CN108283466A - The obstacle height detection device and method and crossover device and method of a kind of sweeping robot - Google Patents
The obstacle height detection device and method and crossover device and method of a kind of sweeping robot Download PDFInfo
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- CN108283466A CN108283466A CN201711446592.XA CN201711446592A CN108283466A CN 108283466 A CN108283466 A CN 108283466A CN 201711446592 A CN201711446592 A CN 201711446592A CN 108283466 A CN108283466 A CN 108283466A
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- obstacle
- sweeping robot
- barrier
- detection
- distance
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Manipulator (AREA)
Abstract
The invention discloses the obstacle height detection devices and method and crossover device and method of a kind of sweeping robot.The obstacle height detection device, including：Infrared distance measurement unit, for passing through infrared detection obstacle distance；Image acquisition unit, for obtaining obstructions chart picture by camera；Height calculation unit calculates obstacle height for the obstructions chart picture of obstacle distance and acquisition according to detection.The obstacle detector can detect the obstacle height in front of sweeping robot, help subsequently to cross over barrier.
Description
Technical field
The present invention relates to the obstacle height detection device of sweeping robot field more particularly to a kind of sweeping robot and
Method and crossover device and method.
Background technology
Sweeping robot is also known as automatic to sweep machine, smart cleaner, robot vacuum cleaner etc., is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.Existing sweeping robot is encountering
, generally can be there are two types of situation when the barriers such as threshold, one is change route detour barriers, lead to sweeping robot so only
It can be swept in a certain range of space, cannot be introduced into other rooms and swept；One is maintain route and across barrier
Hinder object, such sweeping robot that can enter other rooms and be swept.For latter situation, sweeping robot only can
Barrier is identified, and can not disturbance in judgement object height, cause sweeping robot to cross over the blindness of barrier, for example think
The obstacle height to be crossed over has been over it and may span across height, crosses over behavior across wall etc..
Invention content
In order to solve above-mentioned the deficiencies in the prior art, the present invention provides a kind of obstacle height detection dress of sweeping robot
It sets and method and crossover device and method.It is high that the obstacle height detection device can detect the barrier in front of sweeping robot
Degree, helps subsequently to cross over barrier.
The technical problems to be solved by the invention are achieved by the following technical programs：
A kind of obstacle height detection device of sweeping robot, including：
Infrared distance measurement unit, for passing through infrared detection obstacle distance；
Image acquisition unit, for obtaining obstructions chart picture by camera；
Height calculation unit calculates obstacle height for the obstructions chart picture of obstacle distance and acquisition according to detection.
Further, obstacle height H=（L*h）/ f, wherein L is obstacle distance, and h is figure of the barrier in camera
As the projection height on sensor, f is the distance between camera lens and imaging sensor of camera.
Further, the infrared distance measurement unit includes：
Infrared transmitter, for emitting infrared laser to barrier；
Infrared sensor, for receiving the infrared laser reflected through barrier；
Ranging subelement, for according to the infrared laser received, calculating obstacle distance.
A kind of barrier crossover device of sweeping robot, including：
Above-mentioned obstacle height detection device, for detecting obstacle height；
First control unit controls the leap mechanism on sweeping robot to barrier for the obstacle height according to detection
It is crossed over.
Further, including：
Second control unit, for the obstacle distance according to detection, the walking mechanism for controlling sweeping robot is slowed down and/or is opened
Dynamic described image acquiring unit.
A kind of obstacle height detection method of sweeping robot, including：
Step 1：By infrared detection obstacle distance, obstructions chart picture is obtained by camera；
Step 2：The obstructions chart picture of obstacle distance and acquisition according to detection, calculates obstacle height.
Further, obstacle height H=（L*h）/ f, wherein L is obstacle distance, and h is figure of the barrier in camera
As the projection height on sensor, f is the distance between camera lens and imaging sensor of camera.
Further, include by infrared detection obstacle distance in step 1：
Step 1.1：Emit infrared laser to barrier；
Step 1.2：Receive the infrared laser reflected through barrier：
Step 1.3：According to the infrared laser received, obstacle distance is calculated.
