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Method and system for obstacle avoidance of robot

A robot and obstacle technology, applied in the field of robot obstacle avoidance methods and systems, can solve the problems of large quantity and increased design complexity, and achieve the effect of improving service life, improving accuracy, and simple and precise autonomous obstacle avoidance

Inactive Publication Date: 2017-06-13
葛辰雨
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, with the increase of fuzzy controller input, for example, in order to enable the robot to obtain more accurate environmental information, the number of sensors increases, the number of fuzzy control rules becomes larger and larger, and the design complexity increases.

Method used

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  • Method and system for obstacle avoidance of robot
  • Method and system for obstacle avoidance of robot
  • Method and system for obstacle avoidance of robot

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Embodiment approach 1

[0027] figure 1 A flowchart showing the steps of the robot obstacle avoidance method according to the present invention.

[0028] In this embodiment, the robot obstacle avoidance method according to the present invention may include: step 101, based on ultrasonic information and infrared information, obtain voltage signal data, and draw a voltage signal curve; step 102, based on the voltage signal curve, obtain voltage signal belonging degree function; step 103, setting fuzzy threshold, determining the fuzzy set of voltage signal; step 104, based on the fuzzy set of voltage signal, obtaining the membership function of distance, and then obtaining the fuzzy set of distance; and step 105, based on the fuzzy set of distance , to obtain the fuzzy rules of velocity, which is used for robot obstacle avoidance.

[0029] This implementation mode realizes autonomous obstacle avoidance of the robot more simply and accurately through multiple fuzzy logic processing, and improves the ser...

Embodiment approach 2

[0062] According to an embodiment of the present invention, a robot obstacle avoidance system is provided, and the system may include: a sensing unit for acquiring ultrasonic information and infrared information, and further acquiring voltage signal data; a calculation unit for drawing a voltage signal curve , obtain the membership function of the voltage signal, and then determine the fuzzy set of the voltage signal; based on the fuzzy set of the voltage signal, obtain the membership function of the distance, and then obtain the fuzzy set of the distance; based on the fuzzy set of the distance, obtain the fuzzy rule of the speed; control The processing unit is used to set the fuzzy threshold and the speed-based fuzzy rules to control the robot to avoid obstacles.

[0063] This embodiment adopts a sensing system combining infrared sensing and ultrasonic sensing to improve the accuracy of data; through multiple fuzzy logic processing, it is simpler and more accurate to realize t...

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Abstract

The invention discloses a method and a system for obstacle avoidance of a robot. The method comprises the following steps of according to ultrasonic information and infrared information, obtaining voltage signal data, and drawing a voltage signal curve; according to the voltage signal curve, obtaining a membership function of voltage signals; setting a fuzzy threshold value, and determining a fuzzy set of the voltage signals; according to the fuzzy set of the voltage signals, obtaining a membership function of distances, and further obtaining a fuzzy set of the distances; according to the fuzzy set of the distances, obtaining a fuzzy rule of speeds, so as to enable the robot to avoid obstacles. The method has the advantage that by performing multiple times of fuzzy logic treatment, the autonomous obstacle avoidance of the robot is simply and precisely realized, and the service life of the robot is prolonged.

Description

technical field [0001] The present invention relates to the field of robots, and more specifically, to a robot obstacle avoidance method and system. Background technique [0002] At present, more and more families choose intelligent sweeping robots to clean the family ground. In the process of completing the cleaning task, the sweeping cleaning robot will inevitably encounter obstacles, and may collide or even fall. To realize the intelligent cleaning of the sweeping robot, its obstacle avoidance control is one of the key issues. According to feedback from users of sweeping robots, the obstacle avoidance effect of most sweeping robots in the market is not ideal, and the autonomy is not enough, and manual assistance is often needed to achieve the detour of certain obstacles. In addition, when designing the obstacle avoidance control algorithm of the sweeping robot, the artificial intelligence algorithm is more and more favored by researchers because of its intelligence. op...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/04G05D1/0242G05D1/0255
Inventor 葛辰雨
Owner 葛辰雨
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