WO2022117001A1 - Intelligent obstacle avoidance method of mobile robot, and mobile robot - Google Patents
Intelligent obstacle avoidance method of mobile robot, and mobile robot Download PDFInfo
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- WO2022117001A1 WO2022117001A1 PCT/CN2021/134820 CN2021134820W WO2022117001A1 WO 2022117001 A1 WO2022117001 A1 WO 2022117001A1 CN 2021134820 W CN2021134820 W CN 2021134820W WO 2022117001 A1 WO2022117001 A1 WO 2022117001A1
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- mobile robot
- light intensity
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- 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
Definitions
- the invention relates to the technical field of robots, in particular to an intelligent obstacle avoidance method for a mobile robot and a mobile robot.
- a first aspect of the present application provides an intelligent obstacle avoidance method for a mobile robot.
- acquiring a parameter reflecting the lighting situation when the mobile robot is working in the working area includes: acquiring a real-time light intensity value of the mobile robot.
- the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to keep the current state and continue to walk and/or work; if the height value is less than the first preset height threshold, and when the real-time light intensity When the value is less than the preset light intensity threshold, the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working.
- the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to a preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot to maintain a working state; if the height value is less than the first preset height threshold , and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the mobile robot is controlled to stop working.
- the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is greater than or equal to a first preset height threshold, then The mobile robot is controlled to perform preset obstacle avoidance actions, and the mobile robot is controlled to work.
- acquiring parameters reflecting the lighting conditions when the mobile robot is working in the working area includes: acquiring the current working time, seasonal parameters, current location and weather conditions when the mobile robot is working; At least one of the current working time, seasonal parameters, current location and weather conditions determines the parameter reflecting the lighting conditions when the mobile robot is working in the working area.
- An embodiment of the present invention also provides a mobile robot, the mobile robot walks and/or works in a to-be-worked area defined by a boundary, the mobile robot is provided with a robot body, and a working robot is provided on the robot body.
- An assembly, a depth information acquisition device, and a processor the depth information acquisition device is configured to acquire depth information, the depth information includes depth information of the surface of the area to be worked and depth information of obstacles, the obstacles located in the the surface of the to-be-worked area where the mobile robot is located;
- the working assembly is configured to perform predetermined work;
- the processor is signal-connected to the working assembly and the depth information acquisition device, and is used to control the walking and/or the mobile robot or work;
- the processor is configured to, when a target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; and controlling the walking and/or working of the mobile robot based on the height value and the parameter reflecting the lighting
- a light intensity information acquisition device is configured on the mobile robot; the real-time light intensity value acquired by the light intensity information acquisition device is used as the reflection when the mobile robot is working in the work area. Parameters for lighting conditions.
- the light intensity information acquisition device includes the depth information acquisition device.
- the depth information acquisition device includes at least one of the following: a TOF camera, a binocular camera, or a structured light camera.
- the processor is configured to control the walking and/or work of the mobile robot based on the height value and the real-time light intensity value, including:
- the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the working components of the mobile robot to keep the current state and continue to work, and control the mobile robot
- the walking component keeps the current state and continues to walk
- a contact sensor is configured on the mobile robot, the contact sensor is configured to detect the target object through direct collision, and the first preset height threshold is smaller than the height of the contact sensor .
- the height value of the target object relative to the surface of the area to be worked is determined; the parameters reflecting the lighting conditions of the mobile robot when working in the work area are obtained; based on the height value And the parameters reflecting the light conditions when the mobile robot works, control the walking and/or work of the mobile robot.
- FIG. 1 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in the first embodiment of the application;
- FIG. 2 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a second embodiment of the present application
- FIG. 3 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a third embodiment of the present application
- FIG. 4 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fourth embodiment of the present application
- FIG. 5 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fifth embodiment of the present application
- FIG. 6 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot according to an embodiment of the application.
- FIG. 7 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot in another embodiment of the present application.
- FIG. 8 is a schematic structural diagram of a mobile robot in an embodiment of the application.
- FIG. 9 is a schematic structural diagram of a lawn mowing robot in an embodiment of the application.
- Fig. 10a is a left side view of the lawn mowing robot in an embodiment of the application.
- 10b is a top view of a lawn mowing robot in another embodiment of the present application.
- FIG. 11 is a schematic diagram of an application scenario of the lawnmower robot in an embodiment of the application.
- FIG. 12 is a schematic flowchart of an intelligent obstacle avoidance method for a mobile robot according to another embodiment of the present application.
- the terms “installed”, “connected” or “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components.
- installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components.
- an intelligent obstacle avoidance method for a mobile robot is provided.
- a depth information acquisition device is pre-installed on the mobile robot and a working component is set on the mobile robot.
- Methods include:
- Step 12 obtain the depth information of the area to be worked by the mobile robot through the depth information acquisition device, the depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located in the forward direction of the mobile robot. the surface of the area to be worked on.
- Step 14 determining the height value of the obstacle relative to the surface of the area to be worked based on the depth information
- Step 16 obtaining the real-time light intensity value of the mobile robot in the forward direction
- Step 18 Control the motion of the working component of the mobile robot based on the height value and the real-time light intensity value.
- a method for intelligent obstacle avoidance of a mobile robot wherein a depth information acquisition device and a working component are set on the mobile robot, and the method includes:
- Step 1201 when a target object (also referred to as an obstacle hereinafter) is detected, determine the height value of the target object relative to the surface of the area to be worked;
- Step 1202 obtain parameters reflecting the lighting conditions of the mobile robot when working in the work area
- Step 1203 Control the walking and/or work of the mobile robot based on the height value and the parameter reflecting the lighting situation when the mobile robot is working.
- the target object can be a small animal such as a small hedgehog, a mouse or a snake, or a fallen leaf, a small leather ball, and the like.
- the mobile robot is provided with a robot body, a working component arranged on the robot body, a depth information acquisition device and a processor, and the depth information acquisition device is configured to acquire depth information, and the depth information includes the surface of the area to be worked.
- Depth information and depth information of the target object the target object is located on the surface of the to-be-worked area where the mobile robot is located;
- the work component is configured to perform predetermined work;
- the processor is connected to the work component and the depth information acquisition device with signals for controlling the walking of the mobile robot and/or work;
- the processor is configured to, when the target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; obtain and reflect that the mobile robot is working in the work area The parameters of the lighting conditions; control the walking and/or work of the mobile robot based on the height value and the parameters reflecting the lighting conditions when the mobile robot is working.
- the depth information acquisition device may include at least one of a Time Of Flight (TOF) camera, a binocular camera or a structured light camera, wherein the TOF camera captures the near-infrared light from emission to reception through a proprietary sensor
- TOF Time Of Flight
- the binocular camera uses the dual cameras to shoot the object, and then calculates the distance of the object through the triangle principle
- the structured light camera uses the structured light to project specific light information on the surface of the object, which is collected by the camera, and based on the object caused by the Changes in the light signal to calculate the position and depth of the object and other information, and then restore the entire three-dimensional space.
- a binocular camera is used to obtain the depth information (height value) of the target object on the area to be worked relative to the surface of the area to be worked.
- the depth information can include the distance and angle of the target object on the area to be worked and the mobile robot, so that the mobile robot can obtain obstacles according to the distance and angle of multiple points of the object (such as obstacles or grass) on the area to be worked.
- the three-dimensional model of the object and the lawn is obtained, and then the height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area is obtained, and the obstacle can be located in or near the moving direction of the mobile robot.
- the binocular camera can be set at the top of the mobile robot.
- the distance between the installation position of the binocular camera and the surface of the working area of the mobile robot can be set to 15 cm-25 cm; and the central axis of the mirror surface of the binocular camera can be set to the mobile robot.
- the binocular camera detects obliquely downward, so as to accurately detect the depth information of the low obstacle on the surface of the area to be worked in the advancing direction of the mobile robot and the depth information of the surface of the area to be worked, Avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawn mower robot.
- the technical principle of how to use the depth camera to obtain the depth information of the photographed object and construct a three-dimensional model of the photographed object it is the common knowledge of those skilled in the art, and will not be repeated here.
- the mobile robot may be an outdoor robot such as a lawn mowing robot, a fertilizer application robot, an irrigation robot, a snow removal robot, or a cleaning robot. At least one of an irrigation assembly, a snow removal assembly, or a cleaning assembly, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot.
- the mobile robot obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located.
- the real-time light intensity value When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.
- acquiring a parameter reflecting the lighting situation of the mobile robot when it is working in the work area includes: acquiring a real-time light intensity value of the mobile robot.
- the light intensity value can be obtained by a device for obtaining light intensity information configured on the mobile robot, for example, a light intensity sensor such as a photosensitive sensor.
- the light intensity value can also be obtained through the above-mentioned depth information obtaining device.
- acquiring parameters reflecting the lighting conditions when the mobile robot is working in the work area includes: acquiring the current working time, seasonal parameters and weather conditions when the mobile robot is working; And at least one of the weather conditions is input to the illumination determination model, so as to obtain parameters reflecting the illumination conditions when the mobile robot works in the work area.
- the current position of the robot such as the current latitude and longitude information, can also be obtained, and the information can be input into the lighting to determine certain parameters to obtain parameters reflecting the current lighting conditions. That is, the parameters reflecting the lighting conditions when the mobile robot works in the work area can be determined according to at least one of the current working time, seasonal parameters, current location and weather conditions.
- the robot in summer it is sunny at 5:30 in the northern hemisphere, when the light is daytime, so the robot can use the daytime walking and/or work strategy when it encounters an obstacle, while in winter it is cloudy at 5:30 in the northern hemisphere, when the light is at night, so the robot can A night-time walking and/or work strategy may be employed in the event of an obstacle.
- the working strategy of determining the daytime or night encountering an obstacle by time and season is the same as the working strategy of determining the daytime or night encountering an obstacle by using the real-time light intensity value. For details, please refer to the following embodiments.
- the mobile robot when encountering an obstacle, if the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to keep the current state and continue to walk and/or work, that is, , control the working component of the mobile robot to maintain the current state and continue to work, and control the walking component of the mobile robot to maintain the current state and continue to walk; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold When , the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working, that is, the walking component of the mobile robot is controlled to keep the current state and continues to walk, and the working component of the mobile robot is controlled to stop working.
- a touch sensor is configured on the mobile robot, and the touch sensor is configured to detect the target object through direct collision, wherein the first preset height threshold is less than the height of the touch sensor.
- the touch sensor may be a shroud 306 on a lawn mower.
- the lawnmower when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to ignore the obstacle and keep the current working and walking state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to keep the current walking state.
- the mobile robot when encountering an obstacle, if the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the The mobile robot performs a preset obstacle avoidance action, and controls the mobile robot to maintain a working state; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to execute the preset Set the obstacle avoidance action, and control the mobile robot to stop working.
- the lawnmower when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to turn to avoid the obstacle while maintaining the working state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to avoid the obstacle. Steer to avoid the obstacle without stopping.
