CN111338332B - Automatic walking equipment and obstacle avoidance method and device thereof - Google Patents
Automatic walking equipment and obstacle avoidance method and device thereof Download PDFInfo
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Abstract
The application discloses automatic walking equipment, and an obstacle avoidance method and device thereof, wherein a light signal is emitted to an obstacle through a light emitting unit; receiving a reflected light signal reflected by the obstacle through the light receiving unit; and detecting whether the intensity of the reflected light signal is within a preset threshold range, and if not, adjusting the intensity of the emitted light signal of the photoelectric sensor. The emitting power is adjusted according to the intensity of the reflected light signal, energy waste caused by the emitting power is avoided, and the accuracy of obstacle detection is improved. The transmitting power is adjusted according to the intensity of the reflected light signal, and the phenomenon that the reflected signal is too weak and is judged mistakenly as having no obstacle due to the fact that the transmitting power is too small is avoided.
Description
Technical Field
The invention relates to the field of garden processes, in particular to automatic walking equipment, and an obstacle avoidance method and device thereof.
Background
The intelligent mower has an automatic walking function, can automatically finish the lawn trimming work, does not need manual direct control and operation, greatly reduces manual operation, and is a tool suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts.
Usually, an intelligent mower has an obstacle avoidance function, and one mode is to realize yielding by colliding the mower with an obstacle and using a collision sensor. One is to detect obstacles such as trees by using an ultrasonic sensor or a photoelectric sensor, and when the mower approaches the obstacles, the mower makes an avoiding or detouring action in advance to avoid collision with the obstacles.
In the conventional technology, when the intelligent mower detects the obstacle, the technical problems of energy waste, inaccurate detection result and the like exist.
Disclosure of Invention
Therefore, the automatic walking equipment, the obstacle avoidance method and the obstacle avoidance device can accurately detect whether the obstacle exists or not, and can save energy.
An obstacle avoidance method for automatic walking equipment, wherein the automatic walking equipment is provided with a photoelectric sensor, the photoelectric sensor comprises a light emitting unit and a light receiving unit, and the obstacle avoidance method comprises the following steps:
transmitting a light signal to an obstacle through the light transmitting unit;
receiving a reflected light signal reflected by the obstacle through the light receiving unit;
detecting whether the intensity of the reflected light signal is within a preset threshold range;
if not, the emitted light power of the light emitting unit is adjusted.
In one embodiment, if not, the adjusting the emitted light power of the light emitting unit includes:
if the intensity of the reflected light signal is larger than the maximum value of the threshold value range, reducing the emitted light power of the light emitting unit;
and if the intensity of the reflected light signal is smaller than the minimum value of the threshold range, increasing the emitted light power of the light emitting unit.
In one embodiment, before the detecting whether the intensity of the reflected light signal is within a preset threshold range, the method further includes:
and converting the reflected light signal into a light intensity electric signal and a light energy electric signal, and calculating the intensity of the reflected light signal based on the light intensity electric signal.
In one embodiment, the method further comprises:
and calculating the distance between the automatic walking equipment and the barrier based on the light intensity electric signal and the light energy electric signal, and controlling the operation of the automatic walking equipment.
In one embodiment, the method for calculating the distance between the automatic walking device and the obstacle comprises one or more of the following steps:
calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal;
calculating a second distance between the obstacle and the automatic walking device according to a time difference between the transmitted light signal and the received reflected light signal;
and calculating a third distance between the obstacle and the automatic walking equipment in a triangular distance measurement mode.
The utility model provides an automatic walking equipment keeps away barrier device, automatic walking equipment installs light emission unit and light receiving unit, the device includes:
a transmitting module for transmitting an optical signal to an obstacle through the optical transmitting unit;
the receiving module is used for receiving a reflected light signal reflected by the obstacle through the light receiving unit;
the detection module is used for detecting whether the intensity of the reflected light signal is within a preset threshold range;
and the adjusting module is used for adjusting the transmitting light power of the light transmitting unit if the light transmitting unit does not transmit light.
