CN111813129B - Obstacle avoidance method of narrow space remote search and rescue robot based on stereoscopic vision - Google Patents
Obstacle avoidance method of narrow space remote search and rescue robot based on stereoscopic vision Download PDFInfo
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- 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
- G05D1/0251—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 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses an obstacle avoidance method of a narrow space remote search and rescue robot based on stereoscopic vision, which belongs to the technical field of robots, wherein a robot obstacle avoidance system is established, a steering engine is controlled to select an angle in a first-choice mode, the distance between obstacles on the left side and the right side is measured, and then a chassis of a trolley is controlled to perform corresponding rotating actions, so that the technical problem that the robot rapidly advances and avoids obstacles in a narrow space is solved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an obstacle avoidance method of a narrow space remote search and rescue robot based on stereoscopic vision.
Background
When natural disasters such as earthquakes occur, trapped people are often trapped in collapsed buildings, and because the space is narrow and small, the trapped people cannot send out help seeking information, so that external rescue workers cannot find the trapped people in the narrow and small space in time, and because the condition in the narrow and small space is complex, the search and rescue work of the rescue workers is hindered.
The remote monitoring search and rescue robot in the narrow space can greatly help search and rescue work.
The robot that searches for ands rescue of narrow and small space remote monitoring exists following shortcoming at present:
1. the travelling speed is slow and is single;
2. the data transmission protocol is complex and cannot be rapidly carried out correspondingly.
Disclosure of Invention
The invention aims to provide an obstacle avoidance method of a narrow space remote search and rescue robot based on stereoscopic vision, and solves the technical problem that the robot rapidly advances and avoids obstacles in a narrow space.
In order to achieve the purpose, the invention adopts the following technical scheme:
an obstacle avoidance method of a narrow space remote search and rescue robot based on stereoscopic vision comprises the following steps:
step 1: establishing a robot obstacle avoidance system, wherein the robot obstacle avoidance system comprises a robot trolley, a handheld control terminal, a raspberry routing board, a main controller, an ultrasonic module, an image acquisition module and a motor driving module, the robot trolley comprises a trolley chassis and a steering engine holder, the motor driving module, the raspberry routing board and the main controller are arranged on a first circuit board, the first circuit board is fixedly arranged on the trolley chassis, the motor driving module is connected with the main controller and used for driving a motor on the trolley chassis, and the raspberry routing board is communicated with the main controller through a serial port;
the image acquisition module and the ultrasonic module are arranged on the steering engine holder, the image acquisition module rotates 180 degrees respectively up and down, left and right along with the steering engine holder, and the ultrasonic module rotates 180 degrees respectively left and right along with the steering engine holder;
the image acquisition module and the ultrasonic module are electrically connected with the main controller through data lines;
the raspberry routing board is communicated with the handheld control terminal through a WIFI network;
the steering engine cradle head is communicated with the main controller through a serial port bus;
step 2: the main controller constructs a local area network through a raspberry routing board, and the steps are as follows:
step A1: creating an interface Socket, and establishing an IP address for monitoring an effective Socket port;
step A2: calling an accept function to obtain connection information from the connection request queue, and waiting for connection with the handheld control terminal;
step A3: if the connection is successful, the thread of the main controller performs data communication with the handheld control terminal, the main controller performs corresponding processing according to the request of the handheld control terminal, and after the data communication is completed, the main controller closes the thread and re-enters the main thread circulation;
and step 3: the main controller creates a protocol packet database, and sends the protocol packet database to the handheld control terminal through the raspberry dispatching routing board, and the handheld control terminal communicates with the main controller according to protocols in the protocol packet database;
and 4, step 4: the robot obstacle avoidance system automatically avoids obstacles according to the following steps:
step B1: the main controller initializes the steering engine holder, the ultrasonic module, the image acquisition module and the motor driving module, and constructs a local area network through the raspberry routing board according to the method in the step 2;
