CN111580515A - Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof - Google Patents
Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention provides an obstacle avoidance system for an unmanned sweeping machine and an obstacle avoidance method thereof, wherein the obstacle avoidance system comprises: the control unit comprises a main control circuit board, an analysis processor and a data storage module; the input end of the steering module is in communication connection with the analysis processor, and the output end of the steering module is in communication connection with the steering controller; the input end of the brake module is in communication connection with the analysis processor, and the output end of the brake module is in communication connection with the brake controller; the input end of the motor control module is in communication connection with the analysis processor, and the output end of the motor control module is in communication connection with the driving motor; the obstacle sensing unit is in communication connection with the analysis processor; the distance measurement unit is in communication connection with the analysis processor; and the image acquisition unit is in communication connection with the analysis processor. The obstacle avoidance system can detect obstacles at the front end, two sides and the rear of the advancing direction of the unmanned sweeper, can sense collision, can prevent falling, and is sensitive in sensing, high in processing speed and high in efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent cleaning, and particularly relates to an obstacle avoidance system for an unmanned sweeper and an obstacle avoidance method thereof.
Background
The sanitation workers are workers who use special tools for sanitation and maintenance to perform waste removal, garbage cleaning, river bank facility maintenance and urban environment protection work in streets, squares, large indoor gathering places and the like.
The total number of the cleaning personnel in China is about 3000 ten thousand, the average age of the cleaning personnel is generally higher than 55 years, the discipline is not high due to low doorsill, the culture level is low, the training is lacked, the occupational consciousness is poor, the cleaning work needs to be carried out late at night and early in the morning, the work is required to be carried out all night, the efficiency is low, the cleaning efficiency is lower when the cleaning personnel encounter severe weather environments, in addition, the wage expense is also existed in manual cleaning, even if the cleaning vehicle is used for cleaning work, the cleaning personnel still need to drive, and the cost is not small.
Therefore, the unmanned cleaning vehicle gradually enters the visual field, the unmanned vehicle is one of intelligent vehicles, is also called as a wheel type mobile robot, and mainly depends on an intelligent driver which mainly comprises a computer system in the vehicle to realize the purpose of unmanned driving.
With the use of robots in factories, warehouses, hotels, markets, restaurants and other environments, people pay more attention to the mobility of the robots, so that obstacle avoidance becomes a very critical and necessary function. People hope that the robot can sense static or dynamic objects which obstruct the robot to pass through a sensor in the walking process according to the collected state information of the obstacles, then effectively avoid the obstacles according to a certain method, and finally reach a target point. The necessary condition for realizing obstacle avoidance and navigation is environment perception, and the obstacle avoidance in an unknown or partially unknown environment needs to acquire surrounding environment information including information such as the size, shape and position of an obstacle through a sensor, so that the sensor technology plays an important role in obstacle avoidance of the mobile robot.
For obstacle avoidance of an unmanned cleaning vehicle, the following patent documents mainly exist in China at present:
as disclosed in patent publication nos.: CN209220144U discloses an obstacle avoidance device, including the mount pad, locate the lidar that is used for surveying around the barrier in the mount pad to and the base, be equipped with the guide post on the base, just be located the lidar bottom in the mount pad and be equipped with adjusting device and be used for driving the mount pad along the guide post in order to move from top to bottom in order to avoid the barrier. When an external obstacle is met, the adjusting device drives the mounting seat to move up and down along the guide column so as to avoid the obstacle, and the scraping or blocking phenomenon of the laser radar is reduced. However, the obstacle avoidance device provided by the patent has a single obstacle avoidance mode, mainly senses an obstacle in front of the traveling direction, and cannot prevent side and rear obstacles.