CN109375224A - A kind of steep cliff detection method, device and sweeping robot - Google Patents
A kind of steep cliff detection method, device and sweeping robot Download PDFInfo
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- CN109375224A CN109375224A CN201811155673.9A CN201811155673A CN109375224A CN 109375224 A CN109375224 A CN 109375224A CN 201811155673 A CN201811155673 A CN 201811155673A CN 109375224 A CN109375224 A CN 109375224A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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Abstract
The present invention relates to a kind of steep cliff detection method, device and sweeping robot, methods to include, and emits ultrasonic signal to sweeping robot front lower place；Judge whether that receiving ultrasonic signal in the given time encounters the echo-signal returned after reverberation；Receive, then according to echo-signal obtain sweeping robot bottom between emitting substance at a distance from；By distance compared with pre-set distance threshold, whether the front lower place for judging that sweeping robot is advanced is steep cliff.The problem of being interfered the invention avoids the mode of infrared signal detection steep cliff vulnerable to reverberation Color influences and strong light；Emit ultrasonic signal using multiple gears, greatly improve the distance range of ultrasonic distance measurement, apart from relative close, reverberation is detected using low-grade location, machine power consumption is reduced, improves the continuation of the journey of sweeping robot, reduce noise；Implementation of the present invention is simple, environmental suitability is strong, detection high reliablity, the biggish performance for improving sweeping robot.
Description
Technical field
This patent is related to robotic technology field more particularly to a kind of steep cliff detection method, device and sweeping robot.
Background technique
At present sweeping robot mainly using infrared signal detect steep cliff by the way of, however, infrared signal reflected intensity meeting
By reverberation Color influences, saturate reverberation can be more much lower than reverberation reflected intensity of light color.Machine of sweeping the floor encounters
Erroneous judgement situation is had when saturate ground, cleaning is seriously affected, when encountering reflective good ground, it may appear that steep cliff detection
The case where failing to judge, sweeping robot caused to fall.In addition, in the case that infrared signal has the interference of strong light in external environment,
It will lead to sweeper robot steep cliff detection erroneous judgement or fail to judge.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of steep cliff detection method, device and sweeping robot, for solving
The problem of certainly detection of sweeping robot steep cliff is failed under application circumstances.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of steep cliff detection method, including,
Emit ultrasonic signal to sweeping robot front lower place；
Judge whether that receiving the ultrasonic signal in the given time encounters the echo-signal returned after reverberation；
If receiving, according to the echo-signal obtain the sweeping robot bottom between emitting substance at a distance from；
By the distance compared with pre-set distance threshold, judge whether is front lower place that the sweeping robot is advanced
For steep cliff.
It is further, described to emit ultrasonic wave to sweeping robot front lower place, comprising:
Using different gears, ultrasonic signal is emitted to the front lower place of sweeping robot with unlike signal intensity.
It further, further include in the given time, not receiving echo-signal in highest gear, being then judged as steep cliff.
Further, described using different gears, it is super to the transmitting of the front lower place of sweeping robot with unlike signal intensity
Acoustic signals include,
Since deep low gear, ultrasonic signal is emitted to robot front lower place with lowest signal intensity；
Judge whether that receiving the ultrasonic signal in the given time encounters the echo-signal returned after reverberation；
It when echo-signal cannot be received, shifts up increase signal strength step by step, until can receive in the given time
To the echo-signal of return, or until reaching maximum gear.
Further, when the echo-signal of return can be received in the given time in a certain gear, according to being calculated
Distance of the reverberation away from robot be less than pre-set distance threshold, determine that front, can be again with minimum when not being steep cliff
Gear emits ultrasonic wave.
Further, when the detection times for being judged as steep cliff meet the steep cliff detection frequency threshold value, stop advancing.
A kind of steep cliff detection device, including, ultrasonic wave emitting module, ultrasonic wave receiving unit, distance resolve component and hang
Precipice detection components；
The ultrasonic wave emitting module emits for generating ultrasonic wave transmitting signal from the front lower portion of the robot；
The ultrasonic wave receiving unit, the ultrasonic wave for receiving transmitting from the front lower portion of the robot encounter instead
Penetrate the echo-signal of object reflection；
The distance resolves component, is separately connected with the ultrasonic wave emitting module and the ultrasonic wave receiving unit, uses
In calculate ultrasonic wave transmitting signal and corresponding echo-signal time difference, measurement reverberation and robot bottom away from
From；
The steep cliff detection components resolve component with the distance and connect, and the distance is resolved to the distance of component output
Compared with pre-set distance threshold, whether the front lower place for judging that the sweeping robot is advanced is steep cliff.