An automated walking device comprising:
a light emitting unit for emitting a light signal to an obstacle;
a light receiving unit for receiving a reflected light signal reflected by the obstacle;
and the processing unit is connected with the light receiving unit and used for detecting whether the intensity of the reflected light signal is within a preset threshold range or not, and if not, the transmitting light power of the light transmitting unit is adjusted.
In one embodiment, the light receiving unit converts the reflected light signal into an electrical light intensity signal and an electrical light energy signal;
the processing unit is further used for calculating the intensity of the reflected light signal based on the light intensity electric signal.
In one embodiment, the processing unit is further configured to calculate a distance between the automatic walking device and the obstacle based on the light intensity electrical signal and the light energy electrical signal, and control the operation of the automatic walking device.
In one embodiment, the processing unit is configured to calculate the distance of the self-propelled device from the obstacle by one or more of:
calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal;
calculating a second distance between the obstacle and the automatic walking device according to a time difference between the transmitted light signal and the received reflected light signal;
and calculating a third distance between the obstacle and the automatic walking equipment in a triangular distance measurement mode.
In one embodiment, the automatic walking device further comprises a control unit, and the control unit is used for controlling the operation of the automatic walking device according to one or more of the first distance, the second distance and the third distance.
In one embodiment, the optical signal transmitting unit and the optical receiving unit are integrated on the same photosensor.
In one embodiment, the optical signal transmitting unit comprises one photosensor, and the optical signal receiving unit comprises at least two photosensors.
The automatic walking equipment, the obstacle avoidance method and the obstacle avoidance device transmit light signals to the obstacle through the light emitting unit; receiving a reflected light signal reflected by the obstacle through the light receiving unit; and detecting whether the intensity of the reflected light signal is within a preset threshold range, and if not, adjusting the intensity of the emitted light signal of the photoelectric sensor. The emitting power is adjusted according to the intensity of the reflected light signal, energy waste caused by the emitting power is avoided, and the accuracy of obstacle detection is improved. The transmitting power is adjusted according to the intensity of the reflected light signal, and the phenomenon that the reflected signal is too weak and is judged mistakenly as having no obstacle due to the fact that the transmitting power is too small is avoided.
Drawings
Fig. 1 is a schematic flow chart of an obstacle avoidance method of an automatic walking device in one embodiment;
fig. 2 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 3 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 4 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 5 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 6 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 7 is a schematic flow chart of an obstacle avoidance method of the automatic walking device in one embodiment;
fig. 8 is a block diagram of an obstacle avoidance device of the automatic walking apparatus in one embodiment;
FIG. 9a is a block diagram showing the structure of an automatic walking apparatus in one embodiment;
fig. 9b is a block diagram showing the structure of the automatic walking apparatus in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In one embodiment, the automatic walking device is mounted with a photosensor including a light emitting unit and a light receiving unit. Referring to fig. 1, an embodiment of the present application provides an obstacle avoidance method for an automatic walking device, including the following steps:
and S110, transmitting a light signal to the obstacle through the light transmitting unit.
And S120, receiving the reflected light signal reflected by the obstacle through the light receiving unit.
Among them, the photo sensor is a device that converts an optical signal into an electrical signal. The working principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon that when light irradiates on some substances, electrons of the substances absorb the energy of photons, and the corresponding electric effect occurs. The automatic walking equipment can be intelligent equipment with an automatic walking function, such as an intelligent mower, an intelligent snow sweeper, an intelligent ground washing vehicle and the like.
Specifically, the automatic walking device is mounted with a photoelectric sensor including a light emitting unit and a light receiving unit. The light signal is emitted to the surrounding environment through the light emitting unit, and when an obstacle exists in the surrounding environment, the light signal is emitted to the obstacle through the light emitting unit. The obstacle reflects the emitted light signal, and the photoelectric sensor is irradiated by the reflected light signal, that is, the reflected light signal reflected by the obstacle is received by the light receiving unit.