the hand-held control terminal establishes communication with the main controller through the local area network;
step B2: the ultrasonic module monitors the distance information of the front obstacle in real time and sends the distance information to the main controller, wherein the distance information comprises the distance value of the front obstacle;
step B3: the main controller judges whether the distance value of the front obstacle is less than 10 cm: if yes, go to step B5; if not, executing step B4;
step B4: the main controller controls the chassis of the trolley to move straight through the motor driving module, and step B2 is executed;
step B5: the main controller starts a timer and controls the trolley chassis to retreat through the motor driving module until the timer finishes timing, and the main controller controls the trolley chassis to stop through the motor driving module;
step B6: the main controller controls the steering engine holder to rotate 90 degrees leftwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate left obstacle distance information, and the main controller stores the left obstacle distance information;
the left obstacle distance information includes a distance value of the left obstacle;
the main controller controls the steering engine holder to rotate 180 degrees rightwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate distance information of the right obstacle, and the main controller stores the distance information of the right obstacle;
the right obstacle distance information includes a distance value of the right obstacle;
step B7: the main controller judges whether the distance value of the right obstacle and the distance value of the left obstacle are both smaller than 10 cm: if yes, go to step B8; if not, executing step B10;
step B8: the main controller controls the chassis of the trolley to rotate 180 degrees rightwards through the motor driving module and controls the steering engine holder to rotate 90 degrees leftwards;
step B9: the main controller controls the trolley chassis to move straight through the motor driving module, and step B2 is executed;
step B10: the main controller judges whether the distance value of the right obstacle is smaller than that of the left obstacle: if yes, go to step B11; if not, executing step B12;
step B11: the main controller controls the chassis of the trolley to rotate 90 degrees leftwards through the motor driving module, controls the steering engine holder to rotate 90 degrees leftwards, and executes the step B2;
step B12: and the main controller controls the chassis of the trolley to walk straight through the motor driving module, controls the steering engine holder to rotate 90 degrees rightwards, controls the steering engine holder to rotate 90 degrees leftwards, and executes the step B2.
Preferably, when step B4 is executed, the main controller controls the traveling speed of the trolley chassis through the motor driving module, and the main controller sets two traveling speeds, namely a fast traveling speed and a slow traveling speed;
judging whether the distance value of the front obstacle is less than 25 cm: if not, the main controller controls the trolley chassis to rapidly move straight; if yes, the main controller controls the trolley chassis to move forwards at a low speed.
Preferably, when step 3 is executed, the protocol packet format transmission command is as follows:
the head of the packet uses Ox FF, the tail of the packet uses Ox FF, and no check bit exists;
and the handheld control terminal sends a data packet to the raspberry sending routing board by using the local area network constructed in the step 2, the raspberry sending routing board unpacks the protocol packet by using an unpacking mechanism and sends the protocol packet to the main controller by using a serial port, and the main controller executes related operations according to the instruction of the protocol packet.
Preferably, the robot trolley is a ZYRP60B ROS robot, the handheld control terminal is a mobile phone, the main controller is an STM32F4 single chip microcomputer, the ultrasonic module is an HC-SR04, the image acquisition module is a self-contained USB image acquisition module, and the motor driving module is a TB6612 FNG.
Preferably, the raspberry sending routing board is further provided with a Bluetooth module, and the handheld control terminal can also communicate with the main controller through the Bluetooth module.
The obstacle avoidance method of the narrow space remote search and rescue robot based on the stereoscopic vision solves the technical problems of rapid advance and obstacle avoidance of the robot in the narrow space, the robot trolley is controlled by two advancing speeds, the advancing speed of the trolley is greatly increased, the search and rescue time is reduced, the communication is carried out by adopting a protocol including a check bit-free protocol, the protocol communication speed is accelerated, and the response speed of the robot trolley is improved.
Drawings
Fig. 1 is a system architecture diagram of the robot obstacle avoidance system of the present invention;
fig. 2 is a flow chart of step 4 of the present invention.