Further, the steep cliff detection components also connect with the ultrasonic wave emitting module and the ultrasonic wave receiving unit
It connects, whether echo-signal is received within the set time after maximum gear, signal transmitting for detecting, if do not received back
Wave signal judges the front lower place of the sweeping robot traveling for steep cliff.
It further, further include gear control assembly, the gear control assembly and the ultrasonic wave emitting module, ultrasound
The connection of wave receiving unit；If cannot receive echo-signal after current gear emits signal, gear control assembly is carried out
Shift up operation, until most high-grade；If echo-signal can be received in current gear, and front is not steep cliff, then again with
Lowest gear continues to detect reverberation.
Further, the receiving transducer of the transmitting probe of the ultrasonic wave emitting module and the ultrasonic wave receiving unit,
It is respectively arranged in the front lower portion of unmanned plane；The clipping room of the transmitting probe and receiving transducer is away from ensuring in emitting module with maximum
When intensity emits signal, the signal reception of receiving transducer is not impacted.
A kind of sweeping robot, including any of the above-described kind of steep cliff detection device.
The present invention has the beneficial effect that:
The problem of being interfered the invention avoids the mode of infrared signal detection steep cliff vulnerable to reverberation Color influences and strong light；
Emit ultrasonic signal using multiple gears, the transmission power of each gear is different, can greatly improve in this way
The distance range of ultrasonic distance measurement guarantees the reverberation that can have both measured closer distance, can also measure longer-distance anti-
Penetrate object；
And when sweeping robot works normally, since the reverberation that ultrasonic probe faces all is ground, distance is opposite
It is relatively close, distance can be detected using low-grade location, reducing machine power consumption to the greatest extent, improve the continuous of sweeping robot
Boat；And it can guarantee that noise is not too large in the normal cleaning process of sweeping robot using the transmitting of the ultrasonic wave of low-grade location.
In making steep cliff detection process, is detected by the steep cliff of continuous several times and determine steep cliff, guarantee the standard of steep cliff detection
True property.
The present invention realize sweeping robot steep cliff detection work, implementation is simple, environmental suitability is strong, detect can
By property height, the biggish performance for improving sweeping robot.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the steep cliff detection method flow chart in the embodiment of the present invention；
Fig. 2 is that the steep cliff detection device in the embodiment of the present invention forms connection schematic diagram；
Fig. 3 is that the ultrasonic wave emitting module in the embodiment of the present invention forms connection schematic diagram；
Fig. 4 is that the ultrasonic wave receiving unit in the embodiment of the present invention forms connection schematic diagram；
Fig. 5 is the ultrasonic probe scheme of installation in the embodiment of the present invention.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
A specific embodiment of the invention, discloses a kind of steep cliff detection method, and the steep cliff for sweeping robot is examined
It surveys, specific method includes,
Emit ultrasonic signal to sweeping robot front lower place；
Optionally, to sweeping robot front lower place emit ultrasonic wave, different gears can be used, with unlike signal intensity to
The front lower place of sweeping robot emits ultrasonic signal.Special, it, can to simplify design cycle while promoting detection efficiency
High, medium and low third gear is set by gear.
The emissive porwer of signal under each gear can be selected according to the demand of steep cliff detection accuracy.
Judge whether that receiving the ultrasonic signal in the given time encounters the echo-signal returned after reverberation；
Sweeping robot should be at the operating status swept the floor, generally when steep cliff detects in order to improve detection efficiency and inspection
The accuracy rate of survey, the predetermined time cannot be arranged it is too long, when gear is lower, will be arranged the predetermined time it is shorter, such as do not receive back
Wave signal, then increase gear, and being reduced with this needs longer detection time in low-grade location, promotes detection efficiency and accuracy rate.If
Echo-signal can be received in shorter preset time, then illustrates that reverberation is closer according to sweeping robot, be not judged as outstanding
Precipice.
If receiving, according to the echo-signal obtain the sweeping robot bottom between emitting substance at a distance from；
Optionally, range information can be obtained by signal reception time difference twice.
By the distance compared with pre-set distance threshold, judge whether is front lower place that the sweeping robot is advanced
For steep cliff.
