Obstacle avoidance method and system for unmanned cleaning vehicle in dynamic environment

A dynamic environment and vehicle cleaning technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of processor performance requirements, large amount of information, and poor cleaning ability.

Active Publication Date: 2021-05-18
INST OF INTELLIGENT MFG TECH JITRI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Compared with manual cleaning, unmanned cleaning vehicles have been gradually applied due to their outstanding cleaning efficiency and economic cost. Due to the large work scene and complex obstacle information, unexpected obstacles will inevitably appear. The obstacle avoidance of unmanned cleaning vehicles is the first priority. Factors to be considered. At present, in terms of obstacle avoidance, most unmanned cleaning vehicle R&D and manufacturers use two-dimensional / three-dimensional laser radar or visual cameras to detect obstacles, and use slam technology or multi-sensor fusion. When there is an obstacle, control the vehicle to bypass the obstacle. However, the visual method is rich in perception information, but the amount of information is large, which has high requirements on the performance of the processor, and the cleaning speed cannot be too fast; although the radar obstacle avoidance method has a relatively large amount of data Small, the content of perception information for large scenes is limited, relying on software algorithms to calculate obstacle information, it may not be able to successfully bypass obstacles or the ability to circumvent obstacles is insufficient; in the method of sensor fusion, due to the simultaneous operation of multiple sensors, data processing is difficult. Most of the obstacle avoidance strategies are to avoid obstacles when encountering obstacles, and there is little classification of obstacle information, which also leads to bypassing when encountering workers or specific obstacles, while ignoring the area occupied by obstacles. deteriorating cleaning ability

Method used

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  • Obstacle avoidance method and system for unmanned cleaning vehicle in dynamic environment
  • Obstacle avoidance method and system for unmanned cleaning vehicle in dynamic environment
  • Obstacle avoidance method and system for unmanned cleaning vehicle in dynamic environment

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Experimental program
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Embodiment 1

[0040] refer to figure 1 , an obstacle avoidance method for an unmanned cleaning vehicle in a dynamic environment, comprising the following steps,

[0041] Use the laser radar and binocular camera set under the unmanned cleaning vehicle to establish a factory scene map, and layer the map. The laser radar is a single-line radar used to detect environmental obstacles around the unmanned cleaning vehicle; the thermal infrared sensor in front It is used to detect pedestrians; the rear ultrasonic sensor is designed for safety to avoid hitting objects or pedestrians when reversing; the front binocular camera is used to detect, classify and identify objects near the vehicle; the vehicle chassis is a four-wheel drive structure, Used to control the movement of the vehicle, and to load other parts of the washing vehicle;

[0042] Then the map is divided into the original map layer and the comparison map layer. The comparison map layer includes the laser barrier layer, the visual barrie...

Embodiment 2

[0048] refer to Figure 2-5 , an obstacle avoidance system for an unmanned cleaning vehicle in a dynamic environment, including an on-vehicle assembly, including a chassis 100, a steering wheel arranged on the chassis 100, and a driving component arranged on the chassis 100; a measuring assembly 200, including The laser radar 201 at the front end and the side end position of the 100, the ultrasonic transceiver 202 arranged at the rear end and the side end position of the chassis 100, and the binocular camera 203 arranged at the front end of the chassis 100, and the front end of the chassis 100 is provided with an infrared camera near the binocular camera 203 position. Sensor 204; And, the obstacle removal assembly 300, the obstacle removal assembly 300 is arranged on the front end of the chassis 100, and the obstacle removal assembly 300 includes a toggle lever 301 arranged at the front end of the chassis 100, a driving lever 302 arranged at the rear end of the toggle lever 301...

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Abstract

The invention discloses an obstacle avoidance method and system for an unmanned cleaning vehicle in a dynamic environment, and the method comprises the following steps: building a factory scene map through a laser radar and a binocular camera which are disposed below the unmanned cleaning vehicle, and carrying out the layering of the map; then dividing the map into an original map layer and a comparison map layer, comparing and matching the comparison map layer and the original map layer, and marking distinguishing articles in the original map layer; classifying obstacles in the map, and further identifying pedestrian obstacles; and searching an optimal path by adopting a dwa algorithm.

Description

technical field [0001] The invention relates to the technical field of unmanned cleaning vehicles, in particular to an obstacle avoidance method and system for unmanned cleaning vehicles in a dynamic environment. Background technique [0002] Compared with manual cleaning, unmanned cleaning vehicles have been gradually applied due to their outstanding cleaning efficiency and economic cost. Due to the large work scene and complex obstacle information, unexpected obstacles will inevitably appear. The obstacle avoidance of unmanned cleaning vehicles is the first priority. Factors to be considered. At present, in terms of obstacle avoidance, most unmanned cleaning vehicle R&D and manufacturers use two-dimensional / three-dimensional laser radar or visual cameras to detect obstacles, and use slam technology or multi-sensor fusion. When there is an obstacle, control the vehicle to bypass the obstacle. However, the visual method is rich in perception information, but the amount of in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0255G05D1/0214
Inventor 姜翠环骆敏舟
Owner INST OF INTELLIGENT MFG TECH JITRI
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