CN112613404B - Cliff detection method, mobile robot and storage medium - Google Patents
Cliff detection method, mobile robot and storage medium Download PDFInfo
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Abstract
The application provides a cliff detection method, a mobile robot and a storage medium, wherein the method is applied to the mobile robot and comprises the following steps: acquiring a front end inclination angle of a mobile robot, wherein the front end inclination angle is related to a front wheel of the mobile robot; acquiring the rotating speed of a front wheel of the mobile robot; and when the inclination angle of the front end of the mobile robot is determined to exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot. The method can identify the cliff in front of the mobile robot without depending on the cliff sensor, and has the characteristics of high reliability and high accuracy.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a cliff detection method, a mobile robot, and a storage medium.
Background
With the development of technology and the improvement of living standard of people, mobile robots are widely applied to living life of people. The mobile robot generally performs cleaning work in the course of movement through traveling wheels provided at the bottom.
The mobile robot has various environments during the cleaning work, and may have stairs, thresholds, cliffs, obstacles, or the like. In some scenarios, a drop situation may occur. If the mobile robot falls, the sensors disposed inside the mobile robot are easily damaged. Moreover, when the mobile robot is still in a working state, the power supply of the mobile robot is not closed, and safety accidents such as static fire and the like can even occur in the falling process. How to prevent mobile robots from falling is an important research direction.
Existing mobile robots typically employ cliff sensors disposed at the bottom to identify cliffs, and when a cliff is identified, a deceleration or avoidance operation is performed. Specifically, the cliff sensor may identify the height of the mobile robot bottom to the ground. Cliff sensors may send and receive signals reflected from the ground and quantified as signal values. The mobile robot determines that the ground clearance is higher as the reflected signal value is smaller. When the cliff sensor determines that the reflected signal value is less than or equal to the set signal value, the mobile robot can determine that the cliff is present in front, and can perform deceleration and steering operations to avoid falling off the cliff. However, as the accumulated cleaning time of the mobile robot increases, the cliff sensor may be gradually blocked by dust or have other faults, so that the value of the reflected signal received by the cliff sensor is higher. Even if the reflected signal reaches the vicinity of the cliff, the received reflected signal is still larger than the set signal value, and the judgment criterion for judging that the front part is the cliff is not met. Causing the mobile robot to fail to recognize the cliff and further causing the mobile robot to fall off the cliff.
Disclosure of Invention
The application provides a cliff detection method, a mobile robot and a storage medium. The cliff detection method can identify the cliff in front of the mobile robot when the cliff sensor of the mobile robot fails, and can prevent the mobile robot from falling off the cliff.
In view of this, a first aspect of the present application provides a cliff detection method, characterized in that the method is applied to a mobile robot, the method comprising: acquiring a front end inclination angle of a mobile robot, wherein the front end inclination angle is related to a front wheel of the mobile robot; acquiring the rotating speed of a front wheel of the mobile robot; and when the inclination angle of the front end of the mobile robot is determined to exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot.
In a possible embodiment, the method further comprises: the mobile robot acquires a reflected signal through a cliff sensor; and if the mobile robot determines that the value of the reflected signal does not fall into the set cliff judgment interval, the mobile robot determines that the cliff sensor fails.
In a possible embodiment, the method further comprises: alarming in a preset mode to prompt a user to clear the cliff sensor.
In a possible embodiment, the mobile robot includes a gyroscope, and the acquiring the front end inclination angle of the mobile robot includes: determining the front end inclination angle of the mobile robot through the pitch angle of a gyroscope in the mobile robot; the determining that the front end inclination angle of the mobile robot exceeds a set angle threshold value comprises: and determining that the pitch angle of the gyroscope in the mobile robot exceeds a set angle threshold, wherein the set angle threshold is related to the distance between the front wheel and the left wheel and the right wheel of the mobile robot.
In a possible implementation manner, the angle threshold is 30 degrees, and the determining that the pitch angle of the gyroscope in the mobile robot exceeds the set angle threshold includes: and determining that the pitch angle of the gyroscope in the mobile robot exceeds 30 degrees.