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an obstacle avoidance system for an unmanned sweeper and an obstacle avoidance method thereof, wherein the obstacle avoidance system can detect obstacles at the front end, two sides and the rear of the advancing direction of the unmanned sweeper, can sense collision, can prevent falling, and has the advantages of sensitive sensing, high processing speed and high efficiency.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides an unmanned machine of sweeping floor keeps away barrier system, keep away the barrier system and include: the control unit is arranged in the unmanned sweeper and comprises a main control circuit board, an analysis processor arranged on the main control circuit board and a data storage module in communication connection with the analysis processor through the main control circuit board, a data storage interface in communication connection with the data storage module is arranged on the surface of the unmanned sweeper to form transmission of stored data, and a distance threshold is arranged in the analysis processor; the steering module is arranged in the unmanned sweeper, the input end of the steering module is in communication connection with the analysis processor through the main control circuit board, and the output end of the steering module is in communication connection with the steering controller of the unmanned sweeper to form control over steering of the unmanned sweeper; the brake module is arranged in the unmanned sweeper, the input end of the brake module is in communication connection with the analysis processor through the main control circuit board, and the output end of the brake module is in communication connection with the brake controller of the unmanned sweeper to form control over braking of the unmanned sweeper; the motor control module is arranged in the unmanned sweeper, the input end of the motor control module is in communication connection with the analysis processor through the main control circuit board, and the output end of the motor control module is in communication connection with the driving motor of the unmanned sweeper to form control over starting or stopping of the driving motor; the obstacle sensing unit is in communication connection with the analysis processor through the main control circuit board, so that sensing of obstacles around the unmanned sweeper is achieved, sensing signals are obtained and transmitted to the analysis processor, and the analysis processor analyzes and processes the sensing signals to generate sensing data; the distance measuring unit is in communication connection with the analysis processor through the main control circuit board, the distance measuring unit and the obstacle sensing unit are in linkage through the analysis processor, the obstacle sensing unit senses obstacles, the distance measuring unit measures the distance between the sensed obstacles and the unmanned sweeper to obtain a distance value, the distance value is transmitted to the analysis processor, and the analysis processor analyzes and compares the distance value and a distance threshold value; the image acquisition unit is in communication connection with the analysis processor through the main control circuit board, the image acquisition unit acquires images of the obstacles to form image signals and transmits the image signals to the analysis processor, and the analysis processor analyzes and processes the image signals to generate image data.
Furthermore, the obstacle sensing unit is an ultrasonic sensor, and the front part, the rear part and two sides of the advancing direction of the unmanned sweeper are respectively provided with the ultrasonic sensor; the distance measuring unit is a distance measuring sensor, and each ultrasonic sensor corresponds to one distance measuring sensor.
Furthermore, the lower part of the front end of the unmanned sweeper in the advancing direction is provided with a falling-prevention sensor which is in communication connection with the analysis processor through the main control circuit board.
Furthermore, the middle part of the front end of the advancing direction of the unmanned sweeper is provided with a collision sensor which is in communication connection with the analysis processor through the main control circuit board.
Furthermore, the image acquisition unit is a depth camera and is erected on the upper part of the front end of the unmanned sweeper in the advancing direction; the depth camera is a TOF-based depth camera.
Furthermore, the top of the unmanned sweeper is provided with an alarm module which is in communication connection with the analysis processor through a main control circuit board, the alarm module is a voice horn, and a voice storage module is arranged in the voice horn.
Further, the distance threshold includes a steering distance threshold and a braking distance threshold, the braking distance threshold being less than the steering distance threshold.