And S130, detecting whether the intensity of the reflected light signal is within a preset threshold range.
The selection of the threshold range is related to the accuracy of identifying the obstacles in the working scene, and the threshold range is too wide to ensure the sensitivity of the automatic walking equipment to the reflected light signals. The too narrow threshold range may cause the response of the automatic walking device to the reflected light signal to be too sensitive, which affects the working efficiency of the automatic walking device, and may affect the user experience, so the setting of the threshold range may be determined according to the actual situation, and the specific value of the threshold range is not limited here.
Specifically, the light receiving unit receives a reflected light signal reflected by the obstacle, compares the intensity of the reflected light signal with a preset threshold range, and detects whether the intensity of the reflected light signal is within the preset threshold range.
S140, if not, adjusting the emitting light power of the light emitting unit.
The intensity of the reflected light signal is related to the intensity of the emitted light signal, the absorption capacity of the obstacle to light, and the like. For example, if the obstacle has a strong light absorption capability, the reflected light intensity is too weak, so that the reflected signal received by the photosensor is too low to be judged as being free of obstacle. At this time, the emission power of the photosensor needs to be increased to increase the intensity of the emitted light signal. For example, if the intensity of the emitted light signal is too weak, the reflected light signal reflected by the surrounding environment is also very small, resulting in erroneous determination as being free of obstacles. For another example, if the intensity of the emitted light signal is too strong, the intensity of the reflected light signal reflected by the surrounding environment is also strong, and the intensity of the reflected light signal is sufficient to determine the obstacle in the surrounding environment, and the intensity of the reflected light signal is used to determine that the obstacle in the surrounding environment is excessive, which results in energy waste.
Specifically, in order to ensure that the emitted light signal intensity of the photoelectric sensor is suitable for identifying obstacles and no energy waste exists, the intensity of the reflected light signal is compared with a preset threshold range, and whether the intensity of the reflected light signal is within the preset threshold range is detected. If the intensity of the reflected light signal is not within the preset threshold range, which indicates that the intensity of the emitted light signal of the photosensor is too large or too small, the emission power of the photosensor, that is, the intensity of the emitted light signal of the photosensor needs to be adjusted.
Further, if the intensity of the reflected light signal is greater than the maximum value of the threshold range, the emitted light power of the photosensor is reduced. If the intensity of the reflected light signal is less than the minimum value of the threshold range, the emitted light power of the photosensor is increased.
In this embodiment, the intensity of the reflected light signal reflected back from the surrounding environment is obtained by the photoelectric sensor, and whether the intensity of the reflected light signal is within a preset threshold range is detected, if not, the intensity of the emitted light signal of the photoelectric sensor is adjusted. The emitting power is adjusted according to the intensity of the reflected light signal, energy waste caused by the emitting power is avoided, and the accuracy of obstacle detection is improved. The transmitting power is adjusted according to the intensity of the reflected light signal, and the phenomenon that the reflected signal is too weak and is judged mistakenly as having no obstacle due to the fact that the transmitting power is too small is avoided.
In one embodiment, referring to fig. 2, before detecting whether the intensity of the reflected light signal is within a preset threshold range, the method further includes:
s210, converting the reflected light signal into a light intensity electric signal and a light energy electric signal, and calculating the intensity of the reflected light signal based on the light intensity electric signal.
Wherein, the optical energy electrical signal refers to an electrical signal representing optical energy. The optical intensity electrical signal refers to an electrical signal indicating the optical intensity. Specifically, the photoelectric sensor emits an optical signal to the surrounding environment, and when an obstacle exists in the surrounding environment, the obstacle reflects the optical signal emitted by the photoelectric sensor. When the photoelectric sensor is irradiated by the reflected light signal, the reflected light signal is converted into a light intensity electric signal and a light energy electric signal through analog-to-digital conversion. Further, the intensity of the reflected light signal may be calculated based on the electrical light intensity signal.