Detailed Description
As shown in fig. 1-2, the obstacle avoidance method for the narrow space remote search and rescue robot based on stereoscopic vision includes the following steps:
step 1: establishing a robot obstacle avoidance system, wherein the robot obstacle avoidance system comprises a robot trolley, a handheld control terminal, a raspberry routing board, a main controller, an ultrasonic module, an image acquisition module and a motor driving module, the robot trolley comprises a trolley chassis and a steering engine holder, the motor driving module, the raspberry routing board and the main controller are arranged on a first circuit board, the first circuit board is fixedly arranged on the trolley chassis, the motor driving module is connected with the main controller and used for driving a motor on the trolley chassis, and the raspberry routing board is communicated with the main controller through a serial port;
the image acquisition module and the ultrasonic module are arranged on the steering engine holder, the image acquisition module rotates 180 degrees respectively up and down, left and right along with the steering engine holder, and the ultrasonic module rotates 180 degrees respectively left and right along with the steering engine holder;
the image acquisition module and the ultrasonic module are electrically connected with the main controller through data lines;
the raspberry routing board is communicated with the handheld control terminal through a WIFI network;
the steering engine cradle head is communicated with the main controller through a serial port bus;
step 2: the main controller constructs a local area network through a raspberry dispatching route board, and the steps are as follows:
step A1: creating an interface Socket, and establishing an IP address for monitoring an effective Socket port;
step A2: calling an accept function to obtain connection information from the connection request queue, and waiting for forming connection with the handheld control terminal;
step A3: if the connection is successful, the thread of the main controller performs data communication with the handheld control terminal, the main controller performs corresponding processing according to the request of the handheld control terminal, and after the data communication is completed, the main controller closes the thread and re-enters the main thread circulation;
the invention communicates through TCP protocol of socket, sends the instruction to raspberry sending routing board, and the raspberry sending routing board analyzes the instruction sent by the relevant mobile phone and sends the instruction to the main controller to set the corresponding GPIO port.
And step 3: the main controller creates a protocol packet database, and sends the protocol packet database to the handheld control terminal through the raspberry dispatching routing board, and the handheld control terminal communicates with the main controller according to protocols in the protocol packet database;
and 4, step 4: the robot obstacle avoidance system automatically avoids obstacles according to the following steps:
step B1: the main controller initializes the steering engine holder, the ultrasonic module, the image acquisition module and the motor driving module, and constructs a local area network through the raspberry routing board according to the method in the step 2;
the hand-held control terminal establishes communication with the main controller through the local area network;
step B2: the ultrasonic module monitors the distance information of the front obstacle in real time and sends the distance information to the main controller, wherein the distance information comprises the distance value of the front obstacle;
step B3: the main controller judges whether the distance value of the front obstacle is less than 10 cm: if yes, go to step B5; if not, executing step B4;
step B4: the main controller controls the trolley chassis to move straight through the motor driving module, and step B2 is executed;
step B5: the main controller starts a timer and controls the trolley chassis to retreat through the motor driving module until the timer finishes timing, and the main controller controls the trolley chassis to stop through the motor driving module;
step B6: the main controller controls the steering engine holder to rotate 90 degrees leftwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate left obstacle distance information, and the main controller stores the left obstacle distance information;
the left obstacle distance information includes a distance value of the left obstacle;
the main controller controls the steering engine holder to rotate 180 degrees rightwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate distance information of the right obstacle, and the main controller stores the distance information of the right obstacle;
the right obstacle distance information includes a distance value of the right obstacle;
step B7: the main controller judges whether the distance value of the right obstacle and the distance value of the left obstacle are both smaller than 10 cm: if yes, go to step B8; if not, executing step B10;
step B8: the main controller controls the chassis of the trolley to rotate 180 degrees rightwards through the motor driving module and controls the steering engine holder to rotate 90 degrees leftwards;
step B9: the main controller controls the chassis of the trolley to move straight through the motor driving module, and step B2 is executed;
step B10: the main controller judges whether the distance value of the right obstacle is smaller than that of the left obstacle: if yes, go to step B11; if not, executing step B12;
step B11: the main controller controls the trolley chassis to rotate 90 degrees leftwards through the motor driving module, controls the steering engine holder to rotate 90 degrees leftwards, and executes the step B2;
step B12: and the main controller controls the chassis of the trolley to walk straight through the motor driving module, controls the steering engine pan-tilt to rotate 90 degrees rightwards, controls the steering engine pan-tilt to rotate 90 degrees leftwards, and executes the step B2.
Preferably, when step B4 is executed, the main controller controls the traveling speed of the trolley chassis through the motor driving module, and the main controller sets two traveling speeds, namely a fast traveling speed and a slow traveling speed;
judging whether the distance value of the front obstacle is less than 25 cm: if not, the main controller controls the trolley chassis to rapidly move straight; if yes, the main controller controls the trolley chassis to move in a straight line at a low speed.
The speed of the chassis of the trolley is controlled by controlling the PWM signal output by the motor driving module.
The ZYRP60B ROS robot is used as a basic carrier of the system, so that the difficulty of secondary development is greatly reduced.