In a possible implementation manner, the target rotation speed is a rotation speed of a left wheel of the mobile robot or a rotation speed of a right wheel of the mobile robot, and when it is determined that the inclination angle of the front end of the mobile robot exceeds a set angle threshold value, and a difference between the rotation speed of the front wheel of the mobile robot and the target rotation speed exceeds the set rotation speed threshold value, determining that a cliff exists in front of the mobile robot includes: when the inclination angle of the front end of the mobile robot is determined to exceed a set angle threshold, if the difference value between the rotating speed of the front wheel of the mobile robot and the rotating speed of the left wheel of the mobile robot is determined to exceed the set rotating speed threshold, or the difference value between the rotating speed of the front wheel of the mobile robot and the rotating speed of the right wheel of the mobile robot exceeds the set rotating speed threshold, cliffs are determined to exist in front of the mobile robot.
In a possible embodiment, the method further comprises: and executing a preset backward operation so that the front end inclination angle of the mobile robot does not exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed does not exceed the set rotating speed threshold value.
A second aspect of the present application provides a mobile robot, comprising: the angle detection module is used for acquiring the front end inclination angle of the mobile robot, and the front end inclination angle is related to the front wheel of the mobile robot; the rotating speed detection module is used for acquiring the rotating speed of the front wheel of the mobile robot; and the processing module is used for determining that a cliff exists in front of the mobile robot when the inclination angle of the front end of the mobile robot exceeds a set angle threshold value and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value.
In a possible embodiment, the mobile robot further comprises a cliff sensor for acquiring a reflected signal; the processing module is further configured to determine that the cliff sensor fails when it is determined that the reflected signal does not fall within a set cliff determination interval.
In a possible implementation manner, the mobile robot further comprises an alarm module, which is used for alarming in a preset mode to prompt a user to clear the cliff sensor.
In a possible embodiment, the angle detection module includes a gyroscope. The gyroscope is used for acquiring a pitch angle of the mobile robot, wherein the pitch angle is the front end inclination angle of the mobile robot; the processing module is further used for determining that the pitch angle of the gyroscope in the mobile robot exceeds a set angle threshold, and the set angle threshold is related to the distance between the front wheel and the left wheel and the right wheel of the mobile robot.
In a possible embodiment, the angle threshold is 30 degrees, and the gyroscope is specifically used to determine that the pitch angle of the gyroscope in the mobile robot exceeds 30 degrees.
In a possible implementation manner, the mobile robot further includes a driving module, where the driving module is configured to drive the left wheel and the right wheel, perform a preset backward operation, so that the front end inclination angle of the mobile robot does not exceed a set angle threshold, and a difference between the rotation speed of the front wheel of the mobile robot and the target rotation speed does not exceed the set rotation speed threshold.
A third aspect of the present application provides a mobile robot comprising a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the mobile robot to perform the cliff detection method of the first aspect and any one of the possible implementations of the first aspect.
A fourth aspect of the present application provides a computer readable storage medium having instructions stored thereon, which when executed by a processor, implement a cliff detection method as described in any one of the possible embodiments of the first aspect and the first aspect of the present application.
The application provides a cliff detection method and a mobile robot storage medium, wherein the method is applied to a mobile robot and comprises the following steps: acquiring a front end inclination angle of a mobile robot, wherein the front end inclination angle is related to a front wheel of the mobile robot; acquiring the rotating speed of a front wheel of the mobile robot; and when the inclination angle of the front end of the mobile robot is determined to exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot. The method can identify the cliff in front of the mobile robot without depending on the cliff sensor, and has the characteristics of high reliability and high accuracy.
Drawings
Fig. 1 is a schematic block diagram of a mobile robot according to the present application;
Fig. 2 is a schematic diagram of a chassis structure of a mobile robot according to the present application;
Fig. 3 is a schematic flow chart of a cliff detection method provided by the application;
fig. 4 is a schematic view of a scene of a mobile robot identifying cliffs according to the present application;
FIG. 5 is a schematic view of a mobile robot chassis according to the present application;
fig. 6 is a schematic view of a scene of a mobile robot detecting cliffs according to the present application;
fig. 7 is a schematic view of a scene of a mobile robot walking on an inclined plane according to the present application;
fig. 8 is a block diagram of a mobile robot according to the present application;
Fig. 9 is a block diagram of a robot according to the present application.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "transverse", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The shape of the robot disclosed in the present embodiment is not limited, and may be configured in any suitable shape. The mobile robot in the application can be a household cleaning robot or a commercial cleaning robot.
