CN109316127A - A kind of sweeping robot hole detection device and zone of ignorance heuristic approach - Google Patents
A kind of sweeping robot hole detection device and zone of ignorance heuristic approach Download PDFInfo
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- CN109316127A CN109316127A CN201810705400.0A CN201810705400A CN109316127A CN 109316127 A CN109316127 A CN 109316127A CN 201810705400 A CN201810705400 A CN 201810705400A CN 109316127 A CN109316127 A CN 109316127A
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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
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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
- A47L11/40—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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- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The present invention provides a kind of sweeping robot hole detection device and zone of ignorance heuristic approach, including GPU processor module, depth camera head module, sonar contact apparatus module, infrared sensor module, further include the steps that the step of carrying out limit for height detection using three kinds of distance measuring sensors, walking along barrier rims.Sweeping robot hole detection device of the invention has the advantages that structure is simple and setting is reasonable, sweeping robot zone of ignorance heuristic approach of the invention has operand small, it is high-efficient, obstacle and hole accuracy of judgement are conducive to the advantages of improving sweeping robot traveling efficiency and sweeping robot sweeping efficiency；Hole is carried out grade classification by the present invention, and is detected by ad eundem hole, so that sweeping robot is able to enter the gradational hole of institute, is completed the zone of ignorance that robot is able to enter and is explored, and the covering explored is comprehensive, achieved the purpose that clean without dead angle.
Description
Technical field
The present invention relates to robot traveling control fields, and in particular to a kind of sweeping robot hole detection device and unknown
Area research method.
Background technique
With the development of science and technology, artificial intelligence robot is increasingly used in all trades and professions, to substitute system
Labour.Robot needs avoiding obstacles during traveling, and currently used Obstacle Avoidance includes: detection
Robot is at a distance from barrier, and when the distance detected is less than pre-determined distance, control robot stops movement.Especially sweep
A kind of intelligent robot of the floor-washing robot as automated cleaning can mitigate the housework burden of people.But family in home environment
Have the furniture such as the difficult point, such as bed, sofa that covered region is cleaned as sweeping robot to suffer from ground in the presence of height
Poor (hole), and this highly with the whole height of current sweeper very close to, in addition the panel of existing sweeper it is general in
Between protrusion, cause in some cases sweeper drilling sofa under and block, or by raised support rise can not advance the phenomenon that
Occur, in some sweeping robots, robot sticks into hole in order to prevent, the limit for height threshold values of robot is arranged it is higher,
The hole that can much enter is had ignored, causes to occur much sweeping dead angle, so that cleaning is not comprehensive, there is an urgent need to be changed
Into.
Summary of the invention
To solve the above problems, the present invention provides a kind of sweeping robot hole detection device and zone of ignorance exploration sides
Method.The present invention has the advantages that structure is simple and setting is reasonable, and sweeping robot zone of ignorance heuristic approach of the invention has
Operand is small, high-efficient, obstacle and hole accuracy of judgement, is conducive to improve sweeping robot traveling efficiency and sweeping robot is clear
The advantages of sweeping efficiency；Secondly, the present invention is incited somebody to action by the time sequencing from first hole of entrance to first time arrival final stage hole
Hole carries out grade classification, and is detected by ad eundem hole, so that sweeping robot is able to enter the gradational hole of institute, it is complete
It is explored at the zone of ignorance that robot is able to enter, and the covering explored is comprehensive, has achieved the purpose that clean without dead angle.
To realize the technical purpose, the technical scheme is that a kind of sweeping robot zone of ignorance exploration device,
Including GPU processor module, depth camera head module, sonar contact apparatus module；
The depth camera head module includes depth camera and its depth camera head drive circuit and depth camera letter
Number processing circuit, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
The sonar contact apparatus module includes at sonar contact device and its sonar contact driving circuit and Sonar Signal
Circuit is managed, wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
Further, on sweeping robot, the position of the depth camera is higher than the sonar detection device and uses respectively
In high-order and low level ranging.
