CN110850860A - Object detection method and device for automatic mower and automatic mower - Google Patents
Object detection method and device for automatic mower and automatic mower Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention provides an object detection method and device for an automatic mower and the automatic mower, wherein the automatic mower is provided with at least one preset sensor, and each preset sensor transmits a pulse signal, and the method comprises the following steps: receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range; and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object. The invention can effectively improve the instantaneity of object detection, avoid collision, improve the safety of the automatic mower and improve the object detection effect of the automatic mower.
Description
Technical Field
The invention relates to the technical field of electronic information, in particular to an object detection method and device for an automatic mower and the automatic mower.
Background
Automatic mowers, such as automatic mowers, are becoming increasingly popular with users because they can automatically perform tasks such as maintaining lawns. Which is limited to move in a certain working area during the actual working process.
In the related technology, the automatic mower is provided with the collision sensor to identify the object in front of the equipment and trigger the automatic mower to retreat or turn, and in this way, the object identification is not timely enough, and the automatic mower is easily damaged because the automatic mower is triggered to turn when collision occurs.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide an object detection method for an automatic lawn mower, which can effectively improve the instantaneity of object detection, avoid collision, improve the safety of the automatic lawn mower, and improve the object detection effect of the automatic lawn mower.
Another object of the present invention is to propose an object detection device for an automatic lawn mower.
Another object of the invention is to propose an automatic mower.
It is another object of the invention to propose a non-transitory computer-readable storage medium.
It is a further object of the invention to propose a computer program product.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides an object detecting method for an automatic lawn mower, the automatic lawn mower being provided with at least one preset sensor, each preset sensor emitting a pulse signal, the method comprising the steps of: receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range; and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
According to the object detection method for the automatic mower, which is provided by the embodiment of the first aspect of the invention, at least one preset sensor is configured on the automatic mower, each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object in a signal radiation range, and determines the type of the detected object according to the strength information of the echo signal to perform object detection, so that the instantaneity of the object detection can be effectively improved, the collision is avoided, the safety of the automatic mower is improved, and the object detection effect of the automatic mower is improved.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides an object detecting device for an automatic lawn mower, including: the automatic mower comprises an automatic mower body, wherein at least one preset sensor and signal receiving equipment are arranged on the automatic mower body, a central processing unit is arranged in the automatic mower body, and each preset sensor is used for transmitting a pulse signal; the signal receiving equipment is used for receiving echo signals of the pulse signals after the pulse signals are reflected by a detected object in a signal radiation range; and the central processing unit is used for determining the type of the detected object according to the intensity information of the echo signal so as to detect the detected object.
According to the object detection device for the automatic mower, which is provided by the embodiment of the second aspect of the invention, at least one preset sensor is configured on the automatic mower, each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object in a signal radiation range, and determines the type of the detected object according to the intensity information of the echo signal to perform object detection, so that the instantaneity of the object detection can be effectively improved, the collision can be avoided, the safety of the automatic mower can be improved, and the object detection effect of the automatic mower can be improved.
To achieve the above object, according to a third aspect of the present invention, there is provided an automatic lawnmower comprising: the embodiment of the second aspect of the invention provides an object detection device for an automatic mower.
In the automatic mower provided by the embodiment of the third aspect of the invention, at least one preset sensor is configured on the automatic mower, each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object in a signal radiation range, and determines the type of the detected object according to the intensity information of the echo signal to perform object detection, so that the instantaneity of the object detection can be effectively improved, the collision is avoided, the safety of the automatic mower is improved, and the object detection effect of the automatic mower is improved.
To achieve the above object, a non-transitory computer-readable storage medium according to a fourth aspect of the present invention is a non-transitory computer-readable storage medium having instructions stored thereon, which when executed by a processor of a mobile terminal, enable the mobile terminal to perform an object detection method for an automatic lawn mower having at least one preset sensor provided thereon, each preset sensor transmitting a pulse signal, the method comprising: receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range; and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
The non-transitory computer-readable storage medium provided in the fourth aspect of the present invention configures at least one preset sensor on the robotic lawnmower, where each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object within a signal radiation range, and determines a category of the detected object according to intensity information of the echo signal to perform object detection, so as to effectively improve instantaneity of object detection, avoid collision, improve safety of the robotic lawnmower, and improve object detection effect of the robotic lawnmower.