Referring to fig. 1, in one implementation, the robot 10 may include a control unit 101, a wireless communication unit 102, a sensing unit 103, an audio unit 104, a camera unit 105, and an obstacle detection device 106.
The control unit 101 serves as a control core of the robot 10, and coordinates operations of the respective units. The control unit 101 may be a general purpose processor (e.g., a central processing unit CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single chip microcomputer, an ARM (Acorn RISC MACHINE) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 101 may be any conventional processor, controller, microcontroller, or state machine. The control unit 101 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The wireless communication unit 102 is configured to wirelessly communicate with a user terminal, and the wireless communication unit 102 is electrically connected to the control unit 101. The user transmits a control instruction to the robot 10 through the user terminal, the wireless communication unit 102 receives the control instruction and transmits the control instruction to the control unit 101, and the control unit 101 controls the robot 10 according to the control instruction.
The wireless communication unit 102 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a positioning information module. Wherein the broadcast receiving module receives the broadcast signal and/or the broadcast-related information from the external broadcast management server via a broadcast channel. The broadcast receiving module may receive the digital broadcast signal using a digital broadcast system such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), digital video broadcasting-handheld (DVB-H), or terrestrial integrated services digital broadcasting (ISDB-T).
The mobile communication module transmits or receives a wireless signal to or from at least one of a base station, an external terminal, and a server on a mobile communication network. The wireless signals may include voice call signals, video call signals, or various forms of data.
The wireless internet module refers to a module for wireless internet connection, and may be built-in or external to the terminal. Wireless internet technologies such as Wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), high Speed Downlink Packet Access (HSDPA) may be used.
The short-range communication module refers to a module for performing short-range communication. Short-range communication technologies such as Bluetooth (Bluetooth), radio Frequency Identification (RFID), infrared data association (IrDA), ultra Wideband (UWB), or ZigBee may be used.
The positioning information module is a module for acquiring current position information of the robot 10, such as a Global Positioning System (GPS) module.
The sensing unit 103 may include a distance sensor, a pressure sensor, a collision sensor, and the like. The sensing unit 103 may be used to test the distance of the robot 10 from an obstacle, whether pressure is applied, whether collision occurs, etc.
The audio unit 104 is configured to control the robot 10 to stop working and send out a ground-leaving alarm signal when the position status information is in a holding status. The audio unit 104 is electrically connected to the control unit 101.
In some embodiments, the audio unit 104 may be a speaker, a loudspeaker, a microphone, or the like electroacoustic transducer, where the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and the multiple microphones may constitute a microphone array to effectively collect sound. The microphone may be electrodynamic (moving coil, ribbon), capacitive (dc polarized), piezoelectric (crystal, ceramic), electromagnetic, carbon particle, semiconductor, etc., or any combination thereof. In some embodiments, the microphone may be a microelectromechanical system (MEMS) microphone.
The image capturing unit 105 is configured to capture an environment in which the robot 10 is located, the image capturing unit 105 is electrically connected to the control unit 101, the image capturing unit 105 obtains an image of the environment in which the robot 10 is located, and outputs the image to the control unit 101, so that the control unit 101 performs a logic operation according to the image.
The obstacle detection device 106 is configured to detect walls and obstacles for transmitting detection signals to the walls and obstacles in real time, and may be a light sensor including, but not limited to, an infrared sensor, for example.
