CN106226774B - A robot ranging method based on multi-sensor fusion - Google Patents
A robot ranging method based on multi-sensor fusion Download PDFInfo
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- CN106226774B CN106226774B CN201610736331.0A CN201610736331A CN106226774B CN 106226774 B CN106226774 B CN 106226774B CN 201610736331 A CN201610736331 A CN 201610736331A CN 106226774 B CN106226774 B CN 106226774B
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- distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Robot ranging is the important foundation of robot perception environment, and the method that industry uses at present has the methods of distance measuring sensor, binocular vision, scanning laser radar.Wherein, distance measuring sensor is cheap, but effect is poor；Binocular vision needs complicated algorithm and high performance computing chip；Scanning laser radar is at high price.Distance measuring sensor is cheap, and effect is poor, but the sensor of different principle, there is a situation where complementation.Therefore, according to the advantage and disadvantage of different sensors, it is determined currently to select the value using suitable sensor according to robot state in which (velocity magnitude and distance), it can reach preferable ranging effect, that is the robot location algorithm based on Multi-sensor Fusion of this patent proposition, to realize the low-cost and high-performance of robot ranging.
Description
Technical field
The present invention relates to a kind of robot distance measuring methods, survey more particularly, to a kind of robot based on Multi-sensor Fusion
Away from method.
Background technique
Sensor technology is an intelligentized main aspect.It can make uncertain environment around robot perception,
And make corresponding reaction.
Robot ranging is the important foundation of robot perception environment, and the method that industry uses at present mainly has ranging sensing
The methods of device, binocular vision, scanning laser radar；Wherein, distance measuring sensor such as infrared distance sensor and ultrasonic distance measurement pass
Sensor, although cheap, ranging effect is poor；Binocular vision needs complicated algorithm and high performance computing chip；Swash
Optical scanning radar is at high price, thousands of U.S. dollars to tens of thousands of U.S. dollars etc..As it can be seen that limitation of the single distance measuring sensor due to itself
Property, the indexs such as precision, reliability are difficult to meet the requirements；Therefore, it is necessary to develop a kind of multiple sensor fusion location algorithms
Target, distance of obstacle are more accurately estimated with obtaining.
Summary of the invention
In order to solve above-mentioned prior art problem, the present invention, which discloses, a kind of is influenced small, dynamic property and quiet by displacement
State property can good, cost performance is high, the ADC value of distance and sampling A/D chip is linear relationship the machine based on Multi-sensor Fusion
Device people's distance measuring method, method includes the following steps:
Fuzzy control rule is formulated according to obstacle distance distance and robot movement speed, according to fuzzy control rule meter
Confidence level a, distance=ultrasonic measurement * a+ infrared survey value * (1-a) are calculated, a value range is 0~1.
To further realize the present invention, fuzzy control rule is formulated according to obstacle distance distance and robot movement speed
The step of comprising steps of
Determine the distance of obstacle distance robot and the movement speed of robot；
Divide distance level scale: remote, middle distance, short distance；
Divide the movement speed grade of robot: quick, middling speed, low speed；
Grade of adjusting the distance and movement speed grade are combined, and obtain 9 kinds of different combinations.
To further realize the present invention, the step of calculating confidence level a according to fuzzy control rule comprising steps of
The specified calculating confidence level a of 9 kinds of combinations being combined for adjust the distance grade and movement speed grade.
A kind of robot distance measuring method based on Multi-sensor Fusion provided by the invention compared with the existing technology, has such as
Lower advantage:
1, a kind of robot distance measuring method based on Multi-sensor Fusion of the invention, method includes the following steps: according to
Fuzzy control rule is formulated according to obstacle distance distance and robot movement speed, calculates confidence level a according to fuzzy control rule,
Distance=ultrasonic measurement * a+ infrared survey value * (1-a)；After the principle for having merged velocity of sound ranging and infrared light velocity ranging, move
State property can and static properties get a promotion, influenced by displacement smaller, be conducive to the accuracy and stability of ranging.
2, a kind of robot distance measuring method based on Multi-sensor Fusion of the invention, compensate for infrared distance sensor and
The respective shortcoming of ultrasonic distance-measuring sensor, and according to the advantage and disadvantage of different distance measuring sensors, in conjunction with the practical shape of robot
State parameter carries out Data Fusion of Sensor, obtains the range performance of high performance-price ratio.Infrared distance sensor is surveyed with the infrared light velocity
Away from principle, dynamic property is good, small advantage is influenced by displacement, while also having and being affected by light, distance and output
Distance and the ADC value of sampling A/D chip the shortcomings that being non-linear relation；Ultrasonic distance-measuring sensor has velocity of sound ranging former
Reason, the advantages of static properties is good, the ADC value of distance and distance and sampling A/D chip is linear relationship, while also there is dynamic
The disadvantage that performance is poor, is influenced by displacement.Inventor learns that both modules are in dynamic by lot of experimental data
Can, respectively there is disadvantage in the linear relationship of output valve, and advantage and disadvantage are complementary.
