CN111007853A - Mobile robot obstacle avoidance method and device and mobile robot - Google Patents
Mobile robot obstacle avoidance method and device and mobile robot Download PDFInfo
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Abstract
The embodiment of the invention provides a mobile robot obstacle avoidance method and device and a mobile robot. The mobile robot includes: the method comprises the steps of firstly transmitting an obstacle detection signal and receiving a reflection signal of an obstacle, then obtaining the intensity of the reflection signal corresponding to the reflection signal, further determining an obstacle detection mode based on the intensity of the reflection signal and a preset condition, and finally controlling the motion state of the mobile robot according to the obstacle detection mode and a real-time reflection signal. By the method, when the mobile robot works on the path planned by the user, the obstacle on the path is effectively avoided, the risk of the mobile robot colliding with the wall is reduced, and the service life of the mobile robot is prolonged.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to a mobile robot obstacle avoidance method and device and a mobile robot.
[ background of the invention ]
The mobile robot is of a type of a cleaning mobile robot, a mowing mobile robot, a security patrol mobile robot, a service mobile robot, or the like. The mobile robot can complete corresponding tasks according to the planned path of the user. Taking the sweeping mobile robot as an example, the sweeping mobile robot is provided with a cleaning device and a driving device. Under the drive of the driving device, the mobile robot moves automatically according to the planned cleaning path, and the floor is cleaned through the cleaning device.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems: when the existing mobile robot works on a path planned by a user, obstacles on the path cannot be effectively avoided, and the risk that the mobile robot hits the wall is increased.
[ summary of the invention ]
The embodiment of the invention provides a mobile robot obstacle avoidance method and device and a mobile robot, and aims to solve the technical problem that the existing mobile robot in the prior art cannot effectively avoid obstacles on a path.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: provided is a mobile robot obstacle avoidance method. The method comprises the following steps: transmitting an obstacle detection signal and receiving a reflected signal of an obstacle, and acquiring the intensity of the reflected signal corresponding to the reflected signal;
determining an obstacle detection mode based on the reflected signal strength and a preset condition;
and controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflection signal.
Optionally, the determining an obstacle detection mode based on the reflected signal strength and a preset condition includes:
the obstacle detection mode includes a first detection mode and a second detection mode,
if the obstacle avoidance mode is determined to be the first detection mode, acquiring a reflection signal intensity change rate corresponding to the obstacle detection mode, and determining an obstacle avoidance mode of the mobile robot according to the reflection signal intensity change rate, wherein the obstacle avoidance mode comprises a first obstacle avoidance mode and a second obstacle avoidance mode;
and if the second detection mode is determined, controlling the mobile robot to enter the first obstacle avoidance mode.
Optionally, the acquiring a change rate of the intensity of the reflected signal corresponding to the obstacle detection mode includes:
if the intensity of the reflected signal is within a preset intensity range, acquiring an intensity increase value of the reflected signal after the mobile robot continues to travel for a preset distance;
and calculating to obtain the intensity change rate of the reflected signal according to the intensity increase value corresponding to the preset distance.
Optionally, the acquiring a change rate of the intensity of the reflected signal corresponding to the obstacle detection mode includes:
if the intensity of the reflected signal is within a preset intensity range, acquiring an intensity increase value of the reflected signal after the mobile robot continues to travel for a preset time;
and calculating to obtain the intensity change rate of the reflected signal according to the intensity increase value corresponding to the preset time.
Optionally, the first detection mode is a dark-color obstacle detection mode, and the second detection mode is a light-color obstacle detection mode;
the determining the obstacle avoidance mode of the mobile robot according to the intensity change rate of the reflected signal and the preset condition comprises the following steps:
judging whether the intensity change rate of the reflected signal is greater than a preset critical threshold value or not;
if so, determining that the obstacle detection mode is the dark obstacle detection mode;
if not, determining that the obstacle detection mode is the light-color obstacle detection mode.