Referring to fig. 2, fig. 2 provides a schematic chassis diagram of a mobile robot, where a conventional mobile robot generally uses cliff sensors disposed at the bottom to detect cliffs, and two cliff sensors 203 disposed symmetrically in the mobile robot in fig. 2 are only used as examples, and the cliff sensors 203 may be disposed only in one or other number, and the orientation of the cliff sensors 203 is not limited. The cliff sensor 203 may sense whether the front end of the mobile robot has a cliff. The symmetrically arranged cliff sensors 203 can also sense whether the left side and the right side of the mobile robot are consistent in ground clearance height, so as to judge whether one side of the mobile robot falls or whether the other side is lifted. When any one of the cliff sensors 203 recognizes a cliff, a deceleration or avoidance operation is performed.
The cliff sensor 203 is currently used to detect cliffs by ultrasonic waves, and the cliff sensor 203 can transmit ultrasonic waves and receive ultrasonic signals reflected by the ground, and convert the received ultrasonic signals into numerical values. The mobile robot determines that the ground clearance is higher as the value of the received reflected ultrasonic signal is smaller. When the cliff sensor determines that the reflected brain washing value is less than or equal to the set signal value, the mobile robot can determine that the cliff is in front, and can perform deceleration and steering operations to avoid falling off the cliff.
However, as the accumulated cleaning time of the mobile robot increases, the cliff sensor may be gradually blocked by dust, and the dust blocking the cliff sensor may reflect a part of signals sent by the cliff sensor, so that the mobile robot may determine that the height of the cliff sensor from the ground is the height from the cliff sensor to the dust attached to the cliff sensor, and further the mobile robot determines that the value of the received reflected signals is higher. Even if the reflected signal reaches the vicinity of the cliff, the reflected signal received by the cliff sensor is still larger than the set signal value, and the judgment criterion for judging that the front part is the cliff is not met. Causing the mobile robot to fail to recognize the cliff and further causing the mobile robot to fall off the cliff.
Accordingly, the present application provides a cliff detection method, please refer to fig. 3, which includes:
301. and acquiring the front end inclination angle of the mobile robot.
And acquiring the front end inclination angle of the mobile robot. In particular, the mobile robot may comprise a gyroscope. The gyroscope is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body and relative inertia space around one or two axes orthogonal to a rotation shaft. Angular motion detection devices made using other principles function as well as gyroscopes.
The gyroscope applied to the mobile robot is used to detect the attitude angle of the mobile robot, which is also called euler angle. Attitude angles include pitch angle (pitch), yaw angle (yaw) and roll angle (roll). In a coordinate system defined by the mobile robot, the X axis is an axis which is horizontal to the ground plane and the positive direction points to the right; the Y axis is an axis which is horizontal to the ground plane and vertical to the X axis, and the positive direction points to the front; the Z axis is an axis perpendicular to the ground plane, while being perpendicular to the X and Y axes, and the positive direction is directed upward. When the front or rear end of the mobile robot is lifted, or the front or rear end is dropped (i.e., rotated about the X-axis) such that the front and rear ends are not on a horizontal plane, the gyroscope can sense a change in pitch angle in the range of [ -180 °,180 ° ]. When the left or right side of the mobile robot is lifted, or the left or right side is dropped (i.e., rotated about the Y axis) such that the left and right sides are not on a horizontal plane, the gyroscope may sense a change in roll angle ranging from-180 °,180 °. When the mobile robot rotates leftwards or rightwards (namely, rotates around the Z axis), the gyroscope can sense the change of the yaw angle, and the change range is [ -180 degrees, 180 degrees ].
The mobile robot obtains the front end inclination angle of the robot, and specifically determines the pitch angle of the mobile robot through a gyroscope in the mobile robot. The pitch angle of the mobile robot is the front end inclination angle of the mobile robot, and when the front wheel of the mobile robot is lifted or falls, the front end inclination angle of the mobile robot changes, so that the front end inclination angle of the mobile robot is related to the front wheel of the mobile robot.
After the front end tilt angle of the mobile robot is acquired, the mobile robot may compare the front end tilt angle with a set angle threshold. The set angle threshold is related to the distance between the front wheel and the left and right wheels of the mobile robot.