- the mobile robot when encountering an obstacle, if the height value of the obstacle is detected to be greater than or equal to a first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the Describe the work of the mobile robot. That is, when the height of the obstacle is greater than the height of the shield, the lawn mower is controlled to avoid obstacles.
- control of the motion of the working component of the mobile robot based on the height value and the real-time light intensity value includes:
- Step 182 if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to move forward and controlling the work component to perform work actions;
- Step 184 if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to move forward and The work component is controlled to stop performing the work action.
- the nighttime obstacle avoidance range interval of the mobile robot may be set to be greater than the second preset height threshold and less than the first preset height threshold.
- the real-time light intensity value of the mobile robot in the forward direction is less than the preset light intensity threshold, and the height value of the obstacle on the surface of the area to be worked in the forward direction of the mobile robot relative to the surface of the area to be worked is greater than the second preset height
- the threshold is smaller than the first preset height threshold, it is determined that a nighttime obstacle is detected, and the working components of the mobile robot are controlled to stop working to avoid damage to small nocturnal animals such as hedgehogs
- the real-time light intensity value of the mobile robot in the forward direction It is greater than or equal to the preset light intensity threshold, indicating that the mobile robot is in the daytime working mode, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, control the mobile robot to move forward and control all The work component performs the work action.
- the mobile robot Since small nocturnal animals rarely appear during the day, the mobile robot is set to go straight and control the work component to perform the work action when detecting the obstacle with the height value within the nighttime obstacle avoidance range during the day. For example, when the mobile robot is a lawnmower and works during the day, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, the lawnmower robot is still controlled to move forward and perform the mowing action When working at night, if it is detected that the height value is greater than the second preset height threshold and less than the first preset height threshold, the mowing robot is controlled to move forward and the mowing component of the mowing robot is controlled to stop mowing. Actions to improve the intelligence of the lawnmower robot while avoiding harm to the nocturnal animals when the lawnmower robot is mowing at night.
- the step of controlling the action of the working component of the mobile robot based on the height value and the real-time light intensity value includes:
- Step 185 if the height value is greater than or equal to a first preset height threshold, control the mobile robot to perform a preset obstacle avoidance action;
- Step 186 if the height value is less than or equal to a second preset height threshold value, control the mobile robot to move forward and control the work component to perform a work action.
- the obstacle avoidance height threshold of the mobile robot can be set as the first preset height threshold. If the value is greater than or equal to the first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action. For example, when the mobile robot detects that the height of people, fences or trees on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is greater than or equal to a first preset height threshold, the mobile robot is controlled to execute Preset obstacle avoidance action.
- the first preset height threshold can be set to be less than or equal to the height value of the body of the mobile robot, so that the mobile robot can accurately identify obstacles with a height value lower than that of the body of the mobile robot, so as to achieve intelligent Obstacle avoidance, to avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles such as kittens, hedgehogs or puppies, so as to effectively improve the intelligence of mobile robots. It is also possible to set the mobile robot to control the mobile robot to move forward and control the height value of the obstacle on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is less than or equal to the second preset height threshold.
- the work component performs work actions to prevent the mobile robot from taking leaves, metal poles or wooden poles and other very low objects with relatively small height values or hidden in the grass as obstacles that need to be avoided and performing preset avoidance.
- Obstructive action For example, when the mobile robot is a lawn mowing robot, if it is detected that the height of the obstacle on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is less than or equal to the second preset height threshold, control the lawn mowing When the robot moves forward, it controls the mowing component to execute the preset mowing action, so as to prevent the mowing robot from taking leaves, metal poles or wooden poles and other very low objects with small height values or hidden in the grass as the need to avoid obstacles, resulting in missed mowing areas.
- the described method for intelligent obstacle avoidance of a mobile robot includes:
- Step 11 setting a light intensity information acquisition device on the mobile robot in advance
- Step 161 Acquire the real-time light intensity value of the mobile robot in the forward direction through the light intensity information acquisition device.
- the real-time light intensity value of the mobile robot in the forward direction is obtained by setting a light intensity information acquisition device on the mobile robot in advance, for example, the waiting time of the mobile robot.
- the local light intensity value of the working area is used to judge whether it is daytime through the real-time light intensity value.
- the mobile robot is controlled to work in the night work mode.
- the mobile robot is controlled to move forward and the working component is controlled to stop performing a working action, so as to avoid damage to a nocturnal small animal such as a hedgehog.
- the step of acquiring the light intensity value of the mobile robot in the forward direction includes:
- Step 162 Acquire the real-time light intensity value of the mobile robot in the forward direction through the depth information acquisition device.
- the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal
- the amplitude of the output current of the photoelectric sensor is within a certain light intensity Within the range, it increases with the increase of the intensity value of the received light. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work. in night work mode.
- the mobile robot When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid damage to a nocturnal small animal such as a hedgehog.
- the clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device.
- steps in the flowcharts of FIGS. 1-5 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, although at least a part of the steps in FIG. 1-FIG. 5 may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a stage.
- an intelligent obstacle avoidance device 300 for a mobile robot including a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 can be arranged in the mobile robot.
- the fuselage is used to obtain the depth information of the to-be-worked area of the mobile robot, the depth information includes the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles are located in the to-be-worked area in the forward direction of the mobile robot Surface;
- the processor 303 can be arranged on the body of the mobile robot, the processor 303 is connected to the depth information acquisition device 302, and the processor 303 is configured as:
- the motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
- the mobile robot may be an outdoor robot such as a lawn mower, a fertilization robot, an irrigation robot, a snow removal robot or a cleaning robot. Therefore, the working components of the mobile robot described in the embodiments of the present application may be a mower At least one of a grass component, a fertilization component, an irrigation component, a snow removal component, or a cleaning component, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot.
- the processor obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located.
- the real-time light intensity value is When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.
- the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal
- the amplitude of the output current of the photoelectric sensor is within a certain light intensity range, and with the receiving The intensity value of the light increases with the increase. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work in the nighttime working mode.
- the mobile robot When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.
- the clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device.
- the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the grayscale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so as to obtain the real-time light intensity value and depth information according to the real-time light intensity value.
- the height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot acquired by the device controls the movement of the working assembly of the mobile robot.
- an intelligent obstacle avoidance device 400 for a mobile robot including a depth information acquisition device 302 , a processor 303 and a light intensity information acquisition device 304 .
- the depth information acquisition device 302 can be arranged on the body of the mobile robot, and is used to acquire the depth information of the to-be-worked area of the mobile robot, the depth information including the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles located at The surface of the area to be worked in the forward direction of the mobile robot;
- the light intensity information acquisition device 304 is used to obtain the real-time light intensity value of the mobile robot in the forward direction;
- the processor 303 and the depth information acquisition device 302 and the light intensity information acquisition Devices 304 are all connected and configured to:
- the motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
- the mobile robot when the real-time light intensity value obtained by the light intensity information acquisition device can be set to be greater than or equal to the preset light intensity threshold, it is determined that it is in the daytime, otherwise, the mobile robot is controlled to work in the nighttime working mode.
- the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.
- a mobile robot 500 including a robot body 301 , a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 is disposed on the robot body 301 , which is used to obtain the depth information of the area to be worked by the mobile robot, the depth information including the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot;
- the processor 303 is arranged on the robot body 301, is connected to the depth information acquisition device 302, and is configured as:
- the motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
- the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the gray-scale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so that according to the real-time light intensity
- the height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot obtained by the value and depth information acquisition device controls the motion of the working component of the mobile robot.
- a nocturnal obstacle such as a nocturnal hedgehog
- the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.
- the depth information acquiring apparatus 302 includes at least one of a TOF camera, a binocular camera, or a structured light camera.
- a lawn mowing robot 600 including a robot body 301 , a depth information acquisition device 302 , a processor 303 , and light intensity information
- An acquisition device 304 and a mowing assembly 305 are provided on the robot body 301 for executing a preset mowing action
- a depth information acquisition device 302 is provided on the robot body 301 for acquiring the depth of the area to be worked by the mobile robot
- the depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot
- the light intensity information acquisition device 304 is arranged on the robot body 301 , used to obtain the real-time light intensity value of the mobile robot in the forward direction
- the processor 303 is arranged on the robot body 301, and is connected to the mowing component 305, the depth information acquisition device 302 and
- the action of the mowing assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
- the robot body controls the robot body to move forward and control the mowing component to perform a preset mowing action, and when the real-time light intensity value is less than the preset light intensity
- the robot body is controlled to move forward and the mowing component is controlled to stop executing the mowing action.
- the depth information of the surface of the area to be worked and the depth information of obstacles in the forward direction of the lawnmower robot are obtained by using the depth information obtaining device 302 provided on the lawnmower robot, and the obstacles are located in the mobile robot.
- the surface of the area to be worked in the forward direction for example, the binocular camera 3021 can be used to obtain the depth information of the obstacles on the surface of the area to be worked in the forward direction of the mobile robot, and the depth information can include the distance between the object on the area to be worked by the mobile robot and the mobile robot and angle, so that the mobile robot can obtain the three-dimensional model of obstacles and lawn according to the distance and angle of multiple points of objects (such as obstacles or grass) on the area to be worked, and then obtain the moving robot in the forward direction.
- the height value Hmax of the obstacles on the surface of the working area relative to the surface of the area to be worked.
- the processor 303 acquires the real-time light intensity value of the mobile robot in the forward direction, and controls the movement of the working components of the mobile robot based on the height value and the real-time light intensity value. If the height value Hmax is greater than or equal to the first preset height threshold, the processor 303 controls the lawnmower robot to perform a preset obstacle avoidance action, such as moving backward, moving forward at a corner, or revolving around a preset trajectory to stay away from the obstacle 800 , the first preset height threshold can be set as the lower limit value of the nursery or the upper limit value of the hedgehog, and is less than or equal to the height value of the fuselage of the lawn mowing robot, so that the lawn mowing robot can accurately identify the height value Obstacles with a lower height value than the lawnmower robot to achieve intelligent obstacle avoidance, avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawnmower robot .
- a preset obstacle avoidance action such as
- the nighttime obstacle avoidance range interval is greater than or equal to the second preset height threshold and less than or equal to the first preset height threshold, if so, it is determined that a nighttime obstacle is detected; if the real-time light intensity value is greater than or equal to the When the preset light intensity threshold is mentioned, it means that the lawn mower is working in the daytime working mode.
- the threshold is less than or equal to the first preset height threshold, it is determined that a low inanimate obstacle located in the lawn is detected, and the mowing robot is controlled to move forward and perform a preset mowing action to control the mowing robot to cross the low threshold. It completes the preset mowing action while short and inanimate obstacles, which effectively improves the intelligence of the mowing robot and avoids the mowing robot from harming small animals at night when mowing the grass at night.
- the processor 303 is configured to:
- the robot body 301 is controlled to move forward and the mowing component 305 is controlled to perform a preset mowing action.
- the height value is less than the second preset height threshold, it is determined that the obstacle on the surface of the area to be worked in the forward direction of the lawnmower robot 600 is a very low obstacle, such as One or more of fallen leaves, metal poles or waste paper boxes, etc., to control the lawnmower robot 600 to move forward and execute the preset lawnmowing action, so as to avoid the obstacle avoidance action of the lawnmower robot caused by extremely low obstacles on the lawn. This avoids the occurrence of missed mowing areas.