Optionally, the controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflected signal includes:
when the obstacle detection mode is the dark-color obstacle detection mode, performing deceleration control on the mobile robot;
judging whether the intensity of a reflected signal corresponding to the reflected signal in the process of decelerating and advancing is greater than a first preset intensity threshold value;
and if so, performing brake control on the mobile robot.
Optionally, the controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflected signal includes:
when the obstacle detection mode is the light-color obstacle detection mode, controlling the mobile robot to continue to normally travel;
judging whether the intensity of a reflected signal corresponding to the reflected signal in the normal traveling process is greater than a second preset intensity threshold value;
if so, performing deceleration control on the mobile robot;
and when the intensity of the reflected signal corresponding to the reflected signal is greater than a third preset intensity threshold value in the process of decelerating and advancing, performing brake control on the mobile robot.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: provided is a mobile robot obstacle avoidance device. Above-mentioned mobile robot keeps away barrier device includes: the device comprises a reflected signal strength acquisition module, a signal processing module and a signal processing module, wherein the reflected signal strength acquisition module is used for acquiring reflected signal strength corresponding to a reflected signal according to the reflected signal reflected by an obstacle received in real time;
the reflected signal intensity change rate calculation module is used for calculating the reflected signal intensity change rate when the mobile robot continues to travel if the reflected signal intensity meets the obstacle avoidance triggering condition;
the obstacle detection mode determining module is used for determining an obstacle detection mode of the mobile robot according to the change rate of the intensity of the reflected signal;
and the obstacle avoidance implementation module is used for controlling the mobile robot to implement obstacle avoidance according to the obstacle detection mode.
Optionally, the reflected signal intensity change rate calculation module includes a reflected information acquisition unit and a reflected information calculation unit;
the reflection information acquisition unit is used for acquiring an intensity increase value of the reflection signal after the mobile robot continues to travel for a preset distance if the intensity of the reflection signal is within a preset intensity range;
and the reflection information calculation unit is used for calculating the change rate of the intensity of the reflection signal according to the intensity increase value corresponding to the preset distance.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a mobile robot. The mobile robot includes: the mobile robot comprises a mobile robot main body, wherein a traveling mechanism is arranged on the mobile robot main body;
the obstacle detection device is arranged on the mobile robot main body and used for receiving a reflected signal reflected by an obstacle in real time;
at least one control chip built in the mobile robot main body; and
a memory communicatively coupled to the at least one control chip; the memory stores instructions executable by the at least one control chip, and the instructions are executed by the at least one control chip to enable the at least one control chip to be used for executing the obstacle avoidance method of the mobile robot.
Compared with the prior art, the obstacle avoidance method of the mobile robot provided by the embodiment of the invention comprises the steps of firstly transmitting the obstacle detection signal and receiving the reflection signal of the obstacle, then obtaining the intensity of the reflection signal corresponding to the reflection signal, further determining the obstacle detection mode based on the intensity of the reflection signal and the preset condition, and finally controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflection signal. By the method, when the mobile robot works on the path planned by the user, the obstacle on the path is effectively avoided, the risk of the mobile robot colliding with the wall is reduced, and the service life of the mobile robot is prolonged.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a block diagram of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an obstacle avoidance method for a mobile robot according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S20 in FIG. 2;
FIG. 4 is a schematic flow chart of one embodiment of S21 of FIG. 3;
FIG. 5 is a schematic flow chart of another embodiment of S21 of FIG. 3;
FIG. 6 is a schematic flow chart of a further embodiment of S21 of FIG. 3;
FIG. 7 is a schematic flow chart of one embodiment of S30 of FIG. 2;
FIG. 8 is a schematic flow chart of another embodiment of S30 of FIG. 2;
fig. 9 is a block diagram of a structure of an obstacle avoidance apparatus for a mobile robot according to an embodiment of the present invention;
fig. 10 is a block diagram of a mobile robot according to another embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides an obstacle avoidance method for a mobile robot, which comprises the steps of firstly transmitting an obstacle detection signal and receiving a reflection signal of an obstacle, then obtaining the intensity of the reflection signal corresponding to the reflection signal, further determining an obstacle detection mode based on the intensity of the reflection signal and a preset condition, and finally controlling the motion state of the mobile robot according to the obstacle detection mode and a real-time reflection signal. By the method, when the mobile robot works on the path planned by the user, the obstacle on the path is effectively avoided, the risk of the mobile robot colliding with the wall is reduced, and the service life of the mobile robot is prolonged.
