Method for detecting moving state of obstacle in real time by mobile robot in environment

Abstract

The invention relates to a method for detecting the moving state of an obstacle in real time by a mobile robot in an environment. The method consists of a computer and a mobile robot system. A single-chip microcomputer control unit of the mobile robot system controls an ultrasonic generator to emit multiple groups of pairwise continuous ultrasonic waves to the same front obstacle. The obtained time difference of every two echoes is transmitted to a computer through a data acquisition card or in a wireless mode, and the moving speed, direction and distance of the measured obstacle in the moving direction of the robot are calculated through a calculation formula derived by the method. By calculating multiple groups of echo signals, the fusion speed or the average moving speed can be obtained, so that the moving speed of the measured obstacle with high measurement precision is obtained. The bottleneck that the mobile robot must move slowly to detect the moving speed of the obstacle in an approximately static mode is broken through, the speed measurement method is accurate and efficient, the moving flexibility of the mobile robot is enhanced, and effective obstacle avoidance is achieved. The method is particularly suitable for a micro-miniature mobile robot system.

Description

technical field [0001] The invention relates to a method for autonomous obstacle avoidance movement and real-time detection of obstacle movement state in a mobile robot environment, and belongs to the technical field of mobile robots. Background technique [0002] Instead of human labor, the research and application of robots in various fields has developed rapidly, and mobile robots are one aspect of the development of robot technology. For the autonomous obstacle avoidance movement control of mobile robots in a known environment, the main research is to search for the best path from the starting point to the target point in the known obstacle distribution area. The algorithms include grid method, artificial potential field method and intelligent search algorithm, such as Particle swarm algorithm, genetic algorithm, etc. There is also research on image-based visual navigation control, which can obtain environmental information at a certain moment in the moving area. Howeve...

AI Technical Summary

Problems solved by technology

This method of real-time speed measurement is accurate and efficient, and enhances the flexibility of mobile robot movement, which is of great practical value for the autonomous obstacle avoidance movement of mobile robots in unknown environments; effectively overcomes the existing technology that can only rely on manual planning and calculation paths, However, the mobile robot cannot realize autonomous obstacle avoidance, or although it can detect the moving state of dynamic obstacles in the known environment in real time, the mobile robot must slow down the moving speed and wait for the obstacle information processing, and the image processing method is difficult to process images and the radar detection system Defects such as high price have effectively promoted the application and development of mobile robots

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