Meanwhile, the invention also provides an obstacle avoidance method of the obstacle avoidance system for the unmanned sweeper, and the obstacle avoidance method comprises the following steps:
s1) during the course of the unmanned sweeper performing the sweeping task, the obstacle sensing unit senses whether an obstacle exists around the unmanned sweeper, and if the obstacle sensing unit senses that an obstacle exists around the unmanned sweeper, then:
s1.1) sensing that an obstacle exists at the front end of the advancing direction of the unmanned sweeper, acquiring an image of the obstacle by an image acquisition unit, transmitting the image to an analysis processor, analyzing and processing an image signal by the analysis processor to generate image data, and entering the step S2);
s1.2) if obstacles are sensed to exist at two sides and/or the rear of the traveling direction of the unmanned sweeper, the step S3 is executed;
s2) sensing that obstacles exist around the unmanned sweeper by the obstacle sensing unit corresponding to the front end of the advancing direction of the unmanned sweeper, and measuring the distance between the obstacles and the unmanned sweeper by the distance measuring unit corresponding to the front end of the advancing direction of the unmanned sweeper to obtain a distance value and transmitting the distance value to the analysis processor: the analysis processor analyzes and compares the distance value with a distance threshold value, and if the distance value is within the range of the steering distance threshold value, the step S2.1) is carried out; if the distance value is within the braking distance threshold value range, entering step S2.2);
s2.1) the analysis processor sends a steering instruction to the steering module through the main control circuit board, and the steering module controls a steering controller of the unmanned sweeper to steer; the steering module controls a steering controller of the unmanned sweeper to steer, and the warning module sends out corresponding steering warning voice;
s2.2) the analysis processor respectively sends stop instructions to the brake module and the motor control module through the main control circuit board, the brake module controls the brake controller of the unmanned sweeper to brake, and the motor control module controls the driving motor to stop running and stops the unmanned sweeper to move; the brake module controls a brake controller of the unmanned sweeper to brake, and the warning module sends out corresponding brake warning voice;
s3) sensing that obstacles exist on two sides and/or the rear of the advancing direction of the unmanned sweeper by obstacle sensing units correspondingly arranged on two sides or the rear of the advancing direction of the unmanned sweeper, continuously measuring the distance between the obstacles and the unmanned sweeper for multiple times by a distance measuring unit, transmitting the obtained multiple distance values to an analysis processor, if the multiple distance values are gradually reduced, indicating that the obstacles move and approach the unmanned sweeper, and entering the step S2.2);
s4) if no obstacle is sensed, the unmanned sweeper continues to advance.
Further, the obstacle avoidance method further includes: s5), when the collision sensor senses that the unmanned sweeper collides with the obstacle, a collision signal is sent to the analysis processor, and the step S2.2) is carried out, and if the collision is not sensed, the unmanned sweeper continues to advance.
Further, the obstacle avoidance method further includes: s6) detecting the distance obliquely below the advancing direction of the unmanned sweeper in real time by the anti-falling sensor, and transmitting the distance measurement value to the analysis processor, wherein the analysis processor is internally provided with a distance stability threshold value, and the distance measurement value is within the distance stability threshold value and indicates that the advancing road surface is flat; if the distance measurement value exceeds the distance stability threshold value, indicating that the traveling road surface is abnormal, indicating that a step or a depression exists at the front end of the traveling direction of the unmanned sweeper, and entering the step S2.1); and if the distance measurement value does not exceed the distance stability threshold value, the unmanned sweeper continues to advance.
The invention has the beneficial effects that:
the obstacle avoidance system is provided with an obstacle sensing unit at the front end of the advancing direction of the unmanned sweeper to sense obstacles in the front of the advancing direction of the unmanned sweeper, and is provided with obstacle sensing units at the two sides and the rear of the advancing direction of the unmanned sweeper to sense obstacles at the two sides and the rear of the advancing direction of the unmanned sweeper;
the distance between the unmanned sweeper and the obstacle is measured by combining the distance measuring unit, and the distance threshold value in the analysis processor is set, wherein the distance threshold value comprises a steering distance threshold value and a braking distance threshold value, the measured distance is turned when being within the steering distance threshold value, and the measured distance stops traveling when being within the braking distance threshold value;
therefore, various conditions are pre-judged and pre-warned, and smooth advancing and cleaning of the unmanned sweeper are guaranteed;
the design of the collision sensor can stop the unmanned sweeper in time when the analysis processor fails to process the collision, so that a triple judgment mechanism of steering, early stopping and collision stopping is formed;