A kind of barrier crossing method of sweeping robot, including：
Above-mentioned obstacle height detection method；
Step 3：According to the obstacle height of detection, barrier is crossed over by the leap mechanism for controlling sweeping robot.
Further, further include in step 1：
Step 1.4：According to the obstacle distance of detection, the figure is slowed down and/or started to the walking mechanism for controlling sweeping robot
As acquiring unit.
The present invention has the advantages that：The obstacle height detection device first passes through the infrared distance measurement unit detection
Obstacle distance and by described image acquiring unit obtain obstructions chart picture, then according to detection obstacle distance and obtain
The obstructions chart picture that takes calculates obstacle height, after knowing the obstacle height in front of sweeping robot, contributes to follow-up
Barrier is crossed over by the leap mechanism of control sweeping robot.
Description of the drawings
Fig. 1 is the functional block diagram of the obstacle height detection device of sweeping robot provided by the invention；
Fig. 2 is the schematic diagram of the testing principle of obstacle height provided by the invention；
Fig. 3 is the functional block diagram of the barrier crossover device of sweeping robot provided by the invention；
Fig. 4 is the step block diagram of the obstacle height detection method of sweeping robot provided by the invention；
Fig. 5 is the step block diagram of the barrier crossing method of sweeping robot provided by the invention；
Fig. 6 is the step block diagram of another barrier crossing method of sweeping robot provided by the invention.
Specific implementation mode
The present invention will be described in detail with reference to the accompanying drawings and examples.
Embodiment one
As shown in Figure 1, a kind of obstacle height detection device of sweeping robot, including：
Infrared distance measurement unit, for passing through infrared detection obstacle distance；
Image acquisition unit, for obtaining obstructions chart picture by camera；
Height calculation unit calculates obstacle height for the obstructions chart picture of obstacle distance and acquisition according to detection.
The obstacle height detection device first passes through the infrared distance measurement unit detection obstacle distance and by described
Image acquisition unit obtains obstructions chart picture, is then calculated according to the obstacle distance of detection and the obstructions chart picture of acquisition
Obstacle height, after knowing the obstacle height in front of sweeping robot, contribute to subsequent control sweeping robot crosses over machine
Structure crosses over barrier.
As shown in Fig. 2, from similar triangle theory：L/H=f/h, so derive obstacle height H=（L*h）/ f,
Wherein, L is obstacle distance, and h is that projection of the barrier on the imaging sensor of camera is high, f be camera camera lens and
The distance between imaging sensor；F is preset parameter, and h is calculated or passed through by the photosensitive information to imaging sensor
Known to being converted by the dimension scale between imaging sensor by obstructions chart picture.
It illustrates, the obstacle distance L of the infrared distance measurement unit output is camera lens of the barrier to camera
Distance.
Specifically the infrared distance measurement unit includes：
Infrared transmitter, for emitting infrared laser to barrier；
Infrared sensor, for receiving the infrared laser reflected through barrier；
Ranging subelement, for according to the infrared laser received, calculating obstacle distance.
Wherein, infrared distance measuring is the prior art, therefore its principle and method are not described in detail here.
Embodiment two
As shown in figure 3, a kind of barrier crossover device of sweeping robot, including：
Obstacle height detection device described in embodiment one, for detecting obstacle height；
First control unit controls the leap mechanism on sweeping robot to barrier for the obstacle height according to detection
It is crossed over.
The leap mechanism that the barrier crossover device controls sweeping robot according to the obstacle height of detection is to obstacle
Object is crossed over, and sweeping robot can be effectively prevent to carry out the leap of blindness to barrier, such as：The obstacle height of leap
It is had been over to may span across height, cross over behavior across wall etc..
Mainly having across mechanism on sweeping robot be arranged the lift in sweeping robot bottom across mechanism or
The flight formula being arranged at the top of sweeping robot crosses over two kinds of mechanism.There are a variety of existing machinery knots across mechanism in both
Structure, this is not restricted.