Distance threshold can be set according to actual needs.
Can also include, if in the given time, not receiving echo-signal in high tap position work, being then judged as
Steep cliff.
As shown in Figure 1, a kind of multi gear station ultrasonic wave detection method disclosed in the present embodiment the following steps are included:
Step S1, ultrasonic signal is emitted to robot front lower place using low grade；
Step S2, the echo-signal for judging whether can to receive reflection, if it is not, entering step S3；If it can,
Then enter step S5；
Step S3, gear is increased into middle-grade, judges whether that echo-signal can be received, if it could not, entering step
S4；If it can, then entering step S5；
Step S4, gear is increased into top grade, judges whether that echo-signal can be received within the set time, if
Can, enter step S5；If it is not, judgement is steep cliff, stop advancing；
Step S5, distance of the reverberation away from robot is then calculated, if distance is greater than pre-set distance threshold, is sentenced
Disconnected is steep cliff, stops advancing；If distance is less than pre-set distance threshold, judge not to be steep cliff, subsequent return step
S1。
Special, in step s 5, when the detection times for being judged as steep cliff meet the steep cliff detection frequency threshold value, sentence
Line-break is steep cliff into front, stops advancing.
The steep cliff detection frequency threshold value determines that steep cliff detection frequency threshold value is bigger according to reliability requirement, steep cliff detection
Reliability it is bigger, but the reaction time that sweeping robot detects steep cliff can be longer.
As shown in Fig. 2, the present embodiment also discloses a kind of sweeping robot steep cliff detection device based on ultrasound examination,
Including ultrasonic wave emitting module 1, ultrasonic wave receiving unit 2, distance resolve component 3 and steep cliff detection components 4；
Ultrasonic wave emitting module 1 generates ultrasonic wave and emits signal, emits from the front lower portion of robot, for irradiating machine
The ultrasonic reflections object of people front lower place；
Ultrasonic wave receiving unit 2 receives the ultrasonic wave transmitting letter that the reverberation reflects from the front lower portion of robot
Number, signal processing is carried out, ultrasonic echo signal is obtained；
Distance resolves component 3, and ultrasonic wave transmitting group, 1 and ultrasonic wave receiving unit be separately connected 2, sent out according to ultrasonic wave
It penetrates the time difference of signal and corresponding echo-signal, calculates reverberation at a distance from robot bottom；
Steep cliff detection components 4 are separately connected, according to the steep cliff of setting with ultrasonic wave receiving unit 2 and apart from component 3 is resolved
Testing conditions；Detect whether the front lower place that the sweeping robot is advanced is steep cliff.
It optionally, further include gear control assembly 5, gear control assembly 5 and ultrasonic wave emitting module 1, ultrasonic wave receive
Component 2 is separately connected, and has low grade, middle-grade, high-grade three gears, and control ultrasonic wave emitting module 1 emits the intensity of signal.
Specifically, as shown in figure 3, electricity occurs for ultrasonic wave emitting module 1, including ultrasonic wave transmitting probe 11, digital signal
Road 12 and ultrasonic wave launch driving circuit 13.
Wherein, digital signal generation circuit 12 be responsible for generate 40KHZ ± 5KHz digital signal, and record transmitting when
Between, the digital signal of generation is sent to ultrasonic wave launch driving circuit 13, certain power output is provided by this driving circuit,
To drive ultrasonic wave transmitting probe 11 to carry out the transmitting of ultrasonic signal.
Specifically, as shown in figure 4, ultrasonic wave receiving unit 2 is once filtered including ultrasonic wave receiving transducer 21, ultrasonic signal
Wave circuit 22, ultrasonic signal amplifying circuit 23, ultrasonic signal secondary filtering circuit 24, analog signal turn digital signal circuit
25, digital signal processing circuit 26.
Wherein, ultrasonic wave receiving transducer 21 is responsible for receiving reflected ultrasonic signal, and acoustic signals are converted
Electric signal for electric signal, conversion is very small, and the denoising work of signal can be carried out before carrying out signal amplification with noise
Make, so, small electric signal is once filtered by filter circuit 22 of ultrasonic signal, signal is filtered
After obtain the lesser electric signal of noise after, input ultrasonic signal amplifying circuit 23 carry out signal amplification, due to what is received
Signal is too small, and ultrasonic signal amplifying circuit provides two-stage enlarging function, filters again after carrying out level-one amplification, after filtering
Carrying out second level amplification.Since amplification factor is excessive, noise is also amplified in this process, so also to input ultrasonic wave letter
Number secondary filtering circuit 24 is filtered；Signal input analog signal after being filtered turns digital signal circuit
25 progress analog signals turn the sampling operation of digital signal, are converted into after manageable digital signal, input digital signal
Processing circuit 26 carries out the processing of digital signal, calculating and records receiving time.