the design of the anti-falling sensor can prevent the unmanned sweeper from falling off, and the unmanned sweeper can turn and avoid before encountering a step or a pit, so that the sensor is sensitive in sensing, high in processing speed and high in efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a control relationship of an obstacle avoidance system for an unmanned sweeper according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an obstacle avoidance method of the obstacle avoidance system for the unmanned sweeper, according to the embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1-2, the obstacle avoidance system for the unmanned sweeper comprises: the control unit 1 is arranged in the unmanned sweeper 100, the control unit 1 comprises a main control circuit board 11, an analysis processor 12 arranged on the main control circuit board 11 and a data storage module 13 in communication connection with the analysis processor 12 through the main control circuit board 11, a data storage interface 14 in communication connection with the data storage module 13 is arranged on the surface of the unmanned sweeper 100 to form transmission of stored data, and a distance threshold (not shown) is arranged in the analysis processor 12; the steering module 2 is arranged in the unmanned sweeper 100, the input end of the steering module 2 is in communication connection with the analysis processor 12 through the main control circuit board 11, and the output end of the steering module 2 is in communication connection with the steering controller 110 of the unmanned sweeper 100, so that steering of the unmanned sweeper 100 is controlled; the braking module 3 is arranged in the unmanned sweeper 100, the input end of the braking module 3 is in communication connection with the analysis processor 12 through the main control circuit board 11, and the output end of the braking module 3 is in communication connection with the braking controller 120 of the unmanned sweeper 100 to form braking control over the unmanned sweeper 100; the motor control module 4 is arranged in the unmanned sweeper 100, the input end of the motor control module 4 is in communication connection with the analysis processor 12 through the main control circuit board 11, and the output end of the motor control module 4 is in communication connection with the driving motor 130 of the unmanned sweeper 100, so that the driving motor 130 is controlled to start or stop; the obstacle sensing unit 5 is in communication connection with the analysis processor 12 through the main control circuit board 11, so that sensing of obstacles around the unmanned sweeper 100 is achieved, sensing signals are obtained and transmitted to the analysis processor 12, and the analysis processor 12 analyzes and processes the sensing signals to generate sensing data; the distance measuring unit 6 is in communication connection with the analysis processor 12 through the main control circuit board 11, the distance measuring unit 6 and the obstacle sensing unit are in linkage through the analysis processor 12, the obstacle sensing unit 5 senses an obstacle, the distance measuring unit 6 measures the distance between the sensed obstacle and the unmanned sweeper 100 to obtain a distance value, the distance value is transmitted to the analysis processor 12, and the analysis processor 12 analyzes and compares the distance value and a distance threshold value; the image acquisition unit 7 is in communication connection with the analysis processor 12 through the main control circuit board 11, the image acquisition unit 7 forms an image signal formed by acquiring an image of the obstacle and transmits the image signal to the analysis processor 12, and the analysis processor 12 analyzes and processes the image signal to generate image data.
The steering controller 110, the brake controller 120, and the driving motor 130 are all components of the unmanned sweeper 100, and the unmanned sweeper 100 may refer to the existing technologies, and are not described herein again.
Further, the obstacle sensing unit 5 is an ultrasonic sensor, and the front part, the rear part and both sides of the unmanned sweeper 100 in the traveling direction are respectively provided with an ultrasonic sensor; the distance measuring unit 6 is a distance measuring sensor, and each ultrasonic sensor corresponds to one distance measuring sensor.
Further, a falling-prevention sensor 8 which is in communication connection with the analysis processor 12 through the main control circuit board 11 is arranged at the lower part of the front end of the unmanned sweeper 100 in the advancing direction.
Dropproof sensor 8 is prior art, optional Arduino infrared sensor-digital dropproof sensor.
Further, the front middle part of the unmanned sweeper 100 in the traveling direction is provided with a collision sensor 9 which is in communication connection with the analysis processor 12 through the main control circuit board 11.
Further, the image acquisition unit 7 is a depth camera, and is erected on the upper portion of the front end of the unmanned sweeper 100 in the advancing direction; the depth camera is a TOF-based depth camera.
Further, the top of the unmanned sweeper 100 is provided with an alarm module 10 which is in communication connection with the analysis processor 12 through the main control circuit board 11, the alarm module 10 is a voice speaker, and a voice storage module (not shown) is arranged in the voice speaker.
Further, the distance threshold includes a steering distance threshold and a braking distance threshold, the braking distance threshold being less than the steering distance threshold.