To achieve the above object, a computer program product according to an embodiment of a fifth aspect of the present invention is a computer program product, wherein instructions of the computer program product, when executed by a processor, perform a method for detecting an object for an automatic lawn mower, the automatic lawn mower having at least one preset sensor disposed thereon, each preset sensor emitting a pulse signal, the method comprising: receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range; and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
The computer program product provided by the embodiment of the fifth aspect of the present invention is configured with at least one preset sensor on the automatic mower, where each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object within a signal radiation range, and determines the type of the detected object according to the intensity information of the echo signal to perform object detection, so as to effectively improve the instantaneity of the object detection, avoid collision, improve the safety of the automatic mower, and improve the object detection effect of the automatic mower.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of an object detection method for an robotic lawnmower according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating an object detection method for an robotic lawnmower according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of an object detecting device for an automatic lawn mower according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic flow chart of an object detection method for an automatic lawn mower according to an embodiment of the present invention.
The present embodiment is exemplified in a case where the object detecting method for an automatic lawn mower is configured to be used in an object detecting apparatus for an automatic lawn mower.
The object detecting method for the robotic lawnmower according to this embodiment may be configured in the object detecting apparatus for the robotic lawnmower, and the object detecting apparatus for the robotic lawnmower may be provided in the robotic lawnmower, without limitation.
The execution main body in the embodiment of the present application may be, for example, a Central Processing Unit (CPU) of the robotic lawnmower in terms of hardware, or may be, for example, a control service in the robotic lawnmower in terms of software, and is not limited thereto.
In the related technology, the automatic mower is provided with the collision sensor to identify the object in front of the equipment and trigger the automatic mower to retreat or turn, and in this way, the object identification is not timely enough, and the automatic mower is easily damaged because the automatic mower is triggered to turn when collision occurs.
In order to solve the technical problems, the invention provides an object detection method of an automatic mower, which comprises the steps of configuring at least one preset sensor on the automatic mower, wherein each preset sensor transmits a pulse signal, receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range, and determining the type of the detected object according to the intensity information of the echo signal to detect the object, so that the instantaneity of the object detection can be effectively improved, the collision can be avoided, the safety of the automatic mower can be improved, and the object detection effect of the automatic mower can be improved.
The automatic mower provided by the embodiment of the invention is provided with at least one preset sensor, and each preset sensor transmits a pulse signal.
The embodiment of the invention is exemplified by taking at least one preset sensor as two preset sensors and taking the preset sensor as an ultrasonic sensor, and when the preset sensor is two preset sensors, the manufacturing cost and the load of the automatic mower can be saved while the detection precision is ensured, and the working efficiency of the automatic mower can not be influenced. When presetting the sensor and being ultrasonic sensor, because ultrasonic signal meets impurity or interface can produce apparent reflection and form the reflection and become the echo, touch the movable object and can produce Doppler effect to the directionality is good, can become the ray and directional propagation, consequently, object detection effect is comparatively accurate.
Referring to fig. 1, the method includes:
s101: and receiving an echo signal of the pulse signal after the pulse signal is reflected by the detected object in the signal radiation range.
The pulse signal is an ultrasonic pulse signal.
The signal radiation range is the signal radiation range to which the pulse signal can be radiated.
The detected objects can be, for example, grass, people near the moving track of the robotic lawnmower, and other objects in the garden.
Optionally, each ultrasonic sensor transmits a pulse signal in real time, so that real-time detection of the object can be realized, and timely avoidance can be realized.
According to the working principle of the ultrasonic sensor, if an object exists in the signal radiation range of the pulse signal, the echo signal is reflected, so that the echo signal of the pulse signal reflected by the detected object in the signal radiation range can be received in the invention, and then S102 is triggered.