The mobile robot of the embodiments of the present disclosure may be configured in any suitable shape, wherein the mobile robot may be a cleaning mobile robot, a mowing mobile robot, a security patrol mobile robot, or a service mobile robot, among others.
Referring to fig. 1, an embodiment of the present disclosure provides a mobile robot, where the mobile robot 10 includes a control unit 11, a wireless communication unit 12, a sensing unit 13, an audio unit 14, a camera module 15, and an obstacle detection device 16.
The control unit 11 is a control core of the mobile robot 10, and coordinates operations of the respective units. The control unit 11 may be a general purpose processor (e.g., central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The wireless communication unit 12 is used for wireless communication with the user terminal, and the wireless communication unit 12 is electrically connected with the control unit 11. The user transmits a control instruction to the mobile robot 10 through the user terminal, the wireless communication unit 12 receives the control instruction and transmits the control instruction to the control unit 11, and the control unit 11 controls the mobile robot 10 according to the control instruction.
The wireless communication unit 12 includes one or more of a combination of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module. Wherein the broadcast receiving module receives a broadcast signal and/or broadcast associated information from an external broadcast management server via a broadcast channel. The broadcast receiving module may receive a digital broadcast signal using a digital broadcasting system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).
The mobile communication module transmits or may receive a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various forms of data according to the reception and transmission of the character/multimedia message.
The wireless internet module refers to a module for wireless internet connection, and may be built in or out of the terminal. Wireless internet technologies such as wireless lan (wlan) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), High Speed Downlink Packet Access (HSDPA) may be used.
The short-range communication module refers to a module for performing short-range communication. Short range communication technologies such as Bluetooth (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.
The positioning information module is for acquiring current position information of the mobile robot, such as a Global Positioning System (GPS) module.
And the audio unit 14 is used for controlling the mobile robot to stop working and sending an off-ground alarm signal when the position state information is in a holding state. The audio unit 14 is electrically connected to the control unit 11.
In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array so as to effectively collect sound. The microphone may be of an electric type (moving coil type, ribbon type), a capacitive type (direct current polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, or the like, or any combination thereof. In some embodiments, the microphone may be a microelectromechanical systems (MEMS) microphone.
The camera module 15 is used for shooting the environment where the mobile robot 10 is located, the camera module 15 is electrically connected with the control unit 11, the camera module 15 obtains an image of the environment where the mobile robot 10 is located, and outputs the image to the control unit 11, so that the control unit 11 can perform the next logical operation according to the image.
The obstacle detecting device 16 is configured to detect a wall and an obstacle, and to emit a detection signal to the wall and the obstacle in real time.
Fig. 2 is a diagram illustrating an embodiment of an obstacle avoidance method for a mobile robot according to an embodiment of the present invention. As shown in fig. 2, the obstacle avoidance method for a mobile robot may be performed by the mobile robot, and includes the following steps:
and S10, transmitting the obstacle detection signal and receiving the reflection signal of the obstacle, and acquiring the intensity of the reflection signal corresponding to the reflection signal.
Specifically, mobile robot is provided with obstacle detection device, obstacle detection device can launch obstacle detection signal, and the obstacle will obstacle detection signal reflection forms corresponding transmission signal, and then mobile robot can obtain corresponding reflection signal intensity according to the reflection signal of received obstacle.
And S20, determining an obstacle detection mode based on the intensity of the reflected signal and preset conditions.
The obstacle detection mode comprises a first detection mode and a second detection mode, and can be determined when the intensity of the reflected signal meets a preset condition; when the obstacle detection mode is determined to be the first detection mode, the mobile robot correspondingly adopts the corresponding obstacle avoidance mode, and the obstacle avoidance mode comprises the first obstacle avoidance mode and the second obstacle avoidance mode. For example, when the obstacle detection mode is determined to be the first detection mode, the mobile robot correspondingly adopts the first obstacle avoidance mode; and when the obstacle detection mode is determined to be the second detection mode, the mobile robot correspondingly adopts the second obstacle avoidance mode. The first obstacle avoidance mode and the second obstacle avoidance mode are different obstacle avoidance strategies.