In specific implementation, it is preset that first control unit judges whether the obstacle height of detection is less than or equal to
Height is may span across, if so, barrier is crossed over by the leap mechanism started on sweeping robot, if it is not, then control is swept the floor
The walking mechanism of robot changes route, detours to barrier.
For example, existing door sill height by sweeping robot generally in 4cm hereinafter, so can may span across height in advance
Be set as 4cm, if the obstacle height of obstacle height detection device detection in 4cm or 4cm hereinafter, first control is single
It is first then start and barrier is crossed over across mechanism, if the obstacle height of obstacle height detection device detection exists
4cm or more, the walking mechanism that first control unit then controls sweeping robot change route, detour to barrier.
If described in addition, be provided on sweeping robot for a variety of across if mechanisms of different height barrier
First control unit judges that the obstacle height of detection in the height section which kind of crosses over mechanism, then starts sweeping robot
It is above corresponding to cross over mechanism to be crossed over to barrier.
For example, be provided with lift on sweeping robot simultaneously crosses over mechanism, the lift across mechanism and flight formula
Correspond to the barrier across 0-4cm high across mechanism, the flight formula corresponds to across mechanism across obstacle high 4cm or more
Object, if the obstacle height of obstacle height detection device detection is between 0-4cm, first control unit starts
Lift crosses over barrier across mechanism, if the obstacle height of obstacle height detection device detection exists
4cm or more, first control unit then start flight formula across mechanism to be crossed over to barrier.
The barrier crossover device further includes：
Second control unit, for the obstacle distance according to detection, the walking mechanism for controlling sweeping robot is slowed down and/or is opened
Dynamic described image acquiring unit.
The barrier crossover device by second control unit come judge detection obstacle distance, when barrier away from
When from less than or equal to preset value, second control unit then control sweeping robot walking mechanism carry out slow down and/or
Start described image acquiring unit, to reduce the working time of described image acquiring unit, reduces energy consumption, and deceleration can be
The detection process of obstacle height provides enough operation time, and the enough startup time is provided across mechanism to be described.
Embodiment three
As shown in figure 4, a kind of obstacle height detection method of sweeping robot, including：
Step 1：Obstacle distance is detected by infrared distance measurement unit, obstructions chart is obtained by the camera of image acquisition unit
Picture；
Step 2：The obstructions chart picture of obstacle distance and acquisition according to detection, calculates obstacle height.
The obstacle height detection method first passes through infrared distance measurement to detect obstacle distance and is obtained by shooting
Then obstructions chart picture calculates obstacle height according to the obstacle distance of detection and the obstructions chart picture of acquisition, knows
After obstacle height in front of sweeping robot, contribute to the leap mechanism of subsequent control sweeping robot to barrier carry out across
More.
In step 2, as shown in Fig. 2, from similar triangle theory：L/H=f/h, and then derive obstacle height
H=（L*h）/ f, wherein L is obstacle distance, and h is that projection of the barrier on the imaging sensor of camera is high, and f is camera shooting
The distance between camera lens and imaging sensor of head；F is preset parameter, and h is counted by the photosensitive information to imaging sensor
It calculates or by being converted by the dimension scale between imaging sensor by obstructions chart picture.
Illustrate, by infrared distance measurement detect obstacle distance L be barrier to camera camera lens away from
From.
In specific step 1 includes by infrared detection obstacle distance：
Step 1.1：Emit infrared laser to barrier；
Step 1.2：Receive the infrared laser reflected through barrier：
Step 1.3：According to the infrared laser received, obstacle distance is calculated.
Wherein, infrared distance measuring is the prior art, therefore its principle and method are not described in detail here.
Example IV
As shown in figure 5, a kind of barrier crossing method of sweeping robot, including：
Obstacle height detection method described in embodiment three；
Step 3：According to the obstacle height of detection, barrier is crossed over by the leap mechanism for controlling sweeping robot.