In one embodiment, an obstacle avoidance method for an automatic walking device is provided in the embodiments of the present application, and the method further includes: and calculating the distance between the automatic walking equipment and the barrier based on the light intensity electric signal and the light energy electric signal, and controlling the operation of the automatic walking equipment. The control of the operation of the automatic walking device can be adjusting the walking path and walking speed of the automatic walking device, and can also control the automatic walking device to continue to move forward, move backward, stop moving forward or stop working and the like.
Specifically, referring to fig. 3, the method for calculating the distance between the automatic walking device and the obstacle may include the following steps:
and S310, acquiring a light intensity electric signal of the reflected light.
And S320, calculating a first distance between the obstacle and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal.
And S330, controlling the automatic walking equipment to run according to the first distance.
The photoelectric sensor emits light signals to the surrounding environment, and when obstacles exist in the surrounding environment, the obstacles reflect the light signals emitted by the photoelectric sensor. When the photoelectric sensor is irradiated by the reflected light signal, the photoelectric sensor acquires a light energy electric signal through analog-to-digital conversion. And calculating the ratio of the intensity of the light intensity electric signal to the intensity of the emitted light signal, and calculating the first distance between the obstacle and the automatic walking equipment according to the ratio of the intensity of the light intensity electric signal to the intensity of the emitted light signal. And if the first distance between the obstacle and the automatic walking equipment is smaller, controlling the automatic walking equipment to perform evasion action so as to change the walking path of the automatic walking equipment, and further avoiding the collision between the obstacle and the automatic walking equipment. If the first distance between the obstacle and the automatic walking equipment is large, if the automatic walking equipment can keep the advancing direction to continuously move for a period of time, and in the process of continuously moving, the first distance between the obstacle and the automatic walking equipment is always detected, and when the automatic walking equipment needs to perform evasive action, the walking path of the automatic walking equipment can be changed, so that the obstacle and the automatic walking equipment are prevented from colliding.
Referring to fig. 4, the method for calculating the distance between the automatic walking device and the obstacle may include the steps of:
and S410, calculating a second distance between the obstacle and the automatic walking device according to the phase difference between the emitted light signal and the reflected light signal.
And S420, controlling the automatic walking equipment to run according to the first distance and the second distance.
The photoelectric sensor emits light signals to the surrounding environment, and when obstacles exist in the surrounding environment, the obstacles reflect the light signals emitted by the photoelectric sensor. The photosensor receives the reflected light signal. Wherein, for the photoelectric signal, an amplitude modulated carrier is generally performed on the optical signal, and the second distance between the obstacle and the automatic walking device is calculated by detecting a phase difference of the carrier of the emitted optical signal and the reflected optical signal.
For example, an average value of the distance between the obstacle and the automatic walking device may be obtained according to the first distance and the second distance between the obstacle and the automatic walking device, and the operation of the automatic walking device may be controlled according to the average value of the distance.
For example, the priority of the first distance and the second distance may be set empirically, for example, if the accuracy of the first distance is higher than that of the second distance, when the automatic walking device calculates the first distance and the second distance, the operation of the automatic walking device is controlled according to the first distance. For another example, if the accuracy of the second distance is higher than the accuracy of the first distance, when the automatic walking device calculates the first distance and the second distance, the operation of the automatic walking device is controlled according to the second distance.
In this embodiment, the distance between the obstacle and the automatic traveling device is more accurately calculated according to the first distance and the second distance, so as to determine whether the machine is going forward or takes other actions, and the operation of the automatic traveling device can be more effectively controlled, so as to effectively identify and avoid any obstacle in a certain range around the machine.
Referring to fig. 5, an embodiment of the present application provides an obstacle avoidance method for an automatic walking device, further including the following steps:
and S510, calculating a third distance between the obstacle and the automatic walking device according to the time difference between the emitted light signal and the received reflected light signal.