Further, if the first detection mode is determined, obtaining a reflection signal intensity change rate corresponding to the obstacle detection mode, and determining an obstacle avoidance mode of the mobile robot according to the reflection signal intensity change rate.
And S30, controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflection signal.
Specifically, the first detection mode may be a dark-color obstacle detection mode, and the second detection mode may be a light-color obstacle detection mode.
For example, when the obstacle detection mode is the dark-color obstacle detection mode, the mobile robot is subjected to deceleration control, and whether the intensity of the reflected signal corresponding to the reflected signal is greater than a first preset intensity threshold value in the deceleration traveling process is further determined. And if so, performing brake control on the mobile robot. When the obstacle detection mode is the light-color obstacle detection mode, controlling the mobile robot to continue to normally travel, judging whether the intensity of a reflected signal corresponding to the reflected signal in the normal travel process is greater than a second preset intensity threshold value, and if so, performing deceleration control on the mobile robot; and when the intensity of the reflected signal corresponding to the reflected signal is greater than a third preset intensity threshold value in the process of decelerating and advancing, performing brake control on the mobile robot.
In this embodiment, the obstacle detection signal is first transmitted and the reflected signal of the obstacle is received, then the reflected signal intensity corresponding to the reflected signal is obtained, the obstacle detection mode is further determined based on the reflected signal intensity and the preset condition, and finally the motion state of the mobile robot is controlled according to the obstacle detection mode and the real-time reflected signal. By the method, when the mobile robot works on the path planned by the user, the obstacle on the path is effectively avoided, the risk of the mobile robot colliding with the wall is reduced, and the service life of the mobile robot is prolonged.
To better determine the obstacle detection mode based on the intensity of the reflected signal and the predetermined condition, in some embodiments, referring to fig. 3, S20 includes the following steps: the obstacle detection mode includes a first detection mode and a second detection mode.
And S21, if the first detection mode is determined, obtaining the intensity change rate of the reflected signal corresponding to the obstacle detection mode, and determining the obstacle avoidance mode of the mobile robot according to the intensity change rate of the reflected signal.
Specifically, for example, in an actual cleaning application scenario of the cleaning robot, the movement of the cleaning robot is generally at a uniform speed, for example, at a speed of 15 m/min, and the frequency of the infrared obstacle avoidance detection signal of the cleaning robot is also fixed, and is generally about 200 Hz. According to the common parameter calculation, about 8 reflection signals can be collected every 1cm the cleaning robot advances, and it can be understood that the intensity of the reflection signals corresponding to the collected multiple reflection signals is different as the distance between the cleaning robot and the obstacle is closer and closer, and then the intensity change rate of the reflection signals corresponding to the obstacle detection mode can be obtained according to the intensity of the reflection signals corresponding to the multiple reflection signals collected by 1cm the cleaning robot advances.
Specifically, in this embodiment, the first detection mode is a dark-color obstacle detection mode, and the second detection mode is a light-color obstacle detection mode. When the obstacle detection device is an infrared sensor, the reflection signal received by the mobile robot is an infrared reflection signal, and the reflection intensity of the infrared signal is influenced by the surface color of the reflector, so that the reflector with dark color is much lower than the reflector with light color. Therefore, if the first detection mode is determined to be the dark-color obstacle detection mode, the intensity change rate of the reflected signal corresponding to the obstacle detection mode can be obtained, and the obstacle avoidance mode of the mobile robot is determined according to the intensity change rate of the reflected signal.
And S22, if the second detection mode is determined, controlling the mobile robot to enter the first obstacle avoidance mode.
In order to accurately obtain the intensity change rate of the reflected signal corresponding to the obstacle detection mode, in some embodiments, referring to fig. 4, S21 includes the following steps:
s211, if the intensity of the reflected signal is within the preset intensity range, obtaining the intensity increase value of the reflected signal after the mobile robot continues to travel for the preset distance.