As shown in fig. 4, fig. 4 provides a schematic view of a scene of a mobile robot identifying a cliff, the schematic view being a side view of the mobile robot. It can be determined through a large number of experiments that the mobile robot is in a limit state in which the mobile robot can recognize that the front is a cliff and can autonomously perform the backward movement in this scene. In this scenario, the front wheels of the mobile robot are just tangent to the vertical plane of the cliff. In the side view, the left wheel and the right wheel are just overlapped, the round axle center formed by overlapping is A, the axle center of the front wheel is B, in order to ensure that the machine body is parallel to the ground when the mobile robot normally walks, the ground clearance height of the front wheel and the axle centers of the left wheel and the right wheel of the mobile robot is consistent, and the length of AC is the radius of the left wheel or the right wheel. The front wheel is tangent to the vertical plane of the cliff, and the tangent point is O. The set angle threshold may be the degrees of +_abo. The degree of the ++ABO is related to the distance between the front wheel and the left and right wheels, and the degree of the ++ABO is related to the radius of the left and right wheels.
Specifically, referring to fig. 5, fig. 5 provides a schematic view of a chassis of the mobile robot, which is a bottom view of the mobile robot. Since the left wheel and the right wheel are symmetrically arranged, the left wheel and the right wheel overlap each other as seen in a side view shown in fig. 4, and the axes of the left wheel and the right wheel overlap each other as a in fig. 4. In fig. 5, the left wheel axis A1 is taken as an example, and the distance between the front wheel and the left wheel is A1B. Similarly, the distance between the front wheel and the right wheel is A1B. And the degree of the angle A1BA can be preset, and the length of the AB is related to the A1B. Specifically, ab=a1b·cos +.a1ba, wherein the degree of the +.a1ba can be preset.
With continued reference to fig. 4, sin +.abo=ac/AB, where AC is the length of the left or right wheel radius, may be preset. Then the sin +.abo=ac/(a1b·cos +.a1ba) can be further obtained. It may be determined that the set angle threshold is related to the distance of the front wheel and the left and right wheels. For example, in one embodiment, the set angle threshold may be 30 degrees.
302. The rotation speed of the front wheel of the mobile robot is obtained.
The rotation speed of the front wheel of the mobile robot is obtained. The front wheel of the mobile robot may also be referred to as a universal wheel or a driven wheel. Generally, in the mobile robot, the front wheels are not power driven. When the mobile robot walks on the horizontal ground and does not meet the cliff, the walking path of the front wheel and the left and right wheels of the mobile robot in unit time is the same, and the difference value of the rotating speeds of the front wheel and the left and right wheels of the mobile robot is within a certain range. If the front wheel of the mobile robot is lifted to a certain degree, the front wheel of the mobile robot has abrupt change in rotation speed. Referring to fig. 6, fig. 6 provides a schematic view of a scene of a mobile robot detecting a cliff, and in fig. 6, the axle center of the front wheel of the mobile robot has moved out of the vertical plane of the cliff. According to a large amount of experimental data, when the axle center of the front wheel of the mobile robot drives out of the vertical plane of the cliff, the rotation speed of the front wheel of the mobile robot is suddenly changed, and thus, the rotation speed difference value between the rotation speed of the front wheel and the rotation speed of the left wheel (or the right wheel) of the mobile robot is suddenly changed.
303. When the inclination angle of the front wheels of the mobile robot exceeds the set angle threshold value and the difference value between the rotating speed of the front wheels of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, the cliff is determined to exist in front of the mobile robot.
When the inclination angle of the front wheels of the mobile robot exceeds the set angle threshold value and the difference value between the rotating speed of the front wheels of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, the cliff is determined to exist in front of the mobile robot. The target rotation speed may be a rotation speed of a left wheel or a right wheel of the mobile robot. The rotation speed of the front wheel of the mobile robot is inconsistent with the rotation speed of the left wheel and the right wheel when the mobile robot collides with an obstacle or encounters uneven ground and a ground slipping condition, but the variation is small in general. However, if the single variable is used to determine that there is a cliff in front of the mobile robot, some erroneous determination may be caused.