And S520, controlling the automatic walking equipment to run according to the first distance, the second distance and the third distance.
The photoelectric sensor emits light signals to the surrounding environment, and when obstacles exist in the surrounding environment, the obstacles reflect the light signals emitted by the photoelectric sensor. The photosensor receives the reflected light signal. The timing is started at the same time of the light signal emitting time of the photoelectric sensor, the timing is stopped immediately when the photoelectric sensor receives the reflected light signal reflected back, and the time difference T between the light signal emitting time and the light signal receiving time is recorded. The light signal moves back and forth between the obstacle and the self-propelled apparatus during a time period between the time when the light signal is emitted and the time when the reflected light signal is received. The propagation speed of the optical signal in the air is recorded as V, and the measurement distance S of the cliff recognition probe can be calculated according to the time difference T, namely: and S is V T/2.
For example, an average value of distances between the obstacle and the automatic walking device may be obtained according to the first distance, the second distance, and the third distance between the obstacle and the automatic walking device, and the operation of the automatic walking device may be controlled according to the average value of distances.
For example, the priorities of the first distance, the second distance, and the third distance may be set empirically, for example, if the accuracy of the first distance is higher than the accuracy of the second distance and the third distance, when the automatic walking device calculates the first distance, the second distance, and the third distance, the operation of the automatic walking device is controlled according to the first distance. For example, if the accuracy of the second distance is higher than the accuracy of the first distance and the third distance, when the automatic walking device calculates the first distance, the second distance, and the third distance, the operation of the automatic walking device is controlled according to the second distance. For another example, if the accuracy of the third distance is higher than the accuracy of the first distance and the second distance, when the automatic walking device calculates the first distance, the second distance, and the third distance, the operation of the automatic walking device is controlled according to the third distance.
In this embodiment, the distance between the obstacle and the automatic traveling device is more accurately calculated according to the first distance, the second distance and the third distance, so that whether the machine needs to go forward or take other actions is judged, the operation of the automatic traveling device can be more effectively controlled, and any obstacle in a certain range around the machine can be effectively identified and avoided.
Referring to fig. 6, an embodiment of the present application provides an obstacle avoidance method for an automatic walking device, further including the following steps:
s610, calculating a fourth distance between the obstacle and the automatic walking equipment in a triangular distance measuring mode.
And S620, controlling the walking path of the automatic walking equipment according to the first distance, the second distance, the third distance and the fourth distance.
The automatic walking device is provided with three or more photoelectric sensors, wherein the photoelectric sensors are used for emitting light signals to the surrounding environment, and the rest photoelectric sensors are used for receiving reflected light signals in the surrounding environment. For example, three photosensors are used to receive reflected light signals from the surrounding environment, and matching is performed to calculate the time differences Δ t12, Δ t13, and Δ t23 between the reflected light signals and the three photosensors. The distances d1, d2 and d3 of the three photosensors from the obstacle are calculated from the time differences Δ t12, Δ t13 and Δ t 23.
d1-d2＝V*△t12；
d1-d3＝V*△t13；
d2-d3＝V*△t23；
Where V is the speed of the optical signal under the current operating condition. A fourth distance between the obstacle and the self-propelled device may be calculated according to the above formula.
For example, an average distance value between the obstacle and the automatic walking device may be obtained according to the first distance, the second distance, the third distance, and the fourth distance between the obstacle and the automatic walking device, and the operation of the automatic walking device may be controlled according to the average distance value.