- a very low obstacle such as One or more of fallen leaves, metal poles or waste paper boxes, etc.
- the above-mentioned mobile robot intelligent obstacle avoidance device or each module in the mobile robot can be implemented in whole or in part by software, hardware and combinations thereof.
- the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
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Abstract
An intelligent obstacle avoidance method of a mobile robot, and the mobile robot. A depth information obtaining device is provided on the mobile robot in advance, and a working assembly is provided on the mobile robot. The obstacle avoidance method comprises: step 12, obtaining, by means of the depth information obtaining device, depth information of an area for working of the mobile robot, the depth information comprising depth information of a surface of said area and depth information of an obstacle, and the obstacle being located on the surface of said area in the forward direction of the mobile robot; step 14, determining a height value of the obstacle with respect to the surface of said area on the basis of the depth information; step 16, obtaining a real-time light intensity value of the mobile robot in the forward direction; and step 18, controlling, on the basis of the height value and the real-time light intensity value, the working assembly of the mobile robot to move. In this way, an obstacle avoidance failure because some low obstacles cannot be recognized can be avoided, and small animals traveling at night can be prevented from being accidentally injured.
Description
本发明涉及机器人技术领域,特别是涉及一种移动机器人智能避障方法及移动机器人。The invention relates to the technical field of robots, in particular to an intelligent obstacle avoidance method for a mobile robot and a mobile robot.
随着人工智能技术的快速发展,各种机器人出现在人们的日常生活中,在方便人们日常生活的同时,逐渐扮演起更多的角色,其中,移动机器人是目前市场上最常见的一种机器人。With the rapid development of artificial intelligence technology, various robots appear in people's daily life, and gradually play more roles while facilitating people's daily life. Among them, mobile robots are the most common type of robots on the market. .
传统的移动机器人一般利用超声波传感器、雷达或激光发射器实现避障,而此类避障传感器一般通过测量发射信号遇到障碍物后返回的飞行时间来间接测量障碍物的实时距离,以根据该实时距离控制移动机器人执行避障动作。然而在现有技术中,移动机器人通常不能识别一些低矮障碍物而导致避障失败。Traditional mobile robots generally use ultrasonic sensors, radar or laser transmitters to avoid obstacles, and such obstacle avoidance sensors generally indirectly measure the real-time distance of obstacles by measuring the flight time of the transmitted signal after encountering the obstacle. Real-time distance control mobile robot to perform obstacle avoidance action. However, in the prior art, mobile robots usually fail to recognize some low obstacles and fail to avoid obstacles.
发明内容SUMMARY OF THE INVENTION
基于此,有必要针对传统的移动机器人因不能有效识别低矮障碍物而导致避障失败的技术问题,提供一种移动机器人智能避障方法及移动机器人。Based on this, it is necessary to provide an intelligent obstacle avoidance method for a mobile robot and a mobile robot to solve the technical problem that the traditional mobile robot fails to avoid obstacles due to its inability to effectively identify low obstacles.
为实现上述目的及其他目的,本申请的第一方面提供一种移动机器人智能避障方法,所述移动机器人在边界限定的待工作区域内行走和/或工作,所述方法包括:在检测到目标物体的情况下,确定所述目标物体相对于所述待工作区域表面的高度值;获取反映所述移动机器人在所述工作区域中工作时光照情况的参数;基于所述高度值以及所述反映所述移动机器人工作时光照情况的参数控制所述移动机器人的行走和/或工作。In order to achieve the above object and other objects, a first aspect of the present application provides an intelligent obstacle avoidance method for a mobile robot. In the case of a target object, determine the height value of the target object relative to the surface of the area to be worked; obtain parameters reflecting the lighting conditions of the mobile robot when working in the work area; based on the height value and the The parameters reflecting the lighting conditions when the mobile robot works control the walking and/or work of the mobile robot.
在一个实施例中,获取反映所述移动机器人在所述工作区域中工作时光照情况的参数,包括:获取所述移动机器人的实时光强值。In one embodiment, acquiring a parameter reflecting the lighting situation when the mobile robot is working in the working area includes: acquiring a real-time light intensity value of the mobile robot.
在一个实施例中,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:若所述高度值小于第一预设高度阈值,且当所述实时光强值大于或等于预设光强阈值时,控制所述移动机器人保持当前状态继续行走和/或工作;若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人保持当前状态继续行走,并控制所述移动机器人停止工作。In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to keep the current state and continue to walk and/or work; if the height value is less than the first preset height threshold, and when the real-time light intensity When the value is less than the preset light intensity threshold, the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working.
在一个实施例中,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:若所述高度值小于第一预设高度阈值,且当所述 实时光强值大于或等于预设光强阈值时,控制所述移动机器人执行预设的避障动作,并控制所述移动机器人保持工作状态;若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人执行预设的避障动作,并控制所述移动机器人停止工作。In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to a preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot to maintain a working state; if the height value is less than the first preset height threshold , and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the mobile robot is controlled to stop working.
在一个实施例中,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:若所述高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作,并控制所述移动机器人工作。In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is greater than or equal to a first preset height threshold, then The mobile robot is controlled to perform preset obstacle avoidance actions, and the mobile robot is controlled to work.
在一个实施例中,获取反映所述移动机器人在所述工作区域中工作时光照情况的参数,包括:获取所述移动机器人工作时的当前工作时间、季节参数、当前位置以及天气情况;根据所述当前工作时间、季节参数、当前位置以及天气情况中的至少之一确定所述反映移动机器人在所述工作区域工作时光照情况的参数。In one embodiment, acquiring parameters reflecting the lighting conditions when the mobile robot is working in the working area includes: acquiring the current working time, seasonal parameters, current location and weather conditions when the mobile robot is working; At least one of the current working time, seasonal parameters, current location and weather conditions determines the parameter reflecting the lighting conditions when the mobile robot is working in the working area.
本发明实施例中还提供了一种移动机器人,所述移动机器人在边界限定的待工作区域内行走和/或工作,所述移动机器人上设置有机器人本体、设置于所述机器人本体上的工作组件、深度信息获取装置以及处理器,所述深度信息获取装置,被配置为获取深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人所在待工作区域表面;所述工作组件,被配置为执行预定工作;所述处理器与所述工作组件以及所述深度信息获取装置信号相连,用于控制所述移动机器人的行走和/或工作;所述处理器被配置为在检测到目标物体的情况下,根据所述深度信息获取装置获取的深度信息确定所述目标物体相对于所述待工作区域表面的高度值;获取反映所述移动机器人在所述工作区域中工作时光照情况的参数;基于所述高度值以及所述反映所述移动机器人工作时光照情况的参数控制所述移动机器人的行走和/或工作。An embodiment of the present invention also provides a mobile robot, the mobile robot walks and/or works in a to-be-worked area defined by a boundary, the mobile robot is provided with a robot body, and a working robot is provided on the robot body. An assembly, a depth information acquisition device, and a processor, the depth information acquisition device is configured to acquire depth information, the depth information includes depth information of the surface of the area to be worked and depth information of obstacles, the obstacles located in the the surface of the to-be-worked area where the mobile robot is located; the working assembly is configured to perform predetermined work; the processor is signal-connected to the working assembly and the depth information acquisition device, and is used to control the walking and/or the mobile robot or work; the processor is configured to, when a target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; and controlling the walking and/or working of the mobile robot based on the height value and the parameter reflecting the lighting situation when the mobile robot is working in the working area.
在一个实施例中,所述移动机器人上配置有光强信息获取装置;将所述光强信息获取装置获取到的实时光强值作为所述反映所述移动机器人在所述工作区域中工作时光照情况的参数。In one embodiment, a light intensity information acquisition device is configured on the mobile robot; the real-time light intensity value acquired by the light intensity information acquisition device is used as the reflection when the mobile robot is working in the work area. Parameters for lighting conditions.
在一个实施例中,通过所述光强信息获取装置包括所述深度信息获取装置。In one embodiment, the light intensity information acquisition device includes the depth information acquisition device.
在一个实施例中,所述深度信息获取装置包括以下至少之一:TOF相机、双目相机或结构光相机。In one embodiment, the depth information acquisition device includes at least one of the following: a TOF camera, a binocular camera, or a structured light camera.
在一个实施例中,所述处理器被配置为基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:In one embodiment, the processor is configured to control the walking and/or work of the mobile robot based on the height value and the real-time light intensity value, including:
若所述高度值小于第一预设高度阈值,且当所述实时光强值大于或等于预 设光强阈值时,控制所述移动机器人的工作组件保持当前状态继续工作,控制所述移动机器人的行走组件保持当前状态继续行走;If the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the working components of the mobile robot to keep the current state and continue to work, and control the mobile robot The walking component keeps the current state and continues to walk;
若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人的行走组件保持当前状态继续行走,并控制所述移动机器人的工作组件停止工作。If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the walking component of the mobile robot to keep the current state to continue walking, and control the movement The working components of the robot stop working.
在一个实施例中,所述移动机器人上配置有接触式传感器,所述接触式传感器被配置为通过直接碰撞的方式检测目标物体,所述第一预设高度阈值小于所述接触式传感器的高度。In one embodiment, a contact sensor is configured on the mobile robot, the contact sensor is configured to detect the target object through direct collision, and the first preset height threshold is smaller than the height of the contact sensor .
于上述实施例中的移动机器人中,在检测到目标物体的情况下,确定目标物体相对于待工作区域表面的高度值;获取反映移动机器人在工作区域中工作时光照情况的参数;基于高度值以及反映移动机器人工作时光照情况的参数控制移动机器人的行走和/或工作。通过上述方式,避免出现移动机器人无法准确识别待工作区域表面的低矮障碍物以及在识别到低矮障碍物时无法采取安全的行走策略。可以通过在夜间识别到低矮障碍物时控制移动机器人的工作状态,以避免对一些夜间出行的小动物造成误伤,有效地提高了移动机器人的智能性。In the mobile robot in the above-mentioned embodiment, when the target object is detected, the height value of the target object relative to the surface of the area to be worked is determined; the parameters reflecting the lighting conditions of the mobile robot when working in the work area are obtained; based on the height value And the parameters reflecting the light conditions when the mobile robot works, control the walking and/or work of the mobile robot. Through the above method, it is avoided that the mobile robot cannot accurately identify low obstacles on the surface of the area to be worked, and cannot adopt a safe walking strategy when identifying low obstacles. The working state of the mobile robot can be controlled when a low obstacle is identified at night, so as to avoid accidental injury to some small animals traveling at night, and effectively improve the intelligence of the mobile robot.
为了更清楚地说明本申请实施例的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他实施例的附图。In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, the drawings of other embodiments can also be obtained according to these drawings without creative effort.