Similarly, referring to fig. 7, fig. 7 provides a schematic view of a scenario in which a mobile robot walks on an inclined plane. In fig. 7, a mobile robot walks on a slope, since the front wheel tilting angle of the mobile robot is the pitch angle of the mobile robot determined by a gyroscope in the mobile robot. The pitch angle may be relatively large when walking on an incline, and may exceed a set angle threshold. In this case, the mobile robot does not necessarily have a cliff in front. As shown in fig. 7, the mobile robot walks on an incline without a cliff in front. Therefore, it is not reliable to determine that there is a cliff in front of the mobile robot by only the inclination angle of the front wheels of the mobile robot, and it is not possible to distinguish between the two cases that the cliff is in front of the mobile robot or that the mobile robot is walking on an inclined surface. In the cliff detection method provided by the application, the cliff is determined to exist in front of the mobile robot when the inclination angle of the front wheel of the mobile robot is determined to exceed the set angle threshold value and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value. The condition that the mobile robot walks on the inclined plane can be eliminated, so that cliffs can be detected more accurately and reliably.
Therefore, when the mobile robot determines that the inclination angle of the front wheels of the mobile robot exceeds the set angle threshold value and the difference between the rotation speed of the front wheels and the target rotation speed exceeds the set rotation speed threshold value, the cliff is determined to exist in front of the mobile robot. In actual conditions, the situation that the front part of the erroneous judgment is a cliff due to collision of the mobile robot with an obstacle, the mobile robot walking on uneven ground, slipping and the mobile robot being positioned on an inclined plane can be avoided. Only when the inclination angle of the front wheel exceeds the set angle threshold value and the difference value between the rotating speed of the front wheel and the target rotating speed exceeds the set rotating speed threshold value, the cliff is judged to be arranged in front of the mobile robot, and the accuracy of identifying the cliff by the mobile robot can be enhanced.
It will be appreciated that the mobile robot itself is loaded with cliff sensors. The cliff sensor may transmit and receive signals reflected from the ground and quantified as signal values. The mobile robot determines that the ground clearance is higher as the reflected signal value is smaller. When the cliff sensor determines that the reflected signal value is less than or equal to the set signal value, the mobile robot can determine that the cliff is present in front, and can perform deceleration and steering operations to avoid falling off the cliff. However, as the accumulated cleaning time of the mobile robot increases, the cliff sensor may be gradually blocked by dust or have other faults, so that the value of the reflected signal received by the cliff sensor is higher. If the mobile robot determines that the front wheel inclination angle exceeds the set angle threshold value and the rotating speed of the front wheel exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot. However, if the value of the reflected signal received by the cliff sensor of the mobile robot still does not fall within the set cliff determination section and the determination criterion for determining that the front part is the cliff is not met, the mobile robot can determine that the cliff sensor fails. The specific possible reasons may be: the cliff sensor is shielded by dust or the cliff sensor malfunctions, which is not limited herein.
When the mobile robot determines that the cliff sensor fails, the mobile robot can alarm in a preset mode to prompt a user to clear the cliff sensor. For example, the preset mode may be broadcasting by voice, sending a message through a terminal device connected to the mobile robot, and the like. If the cliff sensor fails due to shielding by dust, the user can wipe the cliff sensor, and the cliff sensor can be put into use again after the user cleans the dust attached to the cliff sensor surface.
The application provides a cliff detection method, which is applied to a mobile robot and comprises the following steps: acquiring a front end inclination angle of a mobile robot, wherein the front end inclination angle is related to a front wheel of the mobile robot; acquiring the rotating speed of a front wheel of the mobile robot; and when the inclination angle of the front end of the mobile robot is determined to exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot. The method can identify the cliff in front of the mobile robot without depending on the cliff sensor, and has the characteristics of high reliability and high accuracy.
The application also provides a mobile robot for realizing the cliff detection method, and the realization steps and beneficial effects refer to the cliff detection method, and the description is omitted here. Referring to fig. 8, the mobile robot 40 includes:
An angle detection module 401, configured to obtain a front end inclination angle of the mobile robot 40, where the front end inclination angle is related to a front wheel of the mobile robot 40;
A rotation speed detection module 402, configured to obtain a rotation speed of a front wheel of the mobile robot 40;
A processing module 403, configured to determine that a cliff exists in front of the mobile robot 40 when it is determined that the inclination angle of the front end of the mobile robot 40 exceeds a set angle threshold, and a difference between the rotation speed of the front wheel of the mobile robot 40 and the target rotation speed exceeds the set rotation speed threshold.