S102: and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
The intensity information includes: the magnitude of the intensity.
It is understood that the intensity amplitudes of the echo signals reflected by the pulse signals are different based on different types of objects (such as grass, people, and other objects in the garden), and therefore, in the embodiment of the present invention, whether the type of the detected object needs to be determined can be determined based on the intensity amplitudes.
Optionally, the automatic mower is provided with a target working object in the working process, the target working object has a corresponding intensity amplitude threshold, the target working object is a working object in the normal working state of the automatic mower, and the corresponding intensity amplitude threshold is a predetermined possible intensity amplitude of the echo signal after the target working object reflects the pulse signal.
The intensity amplitude threshold may be obtained by a previous test, or may be set directly by a user according to experience, which is not limited.
The embodiment of the invention takes the target working object of the automatic mower as the plant grass for example.
Specifically, in the execution process, when the intensity amplitude of the echo signal is obtained through analysis, the central processing unit of the automatic mower may be triggered to call a predetermined intensity amplitude threshold corresponding to vegetation grass, where the intensity amplitude threshold may be a threshold range or a fixed value, and when the intensity amplitude of the echo signal is not within the threshold range or not equal to the fixed value, it is determined that a comparison result between the intensity amplitude and the intensity amplitude threshold satisfies a preset condition, at this time, it indicates that a front object determined based on the intensity amplitude of the echo signal is not vegetation grass, i.e., is not a target working object of the automatic mower, it is determined that the front object may be an obstacle, and it may further trigger determination of the category of the detected object according to the intensity information of the echo signal.
In another implementation process, if the intensity amplitude of the echo signal is within the threshold range or equal to the fixed value, that is, the comparison result between the intensity amplitude and the intensity amplitude threshold is determined not to satisfy the preset condition, it indicates that the front object determined based on the intensity amplitude of the echo signal is vegetation, that is, the front object is a normal target working object of the automatic mower, and further detection of the front object may not be triggered, so that the working efficiency of the automatic mower can be effectively guaranteed, and meanwhile, the resource consumption of unnecessary detection programs is saved.
In this embodiment, through the at least preset sensor that disposes on the robotic lawnmower, every preset sensor launches pulse signal, receives pulse signal and carries out object detection via the echo signal that is detected the object reflection in the signal radiation scope, and confirm the classification that is detected the object according to echo signal's intensity information, can effectively promote the instantaneity that the object detected, avoid producing the collision, promote the security of robotic lawnmower to and promote the object detection effect of robotic lawnmower.
FIG. 2 is a schematic flow chart of an object detection method for an robotic lawnmower according to another embodiment of the present invention.
The embodiment of the invention takes the target working object of the automatic mower as the plant grass for example.
Referring to fig. 2, the method includes:
s201: a plurality of samples and a first sample of the target work object are determined.
The samples are samples of objects other than the category of the target work object, such as people, and other objects in the garden (stones, trees, etc.), the first sample is a sample of the target work object, and the category of the first sample may be one or more, such as various kinds of plant grasses.
S202: a test pulse signal is transmitted to each sample and the first sample.
The test pulse signal is an ultrasonic pulse signal, and the test pulse signal is a pulse signal used for testing the reflection performance of different samples.
The embodiment of the invention can respectively transmit the test pulse signal to each sample and the first sample so as to test the reflection performance of the samples.
S203: and receiving a test echo signal of the test pulse signal after the test pulse signal is reflected by each sample and the first sample.
For each sample, its reflected echo signal may be received separately, which may be referred to as a test echo signal.
S204: the parameter information of the test pulse signal is analyzed to determine a sample threshold corresponding to each sample, and an intensity amplitude threshold corresponding to the first sample.