图1为本申请第一实施例中的移动机器人智能避障方法的流程图示意图;FIG. 1 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in the first embodiment of the application;
图2为本申请第二实施例中的移动机器人智能避障方法的流程图示意图;2 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a second embodiment of the present application;
图3为本申请第三实施例中的移动机器人智能避障方法的流程图示意图;3 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a third embodiment of the present application;
图4为本申请第四实施例中的移动机器人智能避障方法的流程图示意图;4 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fourth embodiment of the present application;
图5为本申请第五实施例中的移动机器人智能避障方法的流程图示意图;5 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fifth embodiment of the present application;
图6为本申请一实施例中的移动机器人智能避障装置的结构示意图;6 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot according to an embodiment of the application;
图7为本申请另一实施例中的移动机器人智能避障装置的结构示意图;7 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot in another embodiment of the present application;
图8为本申请一实施例中的移动机器人的结构示意图;8 is a schematic structural diagram of a mobile robot in an embodiment of the application;
图9为本申请一实施例中的割草机器人的结构示意图;9 is a schematic structural diagram of a lawn mowing robot in an embodiment of the application;
图10a为本申请一实施例中的割草机器人的左视图;Fig. 10a is a left side view of the lawn mowing robot in an embodiment of the application;
图10b为本申请另一实施例中的割草机器人的俯视图;10b is a top view of a lawn mowing robot in another embodiment of the present application;
图11为本申请一实施例中的割草机器人的应用场景示意图;FIG. 11 is a schematic diagram of an application scenario of the lawnmower robot in an embodiment of the application;
图12为本申请另一实施例中的移动机器人智能避障方法的流程图示意图。FIG. 12 is a schematic flowchart of an intelligent obstacle avoidance method for a mobile robot according to another embodiment of the present application.
为了便于理解本申请,下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳的实施例。但是,本申请可以以许多不同的形式来实现,并不限于本文所描述的实施例。相反地,提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.
除非另有定义,本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
在使用本文中描述的“包括”、“具有”、和“包含”的情况下,除非使用了明确的限定用语,例如“仅”、“由……组成”等,否则还可以添加另一部件。除非相反地提及,否则单数形式的术语可以包括复数形式,并不能理解为其数量为一个。Where "including", "having", and "comprising" are used as described herein, unless an explicit qualifying language is used, such as "only", "consisting of," etc., another component may also be added . Unless mentioned to the contrary, terms in the singular may include the plural and should not be construed as having a number of one.
应当理解,尽管本文可以使用术语“第一”、“第二”等来描述各种元件,但是这些元件不应受这些术语的限制。这些术语仅用于将一个元件和另一个元件区分开。例如,在不脱离本申请的范围的情况下,第一元件可以被称为第二元件,并且类似地,第二元件可以被称为第一元件。It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.
在本申请的描述中,需要说明的是,除非另有明确规定和限定,术语“安装”、“相连”或“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是直接连接,亦可以是通过中间媒介间接连接,可以是两个部件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" or "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.
请参考图1,在本申请的一个实施例中,提供了一种移动机器人智能避障方法,预先在所述移动机器人上设置深度信息获取装置以及在所述移动机器人上设置工作组件,所述方法包括:Referring to FIG. 1 , in one embodiment of the present application, an intelligent obstacle avoidance method for a mobile robot is provided. A depth information acquisition device is pre-installed on the mobile robot and a working component is set on the mobile robot. Methods include:
步骤12,通过所述深度信息获取装置获取移动机器人待工作区域的深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面。 Step 12, obtain the depth information of the area to be worked by the mobile robot through the depth information acquisition device, the depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located in the forward direction of the mobile robot. the surface of the area to be worked on.
步骤14,基于所述深度信息确定所述障碍物相对于所述待工作区域表面的高度值; Step 14, determining the height value of the obstacle relative to the surface of the area to be worked based on the depth information;
步骤16,获取所述移动机器人在前进方向上的实时光强值; Step 16, obtaining the real-time light intensity value of the mobile robot in the forward direction;
步骤18,基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作。Step 18: Control the motion of the working component of the mobile robot based on the height value and the real-time light intensity value.
请参考图12,在本申请的一个实施例中,提供了一种移动机器人智能避障方法,所述移动机器人上设置深度信息获取装置以及工作组件,所述方法包括:Referring to FIG. 12 , in an embodiment of the present application, a method for intelligent obstacle avoidance of a mobile robot is provided, wherein a depth information acquisition device and a working component are set on the mobile robot, and the method includes:
步骤1201:在检测到目标物体(在下文中也称为障碍物)的情况下,确定目标物体相对于所述待工作区域表面的高度值;Step 1201: when a target object (also referred to as an obstacle hereinafter) is detected, determine the height value of the target object relative to the surface of the area to be worked;
步骤1202:获取反映所述移动机器人在所述工作区域中工作时光照情况的参数;Step 1202: obtain parameters reflecting the lighting conditions of the mobile robot when working in the work area;
步骤1203:基于所述高度值以及所述反映所述移动机器人工作时光照情况的参数控制所述移动机器人的行走和/或工作。目标物体可以是小动物例如小刺猬、老鼠或蛇等,或者是落叶、小皮球等。Step 1203: Control the walking and/or work of the mobile robot based on the height value and the parameter reflecting the lighting situation when the mobile robot is working. The target object can be a small animal such as a small hedgehog, a mouse or a snake, or a fallen leaf, a small leather ball, and the like.
相应的,移动机器人上设置有机器人本体、设置于所述机器人本体上的工作组件、深度信息获取装置以及处理器,深度信息获取装置,被配置为获取深度信息,深度信息包括待工作区域表面的深度信息以及目标物体的深度信息,目标物***于移动机器人所在待工作区域表面;工作组件,被配置为执行预定工作;处理器与工作组件以及深度信息获取装置信号相连,用于控制移动机器人的行走和/或工作;处理器被配置为在检测到目标物体的情况下,根据深度信息获取装置获取的深度信息确定目标物体相对于待工作区域表面的高度值;获取反映移动机器人在工作区域中工作时光照情况的参数;基于高度值以及反映移动机器人工作时光照情况的参数控制移动机器人的行走和/或工作。Correspondingly, the mobile robot is provided with a robot body, a working component arranged on the robot body, a depth information acquisition device and a processor, and the depth information acquisition device is configured to acquire depth information, and the depth information includes the surface of the area to be worked. Depth information and depth information of the target object, the target object is located on the surface of the to-be-worked area where the mobile robot is located; the work component is configured to perform predetermined work; the processor is connected to the work component and the depth information acquisition device with signals for controlling the walking of the mobile robot and/or work; the processor is configured to, when the target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; obtain and reflect that the mobile robot is working in the work area The parameters of the lighting conditions; control the walking and/or work of the mobile robot based on the height value and the parameters reflecting the lighting conditions when the mobile robot is working.
作为示例,深度信息获取装置可以包括飞行时间(Time Of Flight,TOF)相机、双目相机或结构光相机中的至少一种,其中,TOF相机通过专有传感器,捕捉近红外光从发射到接收的飞行时间来判断物体距离;双目相机利用双摄像头拍摄物体,再通过三角形原理计算物体距离;结构光相机利用结构光投射特定的光信息到物体表面后,由摄像头采集,并根据物体造成的光信号的变化来计算物体的位置和深度等信息,进而复原整个三维空间。As an example, the depth information acquisition device may include at least one of a Time Of Flight (TOF) camera, a binocular camera or a structured light camera, wherein the TOF camera captures the near-infrared light from emission to reception through a proprietary sensor The distance of the object is judged by the time of flight; the binocular camera uses the dual cameras to shoot the object, and then calculates the distance of the object through the triangle principle; the structured light camera uses the structured light to project specific light information on the surface of the object, which is collected by the camera, and based on the object caused by the Changes in the light signal to calculate the position and depth of the object and other information, and then restore the entire three-dimensional space.
作为示例,在本申请的一个实施例中,采用双目相机来获取待工作区域上目标物体相对于待工作区域表面的深度信息(高度值)。深度信息可以包括待工作区域上的目标物体与移动机器人的距离和角度,从而可以使得移动机器人根据待工作区域上的物体(例如障碍物或小草)的多个点的距离和角度,得到障碍物和草坪的三维模型,进而得到待工作区域表面的障碍物相对于所述待工作区域表面的高度值,该障碍物可以位于移动机器人前进方向也可以在前进方向附近。双目相机的安装位置可以有多个,该安装位置与机器人本体以及机器人行走速度有关。例如可以设置双目相机位于移动机器人的顶部,例如可以设置双目相机的安装位置距离移动机器人工作区域的表面的距离为15厘米-25厘米; 并设置双目相机的镜面的中心轴与移动机器人的前进方向之间呈锐角,且双目相机斜向下探测,以准确地探测出移动机器人前进方向上待工作区域表面的低矮障碍物的深度信息及所述待工作区域表面的深度信息,避免产生因不能有效识别低矮障碍物而导致避障失败的情况发生,有效地提高了割草机器人的智能性。至于如何利用深度相机获取拍摄物体的深度信息并构建拍摄物体的三维模型的技术原理,为本领域技术人员的公知常识,在此不再赘述。As an example, in an embodiment of the present application, a binocular camera is used to obtain the depth information (height value) of the target object on the area to be worked relative to the surface of the area to be worked. The depth information can include the distance and angle of the target object on the area to be worked and the mobile robot, so that the mobile robot can obtain obstacles according to the distance and angle of multiple points of the object (such as obstacles or grass) on the area to be worked. The three-dimensional model of the object and the lawn is obtained, and then the height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area is obtained, and the obstacle can be located in or near the moving direction of the mobile robot. There can be multiple installation positions of the binocular camera, and the installation positions are related to the robot body and the walking speed of the robot. For example, the binocular camera can be set at the top of the mobile robot. For example, the distance between the installation position of the binocular camera and the surface of the working area of the mobile robot can be set to 15 cm-25 cm; and the central axis of the mirror surface of the binocular camera can be set to the mobile robot. There is an acute angle between the advancing directions of the mobile robot, and the binocular camera detects obliquely downward, so as to accurately detect the depth information of the low obstacle on the surface of the area to be worked in the advancing direction of the mobile robot and the depth information of the surface of the area to be worked, Avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawn mower robot. As for the technical principle of how to use the depth camera to obtain the depth information of the photographed object and construct a three-dimensional model of the photographed object, it is the common knowledge of those skilled in the art, and will not be repeated here.
作为示例,移动机器人可以是割草机器人、施肥机器人、灌溉机器人、除雪机器人或清洁机器人等室外机器人,因此,本申请实施例中所述的移动机器人的工作组件可以是割草组件、施肥组件、灌溉组件、除雪组件或清洁组件等中的至少一种。由于夜间移动机器人待工作区域的表面上会出现一些小动物例如小刺猬、老鼠或蛇等,而这些小动物一般比较矮,它们的高度值可能达不到移动机器人的避障识别范围,通过设置移动机器人获取前进方向上的实时光强值,所述的实时光强值可以为待工作区域的局部光强值或所述移动机器人所处环境的环境光强值,当所述实时光强值小于所述预设光强阈值时,说明移动机器人处于夜间工作模式,进一步判断障碍物相对于所述待工作区域表面的高度值是否位于预设的夜间避障范围区间,若是,判定检测出夜间障碍物,可以控制移动机器人的工作组件停止工作,避免对夜行小动物例如小刺猬造成伤害。As an example, the mobile robot may be an outdoor robot such as a lawn mowing robot, a fertilizer application robot, an irrigation robot, a snow removal robot, or a cleaning robot. At least one of an irrigation assembly, a snow removal assembly, or a cleaning assembly, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot. The mobile robot obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located. When the real-time light intensity value is When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.
