CN108762247B - Obstacle avoidance control method for self-moving equipment and self-moving equipment - Google Patents
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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Abstract
The invention discloses an obstacle avoidance control method of self-moving equipment, and S1, the walking path of the self-moving equipment is divided into N actions, and a duration time threshold value required by the self-moving equipment to finish each action is preset; and, N > 1; s2, taking any motion as the current motion from the mobile equipment; s3, judging whether the current action is in abnormal state, if so, executing step S4; if not, returning to the step S2; s4, detecting whether the current action duration time meets the time threshold of the corresponding action, if so, executing the step S5 by the mobile equipment; if not, returning to the step S2; s5: execute the next action and return to step S2; s6: repeating the steps S2 to S5 until the self-moving apparatus completes the walking path or stops working. The invention also provides self-moving equipment, and the obstacle avoidance control method based on the obstacle avoidance control method improves the accuracy of robot obstacle judgment and realizes the obstacle avoidance control of the self-moving equipment.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and relates to an obstacle avoidance control method of self-moving equipment and the self-moving equipment.
Background
Most of the existing self-moving devices are self-moving intelligent robots, and the self-moving intelligent robots are widely applied to families due to the mode of automatically executing cleaning work. However, the self-moving device inevitably collides with obstacles such as: to identify such obstacles, walls, furniture, or other moving objects that are in contact with the moving object, non-contact or contact sensors are often provided on the mobile device.
The non-contact sensor can detect the distance to the obstacle by actively sending out signals by using infrared rays or laser. The contact sensor, such as a Bumper (Bumper), automatically stops or changes the moving direction when the self-propelled electronic device collides with an obstacle by the Bumper.
In the prior art, a non-contact or contact sensor of a self-moving device limits a blind area of an obstacle, and the self-moving device may not be able to identify and avoid the obstacle according to the obstacle or the position of the obstacle. Even when walking on uneven ground, the self-moving equipment cannot perform corresponding adjustment in real time according to the contacted terrain environment.
Therefore, it is necessary to invent a new self-moving device and a self-obstacle-avoidance control method thereof to solve the deficiencies in the prior art.
Disclosure of Invention
One of the objectives of the present invention is to overcome the drawbacks of the background art, and to provide an obstacle avoidance control method for a self-moving device and a self-moving device, wherein the specific scheme is as follows:
an obstacle avoidance control method of a self-moving device comprises the following steps:
s1, dividing the walking path of the mobile equipment into N actions, and presetting a duration time threshold value required by the mobile equipment to finish each action; and, N > 1;
s2, taking any motion as the current motion from the mobile equipment;
s3, judging whether the current action is in abnormal state, if so, executing step S4; if not, returning to the step S2;
s4, detecting whether the current action duration time meets the time threshold of the corresponding action, if so, executing the step S5 by the mobile equipment; if not, returning to the step S2;
s5: execute the next action and return to step S2;
s6: repeating the steps S2 to S5 until the self-moving apparatus completes the walking path or stops working.
Further, the method for determining whether the current action is abnormal in step S2 is a current detection method:
s01, obtaining the current action executed by the mobile device at the time T0Current value I of driving mechanism provided therein0；
S02, obtaining the current action executed by the mobile device at the time T1Current value I of driving mechanism provided therein1；
S03 calculation of I0And I1If | I0-I1∣≤I0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | I0-I1∣＞I0Then the self-mobile device is in an abnormal state.
Further, the method for determining whether the current operation is abnormal in step S2 is a rotation speed detection method:
obtaining current execution from the mobile device S21Acting at time T0The rotational speed value V of the drive mechanism provided therein0；
S22, obtaining the current action executed by the mobile device at the time T1The rotational speed value V of the drive mechanism provided therein1；
S23 calculating V0And V1If | V0-V1∣≥V0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | V0-V1∣＜V0Then the self-mobile device is in an abnormal state.
Further, the step S3 is executed cyclically at preset intervals.
Further, the traveling direction of the next action in the step S5 is deviated from the traveling direction of the current action.
Further, the steps S3 and S4 may exchange orders.
An autonomous mobile device comprising:
the storage module is used for storing the operation instruction of the mobile equipment;
and the processing module enables the self-moving equipment to execute the operation instruction to complete the obstacle avoidance action according to the obstacle avoidance control method.
Further, the storage module stores the obstacle avoidance control method.