It further, further include infrared sensor module,
Infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to and sweep the floor
Robot side.
A kind of sweeping robot zone of ignorance heuristic approach, comprising the following steps:
S1: high-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
S2: judging high-order and low level obstacle in sweeping robot direction of advance respectively, if barrier is not present in high-order and low level
Hinder, carry out step S3, if a high position there are obstacle and low level is there is no carrying out step S4 if obstacle, if low level there are obstacle into
Row step S5；
S3: sweeping robot maintains current route constant, and repeats the high-low-position obstacle inspection of step S1 and S2
Survey determination step；
S4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and carries out step S5 if influencing, if not influencing labeled as hole, carrying out step S3 makes robot enter the hole
Mouthful；
S5: the walking of sweeping robot obstacle edge, and the high-low-position obstacle detection for repeating step S1 and S2 determines
Step.
Further, after robot enters hole in the step S4, step S1-S4 is repeated, until can not advance.
Further, further include the steps that going through all over each hole；
A1: sweeping robot is classified hole according to the time sequencing for entering hole, the hole entered with first time
As level-one hole, after it can not advance, the hole entered for the last time is final stage hole；
A2: after robot enters step the final stage hole in A1, walking out final stage openings position, while rotating a circle,
Step S1-S4 is repeated, is judged whether there is and the hole with final stage hole number of degrees, until can not advance；
A3: behind the hole that robot goes through all over excessively all number of degrees, being back to outside upper level hole, goes through all over upper level hole
Mouthful, until returning to outside level-one hole.
Further, high-order ranging is carried out to environment in front of sweeping robot using depth camera in the step S1, sentenced
It whether there is obstacle in m centimetres of broken height position, meanwhile, low level survey is carried out to environment in front of sweeping robot using sonar detection device
Away from judging in n centimetres of low level with the presence or absence of obstacle, and n < m；
In the step S2, the step S3 is carried out if obstacle is not present in m centimetres and n centimetres of low level of a high position, if high
There are obstacle is not present in obstacle, n centimetres of low level then to carry out the step S4 in m centimetres of position, if there are obstacles in n centimetres of low level
Then carry out the step S5.
Further, sweeping robot traveling limit for height detection method the following steps are included:
T1: so that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
Then judge that the height of high-order obstacle is less than sweeping robot height in m centimetres, and carry out the step S5, otherwise carries out step
T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than m centimetres of barrier
Hinder, then judge that the height of high-order obstacle is less than sweeping robot height, otherwise judges that the height of high-order obstacle is greater than machine of sweeping the floor
People's height simultaneously carries out the step S3.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, with 480*640 resolution ratio
Depth camera for, in the step T1, depth camera works in 480*640 static pixels picture catching, sweeper
Device people apical margin pixel coverage shared by the m centimeters of front is 160-170 row；Depth camera is from 160-170 in the step T3
Row pixel coverage scans downwards.
Further, in the step S5 sweeping robot obstacle edge walk method the following steps are included:
E1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging, until carrying out step E2 after single or two infrared sensors return to the distance signal less than L1 centimetres；Preferably, exist
Robot is in outside obstacle L1 cm range, can choose to right front or left front traveling, quickly to make single infrared biography
Sensor returns to the distance signal less than L2 centimetres.
E2: control sweeping robot rotation is believed until single or two infrared sensors return to the distance less than L2 centimetres
After number, step E3, and L2 < L1 are carried out；Single wheel rotation, completion under sweeping robot can be specifically driven entirely to sweep the floor
The spinning movement of robot.