在本申请的一个实施例中,获取反映移动机器人在工作区域中工作时光照情况的参数,包括:获取移动机器人的实时光强值。可以通过根据移动机器人上配置的光强信息获取装置来获取该光强值,例如可以是光敏传感器等光照强度传感器。也可以通过上述深度信息获取装置获取光强值。In an embodiment of the present application, acquiring a parameter reflecting the lighting situation of the mobile robot when it is working in the work area includes: acquiring a real-time light intensity value of the mobile robot. The light intensity value can be obtained by a device for obtaining light intensity information configured on the mobile robot, for example, a light intensity sensor such as a photosensitive sensor. The light intensity value can also be obtained through the above-mentioned depth information obtaining device.
在本申请的另一个实施例中,获取反映移动机器人在工作区域中工作时光照情况的参数,包括:获取移动机器人工作时的当前工作时间、季节参数以及天气情况;将当前工作时间、季节参数以及天气情况中的至少之一输入光照确定模型,以得到反映移动机器人在工作区域工作时光照情况的参数。进一步地,还可以获取机器人的当前位置,例如:当前经纬度信息,并将该信息一并输入光照确定某些以得到反映当前光照情况的参数。即,可以根据当前工作时间、季节参数、当前位置以及天气情况中的至少之一确定反映移动机器人在工作区域中工作时光照情况的参数。例如:夏季晴天北半球5点半,此时光照情况为白天,因此机器人遇障时可以采用白天的行走和/或工作策略,而冬季阴天北半球5点半,此时光照情况为夜晚,因此机器人遇障时可以采用夜晚的行走和/或工作策略。通过时间季节等确定白天或夜晚时遇障的工作策略与通过实时光强值确定白天或夜晚时遇障的工作策略一致,具体可以参考下面的实施例。In another embodiment of the present application, acquiring parameters reflecting the lighting conditions when the mobile robot is working in the work area includes: acquiring the current working time, seasonal parameters and weather conditions when the mobile robot is working; And at least one of the weather conditions is input to the illumination determination model, so as to obtain parameters reflecting the illumination conditions when the mobile robot works in the work area. Further, the current position of the robot, such as the current latitude and longitude information, can also be obtained, and the information can be input into the lighting to determine certain parameters to obtain parameters reflecting the current lighting conditions. That is, the parameters reflecting the lighting conditions when the mobile robot works in the work area can be determined according to at least one of the current working time, seasonal parameters, current location and weather conditions. For example: in summer it is sunny at 5:30 in the northern hemisphere, when the light is daytime, so the robot can use the daytime walking and/or work strategy when it encounters an obstacle, while in winter it is cloudy at 5:30 in the northern hemisphere, when the light is at night, so the robot can A night-time walking and/or work strategy may be employed in the event of an obstacle. The working strategy of determining the daytime or night encountering an obstacle by time and season is the same as the working strategy of determining the daytime or night encountering an obstacle by using the real-time light intensity value. For details, please refer to the following embodiments.
相应的,遇到障碍物时,若高度值小于第一预设高度阈值,且当实时光强值大于或等于预设光强阈值时,控制移动机器人保持当前状态继续行走和/或工作,即,控制移动机器人的工作组件保持当前状态继续工作,控制移动机器人的行走组件保持当前状态继续行走;若所述高度值小于第一预设高度阈值,且当实时光强值小于预设光强阈值时,控制移动机器人保持当前状态继续行走,并控制移动机器人停止工作,即,控制移动机器人的行走组件保持当前状态继续行走,并控制移动机器人的工作组件停止工作。在光强值较低如夜晚的情况下,通常会有小刺猬等夜行小动物出没,此时在检测到这些动物时,控制机器停止工作,以防止小动物乱跑导致机器在行走过程中误伤它们。Correspondingly, when encountering an obstacle, if the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to keep the current state and continue to walk and/or work, that is, , control the working component of the mobile robot to maintain the current state and continue to work, and control the walking component of the mobile robot to maintain the current state and continue to walk; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold When , the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working, that is, the walking component of the mobile robot is controlled to keep the current state and continues to walk, and the working component of the mobile robot is controlled to stop working. In the case of low light intensity, such as at night, there are usually small nocturnal animals such as hedgehogs. At this time, when these animals are detected, the machine is controlled to stop working to prevent the small animals from running around and causing the machine to accidentally injure the machine during walking. they.
在一个实施例中,移动机器人上配置有接触式传感器,接触式传感器被配置为通过直接碰撞的方式检测目标物体,其中,第一预设高度阈值小于接触式传感器的高度。如图10a以及10b所示,该接触式传感器可以是割草机上的护罩306。In one embodiment, a touch sensor is configured on the mobile robot, and the touch sensor is configured to detect the target object through direct collision, wherein the first preset height threshold is less than the height of the touch sensor. As shown in Figures 10a and 10b, the touch sensor may be a shroud 306 on a lawn mower.
在一个具体的应用场景中,当割草机检测到障碍物时,判断障碍物高度以及当前光照情况。当障碍物高度低于护罩高度且为白天时,可以控制机器忽略该障碍物,保持当前的工作以及行走状态;当障碍物高度高低于护罩高度且为夜晚时,可以控制机器保持当前的行走状态。In a specific application scenario, when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to ignore the obstacle and keep the current working and walking state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to keep the current walking state.
相应的,在本申请的另一个实施例中,当遇到障碍物时,若所述高度值小于第一预设高度阈值,且当实时光强值大于或等于预设光强阈值时,控制移动机器人执行预设的避障动作,并控制移动机器人保持工作状态;若高度值小于第一预设高度阈值,且当实时光强值小于所述预设光强阈值时,控制移动机器人执行预设的避障动作,并控制移动机器人停止工作。Correspondingly, in another embodiment of the present application, when encountering an obstacle, if the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the The mobile robot performs a preset obstacle avoidance action, and controls the mobile robot to maintain a working state; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to execute the preset Set the obstacle avoidance action, and control the mobile robot to stop working.
在一个具体的应用场景中,当割草机检测到障碍物时,判断障碍物高度以及当前光照情况。当障碍物高度低于护罩高度且为白天时,可以控制机器在保持工作状态的情况下转向以避开该障碍物;当障碍物高度高低于护罩高度且为夜晚时,可以控制机器在停止工作状态的情况下转向以避开该障碍物。In a specific application scenario, when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to turn to avoid the obstacle while maintaining the working state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to avoid the obstacle. Steer to avoid the obstacle without stopping.
在本申请的一个实施例中,当遇到障碍物时,若检测到障碍物高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作,并控制所述移动机器人工作。即,当障碍物高度大于护罩高度时控制割草机避障。In an embodiment of the present application, when encountering an obstacle, if the height value of the obstacle is detected to be greater than or equal to a first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the Describe the work of the mobile robot. That is, when the height of the obstacle is greater than the height of the shield, the lawn mower is controlled to avoid obstacles.
请参考图2,在本申请的一个实施例中,所述基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作,包括:Referring to FIG. 2 , in an embodiment of the present application, the control of the motion of the working component of the mobile robot based on the height value and the real-time light intensity value includes:
步骤182,若所述高度值大于第二预设高度阈值且小于第一预设高度阈值,且当所述实时光强值大于或等于预设光强阈值时,控制所述移动机器人前移并 控制所述工作组件执行工作动作; Step 182, if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to move forward and controlling the work component to perform work actions;
步骤184,若所述高度值大于第二预设高度阈值且小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人前移并控制所述工作组件停止执行工作动作。 Step 184, if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to move forward and The work component is controlled to stop performing the work action.
作为示例,可以设置移动机器人的夜间避障范围区间为大于第二预设高度阈值且小于第一预设高度阈值。当移动机器人在前进方向上的实时光强值小于预设光强阈值,且移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值大于第二预设高度阈值且小于第一预设高度阈值时,判定检测出夜间障碍物,控制移动机器人的工作组件停止工作,避免对夜行小动物例如小刺猬造成伤害;当移动机器人在前进方向上的实时光强值大于或等于预设光强阈值,说明移动机器人处于白天工作模式,即使检测出所述高度值大于第二预设高度阈值且小于第一预设高度阈值,控制所述移动机器人前移并控制所述工作组件执行工作动作,由于夜行小动物很少在白天出现,设置移动机器人在白天检测出所述高度值位于夜间避障范围区间内的障碍物时,仍然直行并控制工作组件执行工作动作。例如,当移动机器人为割草机器人且在白天工作时,即使检测出所述高度值大于第二预设高度阈值且小于第一预设高度阈值,仍然控制割草机器人前移并执行割草动作;而在夜间工作时,若检测出所述高度值大于第二预设高度阈值且小于第一预设高度阈值,则控制割草机器人前移并控制割草机器人的割草组件停止执行割草动作,以提高割草机器人的智能性的同时避免割草机器人在夜间割草时伤害夜行小动物。As an example, the nighttime obstacle avoidance range interval of the mobile robot may be set to be greater than the second preset height threshold and less than the first preset height threshold. When the real-time light intensity value of the mobile robot in the forward direction is less than the preset light intensity threshold, and the height value of the obstacle on the surface of the area to be worked in the forward direction of the mobile robot relative to the surface of the area to be worked is greater than the second preset height When the threshold is smaller than the first preset height threshold, it is determined that a nighttime obstacle is detected, and the working components of the mobile robot are controlled to stop working to avoid damage to small nocturnal animals such as hedgehogs; the real-time light intensity value of the mobile robot in the forward direction It is greater than or equal to the preset light intensity threshold, indicating that the mobile robot is in the daytime working mode, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, control the mobile robot to move forward and control all The work component performs the work action. Since small nocturnal animals rarely appear during the day, the mobile robot is set to go straight and control the work component to perform the work action when detecting the obstacle with the height value within the nighttime obstacle avoidance range during the day. For example, when the mobile robot is a lawnmower and works during the day, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, the lawnmower robot is still controlled to move forward and perform the mowing action When working at night, if it is detected that the height value is greater than the second preset height threshold and less than the first preset height threshold, the mowing robot is controlled to move forward and the mowing component of the mowing robot is controlled to stop mowing. Actions to improve the intelligence of the lawnmower robot while avoiding harm to the nocturnal animals when the lawnmower robot is mowing at night.