For example, the priorities of the first distance, the second distance, the third distance, and the fourth distance may be set empirically, for example, if the accuracy of the first distance is higher than the accuracy of the second distance, the third distance, and the fourth distance, when the automatic walking device calculates the first distance, the second distance, the third distance, and the fourth distance, the operation of the automatic walking device is controlled according to the first distance. For example, if the accuracy of the second distance is higher than the accuracy of the first distance, the third distance, and the fourth distance, when the automatic walking device calculates the first distance, the second distance, the third distance, and the fourth distance, the operation of the automatic walking device is controlled according to the second distance. For example, if the accuracy of the third distance is higher than the accuracy of the first distance, the second distance, and the fourth distance, when the automatic walking device calculates the first distance, the second distance, the third distance, and the fourth distance, the operation of the automatic walking device is controlled according to the third distance. For example, if the accuracy of the fourth distance is higher than the accuracy of the first distance, the second distance, and the third distance, when the automatic walking device calculates the first distance, the second distance, the third distance, and the fourth distance, the operation of the automatic walking device is controlled according to the fourth distance.
In this embodiment, the distance between the obstacle and the automatic traveling device is more accurately calculated according to the first distance, the second distance, the third distance and the fourth distance, so as to determine whether the machine is going forward or takes other actions, and the operation of the automatic traveling device can be more effectively controlled, thereby effectively identifying and avoiding any obstacle in a certain range around the machine.
It should be noted that the automatic traveling device may control the operation of the automatic traveling device according to any one or more of the first distance, the second distance, the third distance, and the fourth distance, where the operation of the automatic traveling device may be to adjust a traveling path and a traveling speed of the automatic traveling device, or to control the automatic traveling device to stop moving forward or stop working, and the like.
In an embodiment, please refer to fig. 7, an embodiment of the present application provides an obstacle avoidance method for an automatic walking device, including the following steps:
and S710, emitting a light signal to the obstacle through the light emitting unit.
And S720, receiving the reflected light signal reflected by the obstacle through the light receiving unit.
And S730, converting the reflected light signal into a light intensity electric signal and a light energy electric signal.
And S740, calculating the intensity of the reflected light signal based on the light intensity electric signal.
And S750, detecting whether the intensity of the reflected light signal is within a preset threshold range.
S761, if the intensity of the reflected light signal is larger than the maximum value of the threshold range, the emitted light power of the photoelectric sensor is reduced.
And S762, if the intensity of the reflected light signal is smaller than the minimum value of the threshold range, increasing the emitted light power of the photoelectric sensor.
And S770, acquiring a light intensity electric signal of the reflected light.
S781, calculating a first distance between the barrier and the automatic walking device according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal.
And S782, calculating a second distance between the obstacle and the automatic walking device according to the phase difference between the emitted light signal and the reflected light signal.
And S783, calculating a third distance between the obstacle and the automatic walking device according to the time difference between the emitted light signal and the received reflected light signal.
S784, calculating a fourth distance between the obstacle and the automatic walking device in a triangular distance measurement mode.
And S790, controlling the walking path of the automatic walking equipment according to the first distance, the second distance, the third distance and the fourth distance.
It should be understood that although the various steps in the flow charts of fig. 1-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, please refer to fig. 8, an embodiment of the present application provides an obstacle avoidance apparatus 800 of an automatic walking device, the apparatus includes:
a transmitting module 810 for transmitting an optical signal to an obstacle through an optical transmitting unit;
a receiving module 820, configured to receive a reflected light signal reflected by an obstacle through a light receiving unit;
a detecting module 830, configured to detect whether the intensity of the reflected light signal is within a preset threshold range;
the adjusting module 840 is configured to adjust the emitted light power of the light emitting unit if the detected signal is not positive.
For specific limitations of the obstacle avoidance device of the automatic walking device, reference may be made to the above limitations of the obstacle avoidance method of the automatic walking device, and details are not described here. All modules in the obstacle avoidance device of the automatic walking equipment can be completely or partially realized through software, hardware and a combination of the software and the hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, the present application provides an automatic walking device, please refer to fig. 9a, which includes:
a light emitting unit 910 for emitting a light signal to an obstacle;
a light receiving unit 920 for receiving a reflected light signal reflected by an obstacle;
the processing unit 930, connected to the light receiving unit, is configured to detect whether the intensity of the reflected light signal is within a preset threshold range, and if not, adjust the emitted light power of the light emitting unit.