Further, for each sample, the parameter information of the reflected test echo signal may be analyzed, for example, the parameter value corresponding to the preset parameter is taken as the corresponding sample threshold, the intensity amplitude of the reflected test echo signal is analyzed for the first sample, when a plurality of first samples (i.e., a plurality of types of plant grass) are determined, an intensity amplitude may be determined for each first sample to obtain a plurality of intensity amplitudes, a threshold range may be formed according to the plurality of intensity amplitudes, and the threshold range is taken as the intensity amplitude threshold, and when the first sample (i.e., a type of plant grass) of the target work object of the automatic lawn mower is determined, a value of the intensity amplitude may be determined and taken as the intensity amplitude threshold, which is not limited.
The preset parameter may be, for example, the sound intensity of the echo signal, which is not limited to this.
The preset parameters may also be set as other parameters according to different actual application items, and are not limited thereto.
S205: and associating the identifier of each sample with the corresponding sample threshold value to obtain an association relation.
The identification of each sample may specifically be used to identify the type of sample.
After the sample threshold is determined, the identifier of each sample may be associated with the corresponding sample threshold to obtain an association relationship, and the identifier of the first sample may be associated with the intensity amplitude threshold.
S206: and receiving an echo signal of the pulse signal after the pulse signal is reflected by the detected object in the signal radiation range.
The pulse signal is an ultrasonic pulse signal.
The signal radiation range is the signal radiation range to which the pulse signal can be radiated.
The detected objects can be, for example, grass, people near the moving track of the robotic lawnmower, and other objects in the garden.
Optionally, each ultrasonic sensor transmits a pulse signal in real time, so that real-time detection of the object can be realized, and timely avoidance can be realized.
According to the working principle of the ultrasonic sensor, if an object exists in the signal radiation range of the pulse signal, the echo signal is reflected, so that the echo signal of the pulse signal reflected by the detected object in the signal radiation range can be received in the invention, and then S207 is triggered.
In the embodiment, the front object determined based on the intensity amplitude of the echo signal is not vegetation grass, that is, is not a target working object of the automatic mower, the front object is determined to be a possible obstacle, and the determination of the category of the detected object according to the intensity information of the echo signal is further triggered.
S207: and determining a sample threshold value matched with the preset parameter value of the echo signal as a target sample threshold value.
S208: and determining the identifier corresponding to the target sample threshold according to the incidence relation, and taking the category corresponding to the identifier as the category of the detected object.
In the embodiment, the correlation relationship is obtained by correlating the identifier of each sample with the corresponding sample threshold, and in the process of detecting the object by the automatic mower, the correlation relationship can be directly called to realize object detection, so that the detection efficiency is improved, and the correlation relationship is obtained based on the statistical analysis of mass sample data, so that the detection accuracy can be guaranteed.
S209: and adjusting the current moving track of the automatic mower.
This embodiment can also adjust the current movement track of robotic lawnmower when confirming the place ahead object is the barrier, avoids producing the collision, promotes robotic lawnmower's security.
Further, in another implementation process, the embodiment of the present invention may further set a preset distance value, where the preset distance value is a preset distance value in a working area of the robotic lawnmower, and after receiving an echo signal reflected by a detected object, the embodiment of the present invention may further determine a distance between the detected object and the robotic lawnmower according to the preset distance value, and when the distance is greater than the preset distance value, the current movement trajectory of the robotic lawnmower may not be adjusted.
Optionally, determining a target track in a working area of the robotic lawnmower according to the transmitted pulse signal, wherein an object detected based on the transmitted pulse signal is a target working object when the robotic lawnmower moves on the target track; and adjusting the current moving track to be the target track.
According to the working principle of the automatic mower, the automatic mower is limited to move in a certain working area in the actual working process, so that the target track in the working area of the automatic mower can be determined.
The target track is a better moving track determined based on the transmitted pulse signal, and when the automatic mower moves on the target track, an object detected based on the transmitted pulse signal is a target working object.
The target track may be dynamically determined, for example, when the robotic lawnmower detects that an obstacle exists in front of the robotic lawnmower, the robotic lawnmower may turn the moving track, and transmit a pulse signal in real time in the direction after turning the direction, when it is determined that an obstacle does not exist in front of the direction, the robotic lawnmower may be triggered to move a unit distance in any direction, and perform object detection during each movement, and if a target work object can be detected after each movement, the unit distance moved each time is serially connected as the moving track and used as the target track.