The mobile robot 40 further comprises a cliff sensor 404, the cliff sensor 404 being adapted to obtain a reflected signal; the processing module 403 is further configured to, when it is determined that the reflected signal does not fall within the set cliff decision interval, determine that the cliff sensor fails by the mobile robot 40.
The mobile robot 40 further comprises an alarm module 405 for alarming in a preset manner to prompt a user to clear the cliff sensor.
The angle detection module 401 comprises a gyroscope. The gyroscope is used for acquiring a pitch angle of the mobile robot 40, wherein the pitch angle is an inclination angle of the front end of the mobile robot 40;
the processing module 403 is further configured to determine that a pitch angle of a gyroscope in the mobile robot 40 exceeds a set angle threshold, where the set angle threshold is related to a distance between the front wheel and left and right wheels of the mobile robot 40.
Illustratively, the angle threshold is 30 degrees and the gyroscope is specifically configured to determine that the pitch angle of the gyroscope in the mobile robot 40 exceeds 30 degrees.
The mobile robot 40 further includes a driving module 406, where the driving module 406 is configured to drive the left and right wheels, perform a preset backward movement operation so that the front end inclination angle of the mobile robot 40 does not exceed a set angle threshold, and the difference between the rotation speed of the front wheel of the mobile robot 40 and the target rotation speed does not exceed the set rotation speed threshold.
Fig. 9 is a block diagram of a mobile robot according to another embodiment of the present application. As shown in fig. 9, the mobile robot 50 may include: a robot body, an obstacle detecting device, a processor 510, a memory 520, and a communication module 530.
The obstacle detection device is arranged on the robot main body and is used for receiving reflection signals reflected by obstacles in real time. In this embodiment, the obstacle detecting device is a light sensor, including but not limited to an infrared sensor.
The robot main body is provided with a traveling mechanism. The processor 510 is built into the robot body.
The robot main body is a main body structure of the robot, and can be made of corresponding shape and structure and manufacturing materials (such as hard plastics or metals including aluminum, iron and the like) according to the actual needs of the robot, for example, the robot main body is a flat cylindrical shape common to sweeping robots.
The walking mechanism is a structural device which is arranged on the robot main body and provides the mobile capability for the mobile robot. The running gear may in particular be realized by any type of moving means, such as rollers, crawler-type wheels or the like.
The processor 510, the memory 520 and the communication module 530 may be connected by a bus to establish a communication connection between any two.
Processor 510 may be of any type, a control chip having one or more processing cores. It may perform single-threaded or multi-threaded operations for parsing instructions to perform operations such as fetching data, performing logical operation functions, and delivering operational processing results.
Memory 520 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store a travel route of the robot, a travel control strategy of the robot, and the like. In addition, memory 520 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 520 may optionally include memory located remotely from processor 510, which may be connected to robot 50 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 520 stores instructions executable by at least one control chip in the processor 510; the at least one control chip is configured to execute the instruction, so as to implement the path planning method of the robot in any method embodiment.
The communication module 530 is a functional module for establishing a communication connection and providing a physical channel. The communication module 530 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.
The embodiment of the application also provides a main control chip which is assembled in the robot. The main control chip is used for controlling the robot to execute the cliff detection method of the robot.
The application also provides a robot, which is provided with the main control chip provided by the embodiment of the application, and the robot can be controlled to execute the cliff detection method provided by the application through the main control chip.
Further, an embodiment of the present invention further provides a computer storage medium storing computer executable instructions that are executed by one or more control chips in the processor 510, so that the one or more control chips perform the cliff detection method of the robot in any of the above method embodiments.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that implementing all or part of the above described embodiment methods may be accomplished by way of computer program in a computer program product for instructing a relevant apparatus to carry out the above described embodiment methods. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (Random Access Memory, RAM), or the like.