Specifically, for example, if the preset distance is S, preferably, the preset distance may be 1 to 2cm, when the intensity of the reflected signal is within the preset intensity range, the first reflected signal intensity adc1 is obtained, and then when the mobile robot continues to travel the preset distance of 1cm, the second reflected signal intensity adc2 is obtained, and the intensity increase value of the reflected signal after traveling the preset distance is adc2 to adc 1.
S213, calculating the intensity change rate of the reflection signal according to the intensity increase value corresponding to the preset distance.
Specifically, for example, if the preset distance is S and the intensity increase value is adc2-adc1, the intensity increase value adc2-adc1 and the preset distance S are subjected to quotient calculation, so that the reflected signal intensity change rate (adc2-adc1)/S can be obtained.
In order to accurately obtain the intensity change rate of the reflected signal corresponding to the obstacle detection mode, in some embodiments, referring to fig. 4, S21 further includes the following steps:
s212, if the intensity of the reflected signal is within the preset intensity range, obtaining the intensity increase value of the reflected signal after the mobile robot continues to travel for the preset time.
Specifically, for example, if the preset time is T, preferably, the preset time may be 1 to 2s, when the intensity of the reflected signal is within the preset intensity range, the first reflected signal intensity adc1 is obtained, and then when the mobile robot continues to travel for 1s, the second reflected signal intensity adc2 is obtained, and the intensity of the reflected signal increases to adc2 to adc1 after the mobile robot travels for the preset time T.
S214, calculating to obtain the intensity change rate of the reflected signal according to the intensity increase value corresponding to the preset time.
Specifically, for example, if the preset time is T and the intensity increase value is adc2-adc1, the intensity increase value adc2-adc1 and the preset time T are subjected to quotient calculation, so as to obtain the reflected signal intensity change rate (adc2-adc 1)/T.
In order to determine the obstacle avoidance mode of the mobile robot according to the change rate of the intensity of the reflected signal and the preset condition, in some embodiments, referring to fig. 6, S21 further includes the following steps:
s215: and judging whether the change rate of the intensity of the reflected signal is greater than a preset critical threshold value.
Specifically, the mobile robot is respectively corresponding to the wall surfaces with four colors, namely a white wall surface, an orange wall surface, a gray wall surface and a black wall surface, and is used for carrying out obstacle avoidance test, and the collected infrared detection signals are converted into corresponding reflection signal intensity ADC values by the mobile robot. The ADC values read above are respectively recorded in table 1 below, and the reflected signal intensity change rate corresponding to the infrared reflected signal intensity ADC value is calculated.
TABLE 1
It can be seen from table 1 that, for wall surfaces with different color pigments, the measured reflected signal strength change rates corresponding to the ADC values of the reflected signal strength have larger differences, that is, under the condition of the same ADC value of the reflected signal strength, the reflected signal strength change rate corresponding to the black wall surface is obviously greater than the reflected signal strength change rate corresponding to the white wall surface; for example, when the ADC value is 40, the rate of change in the intensity of the reflected signal for the black wall surface is 16.67, and the rate of change in the intensity of the reflected signal for the white wall surface is 4.17.
It can also be seen from table 1 that the larger the ADC value, the closer the mobile robot is to the wall, for example, for a black wall, the distance between the ADC value and the wall is less than 5cm after the ADC value is greater than 70. If the distance is too short, the mobile machine can also touch the wall surface due to the action of motion inertia after braking.
Based on the above rule, a predetermined threshold value can be configured in the range of the intensity of the reflected signal from 10 to 30 for determining the obstacle detection mode. Preferably, the predetermined critical threshold is 2-3.
S216: and if so, determining that the obstacle detection mode is the dark obstacle detection mode.
Specifically, when the change rate of the intensity of the reflected signal is greater than a preset critical threshold value, it is determined that the obstacle detection mode is the dark obstacle detection mode, that is, it indicates that a darker obstacle, such as a gray obstacle or a black obstacle, is in front of the mobile robot. Namely, the distance between the mobile robot and the dark obstacle is relatively short, and then a first obstacle avoidance mode is correspondingly adopted.