The target track in the working area of the automatic mower is determined according to the transmitted pulse signal, when the automatic mower moves on the target track, the current moving track is adjusted to be the target track based on the object detected by the transmitted pulse signal as the target working object, so that the automatic mower can execute the mowing task with the optimal moving track while avoiding the obstacle, and the invalid working state that the mowing task cannot be executed due to no plant grass being positioned is avoided.
In this embodiment, through the at least preset sensor that disposes on the robotic lawnmower, every preset sensor launches pulse signal, receives pulse signal and carries out object detection via the echo signal that is detected the object reflection in the signal radiation scope, and confirm the classification that is detected the object according to echo signal's intensity information, can effectively promote the instantaneity that the object detected, avoid producing the collision, promote the security of robotic lawnmower to and promote the object detection effect of robotic lawnmower. The correlation relation is obtained by correlating the identification of each sample with the corresponding sample threshold, the correlation relation can be directly called to realize object detection in the process of detecting the object by the automatic mower, the detection efficiency is improved, and the correlation relation is obtained based on the statistical analysis of mass sample data, so that the detection accuracy can be guaranteed.
Fig. 3 is a schematic structural diagram of an object detecting device for an automatic lawn mower according to an embodiment of the present invention.
Referring to fig. 3, the apparatus 300 includes:
the automatic mower body 301, at least one preset sensor 302 and a signal receiving device 303 are arranged on the automatic mower body 301, a central processing unit 3011 is arranged in the automatic mower body 301, wherein,
each preset sensor 302 is for emitting a pulsed signal.
The signal receiving device 303 is configured to receive an echo signal of the pulse signal reflected by the detected object in the signal radiation range.
And the central processing unit 3011 is configured to determine the type of the detected object according to the intensity information of the echo signal, so as to detect the detected object.
Optionally, in some embodiments, the intensity information comprises: intensity amplitude, the automatic mower possesses the target work object at the course of the work, and the target work object has corresponding intensity amplitude threshold value, central processing unit 3011 for:
and comparing the intensity amplitude with an intensity amplitude threshold, and triggering to determine the type of the detected object according to the intensity information of the echo signal when the comparison result meets a preset condition.
Optionally, in some embodiments, the central processor 3011 is further configured to:
determining a first sample of the plurality of samples and the target work object;
transmitting a test pulse signal to each sample and the first sample;
receiving a test echo signal of a test pulse signal after the test pulse signal is reflected by each sample and the first sample;
analyzing the parameter information of the test pulse signal to determine a sample threshold corresponding to each sample and an intensity amplitude threshold corresponding to the first sample;
and associating the identifier of each sample with the corresponding sample threshold value to obtain an association relation.
Optionally, in some embodiments, the intensity information further includes: the preset parameter value, the central processing unit 3011, is further configured to:
determining a sample threshold value matched with a preset parameter value of the echo signal as a target sample threshold value;
and determining the identifier corresponding to the target sample threshold according to the incidence relation, and taking the category corresponding to the identifier as the category of the detected object.
Optionally, in some embodiments, the central processor 3011 is further configured to:
and adjusting the current moving track of the automatic mower.
Optionally, in some embodiments, the central processor 3011 is further configured to:
determining a target track in a working area of the automatic mower according to the transmitted pulse signal, wherein when the automatic mower moves on the target track, an object detected based on the transmitted pulse signal is a target working object;
and adjusting the current moving track to be the target track.
Alternatively, in some embodiments,
each preset sensor 302 transmits a pulse signal in real time.
Optionally, in some embodiments, the at least one predetermined sensor is two predetermined sensors.
Optionally, in some embodiments, the predetermined sensor 302 is an ultrasonic sensor.
It should be noted that the explanation of the embodiment of the object detection method for the robotic lawnmower in the foregoing fig. 1-2 is also applicable to the object detection apparatus 300 for the robotic lawnmower of this embodiment, and the implementation principle is similar, and therefore, the description thereof is omitted here.