In one embodiment, the light receiving unit 910 converts the reflected light signal into an electrical light intensity signal and an electrical light energy signal. The processing unit 930 is also used to calculate the intensity of the reflected light signal based on the electrical light intensity signal.
In one embodiment, the processing unit 930 is further configured to calculate a distance between the autonomous walking apparatus and the obstacle based on the light intensity electrical signal and the light energy electrical signal, and control the operation of the autonomous walking apparatus.
In one embodiment, processing unit 930 is configured to calculate the distance of the automated walking device from the obstacle by one or more of:
calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal;
calculating a second distance between the obstacle and the automatic walking device according to a time difference between the transmitted light signal and the received reflected light signal;
and calculating a third distance between the obstacle and the automatic walking equipment in a triangular distance measurement mode.
In one embodiment, referring to fig. 9b, the automatic walking device further includes a control unit 940 for controlling the operation of the automatic walking device according to one or more of the first distance, the second distance, and the third distance.
In one embodiment, the optical signal emitting unit and the optical receiving unit are integrated on the same photosensor.
In one embodiment, the optical signal transmitting unit includes one photosensor and the optical signal receiving unit includes at least two photosensors.
For specific limitations of the autonomous walking device, reference may be made to the above limitations of the obstacle avoidance method of the autonomous walking device, and details are not described here. The modules of the automatic walking device can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. An obstacle avoidance method for automatic walking equipment, wherein the automatic walking equipment is provided with a photoelectric sensor, the photoelectric sensor comprises a light emitting unit and a light receiving unit, and the obstacle avoidance method is characterized by comprising the following steps:
transmitting a light signal to an obstacle through the light transmitting unit;
receiving a reflected light signal reflected by the obstacle through the light receiving unit;
detecting whether the intensity of the reflected light signal is within a preset threshold range;
if not, adjusting the transmitting light power of the light emitting unit;
calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal; calculating a second distance between the obstacle and the automatic walking device according to a phase difference between the emitted light signal and the reflected light signal; and controlling the automatic walking equipment to run according to the first distance and the second distance.
2. The method of claim 1, wherein if not, adjusting the emitted optical power of the optical emitting unit comprises:
if the intensity of the reflected light signal is larger than the maximum value of the threshold value range, reducing the emitted light power of the light emitting unit;
and if the intensity of the reflected light signal is smaller than the minimum value of the threshold range, increasing the emitted light power of the light emitting unit.
3. The method of claim 1, wherein before said detecting whether the intensity of the reflected light signal is within a preset threshold range, the method further comprises:
and converting the reflected light signal into a light intensity electric signal and a light energy electric signal, and calculating the intensity of the reflected light signal based on the light intensity electric signal.
4. The method of claim 3, further comprising:
and calculating the distance between the automatic walking equipment and the barrier based on the light intensity electric signal and the light energy electric signal, and controlling the operation of the automatic walking equipment.
5. The method of claim 4, wherein prior to controlling operation of an automated walking device in conjunction with the first distance and the second distance, the method further comprises:
calculating a third distance between the obstacle and the automatic walking device according to a time difference between the transmitted light signal and the received reflected light signal;
calculating a fourth distance between the obstacle and the automatic walking equipment in a triangular distance measurement mode;
the joint controlling the operation of the automatic walking device according to the first distance and the second distance comprises:
and controlling the automatic walking equipment to run according to the first distance, the second distance, the third distance and the fourth distance in a combined manner.