S217: if not, determining that the obstacle detection mode is the light-color obstacle detection mode.
Specifically, when the reflected signal intensity change rate is less than or equal to a preset critical threshold value, the obstacle detection mode is determined to be the light-colored obstacle detection mode, that is, the obstacle in front of the mobile robot is indicated to be a lighter-colored obstacle, such as a white obstacle or an orange obstacle. Namely, the distance between the mobile robot and the light-colored barrier is far, and then the second obstacle avoidance mode is adopted correspondingly.
In order to control the motion state of the mobile robot according to the obstacle avoidance mode, in some embodiments, referring to fig. 6, S30 includes the following steps:
and S31, when the obstacle detection mode is the dark obstacle detection mode, performing deceleration control on the mobile robot.
And S33, judging whether the intensity of the reflected signal corresponding to the reflected signal in the deceleration travelling process is greater than a first preset intensity threshold value.
And S35, if yes, performing brake control on the mobile robot.
In order to control the motion state of the mobile robot according to the obstacle avoidance mode, in some embodiments, referring to fig. 6, S30 includes the following steps:
and S32, controlling the mobile robot to continue to normally travel when the obstacle detection mode is the light-color obstacle detection mode.
And S34, judging whether the intensity of the reflected signal corresponding to the reflected signal in the normal traveling process is greater than a second preset intensity threshold value.
And S36, if yes, performing deceleration control on the mobile robot.
And S38, when the intensity of the reflected signal corresponding to the reflected signal is greater than a third preset intensity threshold value in the process of decelerating and advancing, performing brake control on the mobile robot.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiment of the present application, the embodiment of the present application provides an obstacle avoidance apparatus 90 for a mobile robot. Referring to fig. 9, the obstacle avoidance apparatus 90 for a mobile robot includes: a reflected signal strength acquisition module 91, an obstacle detection mode determination module 92, and a motion state control module 93.
The reflected signal strength obtaining module 91 is configured to transmit an obstacle detection signal and receive a reflected signal of an obstacle, and obtain a reflected signal strength corresponding to the reflected signal.
The obstacle detection mode determination module 92 is configured to determine an obstacle detection mode based on the reflected signal strength and a preset condition.
The motion state control module 93 is configured to control a motion state of the mobile robot according to the obstacle detection mode and the real-time reflected signal.
Therefore, in this embodiment, the obstacle detection signal is first transmitted and the reflected signal of the obstacle is received, then the reflected signal intensity corresponding to the reflected signal is obtained, the obstacle detection mode is further determined based on the reflected signal intensity and the preset condition, and finally the motion state of the mobile robot is controlled according to the obstacle detection mode and the real-time reflected signal. By the method, when the mobile robot works on the path planned by the user, the obstacle on the path is effectively avoided, the risk of the mobile robot colliding with the wall is reduced, and the service life of the mobile robot is prolonged.
In some embodiments, the obstacle detection mode determining module 92 includes a reflected signal intensity change rate calculating unit and an obstacle avoidance mode determining unit.
The reflected signal intensity change rate calculation unit is used for acquiring the reflected signal intensity change rate corresponding to the obstacle detection mode if the first detection mode is determined
The obstacle avoidance mode determining unit is used for determining an obstacle avoidance mode of the mobile robot according to the intensity change rate of the reflected signal, and the obstacle avoidance mode comprises a first obstacle avoidance mode and a second obstacle avoidance mode; and if the second detection mode is determined, controlling the mobile robot to enter the first obstacle avoidance mode.
In some embodiments, the obstacle avoidance mode determining unit includes a judging subunit, a dark-color obstacle detection mode determining subunit, and a light-color obstacle detection mode determining subunit.
The judging subunit is configured to judge whether the change rate of the intensity of the reflected signal is greater than a preset critical threshold.
And the dark obstacle detection mode determination subunit is used for determining that the obstacle detection mode is the dark obstacle detection mode if the dark obstacle detection mode is the dark obstacle detection mode.
