CN111331602B - Scene recognition software algorithm applied to bedded mite removing robot - Google Patents
Scene recognition software algorithm applied to bedded mite removing robot Download PDFInfo
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- CN111331602B CN111331602B CN202010176883.7A CN202010176883A CN111331602B CN 111331602 B CN111331602 B CN 111331602B CN 202010176883 A CN202010176883 A CN 202010176883A CN 111331602 B CN111331602 B CN 111331602B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which specifically comprises the following steps: step 1: opening the bedspread mite removing robot; step 2: the bedded mite removing robot walks forwards, the collision sensor sends a signal to the control module once every set time, if the bedded mite removing robot has obstacles, the step 3 is executed, otherwise, the step 4 is executed; and step 3: increasing the variable of the collision times by one, and repeating the step 2; and 4, step 4: saving the variable of the collision times, if the variable is greater than the set times, executing the step 5, otherwise, executing the step 6; and 5: setting the working scene variable to 1, resetting the collision frequency variable, and executing the step 7; step 6: setting the working scene variable to be 0, resetting the collision frequency variable, and executing the step 7; and 7: when the working scene variable is 1, calling an inner walking program, otherwise, calling an outer walking program; and 8: and (4) judging whether the machine is shut down, if so, ending the operation, otherwise, returning to the step (2).
Description
Technical Field
The invention relates to the technical field of mite removing robots, in particular to a scene recognition software algorithm applied to a bedded mite removing robot.
Background
The current mite killing robot has the following defects in scene recognition and working mode switching: scenes are not identified, and whether the current working environment is in the quilt or outside the quilt cannot be distinguished; the working mode is single, and the same working strategy is adopted in the quilt and outside the quilt; the collision is mainly determined by the code disc, and the obstacle can be avoided after the code disc stops moving for a period of time, so that the code disc is not flexible enough.
Therefore, it is necessary to design a scene recognition algorithm with high algorithm execution efficiency and without a code disc.
Disclosure of Invention
The purpose of the invention is realized by the following technical scheme:
the invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which specifically comprises the following steps:
step 1: opening the bedspread mite removing robot;
step 2: the bed mite removing robot walks forwards, the control module detects the state of a collision sensor at the front end of the bed mite removing robot at set time intervals, if the collision sensor sends a barrier signal to the control module, the step 3 is executed, and if the collision sensor does not send a barrier signal to the control module, the step 4 is executed;
and step 3: the control module controls the collision frequency variable to increase by one, and repeats the step 2;
and 4, step 4: the control module stores the collision frequency variable and judges the collision frequency variable, if the collision frequency variable is greater than the set frequency, the step 5 is executed, otherwise, the step 6 is executed;
and 5: the control module controls the working scene variable to be 1, clears the collision frequency variable, and executes the step 7;
step 6: the control module controls the working scene variable to be 0, clears the collision frequency variable, and executes the step 7;
and 7: when the working scene variable is 1, the control module calls an inner walking program, otherwise, the control module calls an outer walking program;
and 8: and (5) judging whether the machine is shut down or not by the control module, if so, ending the operation, and otherwise, returning to the step (2).
Preferably, the internal walking program comprises the following steps:
step 1: the inner walking program receives an instruction to start running;
step 2: the internal walking program detects collision sensor data once every set time, if the front part has an obstacle, step 3 is executed, otherwise step 5 is executed;
and step 3: the internal walking program is fed back to the control module to control the bed mite removal robot to continue to move forward, the collision frequency variable is automatically increased, the internal walking program judges the collision frequency variable in real time, if the collision frequency variable is greater than the set frequency, the step 4 is executed, otherwise, the step 5 is executed;
and 4, step 4: judging that the obstacle is met by an internal walking program, retreating for a certain distance, and executing the step 5 after turning;
and 5: the variable of the collision times is cleared, and the bed mite removing robot walks linearly along the current direction;
and 7: and (4) judging whether the control module generates a shutdown signal or not by the internal walking program, if so, finishing the operation, and otherwise, returning to the step 2.
Preferably, the external walking program comprises the following steps:
step 1: the external walking program receives an instruction to start running;
step 2: the external walking program detects the data of the collision sensor once every set time, if the front part is detected to have obstacles, the step 3 is executed, otherwise, the step 4 is executed;
and step 3: the external walking program is fed back to the control module to control the bed mite removing robot to retreat, and the step 4 is executed after the robot turns according to the data of the collision sensor;
and 4, step 4: the bed mite removing robot moves straight along the current direction;
and 5: and (3) judging whether the control module generates a shutdown signal or not by the outer walking program, if so, finishing the operation, and otherwise, returning to the step 2.