Further, the self-moving equipment is a sweeping robot, a window cleaning robot or a mowing robot.
Compared with the prior art, the technical scheme of the invention is as follows: and based on time controllability, the obstacle detection method is verified, so that the accuracy of robot obstacle judgment is improved, and obstacle avoidance control of the self-moving equipment is realized.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of the self-propelled device architecture of the present invention;
FIG. 2 is an exploded view of the self-moving device of the present invention
FIG. 3 is a schematic diagram of the movement path of the self-moving device of the present invention;
fig. 4 is a flowchart of a self-obstacle avoidance control method of the self-moving device according to the present invention;
FIG. 5 is a flow chart of a current detection method of the obstacle detection method from the mobile device according to the present invention;
FIG. 6 is a flow chart of a rotation speed detection method of the obstacle detection method from the mobile device according to the present invention;
fig. 7 is a schematic diagram of an obstacle avoidance moving path of the self-moving device of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments, and it is to be understood that the embodiments described herein are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the description of the specific embodiments of the invention without inventive step, shall fall within the scope of protection of the invention, as defined by the claims.
The self-moving equipment in the method embodiment of the invention comprises robots moving on a surface or a line, and particularly, robots capable of moving autonomously on a surface are commonly a window cleaning robot, a floor sweeping robot, a mowing robot and the like, and the robots comprise a processing module, a moving module, a sensor module, a storage module, a power supply module, a function module and the like, and are not described in detail herein.
As shown in fig. 1, the self-moving apparatus in the present embodiment includes: the device comprises a processing module, a mobile module, a sensor module, a storage module, a power supply module and a functional module. The mobile module comprises a wheel set driven by a driving mechanism, a main body carried by the wheel set and moving from the mobile equipment moves on a working surface, the sensor module can acquire environmental information of the working surface, a processing module can establish a map according to the environmental information, a planned moving path is obtained from the mobile equipment, a running instruction for driving the mobile equipment to move independently is stored in a storage module, the running instruction comprises edgewise walking, local walking, escaping walking and the like of the mobile equipment, a functional module can be detachably arranged on the mobile equipment, and a power supply module provides a working power source for the mobile equipment and each module.
As shown in fig. 2, the self-moving device 100 can perform forward, backward, and forward movements on a working surface (glass window, floor, lawn) to cover the working surface, thereby performing any one or more of cleaning, dust-collecting, cleaning, humidifying, etc.
As shown in fig. 3, in a working environment represented by a wire frame as a boundary obstacle, a path along a direction indicated by an arrow A, B, C is a moving path ABC of the self-moving device 100, wherein the self-moving device encounters the boundary obstacle while moving in the direction a, and when the boundary obstacle is determined, the self-moving device turns to the direction B and moves a certain distance, and then returns to the direction C opposite to the direction a until the self-moving device covers the whole working environment. It should be understood that the time required for the mobile device 100 to perform any action may be measured by the length of the travel distance or the angular deflection of the travel direction.
Specifically, as shown in fig. 4, the obstacle avoidance control method includes:
s1, dividing the walking path of the mobile equipment into N actions, and presetting a duration time threshold value required by the mobile equipment to finish each action; and, N > 1;
s2, taking any motion as the current motion from the mobile equipment;
s3, judging whether the current action is in abnormal state, if so, executing step S4; if not, returning to the step S2;
s4, detecting whether the current action duration time meets the time threshold of the corresponding action, if so, executing the step S5 by the mobile equipment; if not, returning to the step S2;
s5: execute the next action and return to step S2;
s6: repeating the steps S2 to S5 until the self-moving apparatus completes the walking path or stops working.
In step S3, the current abnormal operation state is an obstacle determination method based on a change in the current value or the rotation speed value output from the wheel set of the mobile device during operation.
Example one
When the obstacle detection method is a current detection method, as shown in fig. 5:
s01, obtaining the current action executed by the mobile device at the time T0Current value I of the drive mechanism0；
S02, obtaining the current action executed by the mobile device at the time T1Current value I of the drive mechanism1；
S03 calculation of I0And I1If | I0-I1∣≤I0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | I0-I1∣＞I0Then the self-mobile device is in an abnormal state.
As shown in fig. 7, when the self-moving device 100 performs the forward movement in the a direction, there is an obstacle (boundary), and due to the encountered obstacle or the difference in the friction coefficient with the working surface, the actual current value output before and after the obstacle in the same continuous movement is different from the rated value, and this difference may be expressed as an abnormal phenomenon of overcurrent.