And the light-color obstacle detection mode determination subunit is used for determining that the obstacle detection mode is the light-color obstacle detection mode if the light-color obstacle detection mode is not the light-color obstacle detection mode.
It should be noted that the mobile robot obstacle avoidance apparatus can execute the mobile robot obstacle avoidance method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the obstacle avoidance device for the mobile robot, reference may be made to the obstacle avoidance method for the mobile robot provided in the embodiment of the present invention.
Fig. 10 is a block diagram of a mobile robot 10 according to another embodiment of the present invention. As shown in fig. 10, the mobile robot 10 may include: a mobile robot main body, an obstacle detecting device, a control chip 110, a memory 120, and a communication module 130.
The obstacle detection device is arranged on the mobile robot main body and used for receiving a reflected signal reflected by an obstacle in real time. In this embodiment, the obstacle detection device is a light sensor, including but not limited to an infrared sensor.
And a traveling mechanism is arranged on the mobile robot main body. The control chip is arranged in the mobile robot main body.
The main body of the mobile robot is a main body structure of the mobile robot, and corresponding shape structures and manufacturing materials (such as hard plastics or metals such as aluminum and iron) can be selected according to actual requirements of the mobile robot, for example, the main body of the mobile robot is arranged to be a flat cylinder shape common to sweeping mobile robots.
The walking mechanism is a structural device which is arranged on the mobile robot main body and provides the mobile robot with the moving capability. The running gear can be realized in particular by means of any type of moving means, such as rollers, tracks, etc.
The control chip 110, the memory 120 and the communication module 130 establish communication connection therebetween in a bus manner.
The control chip 110 may be of any type, with one or more processing cores of the control chip 110. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the obstacle avoidance method for a mobile robot in the embodiment of the present invention (for example, the reflected signal strength acquisition module 91, the obstacle detection mode determination module 92, and the motion state control module 93 shown in fig. 9). The control chip 110 executes various functional applications and data processing of the mobile robot obstacle avoidance device 90 by running the non-transitory software program, instructions and modules stored in the memory 120, that is, implements the mobile robot obstacle avoidance method in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the mobile robot obstacle avoidance device 90, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 120 may optionally include a memory remotely located from the control chip 110, and these remote memories may be connected to the mobile robot 10 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one control chip 110; the at least one control chip 110 is configured to execute the instructions to implement the obstacle avoidance method for the mobile robot in any of the above-described method embodiments, for example, to execute the above-described method steps 10, 20, 30, and so on, to implement the functions of the modules 91 to 96 in fig. 9.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more control chips 110, for example, by one control chip 110 in fig. 10, and can cause the one or more control chips 110 to perform the mobile robot obstacle avoidance method in any of the above-mentioned method embodiments, for example, to perform the above-mentioned method steps 10, 20, 30, and so on, to implement the functions of the modules 91 to 96 in fig. 9.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the mobile robot obstacle avoidance method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the mobile robot obstacle avoidance method. For details of the mobile robot obstacle avoidance method provided in the embodiment of the present invention, reference may be made to the following description.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A mobile robot obstacle avoidance method is characterized by comprising the following steps:
transmitting an obstacle detection signal and receiving a reflected signal of an obstacle, and acquiring the intensity of the reflected signal corresponding to the reflected signal;
determining an obstacle detection mode based on the reflected signal strength and a preset condition;
and controlling the motion state of the mobile robot according to the obstacle detection mode and the real-time reflection signal.
2. The method of claim 1, wherein determining an obstacle detection mode based on the reflected signal strength and a preset condition comprises:
the obstacle detection mode includes a first detection mode and a second detection mode,
if the obstacle avoidance mode is determined to be the first detection mode, acquiring a reflection signal intensity change rate corresponding to the obstacle detection mode, and determining an obstacle avoidance mode of the mobile robot according to the reflection signal intensity change rate, wherein the obstacle avoidance mode comprises a first obstacle avoidance mode and a second obstacle avoidance mode;
and if the second detection mode is determined, controlling the mobile robot to enter a second obstacle avoidance mode.