Preferably, the control module defaults to an initial operating scenario variable of 0.
Preferably, the set time is 5-10 ms, and the set times are 280-320.
The invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which has the following beneficial effects:
(1) the cost is low, a coded disc does not need to be added on the robot, and the robot can operate only by a front-end distance measuring sensor;
(2) the current working scene can be identified, so that the working strategy can be switched;
(3) different working modes can be switched between the inside and the outside of the quilt, and the soft collision obstacle avoidance function is realized when the outside of the quilt is detected;
(4) the sensor can be used to judge the real obstacle condition under the covered condition.
Drawings
FIG. 1 is a flow chart of algorithm invocation of the present invention;
FIG. 2 is a flow chart of the internal walking routine of the present invention;
FIG. 3 is a flow chart of the external walking routine of the present invention.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to specific embodiments. The following examples are merely illustrative and explanatory of the present invention and should not be construed as limiting the scope of the invention. All the technologies realized based on the above-mentioned contents of the present invention are covered in the protection scope of the present invention.
Unless otherwise indicated, the raw materials and reagents used in the following examples are all commercially available products or can be prepared by known methods.
The algorithm judges whether obstacles exist or not by detecting data transmitted by a collision sensor in front of the mite killing robot, and carries out scene recognition according to the number of times (300 times) or time (3s) of continuously detecting the obstacles, thereby completing the function of switching corresponding working modes according to the current environment.
Example 1
The invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which specifically comprises the following steps:
step 1: starting the bed mite removing robot, and initializing a working scene variable WorkMode to be 0 by a control module;
step 2: the bed mite removing robot walks forwards, the control module detects the state of a collision sensor at the front end of the bed mite removing robot every 10ms, if the collision sensor sends a barrier signal to the control module, the step 3 is executed, and if the collision sensor does not send a barrier signal to the control module, the step 4 is executed;
and step 3: the control module controls the collision frequency variable ImpctCount to increase by one by self, and repeats the step 2;
and 4, step 4: the control module saves a collision frequency variable ImpctCount and judges the collision frequency variable ImpctCount, if the collision frequency variable ImpctCount is more than 300, the step 5 is executed, otherwise, the step 6 is executed;
and 5: the control module controls a working scene variable WorkMode to be 1, clears a collision frequency variable ImpctCount and executes a step 7;
step 6: the control module controls the working scene variable WorkMode to be 0, clears the collision frequency variable ImpctCount and executes the step 7;
and 7: when the work scene variable WorkMode is 1, the control module calls an inner walking program, otherwise, calls an outer walking program;
and 8: and (5) judging whether the machine is shut down or not by the control module, if so, ending the operation, and otherwise, returning to the step (2).
The inner walking program comprises the following steps:
step 1: the inner walking program receives an instruction to start running;
step 2: detecting collision sensor data every 10ms by an internal walking program, if an obstacle exists in the front of the vehicle, executing a step 3, and if not, executing a step 5;
and step 3: the internal walking program is fed back to the control module to control the bed mite-killing robot to continue to move forward, the collision frequency variable ImpctCount is automatically increased, the internal walking program judges the collision frequency variable ImpctCount in real time, if the collision frequency variable ImpctCount is larger than 300, the step 4 is executed, otherwise, the step 5 is executed;
and 4, step 4: judging that the obstacle is met by an internal walking program, retreating for a certain distance, and executing the step 5 after turning;
and 5: resetting a collision frequency variable ImpctCount, and enabling the bed-to-be-acarus-killing robot to walk linearly along the current direction;
and 7: and (4) judging whether the control module generates a shutdown signal or not by the internal walking program, if so, finishing the operation, and otherwise, returning to the step 2.
The external walking program comprises the following steps:
step 1: the external walking program receives an instruction to start running;
step 2: the external walking program detects collision sensor data once every 10ms, if an obstacle is detected in front, the step 3 is executed, otherwise, the step 4 is executed;
and step 3: the external walking program is fed back to the control module to control the bed mite removing robot to retreat, and the step 4 is executed after the robot turns according to the data of the collision sensor;
and 4, step 4: the bed mite removing robot moves straight along the current direction;
and 5: and (3) judging whether the control module generates a shutdown signal or not by the outer walking program, if so, finishing the operation, and otherwise, returning to the step 2.