By recording the time T before the self-moving equipment completes the forward action0Current value ofOThen recording the time T of completion of the forward movement1Current value of1Comparative analysis by the processing Module I0And IIIf | I0-I1∣≤I0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | I0-I1∣＞I0Then it can be confirmed that the self-moving device is in an overcurrent abnormal state. When the self-moving device 100 is in an abnormal state, the self-moving device 100 may determine that an obstacle exists at the completion of the forward movement, and the current movement behavior needs to be changed, and perform the backward movement in the D direction, so that the current behavior of the self-moving device 100 is changed.
Example two
When the obstacle detection method is a rotation speed detection method, as shown in fig. 6:
when the mobile device moves from different working environments, based on the same principle of a current detection method, because the wheel set of the driving mechanism has different friction coefficients due to obstacles or working surfaces, the output rotating speed values of the wheel set of the driving mechanism also have differences, so that:
s21, obtaining the current action executed by the mobile device at the time T0Of the drive mechanism0；
S22, obtaining the current action executed by the mobile device at the time T1Of the drive mechanism1；
S23 calculating V0And V1If | V0-V1∣≥V0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | V0-V1∣＜V0Then the self-mobile device is in an abnormal state.
In the two embodiments, the current detection method and the rotation speed detection method have the possibility of obstacle misjudgment in the actual walking process, that is, when the self-moving equipment is pushed or stuck by an obstacle, the current value and the rotation speed value are not obviously changed. Therefore, the application provides a self-moving device of which the processing module can be a single chip microcomputer, after the self-moving device walks for a period of time, the single chip microcomputer can also obtain an action duration variable of any action of the self-moving device within a certain duration by using a timing interruption method when the current action is continued, and the obstacle avoidance control method is executed through the control cycle of the variable.
Loop method of step S3: the time threshold preset in step S1 is a variable, and the variable is T, which may be understood as subtracting T by using the time interval Δ T, when T is less than or equal to 0, it indicates that the current action is completed, it is determined that the obstacle detection method of the self-moving device is disabled, an obstacle is encountered before walking, the self-moving device executes the next action to avoid the obstacle, and step S3 is continued to determine whether the self-moving device is in an abnormal state when executing the current action. Wherein, Δ t is defined as the time sum of k millisecond-level interruption of the single chip microcomputer, and k is defined as the interruption frequency.
The decrement of T is realized by a way of timer interrupt of the single chip, the single chip interrupts every millisecond to execute an interrupt processing function, in the interrupt processing function, k is k +1, namely, the interrupt times are accumulated, after the single chip executes 100 times of interrupt, k is 100, the time interval Δ T is 100 milliseconds, and the corresponding time control variable T is T-1. That is, the one-chip microcomputer control system performs the time control variable minus 1 every 100 msec. When the time control variable T is set to 100, and T is decreased to 0, the control time of the corresponding walking motion is 100 × 100 msec to 10000 msec to 10 sec.
Based on the above scheme, if there is an obstacle (boundary) in the moving range of the self-moving device 100, the preset completion forward motion duration is 5s, and the obstacle blocks the forward motion duration in the a direction for 3s, which means that the forward motion duration is less than 5s, and the self-moving device 100 can execute the next motion, or when the current forward motion duration lasts to 5s, the self-moving device 100 executes the next motion and moves back in the D direction.
In summary, the self-moving device can improve the accuracy of the obstacle detection method only by combining the current detection method or the rotation speed detection method, and can cancel the mechanical collision contact type obstacle detection method with a complicated structure or the non-contact type obstacle detection method with high production cost such as optical signals of infrared, ultrasonic, laser and the like, thereby reducing the production cost. It should be noted that, when the current action behavior is changed, a certain steering angle may be preset by the self-moving device, so that the current action traveling direction deviates from the direction when the previous action is completed.
The above-mentioned embodiments are merely examples of the present invention, which should not be construed as limiting the scope of the invention, and therefore all equivalent variations to the claims are intended to be included in the scope of the invention.