E3: sweeping robot carries out PID adjusting, so that after two infrared sensors return to L2 centimetres of distance signal,
Control sweeping robot is walked forward, and constantly carries out step E2.The present invention uses the ranging of two infrared sensors, so that machine
After device people is moved in obstacle L1 cm range, by PID closed loop control algorithm, sweeping robot posture is adjusted, until two
After infrared sensor returns to L2 centimetres of distance signal, after determining that sweeping robot is parallel with obstacle, sweeping robot is realized
Along side walk.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, it further include what hole marked
Step: sweeping robot traveling limit for height detects in the step S4, judges that high-order obstacle is above sweeping robot height and goes forward side by side
While row step S3, it is demarcated as hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.
The beneficial effects of the present invention are:
The sonar contact device of high-order depth camera and low level is respectively set in sweeping robot of the invention up and down,
A high position can be measured at a distance judge whether to carry out high-order detection after, then judge whether the low level of short distance allows to pass through, greatly
Collision probability is reduced greatly, it is ensured that the accuracy at hole and obstacle detection, meanwhile, the present invention utilizes three kinds of distance measuring sensors,
It allows three to cooperate, carries out high-order ranging, limit for height detection, low level ranging three successively according to timing, substantially reduce
Operand, improves sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
To sum up, sweeping robot hole detection device of the invention has the advantages that structure is simple and reasonable, this hair is arranged
Bright sweeping robot zone of ignorance heuristic approach has operand small, and high-efficient, obstacle and hole accuracy of judgement are conducive to
The advantages of improving sweeping robot traveling efficiency and sweeping robot sweeping efficiency；Secondly, the present invention passes through from into first
Hole reaches the time sequencing at final stage hole to first time, hole is carried out grade classification, and detect by ad eundem hole, made
It obtains sweeping robot and is able to enter the gradational hole of institute, complete the zone of ignorance that robot is able to enter and explore, and explore
Covering it is comprehensive, achieved the purpose that without dead angle clean.
Detailed description of the invention
Fig. 1 is the module map of sweeping robot zone of ignorance exploration device of the present invention；
Fig. 2 is one of the position of two infrared sensors of the invention on sweeping robot；
Fig. 3 is the two of the position of two infrared sensors of the invention on sweeping robot；
Fig. 4 is the flow chart of sweeping robot zone of ignorance heuristic approach of the present invention；
Fig. 5 is sweeping robot zone of ignorance heuristic approach position view of the present invention；
Fig. 6 is the method schematic diagram of limit for height detection of the present invention；
Fig. 7 is that classification tree diagram in hole of the invention is intended to.
Specific embodiment
Technical solution of the present invention will be clearly and completely described below.
As shown in Figure 1, a kind of sweeping robot hole detection device, including GPU processor module, depth camera mould
Block, sonar contact apparatus module；
The depth camera head module includes depth camera 3 and its depth camera head drive circuit and depth camera
Signal processing circuit, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
The sonar contact apparatus module includes at sonar contact device and its sonar contact driving circuit and Sonar Signal
Circuit is managed, wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
Further, on sweeping robot, the position of the depth camera is higher than the sonar detection device and uses respectively
In high-order and low level ranging.The present invention utilizes the performance characteristics of depth camera and sonar detection device, respectively in machine of sweeping the floor
People carries out high-order and low level ranging up and down, and by GPU progress data processing, and further fast accurate detects obstacle, complete
It is explored at sweeping robot zone of ignorance.
It further, further include infrared sensor module,
Infrared sensor module includes two infrared sensors 2 and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to and sweep the floor
Robot side.The sweeping robot 1 of two kinds of shapes as shown in Figures 2 and 3,2 Relatively centralized of infrared sensor and horizontal direction
On be symmetrical set in sweeping robot side.