进一步地,请参考图3,在本申请的一个实施例中,所述基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作的步骤,包括:Further, please refer to FIG. 3, in an embodiment of the present application, the step of controlling the action of the working component of the mobile robot based on the height value and the real-time light intensity value includes:
步骤185,若所述高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作; Step 185, if the height value is greater than or equal to a first preset height threshold, control the mobile robot to perform a preset obstacle avoidance action;
步骤186,若所述高度值小于或等于第二预设高度阈值,则控制所述移动机器人前移并控制所述工作组件执行工作动作。 Step 186, if the height value is less than or equal to a second preset height threshold value, control the mobile robot to move forward and control the work component to perform a work action.
作为示例,请继续参考图3,可以设置移动机器人的避障高度阈值为第一预设高度阈值,若移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作。例如,当移动机器人检测到前进方向上的待工作区域表面的人、篱笆或树木等相对于所述待工作区域表面的高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作。可以设置所述第一预设高度阈值小于或等于移动机器人的机身的高度值,使得所述移动机器人 能够准确识别出高度值比移动机器人的机身高度值更低的障碍物,以实现智能避障,避免产生因不能有效识别小猫、大刺猬或小狗等低矮障碍物而导致避障失败的情况发生,以有效地提高移动机器人的智能性。也可以设置移动机器人在检测到前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值小于或等于第二预设高度阈值时,控制所述移动机器人前移并控制所述工作组件执行工作动作,以避免移动机器人将树叶、金属杆或木杆等高度值比较小或者影藏在草丛中的非常低矮的物体当成需要避开的障碍物而执行预设的避障动作。例如,当移动机器人为割草机器人时,若检测到前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值小于或等于第二预设高度阈值时,控制割草机器人前移的同时控制割草组件执行预设的割草动作,避免割草机器人将树叶、金属杆或木杆等高度值比较小或者影藏在草丛中的非常低矮的物体当成需要避开的障碍物,而产生遗漏割草区域的情况发生。As an example, please continue to refer to FIG. 3 , the obstacle avoidance height threshold of the mobile robot can be set as the first preset height threshold. If the value is greater than or equal to the first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action. For example, when the mobile robot detects that the height of people, fences or trees on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is greater than or equal to a first preset height threshold, the mobile robot is controlled to execute Preset obstacle avoidance action. The first preset height threshold can be set to be less than or equal to the height value of the body of the mobile robot, so that the mobile robot can accurately identify obstacles with a height value lower than that of the body of the mobile robot, so as to achieve intelligent Obstacle avoidance, to avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles such as kittens, hedgehogs or puppies, so as to effectively improve the intelligence of mobile robots. It is also possible to set the mobile robot to control the mobile robot to move forward and control the height value of the obstacle on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is less than or equal to the second preset height threshold. The work component performs work actions to prevent the mobile robot from taking leaves, metal poles or wooden poles and other very low objects with relatively small height values or hidden in the grass as obstacles that need to be avoided and performing preset avoidance. Obstructive action. For example, when the mobile robot is a lawn mowing robot, if it is detected that the height of the obstacle on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is less than or equal to the second preset height threshold, control the lawn mowing When the robot moves forward, it controls the mowing component to execute the preset mowing action, so as to prevent the mowing robot from taking leaves, metal poles or wooden poles and other very low objects with small height values or hidden in the grass as the need to avoid obstacles, resulting in missed mowing areas.
进一步地,请参考图4,在本申请的一个实施例中,所述的移动机器人智能避障方法包括:Further, please refer to FIG. 4 , in an embodiment of the present application, the described method for intelligent obstacle avoidance of a mobile robot includes:
步骤11,预先在所述移动机器人上设置光强信息获取装置; Step 11, setting a light intensity information acquisition device on the mobile robot in advance;
步骤161,通过所述光强信息获取装置获取所述移动机器人在前进方向上的所述实时光强值。Step 161: Acquire the real-time light intensity value of the mobile robot in the forward direction through the light intensity information acquisition device.
作为示例,请继续参考图4,通过预先在所述移动机器人上设置光强信息获取装置,来获取所述移动机器人在前进方向上的所述实时光强值,例如是所述移动机器人的待工作区域的局部光强值,以经由所述实时光强值判断是否为白天,当检测到所述实时光强值小于预设光强阈值时,控制所述移动机器人工作于夜间工作模式,当检测到夜行障碍物例如是夜行小刺猬时,控制移动机器人前移并控制所述工作组件停止执行工作动作,以避免对夜行小动物例如小刺猬造成伤害。As an example, please continue to refer to FIG. 4 , the real-time light intensity value of the mobile robot in the forward direction is obtained by setting a light intensity information acquisition device on the mobile robot in advance, for example, the waiting time of the mobile robot. The local light intensity value of the working area is used to judge whether it is daytime through the real-time light intensity value. When it is detected that the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to work in the night work mode. When When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing a working action, so as to avoid damage to a nocturnal small animal such as a hedgehog.
进一步地,请参考图5,在本申请的一个实施例中,所述获取所述移动机器人在前进方向上的光强值的步骤,包括:Further, please refer to FIG. 5, in an embodiment of the present application, the step of acquiring the light intensity value of the mobile robot in the forward direction includes:
步骤162,通过所述深度信息获取装置来获取所述移动机器人在前进方向上的所述实时光强值。Step 162: Acquire the real-time light intensity value of the mobile robot in the forward direction through the depth information acquisition device.
作为示例,请继续参考图5,由于深度信息获取装置中的光电传感器用于将接收的光信号转化为电信号,当光电传感器被触发时,光电传感器的输出电流的幅值在一定的光强范围内,随着接收光的强度值的增加而增加,因此,可以设置深度信息获取装置的光电传感器的输出电流值大于或等于预设电流阈值时,判定处于白天,反之,则控制移动机器人工作于夜间工作模式。当检测到 夜行障碍物例如是夜行小刺猬时,控制移动机器人前移并控制所述工作组件停止执行工作动作,以避免对夜行小动物例如小刺猬造成伤害。而深度信息获取装置获取的图像的清晰程度与光电传感器的输出电流的大小有关,一般情况下,在一定的范围区间内,光电传感器的输出电流越大则深度信息获取装置获取的图像越清晰,因此,可以根据深度信息获取装置获取的图像的灰阶信息来间接确定深度信息获取装置接收光的光强值。As an example, please continue to refer to FIG. 5, since the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal, when the photoelectric sensor is triggered, the amplitude of the output current of the photoelectric sensor is within a certain light intensity Within the range, it increases with the increase of the intensity value of the received light. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work. in night work mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid damage to a nocturnal small animal such as a hedgehog. The clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device.
应该理解的是,虽然图1-图5的流程图中的各个步骤按照箭头的指示依次显示,但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明,这些步骤的执行并没有严格的顺序限制,这些步骤可以以其它的顺序执行。而且,虽然图1-图5中的至少一部分步骤可以包括多个子步骤或者多个阶段,这些子步骤或者阶段并不必然是在同一时刻执行完成,而是可以在不同的时刻执行,这些子步骤或者阶段的执行顺序也不必然是依次进行,而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that although the steps in the flowcharts of FIGS. 1-5 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, although at least a part of the steps in FIG. 1-FIG. 5 may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a stage.
进一步地,请参考图6,在本申请的一个实施例中,提供一种移动机器人智能避障装置300,包括深度信息获取装置302及处理器303,深度信息获取装置302可以设置于移动机器人的机身,用于获取移动机器人待工作区域的深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面;处理器303可以设置于移动机器人的机身,处理器303与深度信息获取装置302连接,处理器303被配置为:Further, please refer to FIG. 6 , in an embodiment of the present application, an intelligent obstacle avoidance device 300 for a mobile robot is provided, including a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 can be arranged in the mobile robot. The fuselage is used to obtain the depth information of the to-be-worked area of the mobile robot, the depth information includes the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles are located in the to-be-worked area in the forward direction of the mobile robot Surface; the processor 303 can be arranged on the body of the mobile robot, the processor 303 is connected to the depth information acquisition device 302, and the processor 303 is configured as:
基于所述深度信息确定所述障碍物相对于所述待工作区域表面的高度值;determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
获取所述移动机器人在前进方向上的实时光强值;Obtain the real-time light intensity value of the mobile robot in the forward direction;
基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作。The motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
具体地,请继续参考图6,移动机器人可以是割草机器人、施肥机器人、灌溉机器人、除雪机器人或清洁机器人等室外机器人,因此,本申请实施例中所述的移动机器人的工作组件可以是割草组件、施肥组件、灌溉组件、除雪组件或清洁组件等中的至少一种。由于夜间移动机器人待工作区域的表面上会出现一些小动物例如小刺猬、老鼠或蛇等,而这些小动物一般比较矮,它们的高度值可能达不到移动机器人的避障识别范围,通过设置处理器获取前进方向上的实时光强值,所述的实时光强值可以为待工作区域的局部光强值或所述移动机器人所处环境的环境光强值,当所述实时光强值小于所述预设光强阈值时,说 明移动机器人处于夜间工作模式,进一步判断障碍物相对于所述待工作区域表面的高度值是否位于预设的夜间避障范围区间,若是,判定检测出夜间障碍物,可以控制移动机器人的工作组件停止工作,避免对夜行小动物例如小刺猬造成伤害。Specifically, please continue to refer to FIG. 6, the mobile robot may be an outdoor robot such as a lawn mower, a fertilization robot, an irrigation robot, a snow removal robot or a cleaning robot. Therefore, the working components of the mobile robot described in the embodiments of the present application may be a mower At least one of a grass component, a fertilization component, an irrigation component, a snow removal component, or a cleaning component, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot. The processor obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located. When the real-time light intensity value is When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.
作为示例,由于深度信息获取装置中的光电传感器用于将接收的光信号转化为电信号,当光电传感器被触发时,光电传感器的输出电流的幅值在一定的光强范围内,随着接收光的强度值的增加而增加,因此,可以设置深度信息获取装置的光电传感器的输出电流值大于或等于预设电流阈值时,判定处于白天,反之,则控制移动机器人工作于夜间工作模式。当检测到夜行障碍物例如是夜行小刺猬时,控制移动机器人前移并控制所述工作组件停止执行工作动作,以避免对夜行小动物例如小刺猬造成伤害。而深度信息获取装置获取的图像的清晰程度与光电传感器的输出电流的大小有关,一般情况下,在一定的范围区间内,光电传感器的输出电流越大则深度信息获取装置获取的图像越清晰,因此,可以根据深度信息获取装置获取的图像的灰阶信息来间接确定深度信息获取装置接收光的光强值。本实施例中可以直接基于深度信息获取装置的图像的灰阶信息及/或光电传感器的输出电流确定移动机器人在前进方向上的实时光强值,以根据所述实时光强值及深度信息获取装置获取的移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值,控制所述移动机器人的工作组件动作。As an example, since the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal, when the photoelectric sensor is triggered, the amplitude of the output current of the photoelectric sensor is within a certain light intensity range, and with the receiving The intensity value of the light increases with the increase. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work in the nighttime working mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog. The clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device. In this embodiment, the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the grayscale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so as to obtain the real-time light intensity value and depth information according to the real-time light intensity value. The height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot acquired by the device controls the movement of the working assembly of the mobile robot.