3, a kind of robot distance measuring method based on Multi-sensor Fusion of the invention is lacked according to different distance measuring sensors are excellent
Point carries out Data Fusion of Sensor in conjunction with robot virtual condition parameter, reinforces advantage, makes up disadvantage, obtained numerical value is more
Precise and stable, the ADC value of distance and sampling A/D chip is linear relationship, is conducive to the ranging of robot, has obtained high sexual valence
The robot range performance of ratio.
Detailed description of the invention
Fig. 1 is a kind of structure chart of robot distance measuring method based on Multi-sensor Fusion of the invention；
Fig. 2 is a kind of flow chart of robot distance measuring method based on Multi-sensor Fusion of the invention.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings and examples, embodiment of the disclosure it is not intended to cover
All aspects of the invention.It should be appreciated that a variety of conception and embodiment presented hereinbefore, and describe in more detail below
Those designs and embodiment can in many ways in any one implement, this is because design disclosed in this invention and
Embodiment is not limited to any embodiment.In addition, some aspects disclosed by the invention can be used alone, or with the present invention
It is disclosed otherwise any appropriately combined to use.
As shown in Figure 1, a kind of robot distance measuring method based on Multi-sensor Fusion, formulates mould comprising fuzzy control rule
3 block, confidence level computing module, distance calculation module modules.Wherein, fuzzy control rule formulates module for determining Fuzzy Control
System rule；Confidence level computing module determines that calculating is credible according to the distance of obstacle distance robot and the movement speed of robot
Spend a；Distance calculation module is according to formula: distance=ultrasonic measurement * a+ infrared survey value * (1-a), a value range for 0~
1, calculate the distance of obstacle distance robot.
Fig. 2 is according to a kind of flow chart of the robot distance measuring method based on Multi-sensor Fusion of the present invention, specific steps
It is as follows:
Step 1, far and near according to obstacle distance and robot movement speed formulates fuzzy control rule；
Step 2 calculates confidence level a according to fuzzy control rule；
Step 3, according to calculation formula: distance=ultrasonic measurement * a+ infrared survey value * (1-a), calculating barrier away from
With a distance from robot.
Wherein, the value range of confidence level a is [0,1], includes following six kinds of situations: zero, it is minimum, small, in, it is big, greatly.
Specifically how much obtained according to fuzzy control rule, it is determined that after certain situation, deblurring is needed, obtains exact numerical value, side
Method is calculated according to subordinating degree function.About subordinating degree function, simplest functional relation is mean allocation, i.e. y=
X, then zero i.e. a=0, be greatly a=1, minimum is a=0.2, and small is a=0.4, in be a=0.6, be greatly a=
0.8；Finally substituting into location algorithm formula can be obtained final distance value；Fuzzy control rule is as follows:
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, is not to of the invention
Range is defined, and without departing from the spirit of the design of the present invention, this field ordinary engineering and technical personnel is to the technology of the present invention
Any modification and improvement that scheme is made, should fall within the scope of protection determined by the claims of the present invention.
Claims (1)
1. a kind of robot distance measuring method based on Multi-sensor Fusion, which is characterized in that method includes the following steps:
Fuzzy control rule is formulated according to obstacle distance distance and robot movement speed, it can according to fuzzy control rule calculating
Reliability a, distance=ultrasonic measurement * a+ infrared survey value * (1-a)；
Wherein, according to obstacle distance it is far and near and the step of robot movement speed formulates fuzzy control rule comprising steps of
Determine the distance of obstacle distance robot and the movement speed of robot；
Divide distance level scale: remote, middle distance, short distance；
Divide the movement speed grade of robot: quick, middling speed, low speed；
Grade of adjusting the distance and movement speed grade are combined, and obtain 9 kinds of different combinations；
The specified calculating confidence level a of 9 kinds of combinations being combined for adjust the distance grade and movement speed grade；
9 kinds of different combinations are respectively (remote, quickly), (remote, middling speed)；(remote, low speed), (middle distance,
Quickly), (middle distance, middling speed), (middle distance, low speed), (closely, quickly), (closely, middling speed), (closely, low speed),
The corresponding confidence level a of 9 kinds of combinations is respectively minimum, in, zero, it is small, in, it is big, big or middle, very big.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106842956B (en) * | 2017-03-17 | 2018-02-23 | 葛辰雨 | Obstacle Avoidance and system |
| DE102019207279A1 (en) * | 2019-05-18 | 2020-11-19 | Robert Bosch Gmbh | Data fused sensor system |
| CN110244739A (en) * | 2019-06-27 | 2019-09-17 | 湖北艾博智能装备有限公司 | A kind of aerial automatic carriage delivery method, device and computer storage medium |
| CN111239752A (en) * | 2020-02-27 | 2020-06-05 | 宁波飞芯电子科技有限公司 | Programmable detector and self-adaptive distance measuring method |
| DE102020132425A1 (en) * | 2020-12-07 | 2022-06-23 | Infineon Technologies Ag | Devices and methods for comparing redundant signals in functionally safe systems |
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