A kind of sweeping robot zone of ignorance heuristic approach, as shown in Figure 4, comprising the following steps:
S1: high-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
S2: judging high-order and low level obstacle in sweeping robot direction of advance respectively, if barrier is not present in high-order and low level
Hinder, carry out step S3, if a high position there are obstacle and low level is there is no carrying out step S4 if obstacle, if low level there are obstacle into
Row step S5；
S3: sweeping robot maintains current route constant, and repeats the high-low-position obstacle inspection of step S1 and S2
Survey determination step；
S4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and carries out step S5 if influencing, if not influencing labeled as hole, carrying out step S3 makes robot enter the hole
Mouthful；
S5: the walking of sweeping robot obstacle edge, and the high-low-position obstacle detection for repeating step S1 and S2 determines
Step.That is, low level obstacle if it exists, then directly judge that robot can not pass through, if low level can be needed if into
The detection of row limit for height, the present invention utilize two distance measuring sensors of depth camera and sonar detection device, carry out high-low-position survey respectively
Away from, and two distance measuring sensors is made to cooperate, the judgement of obstacle or hole (detect and realize by limit for height) is completed, is further driven
Dynamic sweeping robot advances along barrier rims or to advancing inside hole.
Further, after robot enters hole in the step S4, step S1-S4 is repeated, until can not advance.
Further, further include the steps that going through all over each hole；
A1: sweeping robot is classified hole according to the time sequencing for entering hole, the hole entered with first time
As level-one hole, after it can not advance, the hole entered for the last time is final stage hole；
A2: after robot enters step the final stage hole in A1, walking out final stage openings position, while rotating a circle,
Step S1-S4 is repeated, is judged whether there is and the hole with final stage hole number of degrees, until can not advance；
A3: behind the hole that robot goes through all over excessively all number of degrees, being back to outside upper level hole, goes through all over upper level hole
Mouthful, until returning to outside level-one hole.As shown in fig. 7, the present invention passes through from first hole is entered to first time arrival final stage hole
The time sequencing of mouth, carries out grade classification for hole, and detect by ad eundem hole, so that sweeping robot is able to enter institute
Gradational hole completes the zone of ignorance that robot is able to enter and explores, and the covering explored is comprehensive, has reached without dead angle
The purpose of cleaning.As shown in fig. 7, each hole is classified by the present invention, and is gone through behind each hole, a hole tree graph is formd
It stores to GPU, so that the overall situation next time cleans.
Preferably, as shown in figure 4, carrying out height to environment in front of sweeping robot using depth camera in the step S1
Position ranging judges in high-order m centimetres with the presence or absence of obstacle, meanwhile, using sonar detection device to environment in front of sweeping robot
Low level ranging is carried out, is judged with the presence or absence of obstacle in n centimetres of low level, and n < m, preferred m value are that 50, n value is 20；
In the step S2, the step S3 is carried out if obstacle is not present in high position 50cm and low level 20cm, if high-order
Then carry out the step S4 there is no obstacle there are obstacle, in low level 20cm in 50cm, if in low level 20cm there are obstacle if into
The row step S5.Using this preferred embodiment, technology above content, the beneficial effect is that, a high position can be remote
It measures after judging whether to carry out high-order detection, then judges whether the low level of short distance allows to pass through, it is general to greatly reduce collision
Rate, it is ensured that the accuracy at hole and obstacle detection, meanwhile, high-order ranging, limit for height detection, low level ranging three successively according to when
Sequence carries out, and greatly reduces operand, improves sweeping robot traveling efficiency.
Further, sweeping robot traveling limit for height detection method the following steps are included:
T1: so that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
Then judge that the height of high-order obstacle is less than sweeping robot height in 50cm, and carry out the step S5, otherwise carries out step T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than the barrier of 50cm
Hinder, then judge that the height of high-order obstacle is less than sweeping robot height, otherwise judges that the height of high-order obstacle is greater than machine of sweeping the floor
People's height simultaneously carries out the step S3.That is, the present invention calculates 50cm in front of sweeping robot by comparison calculation
Locate, in the picture that depth camera captures, corresponding machine apical margin pixel coverage of sweeping the floor obtains each below this pixel coverage
The depth information of row pixel judges that front stops sweeping robot with the presence or absence of obstacle and advances forward.It should be noted that for
The depth camera of one 480*640 resolution ratio, standard static pixel refer to that it captures out the picture of 480*640 pixel always
Face.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, as shown in figure 5, with 480*
For the depth camera of 640 resolution ratio, in the step T1, depth camera works in 480*640 static pixels picture and catches
It catches, sweeping robot apical margin accounted for pixel coverage at the 50cm of front is 160-170 row 4；Depth camera in the step T3
It is scanned downwards from 160-170 row pixel coverage.Since the data volume for carrying out depth scan to each row pixel is big, therefore the present invention uses
The method that high-order and low level ranging combines, the detection of reduction limit for height is as far as possible come when reducing the walking of sweeping robot obstacle edge
Operand, to improve the speed of travel and efficiency.