Meanwhile, the invention also provides an obstacle avoidance method of the obstacle avoidance system for the unmanned sweeper 100, wherein the obstacle avoidance method comprises the following steps:
s1) during the course of the unmanned sweeper 100 executing the sweeping task, the obstacle sensing unit 5 senses whether an obstacle exists around the unmanned sweeper 100, and if the obstacle sensing unit 5 senses that an obstacle exists around the unmanned sweeper 100, then:
s1.1) sensing that there is an obstacle at the front end of the unmanned sweeper 100 in the traveling direction, the image acquisition unit 7 acquires an image of the obstacle and transmits the image to the analysis processor 12, the analysis processor 12 analyzes and processes the image signal to generate image data, and the process proceeds to step S2);
s1.2) if obstacles are sensed to exist at two sides and/or the rear of the traveling direction of the unmanned sweeper 100, entering the step S3);
s2) the obstacle sensing unit 5 corresponding to the front end of the direction of travel of the unmanned sweeper 100 senses that there is an obstacle around the unmanned sweeper 100, and the distance measuring unit corresponding to the front end of the direction of travel of the unmanned sweeper 100 measures the distance between the obstacle and the unmanned sweeper 100 to obtain a distance value and transmits the distance value to the analysis processor 12:
the analysis processor 12 analyzes and compares the distance value with the distance threshold value, and if the distance value is within the range of the steering distance threshold value, the step S2.1) is carried out;
if the distance value is within the braking distance threshold value range, entering step S2.2);
s2.1) the analysis processor 12 sends a steering instruction to the steering module 2 through the main control circuit board 11, and the steering module 2 controls the steering controller 110 of the unmanned sweeper 100 to steer; the steering module 2 controls the steering controller 110 of the unmanned sweeper 100 to steer, and the warning module 10 sends out corresponding steering warning voice;
s2.2) the analysis processor 12 sends a stop instruction to the brake module 3 and the motor control module 4 through the main control circuit board 11, the brake module 3 controls the brake controller 120 of the unmanned sweeper 100 to brake, and the motor control module 4 controls the driving motor 130 to stop running, so as to stop the unmanned sweeper 100 from moving;
the braking module 3 controls a braking controller of the unmanned sweeper 100 to brake, and the warning module sends out corresponding braking warning voice;
s3) the obstacle sensing units 5 correspondingly disposed at both sides or at the rear of the traveling direction of the unmanned sweeper 100 sense that there is an obstacle at both sides and/or at the rear of the traveling direction of the unmanned sweeper 100, the distance measuring unit 6 continuously measures the distance between the obstacle and the unmanned sweeper 100 for a plurality of times, and transmits the obtained plurality of distance values to the analysis processor 12, if the plurality of distance values are gradually reduced, it is indicated that the obstacle is moving and approaching the unmanned sweeper 100, and the process proceeds to step S2.2);
s4) if no obstacle is sensed, the unmanned sweeper 100 continues to advance.
Further, the obstacle avoidance method further includes: s5) the collision sensor 9 senses that the unmanned sweeper 100 collides with the obstacle, sends a collision signal to the analysis processor 12, and proceeds to step S2.2), and if no collision is sensed, the unmanned sweeper 100 continues to advance.
Further, the obstacle avoidance method further includes: s6) the anti-falling sensor 8 detects the distance obliquely below the advancing direction of the unmanned sweeper 100 in real time and transmits the distance measurement value to the analysis processor 12, the analysis processor 12 is internally provided with a distance stability threshold, and the distance measurement value is within the distance stability threshold, which indicates that the advancing road surface is flat; if the distance measurement value exceeds the distance stability threshold value, indicating that the traveling road surface is abnormal, indicating that a step or a depression exists at the front end of the traveling direction of the unmanned sweeper 100, and entering the step S2.1); if the range finding value does not exceed the range stability threshold, the unmanned sweeper 100 continues to advance.