Preferably, when step 3 is executed, the protocol packet format transmission command is as follows:
the head of the packet uses Ox FF, the tail of the packet uses Ox FF, and no check bit exists;
the raspberry dispatching routing board unpacks the data packet through an unpacking mechanism, sends the data packet to the main controller through a serial port and executes related operations through the control module. The protocol specifications are shown in table 1.
TABLE 1
The communication protocol of the invention is shown in table 1, and comprises a packet header, a type bit, a command bit, a data bit and a packet tail, when data is transmitted and received, the packet header, the type bit, the command bit and the like can be checked to prevent the data loss condition in the transmission process, the protocol of the invention does not need a check bit, and has no packet data length, and can ensure the normal transmission of the protocol, greatly compress the number of protocol transmission and accelerate the transmission speed.
And the hand-held control terminal sends a data packet to the raspberry dispatching routing board by using the local area network constructed in the step 2, the raspberry dispatching routing board unpacks the protocol packet by using an unpacking mechanism and sends the protocol packet to the main controller by using a serial port, and the main controller executes related operations according to the instruction of the protocol packet.
Preferably, the model of the robot trolley is ZYRP60B ROS robot, the handheld control terminal is a mobile phone, the model of the main controller is an STM32F4 single chip microcomputer, the model of the ultrasonic module is HC-SR04, the image acquisition module is a self-contained USB image acquisition module, the model of the motor drive module is TB6612FNG, the model of the main controller is an STM32 single chip microcomputer, the model of the ultrasonic module is HC-SR04, and in the embodiment, the image acquisition module is a self-contained image acquisition module of a ZYRP60B ROS robot.
Preferably, raspberry group routing board still is equipped with bluetooth module, handheld control terminal can also pass through bluetooth module with main control unit communicates.
The invention adopts a DX-BT 054.0 Bluetooth module which adopts a CC2541 chip and configures 256Kb space and conforms to the V4.0 BLE Bluetooth specification. The method supports AT instructions, can change parameters such as serial port baud rate, equipment name, pairing password and the like according to needs, and is flexible to use.
The image acquisition module sends the image information who gathers to main control unit, and main control unit sends image information for handheld control terminal through raspberry group route board, demonstrates for the image information in user robot dolly the place ahead.
The obstacle avoidance method of the narrow space remote search and rescue robot based on the stereoscopic vision solves the technical problems of rapid advance and obstacle avoidance of the robot in the narrow space, the robot trolley is controlled by two advancing speeds, the advancing speed of the trolley is greatly increased, the search and rescue time is reduced, the communication is carried out by adopting a protocol including a check bit-free protocol, the protocol communication speed is accelerated, and the response speed of the robot trolley is improved.
Claims (3)
1. An obstacle avoidance method of a narrow space remote search and rescue robot based on stereoscopic vision is characterized in that: the method comprises the following steps:
step 1: establishing a robot obstacle avoidance system, wherein the robot obstacle avoidance system comprises a robot trolley, a handheld control terminal, a raspberry routing board, a main controller, an ultrasonic module, an image acquisition module and a motor driving module, the robot trolley comprises a trolley chassis and a steering engine holder, the motor driving module, the raspberry routing board and the main controller are arranged on a first circuit board, the first circuit board is fixedly arranged on the trolley chassis, the motor driving module is connected with the main controller and used for driving a motor on the trolley chassis, and the raspberry routing board is communicated with the main controller through a serial port;
the image acquisition module and the ultrasonic module are arranged on the steering engine holder, the image acquisition module rotates 180 degrees up and down, left and right along with the steering engine holder, and the ultrasonic module rotates 180 degrees left and right along with the steering engine holder;
the image acquisition module and the ultrasonic module are electrically connected with the main controller through data lines;
the raspberry routing board is communicated with the handheld control terminal through a WIFI network;
the steering engine cradle head is communicated with the main controller through a serial port bus;
step 2: the main controller constructs a local area network through a raspberry dispatching route board, and the steps are as follows:
step A1: creating an interface Socket, and establishing an IP address for monitoring an effective Socket port;
step A2: calling an accept function to obtain connection information from the connection request queue, and waiting for connection with the handheld control terminal;
step A3: if the connection is successful, the thread of the main controller performs data communication with the handheld control terminal, the main controller performs corresponding processing according to the request of the handheld control terminal, and after the data communication is completed, the main controller closes the thread and re-enters the main thread circulation;