The working scenes of the bed-quilt mite removing robot comprise outward walking (walking on a quilt or a bed sheet, and ensuring that the bed-quilt mite removing robot keeps a soft collision function to ensure that the walking is more flexible and intelligent, namely when a collision sensor detects that a front obstacle exists, the bed-quilt mite removing robot starts to retreat and turn to enter an obstacle avoiding posture without colliding with the obstacle, so that the collision between the bed-quilt mite removing robot and the obstacle can be avoided) and inward walking (walking in the quilt, in the state, a quilt covering the machine can be detected by the collision sensor, but at the moment, the bed-quilt mite removing robot does not need to retreat and avoid the obstacle but directly walks forwards, the bed-quilt removing robot can walk in the quilt, and cannot retreat to enter the obstacle avoiding posture until the front collision to a real obstacle causes the bed-quilt removing robot to go forwards), because different working strategies need to be executed in different scenes, the current scene needs to be identified and judged. Initially, the working mode is defaulted to be outside the quilt. When the bed mite removing robot walks in a quilt, the collision sensor at the front end of the bed mite removing robot can detect obstacles all the time, so when the collision sensor reads the obstacles, the control module starts to count the collision frequency variable ImpctCount until the collision sensor does not read the obstacles any more, and the counting is finished.
After the counting is finished, whether the number of continuous obstacle detection times is larger than 300 (the sensor is detected every 10ms, and the obstacle is detected for 3 seconds continuously after 300 times), if the collision number variable ImpctCount is larger than 300, the working mode is switched to walking in the quilt and counting is cleared, and if the collision number variable ImpctCount is smaller than 300, the obstacle is processed when the obstacle is encountered when the quilt is walking outside the quilt.
In this embodiment, the bedded mite removing robot is judged to be in the quilt when being obstructed: since the strategy taken when encountering a collision sensor in a quilt to detect an obstacle is to continue to go forward, it is necessary to recognize a situation in which the mite removal robot for bed really encounters an obstacle and cannot go forward.
When the bedded mite removing robot is in a quilt, the bedded mite removing robot can continue to move forward when the collision sensor detects a barrier, so that when the bedded mite removing robot is in front of the bedded mite removing robot and the bedded mite removing robot always abuts against the barrier, the collision sensor in front of the bedded mite removing robot can always detect the barrier. Therefore, the detected obstacle does not directly retreat, but a collision frequency variable ImpctCount starts counting, whether the frequency of continuously detecting the obstacle is more than 300 (the sensor is detected every 10ms, and the obstacle is detected for 300 times, namely continuously for 3 seconds) is judged, and if the collision frequency variable ImpctCount is more than 300, the bed mite removing robot retreats and turns to enter the obstacle avoiding posture. Therefore, the condition that the bed is blocked by the mite removing robot and can not move forward can be avoided.
Example 2
The invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which specifically comprises the following steps:
step 1: starting the bed mite removing robot, and initializing a working scene variable WorkMode to be 0 by a control module;
step 2: the bed mite removing robot walks forwards, the control module detects the state of a collision sensor at the front end of the bed mite removing robot every 9ms, if the collision sensor sends a barrier signal to the control module, the step 3 is executed, and if the collision sensor does not send a barrier signal to the control module, the step 4 is executed;
and step 3: the control module controls the collision frequency variable ImpctCount to increase by one by self, and repeats the step 2;
and 4, step 4: the control module saves a collision frequency variable ImpctCount and judges the collision frequency variable ImpctCount, if the collision frequency variable ImpctCount is more than 280, the step 5 is executed, otherwise, the step 6 is executed;
and 5: the control module controls a working scene variable WorkMode to be 1, clears a collision frequency variable ImpctCount and executes a step 7;
step 6: the control module controls the working scene variable WorkMode to be 0, clears the collision frequency variable ImpctCount and executes the step 7;
and 7: when the work scene variable WorkMode is 1, the control module calls an inner walking program, otherwise, calls an outer walking program;
and 8: and (5) judging whether the machine is shut down or not by the control module, if so, ending the operation, and otherwise, returning to the step (2).