Further, in the step S5 sweeping robot obstacle edge walk method the following steps are included:
E1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging, until carrying out step E2 after single or two infrared sensors return to the distance signal less than L1 centimetres；
E2: control sweeping robot rotation is believed until single or two infrared sensors return to the distance less than L2 centimetres
After number, step E3 is carried out, and L2 < L1, preferred L2 value are that 5, L1 value is 10；Sweeping robot can specifically be driven
Single wheel rotation down, completes the spinning movement of entire sweeping robot.
E3: sweeping robot automatic obstacle-avoiding carries out PID adjusting, so that two infrared sensors return to the distance letter of 5cm
After number, control sweeping robot is walked forward, and constantly carries out step E2.The present invention uses the ranging of two infrared sensors,
So that, by PID closed loop control algorithm, sweeping robot posture is adjusted after robot is moved within the scope of obstacle 10cm, until
After two infrared sensors return to the distance signal of 5cm, after determining that sweeping robot is parallel with obstacle, sweeping robot is realized
Along side walk.
As a kind of preferred embodiment of the invention, it is based on above content, unlike, it further include what hole marked
Step: sweeping robot traveling limit for height detects in the step S4, judges that high-order obstacle is above sweeping robot height and goes forward side by side
While row step S3, it is demarcated as hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.The present invention passes through the mark to hole
Note, when so that next sweeping robot needing this position to be swept, without carrying out limit for height detection, high-low-position ranging etc. again,
Substantially increase the working efficiency of sweeping robot.
For those of ordinary skill in the art, without departing from the concept of the premise of the invention, it can also do
Several modifications and improvements out, these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of sweeping robot hole detection device, which is characterized in that including GPU processor module, depth camera head module,
Sonar contact apparatus module；
The depth camera head module includes at depth camera and its depth camera head drive circuit and depth camera signal
Circuit is managed, wherein depth camera signal processing circuit is electrically connected to the I/O mouth of the GPU processor module；
The sonar contact apparatus module includes sonar contact device and its sonar contact driving circuit and Signal processing of sonar electricity
Road, wherein Signal processing of sonar circuit is electrically connected to the I/O mouth of the GPU processor module.
2. sweeping robot hole according to claim 1 detection device, which is characterized in that on sweeping robot, institute
The position for stating depth camera is higher than the sonar detection device and is respectively used to high-order and low level ranging.
3. sweeping robot hole according to claim 1 detection device, which is characterized in that further include infrared sensor mould
Block,
Infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing circuit, wherein
Infrared signal processing circuit is electrically connected to the I/O mouth of the GPU processor module, and two infrared sensors are set to machine of sweeping the floor
People side.
4. a kind of sweeping robot zone of ignorance heuristic approach, which comprises the following steps:
A1: each hole in label sweeping robot traveling process, sweeping robot is according to the time sequencing pair for entering hole
Hole is classified, and the hole entered using first time is as level-one hole, and after it can not advance, the hole entered for the last time is
Final stage hole；
A2: after robot enters step the final stage hole in A1, walking out final stage openings position, while rotating a circle, repeats
Step A1, judges whether there is and the hole with final stage hole number of degrees, until can not advance；
A3: behind the hole that robot goes through all over excessively all number of degrees, being back to outside upper level hole, goes through all over upper level hole, directly
To returning to outside level-one hole.