According to the obstacle avoidance system for the unmanned sweeper, the obstacle induction unit 5 is arranged at the front end of the advancing direction of the unmanned sweeper 100 to form induction on the obstacle in front of the advancing direction of the unmanned sweeper 100, and the obstacle induction units 5 are arranged on the two sides and the rear of the advancing direction of the unmanned sweeper 100 to form induction on the two sides and the rear of the advancing direction of the unmanned sweeper 100;
the obstacle sensing unit 5 is preferably an ultrasonic sensor, and the sensing accuracy is high;
the distance between the unmanned sweeper 100 and the obstacle is measured by combining the distance measuring unit 6, and a distance threshold value is set in the analysis processor 12, wherein the distance threshold value comprises a steering distance threshold value and a braking distance threshold value, the measured distance is turned when the distance is within the steering distance threshold value, and the measured distance stops traveling when the distance is within the braking distance threshold value;
therefore, various conditions are pre-judged and pre-warned, and smooth advancing and cleaning of the unmanned sweeper are guaranteed;
the design of the collision sensor 9 can stop the unmanned sweeper in time when the analysis processor fails to process the collision, so that a triple judgment mechanism of steering, early stopping and collision stopping is formed;
the design of the anti-falling sensor 8 can prevent the unmanned sweeper from falling off, and the unmanned sweeper can turn and avoid before encountering a step or a pit, so that the sensor is sensitive in sensing, high in processing speed and high in efficiency.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned machine of sweeping floor keeps away barrier system which characterized in that, keep away the barrier system and include:
the control unit is arranged in the unmanned sweeper and comprises a main control circuit board, an analysis processor arranged on the main control circuit board and a data storage module in communication connection with the analysis processor through the main control circuit board, a data storage interface in communication connection with the data storage module is arranged on the surface of the unmanned sweeper to form transmission of stored data, and a distance threshold is arranged in the analysis processor;
the steering module is arranged in the unmanned sweeper, the input end of the steering module is in communication connection with the analysis processor through the main control circuit board, and the output end of the steering module is in communication connection with the steering controller of the unmanned sweeper to form control over steering of the unmanned sweeper;
the brake module is arranged in the unmanned sweeper, the input end of the brake module is in communication connection with the analysis processor through the main control circuit board, and the output end of the brake module is in communication connection with the brake controller of the unmanned sweeper to form control over braking of the unmanned sweeper;
the motor control module is arranged in the unmanned sweeper, the input end of the motor control module is in communication connection with the analysis processor through the main control circuit board, and the output end of the motor control module is in communication connection with the driving motor of the unmanned sweeper to form control over starting or stopping of the driving motor;
the obstacle sensing unit is in communication connection with the analysis processor through the main control circuit board, so that sensing of obstacles around the unmanned sweeper is achieved, sensing signals are obtained and transmitted to the analysis processor, and the analysis processor analyzes and processes the sensing signals to generate sensing data;
the distance measuring unit is in communication connection with the analysis processor through the main control circuit board, the distance measuring unit and the obstacle sensing unit are in linkage through the analysis processor, the obstacle sensing unit senses obstacles, the distance measuring unit measures the distance between the sensed obstacles and the unmanned sweeper to obtain a distance value, the distance value is transmitted to the analysis processor, and the analysis processor analyzes and compares the distance value and a distance threshold value;
the image acquisition unit is in communication connection with the analysis processor through the main control circuit board, the image acquisition unit acquires images of the obstacles to form image signals and transmits the image signals to the analysis processor, and the analysis processor analyzes and processes the image signals to generate image data.
2. The obstacle avoidance system for the unmanned sweeper of claim 1, wherein the obstacle sensing unit is an ultrasonic sensor, and the ultrasonic sensor is respectively arranged at the front part, the rear part and two sides of the unmanned sweeper in the traveling direction;
the distance measuring unit is a distance measuring sensor, and each ultrasonic sensor corresponds to one distance measuring sensor.
3. The obstacle avoidance system of claim 1, wherein a drop-prevention sensor is disposed at a lower portion of a front end of the unmanned sweeper in the traveling direction and in communication with the analysis processor through a main control circuit board.
4. The obstacle avoidance system of claim 1, wherein a collision sensor is disposed in the middle of the front end of the unmanned sweeper in the traveling direction and in communication with the analysis processor via a main control circuit board.
5. The obstacle avoidance system for the unmanned sweeper of claim 1, wherein the image acquisition unit is a depth camera mounted on the upper portion of the front end of the unmanned sweeper in the direction of travel; the depth camera is a TOF-based depth camera.