3. The method of claim 2, wherein said obtaining a rate of change of reflected signal intensity corresponding to the obstacle detection mode comprises:
if the intensity of the reflected signal is within a preset intensity range, acquiring an intensity increase value of the reflected signal after the mobile robot continues to travel for a preset distance;
and calculating to obtain the intensity change rate of the reflected signal according to the intensity increase value corresponding to the preset distance.
4. The method of claim 2, wherein said obtaining a rate of change of reflected signal intensity corresponding to the obstacle detection mode comprises:
if the intensity of the reflected signal is within a preset intensity range, acquiring an intensity increase value of the reflected signal after the mobile robot continues to travel for a preset time;
and calculating to obtain the intensity change rate of the reflected signal according to the intensity increase value corresponding to the preset time.
5. The method of any of claims 2-4, wherein the first detection mode is a dark-colored obstacle detection mode and the second detection mode is a light-colored obstacle detection mode;
the determining the obstacle avoidance mode of the mobile robot according to the intensity change rate of the reflected signal and the preset condition comprises the following steps:
judging whether the intensity change rate of the reflected signal is greater than a preset critical threshold value or not;
if so, determining that the obstacle detection mode is the dark obstacle detection mode;
if not, determining that the obstacle detection mode is the light-color obstacle detection mode.
6. The method of claim 5, wherein said controlling the mobile robot motion state based on the obstacle detection mode and the real-time reflected signal comprises:
when the obstacle detection mode is the dark-color obstacle detection mode, performing deceleration control on the mobile robot;
judging whether the intensity of a reflected signal corresponding to the reflected signal in the process of decelerating and advancing is greater than a first preset intensity threshold value;
and if so, performing brake control on the mobile robot.
7. The method of claim 6, wherein said controlling the mobile robot motion state based on the obstacle detection mode and the real-time reflected signal comprises:
when the obstacle detection mode is the light-color obstacle detection mode, controlling the mobile robot to continue to normally travel;
judging whether the intensity of a reflected signal corresponding to the reflected signal in the normal traveling process is greater than a second preset intensity threshold value;
if so, performing deceleration control on the mobile robot;
and when the intensity of the reflected signal corresponding to the reflected signal is greater than a third preset intensity threshold value in the process of decelerating and advancing, performing brake control on the mobile robot.
8. The utility model provides a mobile robot keeps away barrier device which characterized in that includes:
the device comprises a reflected signal strength acquisition module, a signal processing module and a signal processing module, wherein the reflected signal strength acquisition module is used for acquiring reflected signal strength corresponding to a reflected signal according to the reflected signal reflected by an obstacle received in real time;
the reflected signal intensity change rate calculation module is used for calculating the reflected signal intensity change rate when the mobile robot continues to travel if the reflected signal intensity meets the obstacle avoidance triggering condition;
the obstacle detection mode determining module is used for determining an obstacle detection mode of the mobile robot according to the change rate of the intensity of the reflected signal;
and the obstacle avoidance implementation module is used for controlling the mobile robot to implement obstacle avoidance according to the obstacle detection mode.
9. The apparatus according to claim 8, wherein the reflected signal intensity change rate calculating module comprises a reflected information obtaining unit and a reflected information calculating unit;
the reflection information acquisition unit is used for acquiring an intensity increase value of the reflection signal after the mobile robot continues to travel for a preset distance if the intensity of the reflection signal is within a preset intensity range;
and the reflection information calculation unit is used for calculating the change rate of the intensity of the reflection signal according to the intensity increase value corresponding to the preset distance.
10. A mobile robot, comprising:
the mobile robot comprises a mobile robot main body, wherein a traveling mechanism is arranged on the mobile robot main body;
the obstacle detection device is arranged on the mobile robot main body and used for receiving a reflected signal reflected by an obstacle in real time;
at least one control chip built in the mobile robot main body; and
a memory communicatively coupled to the at least one control chip; wherein the memory stores instructions executable by the at least one control chip to enable the at least one control chip to be used to perform the mobile robot obstacle avoidance method of any one of claims 1-7.
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