The inner walking program comprises the following steps:
step 1: the inner walking program receives an instruction to start running;
step 2: the internal walking program detects collision sensor data once every 9ms, if the front part has an obstacle, the step 3 is executed, otherwise, the step 5 is executed;
and step 3: the internal walking program is fed back to the control module to control the bed mite-killing robot to continue to move forward, the collision frequency variable ImpctCount is automatically increased, the internal walking program judges the collision frequency variable ImpctCount in real time, if the collision frequency variable ImpctCount is larger than 280, the step 4 is executed, otherwise, the step 5 is executed;
and 4, step 4: judging that the obstacle is met by an internal walking program, retreating for a certain distance, and executing the step 5 after turning;
and 5: resetting a collision frequency variable ImpctCount, and enabling the bed-to-be-acarus-killing robot to walk linearly along the current direction;
and 7: and (4) judging whether the control module generates a shutdown signal or not by the internal walking program, if so, finishing the operation, and otherwise, returning to the step 2.
The external walking program comprises the following steps:
step 1: the external walking program receives an instruction to start running;
step 2: the external walking program detects collision sensor data once every 9ms, if an obstacle is detected in front, the step 3 is executed, otherwise, the step 4 is executed;
and step 3: the external walking program is fed back to the control module to control the bed mite removing robot to retreat, and the step 4 is executed after the robot turns according to the data of the collision sensor;
and 4, step 4: the bed mite removing robot moves straight along the current direction;
and 5: and (3) judging whether the control module generates a shutdown signal or not by the outer walking program, if so, finishing the operation, and otherwise, returning to the step 2.
Example 3
The invention provides a scene recognition software algorithm applied to a bedded mite removing robot, which specifically comprises the following steps:
step 1: starting the bed mite removing robot, and initializing a working scene variable WorkMode to be 0 by a control module;
step 2: the bed mite removing robot walks forwards, the control module detects the state of a collision sensor at the front end of the bed mite removing robot every 5ms, if the collision sensor sends a barrier signal to the control module, the step 3 is executed, and if the collision sensor does not send a barrier signal to the control module, the step 4 is executed;
and step 3: the control module controls the collision frequency variable ImpctCount to increase by one by self, and repeats the step 2;
and 4, step 4: the control module saves a collision frequency variable ImpctCount and judges the collision frequency variable ImpctCount, if the collision frequency variable ImpctCount is greater than 320, step 5 is executed, otherwise step 6 is executed;
and 5: the control module controls a working scene variable WorkMode to be 1, clears a collision frequency variable ImpctCount and executes a step 7;
step 6: the control module controls the working scene variable WorkMode to be 0, clears the collision frequency variable ImpctCount and executes the step 7;
and 7: when the work scene variable WorkMode is 1, the control module calls an inner walking program, otherwise, calls an outer walking program;
and 8: and (5) judging whether the machine is shut down or not by the control module, if so, ending the operation, and otherwise, returning to the step (2).
The inner walking program comprises the following steps:
step 1: the inner walking program receives an instruction to start running;
step 2: the internal walking program detects collision sensor data once every 5ms, if the front part has an obstacle, the step 3 is executed, otherwise, the step 5 is executed;
and step 3: the internal walking program is fed back to the control module to control the bed mite-killing robot to continue to move forward, the collision frequency variable ImpctCount is automatically increased, the internal walking program judges the collision frequency variable ImpctCount in real time, if the collision frequency variable ImpctCount is greater than 320, the step 4 is executed, otherwise, the step 5 is executed;
and 4, step 4: judging that the obstacle is met by an internal walking program, retreating for a certain distance, and executing the step 5 after turning;
and 5: resetting a collision frequency variable ImpctCount, and enabling the bed-to-be-acarus-killing robot to walk linearly along the current direction;
and 7: and (4) judging whether the control module generates a shutdown signal or not by the internal walking program, if so, finishing the operation, and otherwise, returning to the step 2.
The external walking program comprises the following steps:
step 1: the external walking program receives an instruction to start running;
step 2: the external walking program detects collision sensor data once every 5ms, if an obstacle is detected in front, the step 3 is executed, otherwise, the step 4 is executed;
and step 3: the external walking program is fed back to the control module to control the bed mite removing robot to retreat, and the step 4 is executed after the robot turns according to the data of the collision sensor;
and 4, step 4: the bed mite removing robot moves straight along the current direction;
and 5: and (3) judging whether the control module generates a shutdown signal or not by the outer walking program, if so, finishing the operation, and otherwise, returning to the step 2.