The leap mechanism that the barrier crossing method controls sweeping robot according to the obstacle height of detection is to obstacle
Object is crossed over, and sweeping robot can be effectively prevent to carry out the leap of blindness to barrier, such as：The obstacle height of leap
It is had been over to may span across height, cross over behavior across wall etc..
Mainly having across mechanism on sweeping robot be arranged the lift in sweeping robot bottom across mechanism or
The flight formula being arranged at the top of sweeping robot crosses over two kinds of mechanism.There are a variety of existing machinery knots across mechanism in both
Structure, this is not restricted.
In step 3, when specific implementation, judge whether the obstacle height of detection is less than or equal to and preset may span across height
Degree, if so, barrier is crossed over by the leap mechanism started on sweeping robot, if it is not, then controlling sweeping robot
Walking mechanism changes route, detours to barrier.
For example, existing door sill height by sweeping robot generally in 4cm hereinafter, so can may span across height in advance
Be set as 4cm, if detection obstacle height in 4cm or 4cm hereinafter, if start barrier crossed over across mechanism, if
For the obstacle height of detection in 4cm or more, then the walking mechanism for controlling sweeping robot changes route, detours to barrier.
If in addition, being provided on sweeping robot for a variety of across if mechanisms of different height barrier, in step
The obstacle height of detection is judged in rapid 3 in the height section which kind of crosses over mechanism, is then started corresponding on sweeping robot
Leap mechanism barrier is crossed over.
For example, be provided with lift on sweeping robot simultaneously crosses over mechanism, the lift across mechanism and flight formula
Correspond to the barrier across 0-4cm high across mechanism, the flight formula corresponds to across mechanism across obstacle high 4cm or more
Object, if the obstacle height of detection starts lift across mechanism to be crossed over to barrier between 0-4cm, if inspection
The obstacle height of survey then starts flight formula across mechanism to be crossed over to barrier in 4cm or more.
As shown in fig. 6, the barrier crossing method further includes in step 1：
Step 1.4：According to the obstacle distance of detection, the figure is slowed down and/or started to the walking mechanism for controlling sweeping robot
As acquiring unit.
The barrier crossing method works as barrier in step 1 and the obstacle distance detected by judgement between step 2
When distance is less than or equal to preset value, then the walking mechanism for controlling sweeping robot is slowed down, and starts described image acquiring unit,
Slowing down can be that obstacle height detection provide enough operation time, and for it is described enough startups are provided across mechanism when
Between, and step 2 is just carried out to obtain obstructions chart picture, and the barrier needed after carrying out when obstacle distance is in preset value
Height calculates, it is possible to reduce the working time of camera reduces energy consumption.
If if the obstacle distance of detection just starts described image acquiring unit when being less than or equal to preset value, step
It further include step 1.5 in 1：Obstructions chart picture is obtained by the camera of image acquisition unit.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention, as long as skill obtained in the form of equivalent substitutions or equivalent transformations
Art scheme should all be fallen within the scope and spirit of the invention.
Claims (10)
1. a kind of obstacle height detection device of sweeping robot, which is characterized in that including：
Infrared distance measurement unit, for passing through infrared detection obstacle distance；
Image acquisition unit, for obtaining obstructions chart picture by camera；
Height calculation unit calculates obstacle height for the obstructions chart picture of obstacle distance and acquisition according to detection.
2. the obstacle height detection device of sweeping robot according to claim 1, which is characterized in that obstacle height
H=（L*h）/ f, wherein L is obstacle distance, and h is that projection of the barrier on the imaging sensor of camera is high, and f is camera shooting
The distance between camera lens and imaging sensor of head.
3. the obstacle height detection device of sweeping robot according to claim 1 or 2, which is characterized in that described red
Outer distance measuring unit includes：
Infrared transmitter, for emitting infrared laser to barrier；
Infrared sensor, for receiving the infrared laser reflected through barrier；
Ranging subelement, for according to the infrared laser received, calculating obstacle distance.