Claims (9)
1. An obstacle avoidance control method for a self-moving device is characterized by comprising the following steps:
s1: dividing a walking path of the self-moving equipment into N actions, and presetting a duration time threshold value required by the self-moving equipment to finish each action; and, N > 1;
s2: taking any motion as current motion from the mobile equipment;
s3: judging whether the current action is in an abnormal state, if so, executing the step S4; if not, returning to the step S2;
s4: detecting whether the current action duration time meets a time threshold of the corresponding action, and if so, executing the step S5 from the mobile equipment; if not, returning to the step S2;
s5: execute the next action and return to step S2;
s6: repeating the steps S2 to S5 until the self-moving device completes the walking path or stops working;
in step S3, the current abnormal operation state is an obstacle determination method based on a change in a current value or a rotation speed value output from the wheel set of the mobile device during operation.
2. The obstacle avoidance control method for the self-moving device according to claim 1, wherein the method for determining whether the current action is abnormal in step S3 is:
s01: obtained from the mobile device performing the current action at time T0Current value I of the drive mechanism0；
S02: obtained from the mobile device performing the current action at time T1Current value I of the drive mechanism1；
S03: calculation of I0And I1If I is different from0-I1|≤I0If the current action is in a normal state; if I0-I1|＞I0Then the current action is abnormal.
3. The obstacle avoidance control method for the self-moving device according to claim 1, wherein the method for determining whether the current action is abnormal in step S3 is:
s21: obtained from the mobile device performing the current action at time T0Of the drive mechanism0；
S22: obtained from the mobile device performing the current action at time T1Of the drive mechanism1；
S23: calculating V0And V1If a difference of0-V1|≥V0If the mobile equipment is in a normal state, the mobile equipment is in a normal state; if | V0-V1|＜V0Then the self-mobile device is in an abnormal state.
4. The obstacle avoidance control method for the self-moving device according to claim 1, wherein the step S3 is performed cyclically at preset intervals.
5. The obstacle avoidance control method for a self-moving apparatus according to claim 1, wherein a traveling direction of the next action in the step S5 deviates from a traveling direction of the current action.
6. The obstacle avoidance control method for the self-moving device according to claim 1, wherein the steps S3 and S4 can exchange orders.
7. An autonomous mobile device, comprising:
the storage module is used for storing the operation instruction of the mobile equipment;
the processing module is used for enabling the self-moving equipment to execute the operation instruction to complete the obstacle avoidance action according to the obstacle avoidance control method of any one of claims 1 to 6.
8. The self-moving device according to claim 7, wherein the storage module stores an operation instruction of the obstacle avoidance control method according to any one of claims 1 to 6.
9. The self-moving apparatus according to claim 7, wherein the self-moving apparatus is a sweeping robot, a window wiping robot or a mowing robot.
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| CN108762246B (en) * | 2018-04-21 | 2022-10-21 | 广州科语机器人有限公司 | Obstacle determination method for window cleaning robot, storage medium, and window cleaning robot |
| CN109634286B (en) * | 2019-01-21 | 2021-06-25 | 傲基科技股份有限公司 | Visual obstacle avoidance method for mowing robot, mowing robot and readable storage medium |
| CN111492784B (en) * | 2020-05-25 | 2021-08-06 | 浙江大学 | Self-adaptive multi-section obstacle detection method for intelligent mower in complex terrain |
| CN114355873A (en) * | 2021-11-02 | 2022-04-15 | 湖南格兰博智能科技有限责任公司 | Algorithm suitable for obstacle avoidance recharging seat of sweeper in bow sweeping process |
| CN114952840A (en) * | 2022-05-26 | 2022-08-30 | 中国第一汽车股份有限公司 | Air pressure servo flexible gripping apparatus applying ultrasonic obstacle avoidance device and obstacle avoidance method thereof |
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| CN103528585B (en) * | 2013-09-26 | 2016-05-25 | 中北大学 | A kind of paths planning method of equidistantly not cutting apart the region of can passing through |
| CN103926839A (en) * | 2014-04-23 | 2014-07-16 | 浙江师范大学 | Movement subdivision control method of wheeled mobile robot |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN106137042B (en) * | 2014-12-24 | 2018-10-19 | 江苏美的清洁电器股份有限公司 | The control method and control device of sweeping robot and sweeping robot |
| CN104808671B (en) * | 2015-05-19 | 2017-03-15 | 东南大学 | A kind of robot path planning method under domestic environment |
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| CN107678405B (en) * | 2017-08-22 | 2020-01-31 | 广东美的智能机器人有限公司 | Robot running method and device |
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Effective date of registration: 20220519 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B and C) Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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Effective date of registration: 20230320 Granted publication date: 20210611 |