In this embodiment, through the at least preset sensor that disposes on the robotic lawnmower, every preset sensor launches pulse signal, receives pulse signal and carries out object detection via the echo signal that is detected the object reflection in the signal radiation scope, and confirm the classification that is detected the object according to echo signal's intensity information, can effectively promote the instantaneity that the object detected, avoid producing the collision, promote the security of robotic lawnmower to and promote the object detection effect of robotic lawnmower.
In order to implement the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium, which when instructions in the storage medium are executed by a processor of a terminal, enables the terminal to perform an object detection method for an robotic lawnmower having at least one preset sensor provided thereon, each preset sensor emitting a pulse signal, the method comprising:
receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range;
and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
The non-transitory computer-readable storage medium in this embodiment configures at least one preset sensor on the robotic lawnmower, where each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object within a signal radiation range, and determines a type of the detected object according to intensity information of the echo signal to perform object detection, so as to effectively improve instantaneity of object detection, avoid collision, improve safety of the robotic lawnmower, and improve object detection effect of the robotic lawnmower.
To achieve the above embodiments, the present invention also provides a computer program product, wherein instructions of the computer program product, when executed by a processor, perform an object detection method for an automatic lawn mower having at least one preset sensor provided thereon, each preset sensor emitting a pulse signal, the method comprising:
receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range;
and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
The computer program product in this embodiment configures at least one preset sensor on the robotic lawnmower, where each preset sensor transmits a pulse signal, receives an echo signal of the pulse signal reflected by a detected object within a signal radiation range, and determines the type of the detected object according to the intensity information of the echo signal to perform object detection, so as to effectively improve the immediacy of object detection, avoid collision, improve the safety of the robotic lawnmower, and improve the object detection effect of the robotic lawnmower.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (21)
1. An object detection method for an robotic lawnmower, characterized in that the robotic lawnmower is provided with at least one preset sensor, each preset sensor emitting a pulse signal, the method comprising the steps of:
controlling a preset sensor to transmit a pulse signal;
receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range;
and determining the category of the detected object according to the intensity information of the echo signal.
2. The object detecting method for an robotic lawnmower according to claim 1, wherein the intensity information comprises: the intensity amplitude, the said automatic mower possesses the goal work target in the course of working, the said goal work target sets up the corresponding intensity amplitude threshold, the said intensity information according to the said echo signal confirms the said classification of detected object, including:
comparing the intensity amplitude with the intensity amplitude threshold;
and if the comparison result meets a preset condition, triggering to determine the type of the detected object according to the intensity information of the echo signal.
3. The object detecting method for an robotic lawnmower according to claim 2, further comprising, before each of the preset sensors emits the pulse signal:
determining a plurality of samples and a first sample of the target work object;
transmitting a test pulse signal to said each sample and said first sample;
receiving a test echo signal of the test pulse signal after being reflected by each sample and the first sample;
analyzing the parameter information of the test pulse signal to determine a sample threshold corresponding to each sample and an intensity amplitude threshold corresponding to the first sample;
and associating the identifier of each sample with the corresponding sample threshold value to obtain an association relation.
4. The object detecting method for an robotic lawnmower according to claim 3, wherein the intensity information further comprises: presetting parameter values, wherein the determination of the category of the detected object according to the intensity information of the echo signal comprises the following steps:
determining a sample threshold value matched with a preset parameter value of the echo signal as a target sample threshold value;
and determining the identifier corresponding to the target sample threshold according to the incidence relation, and taking the category corresponding to the identifier as the category of the detected object.
5. The object detecting method for an automatic lawn mower according to claim 2, wherein after said determining the category of the detected object based on the intensity information of said echo signal, further comprising:
and adjusting the current moving track of the automatic mower.