6. The obstacle avoidance system of the unmanned sweeping machine, according to claim 1, wherein an alarm module is disposed on the top of the unmanned sweeping machine and is in communication connection with the analysis processor through a main control circuit board, the alarm module is a voice speaker, and a voice storage module is disposed in the voice speaker.
7. The obstacle avoidance system for an unmanned sweeper of claim 1, wherein the distance threshold comprises a steering distance threshold and a braking distance threshold, the braking distance threshold being less than the steering distance threshold.
8. An obstacle avoidance method of the obstacle avoidance system for the unmanned sweeping machine according to any one of claims 1 to 7, wherein the obstacle avoidance method comprises the following steps:
s1) during the course of the unmanned sweeper performing the sweeping task, the obstacle sensing unit senses whether an obstacle exists around the unmanned sweeper, and if the obstacle sensing unit senses that an obstacle exists around the unmanned sweeper, then:
s1.1) sensing that an obstacle exists at the front end of the advancing direction of the unmanned sweeper, acquiring an image of the obstacle by an image acquisition unit, transmitting the image to an analysis processor, analyzing and processing an image signal by the analysis processor to generate image data, and entering the step S2);
s1.2) if obstacles are sensed to exist at two sides and/or the rear of the traveling direction of the unmanned sweeper, the step S3 is executed;
s2) sensing that obstacles exist around the unmanned sweeper by the obstacle sensing unit corresponding to the front end of the advancing direction of the unmanned sweeper, and measuring the distance between the obstacles and the unmanned sweeper by the distance measuring unit corresponding to the front end of the advancing direction of the unmanned sweeper to obtain a distance value and transmitting the distance value to the analysis processor:
the analysis processor analyzes and compares the distance value with a distance threshold value, and if the distance value is within the range of the steering distance threshold value, the step S2.1) is carried out;
if the distance value is within the braking distance threshold value range, entering step S2.2);
s2.1) the analysis processor sends a steering instruction to the steering module through the main control circuit board, and the steering module controls a steering controller of the unmanned sweeper to steer;
the steering module controls a steering controller of the unmanned sweeper to steer, and the warning module sends out corresponding steering warning voice;
s2.2) the analysis processor respectively sends stop instructions to the brake module and the motor control module through the main control circuit board, the brake module controls the brake controller of the unmanned sweeper to brake, and the motor control module controls the driving motor to stop running and stops the unmanned sweeper to move;
the brake module controls a brake controller of the unmanned sweeper to brake, and the warning module sends out corresponding brake warning voice;
s3) sensing that obstacles exist on two sides and/or the rear of the advancing direction of the unmanned sweeper by obstacle sensing units correspondingly arranged on two sides or the rear of the advancing direction of the unmanned sweeper, continuously measuring the distance between the obstacles and the unmanned sweeper for multiple times by a distance measuring unit, transmitting the obtained multiple distance values to an analysis processor, if the multiple distance values are gradually reduced, indicating that the obstacles move and approach the unmanned sweeper, and entering the step S2.2);
s4) if no obstacle is sensed, the unmanned sweeper continues to advance.
9. The obstacle avoidance method of the obstacle avoidance system for the unmanned sweeper according to claim 8, further comprising:
s5), when the collision sensor senses that the unmanned sweeper collides with the obstacle, a collision signal is sent to the analysis processor, and the step S2.2) is carried out, and if the collision is not sensed, the unmanned sweeper continues to advance.
10. The obstacle avoidance method of the obstacle avoidance system for the unmanned sweeper according to claim 8, further comprising:
s6) detecting the distance obliquely below the advancing direction of the unmanned sweeper in real time by the anti-falling sensor, and transmitting the distance measurement value to the analysis processor, wherein the analysis processor is internally provided with a distance stability threshold value, and the distance measurement value is within the distance stability threshold value and indicates that the advancing road surface is flat;
if the distance measurement value exceeds the distance stability threshold value, indicating that the traveling road surface is abnormal, indicating that a step or a depression exists at the front end of the traveling direction of the unmanned sweeper, and entering the step S2.1);
and if the distance measurement value does not exceed the distance stability threshold value, the unmanned sweeper continues to advance.
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