Definition of the relevant variables:
WorkMode working mode
Impact count number of collisions
ImpactPeriod collision determination value
Modetransperiod mode switching judgment value
Designing an API:
the method for acquiring sensor data by Get _ Touch comprises the following steps:
inputting:
whether an obstacle is detected in the direction of the output incoming sensor, 0: barrier-free, 1: there is a barrier.
DropDeal handles collisions:
inputting: is free of
And (3) outputting: is free of
Adjusting the posture by Adjust to avoid the obstacle:
inputting:
and (3) outputting: operating state, 0: completing 1: not completed.
Backing machine Back:
inputting: is free of
And (3) outputting: operating state, 0: completing 1: not completed.
Turn machine steering:
inputting:
and (3) outputting: operating state, 0: completing 1: not completed.
The foregoing is only a preferred embodiment of the present invention. However, the present invention is not limited to the above embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A scene recognition software algorithm applied to a bedded mite removing robot is characterized by specifically comprising the following steps:
step 1: opening the bedspread mite removing robot;
step 2: the bed mite removing robot walks forwards, the control module detects the state of a collision sensor at the front end of the bed mite removing robot at set time intervals, if the collision sensor sends a barrier signal to the control module, the step 3 is executed, and if the collision sensor does not send a barrier signal to the control module, the step 4 is executed;
and step 3: the control module controls the collision frequency variable to increase by one, and repeats the step 2;
and 4, step 4: the control module stores the collision frequency variable and judges the collision frequency variable, if the collision frequency variable is greater than the set frequency, the step 5 is executed, otherwise, the step 6 is executed;
and 5: the control module controls the working scene variable to be 1, clears the collision frequency variable, and executes the step 7;
step 6: the control module controls the working scene variable to be 0, clears the collision frequency variable, and executes the step 7;
and 7: when the working scene variable is 1, the control module calls an inner walking program, otherwise, the control module calls an outer walking program;
and 8: the control module judges whether the machine is shut down, if yes, the operation is ended, otherwise, the step 2 is returned;
the inner walking program comprises the following steps:
step 1: the inner walking program receives an instruction to start running;
step 2: the internal walking program detects collision sensor data once every set time, if the front part has an obstacle, step 3 is executed, otherwise step 5 is executed;
and step 3: the internal walking program is fed back to the control module to control the bed mite removal robot to continue to move forward, the collision frequency variable is automatically increased, the internal walking program judges the collision frequency variable in real time, if the collision frequency variable is greater than the set frequency, the step 4 is executed, otherwise, the step 5 is executed;
and 4, step 4: judging that the obstacle is met by an internal walking program, retreating for a certain distance, and executing the step 5 after turning;
and 5: the variable of the collision times is cleared, and the bed mite removing robot walks linearly along the current direction;
and 7: and (4) judging whether the control module generates a shutdown signal or not by the internal walking program, if so, finishing the operation, and otherwise, returning to the step 2.
2. The scene recognition software algorithm applied to the bedded mite removing robot is characterized in that the external walking program comprises the following steps:
step 1: the external walking program receives an instruction to start running;
step 2: the external walking program detects the data of the collision sensor once every set time, if the front part is detected to have obstacles, the step 3 is executed, otherwise, the step 4 is executed;
and step 3: the external walking program is fed back to the control module to control the bed mite removing robot to retreat, and the step 4 is executed after the robot turns according to the data of the collision sensor;
and 4, step 4: the bed mite removing robot moves straight along the current direction;
and 5: and (3) judging whether the control module generates a shutdown signal or not by the outer walking program, if so, finishing the operation, and otherwise, returning to the step 2.
3. The scene recognition software algorithm applied to the bedded mite-killing robot is characterized in that the control module defaults the initial working scene variable to be 0.
4. The software algorithm for recognizing scenes applied to a bedded mite removing robot as claimed in any one of claims 1 to 3, wherein the set time is 5-10 ms, and the set times is 280-320 ms.
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| CN112247986B (en) * | 2020-09-28 | 2022-09-30 | 湖南格兰博智能科技有限责任公司 | Bow-shaped path planning control method for autonomous bed surface moving robot |
| 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 |
| CN114296442B (en) * | 2021-11-15 | 2023-08-11 | 珠海格力电器股份有限公司 | Control method of bed mite removing robot |
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