进一步地,请参考图7,在本申请的一个实施例中,提供了一种移动机器人智能避障装置400,包括深度信息获取装置302、处理器303及光强信息获取装置304。深度信息获取装置302可以设置于移动机器人的机身,用于获取移动机器人待工作区域的深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面;光强信息获取装置304用于获取所述移动机器人在前进方向上的实时光强值;处理器303与深度信息获取装置302及光强信息获取装置304均连接,被配置为:Further, please refer to FIG. 7 , in an embodiment of the present application, an intelligent obstacle avoidance device 400 for a mobile robot is provided, including a depth information acquisition device 302 , a processor 303 and a light intensity information acquisition device 304 . The depth information acquisition device 302 can be arranged on the body of the mobile robot, and is used to acquire the depth information of the to-be-worked area of the mobile robot, the depth information including the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles located at The surface of the area to be worked in the forward direction of the mobile robot; the light intensity information acquisition device 304 is used to obtain the real-time light intensity value of the mobile robot in the forward direction; the processor 303 and the depth information acquisition device 302 and the light intensity information acquisition Devices 304 are all connected and configured to:
基于所述深度信息确定所述障碍物相对于所述待工作区域表面的高度值;determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
通过所述光强信息获取装置获取所述移动机器人在前进方向上的所述实时光强值;Acquire the real-time light intensity value of the mobile robot in the advancing direction through the light intensity information acquisition device;
基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作。The motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
作为示例,请继续参考图7,可以设置光强信息获取装置获取的实时光强值 大于或等于预设光强阈值时,判定处于白天,反之,则控制移动机器人工作于夜间工作模式。当检测到夜行障碍物例如是夜行小刺猬时,控制移动机器人前移并控制所述工作组件停止执行工作动作,以避免对夜行小动物例如小刺猬造成伤害。As an example, please continue to refer to Fig. 7, when the real-time light intensity value obtained by the light intensity information acquisition device can be set to be greater than or equal to the preset light intensity threshold, it is determined that it is in the daytime, otherwise, the mobile robot is controlled to work in the nighttime working mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.
进一步地,请参考图8,在本申请的一个实施例中,提供了一种移动机器人500,包括机器人本体301、深度信息获取装置302及处理器303,深度信息获取装置302设置于机器人本体301,用于获取移动机器人待工作区域的深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面;处理器303设置于机器人本体301,与深度信息获取装置302连接,被配置为:Further, please refer to FIG. 8 , in an embodiment of the present application, a mobile robot 500 is provided, including a robot body 301 , a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 is disposed on the robot body 301 , which is used to obtain the depth information of the area to be worked by the mobile robot, the depth information including the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot; The processor 303 is arranged on the robot body 301, is connected to the depth information acquisition device 302, and is configured as:
基于所述深度信息确定所述障碍物相对于所述待工作区域表面的高度值;determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
获取所述移动机器人在前进方向上的实时光强值;Obtain the real-time light intensity value of the mobile robot in the forward direction;
基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作。The motion of the working assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
具体地,请继续参考图8,可以直接基于深度信息获取装置的图像的灰阶信息及/或光电传感器的输出电流确定移动机器人在前进方向上的实时光强值,以根据所述实时光强值及深度信息获取装置获取的移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值,控制所述移动机器人的工作组件动作。当检测到夜行障碍物例如是夜行小刺猬时,控制移动机器人前移并控制所述工作组件停止执行工作动作,以避免对夜行小动物例如小刺猬造成伤害。Specifically, please continue to refer to FIG. 8 , the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the gray-scale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so that according to the real-time light intensity The height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot obtained by the value and depth information acquisition device controls the motion of the working component of the mobile robot. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.
作为示例,请继续参考图8,在本申请的一个实施例中,所述深度信息获取装置302包括TOF相机、双目相机或结构光相机中的至少一种。As an example, please continue to refer to FIG. 8 , in an embodiment of the present application, the depth information acquiring apparatus 302 includes at least one of a TOF camera, a binocular camera, or a structured light camera.
进一步地,请参考图9、图10a及图10b,在本申请的一个实施例中,提供了一种割草机器人600,包括机器人本体301、深度信息获取装置302、处理器303、光强信息获取装置304及割草组件305,割草组件305设置于机器人本体301,用于执行预设的割草动作;深度信息获取装置302设置于机器人本体301,用于获取移动机器人待工作区域的深度信息,所述深度信息包括待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面;光强信息获取装置304设置于机器人本体301,用于获取所述移动机器人在前进方向上的实时光强值;处理器303设置于机器人本体301,与割草组件305、深度信息获取装置302及光强信息获取装置304均连接,处理器303被配置为:Further, please refer to FIG. 9 , FIG. 10 a and FIG. 10 b , in an embodiment of the present application, a lawn mowing robot 600 is provided, including a robot body 301 , a depth information acquisition device 302 , a processor 303 , and light intensity information An acquisition device 304 and a mowing assembly 305 are provided on the robot body 301 for executing a preset mowing action; a depth information acquisition device 302 is provided on the robot body 301 for acquiring the depth of the area to be worked by the mobile robot The depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot; the light intensity information acquisition device 304 is arranged on the robot body 301 , used to obtain the real-time light intensity value of the mobile robot in the forward direction; the processor 303 is arranged on the robot body 301, and is connected to the mowing component 305, the depth information acquisition device 302 and the light intensity information acquisition device 304, and the processor 303 is configured as:
基于所述深度信息确定所述障碍物相对于所述待工作区域表面的高度值;determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
获取所述移动机器人在前进方向上的实时光强值;Obtain the real-time light intensity value of the mobile robot in the forward direction;
基于所述高度值以及所述实时光强值控制所述移动机器人的割草组件动作。The action of the mowing assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.
若位于所述移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值大于或等于第二预设高度阈值且小于或等于第一预设高度阈值,当所述实时光强值大于或等于预设光强阈值时,控制所述机器人本体前移并控制所述割草组件执行预设的割草动作,当所述实时光强值小于所述预设光强阈值时,控制所述机器人本体前移并控制所述割草组件停止执行割草动作。If the height of the obstacle on the surface of the area to be worked in the forward direction of the mobile robot relative to the surface of the area to be worked is greater than or equal to the second preset height threshold and less than or equal to the first preset height threshold, when all When the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the robot body to move forward and control the mowing component to perform a preset mowing action, and when the real-time light intensity value is less than the preset light intensity When the strong threshold is reached, the robot body is controlled to move forward and the mowing component is controlled to stop executing the mowing action.
作为示例,请参考图11,利用设置于割草机器人的深度信息获取装置302获取割草机器人前进方向上待工作区域表面的深度信息以及障碍物的深度信息,所述障碍物位于所述移动机器人前进方向上的待工作区域表面;例如可以采用双目相机3021来获取移动机器人前进方向上待工作区域表面的障碍物的深度信息,深度信息可以包括移动机器人待工作区域上物体与移动机器人的距离和角度,从而可以使得移动机器人根据待工作区域上的物体(例如障碍物或小草)的多个点的距离和角度,得到障碍物和草坪的三维模型,进而得到移动机器人前进方向上的待工作区域表面的障碍物相对于所述待工作区域表面的高度值Hmax。将双目相机3021安装于割草机器人的机身顶部,可以设置双目相机3021的安装位置距离移动机器人工作区域的表面的距离为15厘米-25厘米;并设置双目相机3021的镜面的中心轴与移动机器人的前进方向之间呈锐角,且双目相机3021斜向下探测,以准确地探测出移动机器人前进方向上待工作区域表面的深度信息及位于所述移动机器人前进方向上的待工作区域表面的障碍物的深度信息。处理器303获取所述移动机器人在前进方向上的实时光强值,并基于所述高度值以及所述实时光强值控制所述移动机器人的工作组件动作。若所述高度值Hmax大于或等于第一预设高度阈值,处理器303控制割草机器人执行预设的避障动作,例如后移、转角后前移或以预设轨迹环绕以远离障碍物800,可以设置所述第一预设高度阈值为苗圃的下限值或者刺猬的上限值,并小于或等于割草机器人的机身的高度值,使得所述割草机器人能够准确识别出高度值比割草机器人的机身高度值更低的障碍物,以实现智能避障,避免产生因不能有效识别低矮障碍物而导致避障失败的情况发生,有效地提高了割草机器人的智能性。由于夜间割草机器人工作区域的表面上会出现一些小动物例如小刺猬、老鼠或蛇等,而这些小动物一般比较矮,它们的高度值达不到割草机器人的避 障识别范围,当割草机器人的处理器获取的所述实时光强值小于所述预设光强阈值时,说明割草机器人工作于夜间工作模式,进一步判断障碍物高度差的最大值是否位于预设的夜间避障范围区间,该夜间避障范围区间为大于或等于第二预设高度阈值且小于或等于第一预设高度阈值,若是,判定检测出夜间障碍物;若所述实时光强值大于或等于所述预设光强阈值时,说明割草机器人工作于白天工作模式,由于白天割草机器人工作区域的表面上出现夜间小动物的概率很小,当所述高度值大于或等于第二预设高度阈值且小于或等于第一预设高度阈值时,判定检测到位于草坪中的低矮无生命障碍物,控制割草机器人前移并执行预设的割草动作,以控制割草机器人越过该低矮无生命障碍物的同时完成预设的割草动作,有效地提高割草机器人的智能性的同时避免割草机器人在夜间割草时伤害夜间小动物。As an example, please refer to FIG. 11 , the depth information of the surface of the area to be worked and the depth information of obstacles in the forward direction of the lawnmower robot are obtained by using the depth information obtaining device 302 provided on the lawnmower robot, and the obstacles are located in the mobile robot. The surface of the area to be worked in the forward direction; for example, the binocular camera 3021 can be used to obtain the depth information of the obstacles on the surface of the area to be worked in the forward direction of the mobile robot, and the depth information can include the distance between the object on the area to be worked by the mobile robot and the mobile robot and angle, so that the mobile robot can obtain the three-dimensional model of obstacles and lawn according to the distance and angle of multiple points of objects (such as obstacles or grass) on the area to be worked, and then obtain the moving robot in the forward direction. The height value Hmax of the obstacles on the surface of the working area relative to the surface of the area to be worked. Install the binocular camera 3021 on the top of the fuselage of the mowing robot, and the distance between the installation position of the binocular camera 3021 and the surface of the working area of the mobile robot can be set to be 15cm-25cm; and the center of the mirror surface of the binocular camera 3021 can be set There is an acute angle between the axis and the advancing direction of the mobile robot, and the binocular camera 3021 detects obliquely downward, so as to accurately detect the depth information of the surface of the area to be worked in the advancing direction of the mobile robot and the waiting area in the advancing direction of the mobile robot. Depth information for obstacles on the surface of the work area. The processor 303 acquires the real-time light intensity value of the mobile robot in the forward direction, and controls the movement of the working components of the mobile robot based on the height value and the real-time light intensity value. If the height value Hmax is greater than or equal to the first preset height threshold, the processor 303 controls the lawnmower robot to perform a preset obstacle avoidance action, such as moving backward, moving forward at a corner, or revolving around a preset trajectory to stay away from the obstacle 800 , the first preset height threshold can be set as the lower limit value of the nursery or the upper limit value of the hedgehog, and is less than or equal to the height value of the fuselage of the lawn mowing robot, so that the lawn mowing robot can accurately identify the height value Obstacles with a lower height value than the lawnmower robot to achieve intelligent obstacle avoidance, avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawnmower robot . Because some small animals such as hedgehogs, mice or snakes will appear on the surface of the working area of the lawn mowing robot at night, and these small animals are generally short, their height values cannot reach the obstacle avoidance and recognition range of the lawn mowing robot. When the real-time light intensity value obtained by the processor of the grass robot is less than the preset light intensity threshold, it means that the lawn mower is working in the night work mode, and it is further determined whether the maximum value of the obstacle height difference is within the preset nighttime obstacle avoidance value. range interval, the nighttime obstacle avoidance range interval is greater than or equal to the second preset height threshold and less than or equal to the first preset height threshold, if so, it is determined that a nighttime obstacle is detected; if the real-time light intensity value is greater than or equal to the When the preset light intensity threshold is mentioned, it means that the lawn mower is working in the daytime working mode. Since the probability of nighttime small animals appearing on the surface of the working area of the lawn mower robot during the day is very small, when the height value is greater than or equal to the second preset height When the threshold is less than or equal to the first preset height threshold, it is determined that a low inanimate obstacle located in the lawn is detected, and the mowing robot is controlled to move forward and perform a preset mowing action to control the mowing robot to cross the low threshold. It completes the preset mowing action while short and inanimate obstacles, which effectively improves the intelligence of the mowing robot and avoids the mowing robot from harming small animals at night when mowing the grass at night.