6. The object detecting method for an robotic lawnmower according to claim 5, wherein said adjusting the current movement trajectory of the robotic lawnmower comprises:
determining a target track in a working area of the automatic mower according to the transmitted pulse signal, wherein when the automatic mower moves on the target track, an object detected based on the transmitted pulse signal is the target working object;
and adjusting the current moving track to be the target track.
7. The object detecting method for an robotic lawnmower according to claim 1, wherein each of the preset sensors emits a pulse signal comprising:
and each preset sensor transmits the pulse signal in real time.
8. The object detecting method for an automatic lawn mower according to any one of claims 1-7, wherein said at least one preset sensor is two preset sensors.
9. The object detecting method for an robotic lawnmower according to claim 7, wherein the predetermined sensor is an ultrasonic sensor.
10. An object detecting device for an automatic lawn mower, comprising: the automatic mower body is provided with at least one ultrasonic sensor, the ultrasonic sensor transmits ultrasonic waves and receives ultrasonic echoes reflected after the ultrasonic waves are reflected when the ultrasonic waves touch obstacles, a central processing unit is arranged in the automatic mower body, wherein,
each preset sensor is used for transmitting a pulse signal;
the signal receiving equipment is used for receiving echo signals of the pulse signals after the pulse signals are reflected by a detected object in a signal radiation range;
and the central processing unit is used for determining the type of the detected object according to the intensity information of the echo signal so as to detect the detected object.
11. The object detecting device for an robotic lawnmower according to claim 10, wherein the intensity information comprises: an intensity amplitude, the robotic lawnmower having a target work object during operation, the target work object having a corresponding intensity amplitude threshold, the central processor configured to:
and comparing the intensity amplitude with the intensity amplitude threshold, and triggering to determine the category of the detected object according to the intensity information of the echo signal when the comparison result meets a preset condition.
12. The object detecting device for an robotic lawnmower according to claim 11, wherein the central processor is further configured to:
determining a plurality of samples and a first sample of the target work object;
transmitting a test pulse signal to said each sample and said first sample;
receiving a test echo signal of the test pulse signal after being reflected by each sample and the first sample;
analyzing the parameter information of the test pulse signal to determine a sample threshold corresponding to each sample and an intensity amplitude threshold corresponding to the first sample;
and associating the identifier of each sample with the corresponding sample threshold value to obtain an association relation.
13. The object detecting device for an robotic lawnmower according to claim 12, wherein the intensity information further comprises: presetting parameter values, wherein the central processing unit is further used for:
determining a sample threshold value matched with a preset parameter value of the echo signal as a target sample threshold value;
and determining the identifier corresponding to the target sample threshold according to the incidence relation, and taking the category corresponding to the identifier as the category of the detected object.
14. The object detecting device for an robotic lawnmower according to claim 11, wherein the central processor is further configured to:
and adjusting the current moving track of the automatic mower.
15. The object detecting device for an robotic lawnmower according to claim 14, wherein the central processor is further configured to:
determining a target track in a working area of the automatic mower according to the transmitted pulse signal, wherein when the automatic mower moves on the target track, an object detected based on the transmitted pulse signal is the target working object;
and adjusting the current moving track to be the target track.
16. The object detecting device for an robotic lawnmower according to claim 10, wherein,
and each preset sensor transmits the pulse signal in real time.
17. The object detecting device for a robotic lawnmower according to any one of claims 10-16, wherein the at least one pre-set sensor is two pre-set sensors.
18. The object detecting device for an robotic lawnmower according to claim 16, wherein the predetermined sensor is an ultrasonic sensor.
19. An automatic lawnmower, comprising:
an object detecting device for an automatic lawn mower as claimed in any one of claims 10-18.
20. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the object detection method for an automated lawn mower according to any one of claims 1-9.
21. A computer program product in which instructions, when executed by a processor, perform a method of object detection for an robotic lawnmower having at least one preset sensor disposed thereon, each preset sensor emitting a pulsed signal, the method comprising:
receiving an echo signal of the pulse signal reflected by a detected object in a signal radiation range;
and determining the category of the detected object according to the intensity information of the echo signal so as to detect the detected object.
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