and step 3: the master controller creates a protocol packet database, and sends the protocol packet database to the handheld control terminal through the raspberry routing board, and the handheld control terminal communicates with the master controller according to a protocol in the protocol packet database;
in executing step 3, the protocol packet format transfer command is as follows:
the head of the packet uses Ox FF, the tail of the packet uses Ox FF, and no check bit exists;
the hand-held control terminal sends a data packet to the raspberry dispatching routing board by using the local area network constructed in the step 2, the raspberry dispatching routing board unpacks a protocol packet through an unpacking mechanism and sends the protocol packet to the main controller through a serial port, and the main controller executes related operations according to instructions of the protocol packet;
and 4, step 4: the robot obstacle avoidance system automatically avoids obstacles according to the following steps:
step B1: the main controller initializes the steering engine holder, the ultrasonic module, the image acquisition module and the motor driving module, and constructs a local area network through the raspberry routing board according to the method in the step 2;
the hand-held control terminal establishes communication with the main controller through the local area network;
step B2: the ultrasonic module monitors distance information of a front obstacle in real time and sends the distance information to the main controller, wherein the distance information comprises a distance value of the front obstacle;
step B3: the main controller judges whether the distance value of the front obstacle is less than 10 cm: if yes, go to step B5; if not, executing step B4;
step B4: the main controller controls the chassis of the trolley to move straight through the motor driving module, and step B2 is executed;
when the step B4 is executed, the main controller controls the travelling speed of the chassis of the trolley through the motor driving module, and the main controller sets two travelling speeds, namely a fast travelling speed and a slow travelling speed;
judging whether the distance value of the front obstacle is less than 25 cm: if not, the main controller controls the trolley chassis to rapidly move straight; if yes, the main controller controls the trolley chassis to move straight at a low speed;
step B5: the main controller starts a timer and controls the trolley chassis to retreat through the motor driving module until the timer finishes timing, and the main controller controls the trolley chassis to stop through the motor driving module;
step B6: the main controller controls the steering engine holder to rotate 90 degrees leftwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate left obstacle distance information, and the main controller stores the left obstacle distance information;
the left obstacle distance information includes a distance value of the left obstacle;
the main controller controls the steering engine holder to rotate 180 degrees rightwards through the serial port, the ultrasonic module measures the distance of the front obstacle again to generate distance information of the right obstacle, and the main controller stores the distance information of the right obstacle;
the right obstacle distance information includes a distance value of the right obstacle;
step B7: the main controller judges whether the distance value of the right obstacle and the distance value of the left obstacle are both smaller than 10 cm: if yes, go to step B8; if not, executing step B10;
step B8: the main controller controls the chassis of the trolley to rotate 180 degrees rightwards through the motor driving module and controls the steering engine holder to rotate 90 degrees leftwards;
step B9: the main controller controls the chassis of the trolley to move straight through the motor driving module, and step B2 is executed;
step B10: the main controller judges whether the distance value of the right obstacle is smaller than that of the left obstacle: if yes, go to step B11; if not, executing step B12;
step B11: the main controller controls the chassis of the trolley to rotate 90 degrees leftwards through the motor driving module, controls the steering engine holder to rotate 90 degrees leftwards, and executes the step B2;
step B12: and the main controller controls the chassis of the trolley to walk straight through the motor driving module, controls the steering engine pan-tilt to rotate 90 degrees rightwards, controls the steering engine pan-tilt to rotate 90 degrees leftwards, and executes the step B2.
2. The obstacle avoidance method of the narrow space remote search and rescue robot based on the stereoscopic vision as claimed in claim 1, characterized in that: the robot trolley is a ZYRP60BROS robot, the handheld control terminal is a mobile phone, the main controller is an STM32F4 single chip microcomputer, the ultrasonic module is an HC-SR04, the image acquisition module is a self-contained USB image acquisition module, and the motor driving module is a TB6612 FNG.
3. The obstacle avoidance method of the narrow space remote search and rescue robot based on the stereoscopic vision as claimed in claim 1, characterized in that: the raspberry group routing board is further provided with a Bluetooth module, and the handheld control terminal can also communicate with the main controller through the Bluetooth module.
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