4. a kind of barrier crossover device of sweeping robot, which is characterized in that including：
Any obstacle height detection device in claim 1-3, for detecting obstacle height；
First control unit controls the leap mechanism on sweeping robot to barrier for the obstacle height according to detection
It is crossed over.
5. barrier crossover device according to claim 4, which is characterized in that including：
Second control unit, for the obstacle distance according to detection, the walking mechanism for controlling sweeping robot is slowed down and/or is opened
Dynamic described image acquiring unit.
6. a kind of obstacle height detection method of sweeping robot, which is characterized in that including：
Step 1：By infrared detection obstacle distance, obstructions chart picture is obtained by camera；
Step 2：The obstructions chart picture of obstacle distance and acquisition according to detection, calculates obstacle height.
7. the obstacle height detection method of sweeping robot according to claim 6, which is characterized in that obstacle height
H=（L*h）/ f, wherein L is obstacle distance, and h is that projection of the barrier on the imaging sensor of camera is high, and f is camera shooting
The distance between camera lens and imaging sensor of head.
8. the obstacle height detection method of the sweeping robot described according to claim 6 or 7, which is characterized in that in step 1
Include by infrared detection obstacle distance：
Step 1.1：Emit infrared laser to barrier；
Step 1.2：Receive the infrared laser reflected through barrier：
Step 1.3：According to the infrared laser received, obstacle distance is calculated.
9. a kind of barrier crossing method of sweeping robot, which is characterized in that including：
Any obstacle height detection method in claim 6-8；
Step 3：According to the obstacle height of detection, barrier is crossed over by the leap mechanism for controlling sweeping robot.
10. the barrier crossing method of sweeping robot according to claim 9, which is characterized in that also wrap in step 1
It includes：
Step 1.4：According to the obstacle distance of detection, the figure is slowed down and/or started to the walking mechanism for controlling sweeping robot
As acquiring unit.
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| CN109674404A (en) * | 2019-01-26 | 2019-04-26 | 深圳市云鼠科技开发有限公司 | A kind of sweeping robot avoidance processing mode based on free move technology |
| CN110502014A (en) * | 2019-08-22 | 2019-11-26 | 深圳乐动机器人有限公司 | A kind of method and robot of robot obstacle-avoiding |
| CN110495825A (en) * | 2019-08-16 | 2019-11-26 | 云鲸智能科技（东莞）有限公司 | Across obstacle method, clean robot and the storage medium of clean robot |
| CN110558902A (en) * | 2019-09-12 | 2019-12-13 | 炬佑智能科技(苏州)有限公司 | Mobile robot, specific object detection method and device thereof and electronic equipment |
| JP2020042010A (en) * | 2018-09-11 | 2020-03-19 | バイドゥ オンライン ネットワーク テクノロジー （ベイジン） カンパニー リミテッド | Method, device, apparatus and storage medium for detecting height of obstacle |
| CN111638719A (en) * | 2020-06-11 | 2020-09-08 | 绍兴肇观电子科技有限公司 | Robot and its moving method, equipment, circuit and medium |
| CN111973080A (en) * | 2020-08-21 | 2020-11-24 | 苏州三六零机器人科技有限公司 | Sweeping control method and device, sweeper and computer storage medium |
| CN112826393A (en) * | 2020-12-30 | 2021-05-25 | 北京奇虎科技有限公司 | Sweeping robot operation management method, sweeping robot, equipment and storage medium |
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| CN111638719A (en) * | 2020-06-11 | 2020-09-08 | 绍兴肇观电子科技有限公司 | Robot and its moving method, equipment, circuit and medium |
| CN111973080A (en) * | 2020-08-21 | 2020-11-24 | 苏州三六零机器人科技有限公司 | Sweeping control method and device, sweeper and computer storage medium |
| CN112826393A (en) * | 2020-12-30 | 2021-05-25 | 北京奇虎科技有限公司 | Sweeping robot operation management method, sweeping robot, equipment and storage medium |
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Application publication date: 20180717 |