5. sweeping robot zone of ignorance heuristic approach according to claim 4, which is characterized in that machine in the step S4
After device people enters hole, step S1-S4 is repeated, until can not advance.
6. sweeping robot zone of ignorance heuristic approach according to claim 5, which is characterized in that the step A1 acceptance of the bid
Remember sweeping robot traveling process in each hole method the following steps are included:
S1: carrying out high-order ranging to environment in front of sweeping robot using depth camera, using sonar detection device to sweeping the floor
Environment carries out low level ranging in front of robot, completes non-collision scanning；
S2: high-order and low level obstacle in sweeping robot direction of advance is judged respectively, if obstacle is not present in high-order and low level
Step S3 is carried out, step S4 is carried out there are obstacle and if obstacle is not present in low level if a high position, if there are obstacles to be walked for low level
Rapid S5；
S3: sweeping robot maintains current route constant, and the high-low-position obstacle detection for repeating step S1 and S2 is sentenced
Determine step；
S4: sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences machine of sweeping the floor
People advance, if influence if carry out step S5, if while not influencing to carry out the step A1 carry out step S3 make robot into
Enter the hole；
S5: the walking of sweeping robot obstacle edge, and repeat the high-low-position obstacle detection determination step of step S1 and S2.
7. sweeping robot zone of ignorance heuristic approach according to claim 5, which is characterized in that
High-order ranging is carried out to environment in front of sweeping robot using depth camera in the step S1, judges high-order m centimetres
It is interior to whether there is obstacle, meanwhile, low level ranging is carried out to environment in front of sweeping robot using sonar detection device, judges low level
It whether there is obstacle in n centimetres；
In the step S2, the step S3 is carried out if obstacle is not present in m centimetres and n centimetres of low level of a high position, if m lis high-order
Rice in there are in obstacle, n centimetres of low level be not present obstacle then carry out the step S4, if in n centimetres of low level there are obstacle if into
The row step S5, and n < m.
8. sweeping robot zone of ignorance heuristic approach according to claim 5, which is characterized in that in the step S4,
Sweeping robot traveling limit for height detection method the following steps are included:
T1: making depth camera work in the capture of standard static pixel screen, calculates sweeping robot apical margin in standard static picture
Shared pixel coverage in plain picture；
T2: using the depth information in pixel coverage in depth camera scanning step T1, if depth is less than m lis in pixel coverage
Rice then judges that the height of high-order obstacle is less than sweeping robot height, and carries out the step S5, otherwise carries out step T3；
T3: depth camera pixel coverage from T1 scans downwards, if finding in scanning process, depth is less than m centimetres of obstacle,
Then judge that the height of high-order obstacle is less than sweeping robot height, it is high otherwise to judge that the height of high-order obstacle is greater than sweeping robot
It spends and carries out the step S3.
9. sweeping robot zone of ignorance heuristic approach according to claim 7, which is characterized in that differentiated with 480*640
For the depth camera of rate, in the step T1, depth camera works in 480*640 static pixels picture catching, sweeps the floor
Robot apical margin pixel coverage shared by the m centimeters of front is 160-170 row；Depth camera is from 160- in the step T3
170 row pixel coverages scan downwards.
10. sweeping robot zone of ignorance heuristic approach according to claim 5, which is characterized in that in the step S5
Sweeping robot obstacle edge walking method the following steps are included:
E1: for sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out ranging to obstacle,
Until carrying out step E2 after single or two infrared sensors return to the distance signal less than L1 centimetres；
E2: control sweeping robot rotation, until after single or two infrared sensors return to the distance signal less than L2 centimetres,
Carry out step E3, and L2 < L1；
E3: sweeping robot automatic obstacle-avoiding carries out PID adjusting, so that two infrared sensors return to L2 centimetres of distance signal
Afterwards, control sweeping robot is walked forward, and constantly carries out step E2.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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