进一步地,请继续参考图9、图10a、图10b及图11,在本申请的一个实施例中,处理器303被配置为:Further, please continue to refer to FIG. 9 , FIG. 10 a , FIG. 10 b and FIG. 11 , in an embodiment of the present application, the processor 303 is configured to:
若所述高度值小于或等于第二预设高度阈值,则控制机器人本体301前移并控制割草组件305执行预设的割草动作。If the height value is less than or equal to the second preset height threshold, the robot body 301 is controlled to move forward and the mowing component 305 is controlled to perform a preset mowing action.
作为示例,请继续参考图9、图10a及图10b,若所述高度值小于第二预设高度阈值,判定割草机器人600前进方向上待工作区域表面的障碍物为极低障碍物,例如落叶、金属杆或废纸盒等中的一种或多种,控制割草机器人600前移并执行预设的割草动作,避免草坪上的极低障碍物引发割草机器人的避障动作,从而避免产生遗漏割草区域的情况发生。As an example, please continue to refer to FIG. 9 , FIG. 10a and FIG. 10b , if the height value is less than the second preset height threshold, it is determined that the obstacle on the surface of the area to be worked in the forward direction of the lawnmower robot 600 is a very low obstacle, such as One or more of fallen leaves, metal poles or waste paper boxes, etc., to control the lawnmower robot 600 to move forward and execute the preset lawnmowing action, so as to avoid the obstacle avoidance action of the lawnmower robot caused by extremely low obstacles on the lawn. This avoids the occurrence of missed mowing areas.
上述移动机器人智能避障装置或移动机器人中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中,也可以以软件形式存储于计算机设备中的存储器中,以便于处理器调用执行以上各个模块对应的操作。The above-mentioned mobile robot intelligent obstacle avoidance device or each module in the mobile robot can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.
以上所述实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。因此,本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.
Claims (12)
- 一种移动机器人智能避障方法,其特征在于,所述移动机器人在边界限定的待工作区域内行走和/或工作,所述方法包括:An intelligent obstacle avoidance method for a mobile robot, characterized in that the mobile robot walks and/or works in a to-be-worked area defined by a boundary, the method comprising:在检测到目标物体的情况下,确定所述目标物体相对于所述待工作区域表面的高度值;In the case of detecting the target object, determine the height value of the target object relative to the surface of the area to be worked;获取反映所述移动机器人在所述工作区域中工作时光照情况的参数;acquiring parameters reflecting the lighting conditions of the mobile robot when working in the work area;基于所述高度值以及所述反映所述移动机器人工作时光照情况的参数控制所述移动机器人的行走和/或工作。The walking and/or working of the mobile robot is controlled based on the height value and the parameter reflecting the lighting conditions when the mobile robot is working.
- 根据权利要求1所述的移动机器人智能避障方法,其特征在于,获取反映所述移动机器人在所述工作区域中工作时光照情况的参数,包括:The method for intelligent obstacle avoidance of a mobile robot according to claim 1, wherein obtaining parameters reflecting the lighting conditions of the mobile robot when working in the work area comprises:获取所述移动机器人的实时光强值。Obtain the real-time light intensity value of the mobile robot.
- 根据权利要求2所述的移动机器人智能避障方法,其特征在于,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:若所述高度值小于第一预设高度阈值,且当所述实时光强值大于或等于预设光强阈值时,控制所述移动机器人保持当前状态继续行走和/或工作;If the height value is less than the first preset height threshold value, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold value, control the mobile robot to keep the current state and continue to walk and/or work;若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人保持当前状态继续行走,并控制所述移动机器人停止工作。If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to keep the current state to continue walking, and control the mobile robot to stop working .
- 根据权利要求2所述的移动机器人智能避障方法,其特征在于,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:若所述高度值小于第一预设高度阈值,且当所述实时光强值大于或等于预设光强阈值时,控制所述移动机器人执行预设的避障动作,并控制所述移动机器人保持工作状态;If the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot keep working;若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人执行预设的避障动作,并控制所述移动机器人停止工作。If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot stop working.
- 根据权利要求2所述的移动机器人智能避障方法,其特征在于,所述基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:若所述高度值大于或等于第一预设高度阈值,则控制所述移动机器人执行预设的避障动作,并控制所述移动机器人工作。If the height value is greater than or equal to the first preset height threshold value, the mobile robot is controlled to perform a preset obstacle avoidance action, and the mobile robot is controlled to work.
- 根据权利要求1所述的移动机器人智能避障方法,其特征在于,获取反映所述移动机器人在所述工作区域中工作时光照情况的参数,包括:The method for intelligent obstacle avoidance of a mobile robot according to claim 1, wherein obtaining parameters reflecting the lighting conditions of the mobile robot when working in the work area comprises:获取所述移动机器人工作时的当前工作时间、季节参数、当前位置以及天气情况;Obtain the current working time, seasonal parameters, current location and weather conditions when the mobile robot is working;根据所述当前工作时间、季节参数、当前位置以及天气情况中的至少之一确定所述反映移动机器人在所述工作区域工作时光照情况的参数。The parameter reflecting the lighting situation when the mobile robot is working in the working area is determined according to at least one of the current working time, seasonal parameters, current location and weather conditions.
- 一种移动机器人,其特征在于,所述移动机器人在边界限定的待工作区域内行走和/或工作,所述移动机器人上设置有机器人本体、设置于所述机器人本体上的工作组件以及行走组件、深度信息获取装置以及处理器,A mobile robot, characterized in that the mobile robot walks and/or works in a to-be-worked area defined by a boundary, and the mobile robot is provided with a robot body, a working assembly disposed on the robot body, and a walking assembly , a depth information acquisition device and a processor,所述深度信息获取装置,被配置为获取深度信息,所述深度信息包括待工作区域表面的深度信息以及目标物体的深度信息,所述目标物***于所述移动机器人所在待工作区域表面;The depth information acquisition device is configured to acquire depth information, the depth information includes depth information on the surface of the to-be-worked area and depth information of a target object, the target object is located on the surface of the to-be-worked area where the mobile robot is located;所述工作组件,被配置为执行预定工作;the work component, configured to perform predetermined work;所述处理器与所述工作组件、行走组件以及所述深度信息获取装置信号相连,用于控制所述移动机器人的行走和/或工作;The processor is signal-connected with the working assembly, the walking assembly and the depth information acquiring device, and is used to control the walking and/or work of the mobile robot;所述处理器被配置为在检测到目标物体的情况下,根据所述深度信息获取装置获取的深度信息确定所述目标物体相对于所述待工作区域表面的高度值;获取反映所述移动机器人在所述工作区域中工作时光照情况的参数;基于所述高度值以及所述反映所述移动机器人工作时光照情况的参数控制所述移动机器人的行走和/或工作。The processor is configured to, when a target object is detected, determine a height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; obtain a height value that reflects the mobile robot Parameters of lighting conditions when working in the working area; controlling the walking and/or working of the mobile robot based on the height value and the parameters reflecting the lighting conditions when the mobile robot is working.
- 根据权利要求7所述的移动机器人,其特征在于,所述移动机器人上配置有光强信息获取装置;将所述光强信息获取装置获取到的实时光强值作为所述反映所述移动机器人在所述工作区域中工作时光照情况的参数。The mobile robot according to claim 7, wherein a light intensity information acquisition device is configured on the mobile robot; the real-time light intensity value acquired by the light intensity information acquisition device is used as the reflection of the mobile robot Parameters for lighting conditions when working in the working area.
- 根据权利要求8所述的移动机器人,其特征在于,通过所述光强信息获取装置包括所述深度信息获取装置。The mobile robot according to claim 8, wherein the light intensity information acquisition device includes the depth information acquisition device.
- 根据权利要求8所述的移动机器人,其特征在于,所述深度信息获取装置包括以下至少之一:TOF相机、双目相机或结构光相机。The mobile robot according to claim 8, wherein the depth information acquisition device comprises at least one of the following: a TOF camera, a binocular camera or a structured light camera.
- 根据权利要求7所述的移动机器人,其特征在于,所述处理器被配置为基于所述高度值、所述实时光强值控制所述移动机器人的行走和/或工作,包括:The mobile robot according to claim 7, wherein the processor is configured to control the walking and/or work of the mobile robot based on the height value and the real-time light intensity value, comprising:若所述高度值小于第一预设高度阈值,且当所述实时光强值大于或等于预设光强阈值时,控制所述移动机器人的工作组件保持当前状态继续工作,控制所述移动机器人的行走组件保持当前状态继续行走;If the height value is less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the working components of the mobile robot to keep the current state and continue to work, and control the mobile robot The walking component keeps the current state and continues to walk;若所述高度值小于第一预设高度阈值,且当所述实时光强值小于所述预设光强阈值时,控制所述移动机器人的行走组件保持当前状态继续行走,并控制所述移动机器人的工作组件停止工作。If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the walking component of the mobile robot to keep the current state to continue walking, and control the movement The working components of the robot stop working.
- 根据权利要求11所述的移动机器人,其特征在于,所述移动机器人上 配置有接触式传感器,所述接触式传感器被配置为通过直接碰撞的方式检测目标物体,所述第一预设高度阈值小于所述接触式传感器的高度。The mobile robot according to claim 11, wherein a contact sensor is configured on the mobile robot, and the contact sensor is configured to detect the target object by means of direct collision, and the first preset height threshold is less than the height of the touch sensor.
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