6. The utility model provides an automatic walking equipment keeps away barrier device, automatic walking equipment installs light emission unit and light receiving unit, its characterized in that, the device includes:
a transmitting module for transmitting an optical signal to an obstacle through the optical transmitting unit;
the receiving module is used for receiving a reflected light signal reflected by the obstacle through the light receiving unit;
the detection module is used for detecting whether the intensity of the reflected light signal is within a preset threshold range;
the adjusting module is used for adjusting the transmitting light power of the light emitting unit if the light emitting unit does not emit light;
the walking control module is used for calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal; calculating a second distance between the obstacle and the automatic walking device according to a phase difference between the emitted light signal and the reflected light signal; and controlling the automatic walking equipment to run according to the first distance and the second distance.
7. An automated walking device, comprising:
a light emitting unit for emitting a light signal to an obstacle;
a light receiving unit for receiving a reflected light signal reflected by the obstacle;
the processing unit is connected with the light receiving unit and used for detecting whether the intensity of a reflected light signal reflected by the obstacle is within a preset threshold range or not, and if not, the transmitting light power of the light transmitting unit is adjusted;
the processing unit is further used for calculating a first distance between the barrier and the automatic walking equipment according to the light intensity electric signal of the reflected light and the intensity of the emitted light signal; calculating a second distance between the obstacle and the automatic walking device according to a phase difference between the emitted light signal and the reflected light signal; and controlling the automatic walking equipment to run according to the first distance and the second distance.
8. The automatic walking device of claim 7, wherein said light receiving unit converts said reflected light signal into an electrical light intensity signal and an electrical light energy signal;
the processing unit is further used for calculating the intensity of the reflected light signal based on the light intensity electric signal.
9. The automatic walking device of claim 8, wherein the processing unit is further configured to calculate a distance between the automatic walking device and an obstacle based on the light intensity electrical signal and the light energy electrical signal, and control the operation of the automatic walking device.
10. The automated walking device of claim 9, wherein the processing unit is further configured to calculate a third distance between the obstacle and the automated walking device based on a time difference between the emitted light signal and the received reflected light signal;
and the distance measuring device is also used for calculating a fourth distance between the obstacle and the automatic walking device in a triangular distance measuring mode.
11. The automated walking apparatus of claim 10, further comprising a control unit for controlling the operation of the automated walking apparatus according to the first distance, the second distance, the third distance and the fourth distance.
12. The automatic walking device of claim 7, wherein said light emitting unit and light receiving unit are integrated on the same photosensor.
13. The automatic walking device of claim 7, wherein said light emitting unit comprises one photoelectric sensor and said light receiving unit comprises at least two photoelectric sensors.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811456314.7A CN111338332B (en) | 2018-11-30 | 2018-11-30 | Automatic walking equipment and obstacle avoidance method and device thereof |
| PCT/CN2019/116259 WO2020108267A1 (en) | 2018-11-30 | 2019-11-07 | Autonomous traveling device and obstacle avoidance method and apparatus thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811456314.7A CN111338332B (en) | 2018-11-30 | 2018-11-30 | Automatic walking equipment and obstacle avoidance method and device thereof |
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| CN111338332B true CN111338332B (en) | 2022-03-18 |
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| CN112596111B (en) * | 2020-11-04 | 2024-02-13 | 普联技术有限公司 | Obstacle recognition method, device, equipment and readable storage medium |
| CN112731412B (en) * | 2020-12-28 | 2023-09-15 | 南京苏美达智能技术有限公司 | Ultrasonic obstacle avoidance method and automatic walking equipment |
| CN113331744B (en) * | 2021-06-16 | 2022-08-09 | 深圳银星智能集团股份有限公司 | Traveling control method of cleaning robot, obstacle avoidance module and cleaning robot |
| CN113655470B (en) * | 2021-08-09 | 2023-10-10 | 珠海格力电器股份有限公司 | Object detection method, device, equipment and storage medium |
| CN113495567A (en) * | 2021-08-27 | 2021-10-12 | 湖南格兰博智能科技有限责任公司 | Cliff detection method and sweeping robot |
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| CN111338332A (en) | 2020-06-26 |
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