information of the skip car;
s32, the robot navigation system receives angle information of the skip car and the mobile robot, which is sent by the robot control system;
s33, the robot navigation system identifies the position of the skip according to the size information of the skip and the angle information of the skip and the mobile robot;
and S34, carrying out obstacle avoidance according to the position of the skip car by using a local path planning algorithm.
7. The method for avoiding obstacles by using a mobile robot to tow a skip car according to claim 6, wherein the step S34 further comprises:
s341, measuring the distance of an obstacle by using a laser scanner;
s342, the robot navigation system identifies the position of the obstacle according to the distance information of the obstacle;
s343, the robot navigation system calculates the distance between the obstacle and the skip according to the position of the skip and the position of the obstacle;
and S344, carrying out path planning according to the distance between the obstacle and the skip car by using a local path planning algorithm to avoid the obstacle.
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