The product can execute the cliff detection method of the robot provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the path planning method of the robot. Technical details not described in detail in the present embodiment may be referred to the cliff detection method of the robot provided in the embodiment of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. A cliff detection method, the method being applied to a mobile robot, the method comprising:
Acquiring a front end inclination angle of a mobile robot, wherein the front end inclination angle is related to a front wheel of the mobile robot;
Acquiring the rotating speed of a front wheel of the mobile robot;
And when the front end inclination angle of the mobile robot is determined to exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot.
2. The method according to claim 1, wherein the method further comprises:
The mobile robot acquires a reflected signal through a cliff sensor;
And if the mobile robot determines that the value of the reflected signal does not fall into the set cliff judgment interval, the mobile robot determines that the cliff sensor fails.
3. The method according to claim 2, wherein the method further comprises:
alarming in a preset mode to prompt a user to clear the cliff sensor.
4. The method of claim 1, wherein the mobile robot includes a gyroscope, and wherein the obtaining the mobile robot front end tilt angle includes:
acquiring a pitch angle of the mobile robot through the gyroscope, wherein the pitch angle is the front end inclination angle of the mobile robot;
the determining that the front end inclination angle of the mobile robot exceeds a set angle threshold value comprises:
and determining that the pitch angle of a gyroscope in the mobile robot exceeds a set angle threshold, wherein the set angle threshold is related to the distance between the front wheel and the left and right wheels of the mobile robot.
5. The method of claim 4, wherein the angle threshold is 30 degrees, and wherein determining that a pitch angle of a gyroscope in the mobile robot exceeds a set angle threshold comprises:
And determining that the pitch angle of the gyroscope in the mobile robot exceeds 30 degrees.
6. The method according to claim 4 or 5, wherein the target rotational speed is a rotational speed of a left wheel of the mobile robot or a rotational speed of a right wheel of the mobile robot, and when it is determined that the mobile robot front end inclination angle exceeds a set angle threshold, and a difference between the rotational speed of the mobile robot front wheel and the target rotational speed exceeds the set rotational speed threshold, determining that the mobile robot has a cliff ahead comprises:
when it is determined that the mobile robot front end inclination angle exceeds a set angle threshold,
And if the difference value between the rotating speed of the front wheel of the mobile robot and the rotating speed of the left wheel of the mobile robot exceeds a set rotating speed threshold value, or the difference value between the rotating speed of the front wheel of the mobile robot and the rotating speed of the right wheel of the mobile robot exceeds the set rotating speed threshold value, determining that a cliff exists in front of the mobile robot.
7. The method according to any one of claims 1 to 5, further comprising:
And executing a preset backward operation so that the front end inclination angle of the mobile robot does not exceed a set angle threshold value, and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed does not exceed the set rotating speed threshold value.
8. A mobile robot, the mobile robot comprising:
the angle detection module is used for acquiring the front end inclination angle of the mobile robot, and the front end inclination angle is related to the front wheel of the mobile robot;
the rotating speed detection module is used for acquiring the rotating speed of the front wheel of the mobile robot;
And the processing module is used for determining that a cliff exists in front of the mobile robot when the inclination angle of the front end of the mobile robot exceeds a set angle threshold value and the difference value between the rotating speed of the front wheel of the mobile robot and the target rotating speed exceeds the set rotating speed threshold value.
9. The mobile robot of claim 8, further comprising a cliff sensor,
The cliff sensor is used for acquiring a reflected signal;
The processing module is further configured to determine that the cliff sensor fails when it is determined that the reflected signal does not fall within a set cliff determination interval when the inclination angle of the front end of the mobile robot exceeds a set angle threshold and a difference between a rotational speed of a front wheel of the mobile robot and a target rotational speed exceeds a set rotational speed threshold.
10. A mobile robot, the mobile robot comprising: a memory and at least one processor, the memory having instructions stored therein;
The at least one processor invokes the instructions in the memory to cause the mobile robot to perform the cliff detection method of any of claims 1 to 7.
11. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the cliff detection method of any of claims 1 to 7.
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