Specifically, connecting the ultrasonic wave transmitting signal hair for receiving record with ultrasonic wave emitting module 1 apart from component 3 is resolved
Penetrate the time；And the connection of ultrasonic wave receiving unit 2 receives the receiving time of echo-signal corresponding with transmitting signal, when calculating transmitting
Between time difference with receiving time；The half of time difference is obtained into reverberation at a distance from robot bottom multiplied by the velocity of sound.
Specifically, the gear of the gear control assembly 5 is divided into low grade, middle-grade, high-grade three gears, difference is respectively corresponded
Transmitting signal strength, successively increase.The digital signal of the output end connection ultrasonic wave emitting module of gear control assembly occurs
Circuit；Control ultrasonic wave transmitting signal separately detects the reverberation of different distance with different intensity.
Optionally, the waveform number of the corresponding digital signal of different gears is different, for example, 10 waveforms of transmitting are as low
Shelves emit 20 waveforms as middle-grade, emit 30 waveforms as 3 top grades, the transmission power of each gear is different, in this way may be used
To greatly improve the distance range of ultrasonic distance measurement, guarantee the reverberation that can have both measured closer distance, can also measure compared with
Remote reverberation.
In the selection of gear, emitted first with low-grade location, if ultrasonic wave receiving transducer can receive ultrasonic wave
Signal, and reverberation distance can be calculated, primary event physical prospecting brake is just completed, will continue to carry out ultrasonic wave letter with low-grade location
Number transmitting, when low-grade location can not detect reverberation, just can with middle gear carry out ultrasonic signal transmitting, if middle gear
Reverberation detection can be carried out, and the distance of reverberation can be measured, next ultrasonic wave transmitting, which also will continue to emit with low-grade location, opens
Begin, continues the detection operations of reverberation, continue the switch logic for following front, if ultrasonic probe middle gear can not detect,
It is then switched to high tap position and carries out ultrasonic listening, if can detect reverberation and calculate except distance, machine can be carried out
The judgement of steep cliff, if high tap position can not also detect reverberation, machine can continue to reflect analyte detection since low-grade location
Repeatedly, if it is confirmed that reverberation can not be detected, then machine can carry out steep cliff judgement.
As shown in figure 5, transmitting probe 11 and receiving transducer 21, are respectively arranged in the front lower portion for unmanned plane of sweeping the floor；Transmitting is visited
First 11 and receiving transducer 21 installation interval ensure emitting module with maximum intensity emit signal when, not to the letter of receiving transducer
Number reception impacts.
Optionally, the installation sound obstacle component between transmitting probe and receiving transducer, with further enhance transmitting probe and
Isolation between receiving transducer.
The present embodiment also discloses a kind of sweeping robot, and the sweeping robot includes the steep cliff of any of the above-described embodiment
Detection device.
Steep cliff detection device carries out steep cliff detection, including ultrasonic wave emitting module 1, ultrasound by the way of ultrasound examination
Wave receiving unit 2, distance resolve component 3, steep cliff detection components 4 and gear control assembly 5；
Ultrasonic wave emitting module 1 generates ultrasonic wave and emits signal, emits from the front lower portion of robot, for irradiating machine
The ultrasonic reflections object of people front lower place；
Ultrasonic wave receiving unit 2 receives the ultrasonic wave transmitting letter that the reverberation reflects from the front lower portion of robot
Number, signal processing is carried out, ultrasonic echo signal is obtained；
Distance resolves component 3, and ultrasonic wave transmitting group, 1 and ultrasonic wave receiving unit be separately connected 2, sent out according to ultrasonic wave
It penetrates the time difference of signal and corresponding echo-signal, calculates reverberation at a distance from robot bottom；
Steep cliff detection components 4 are separately connected, according to the steep cliff of setting with ultrasonic wave receiving unit 2 and apart from component 3 is resolved
Testing conditions；Detect whether the front lower place that the sweeping robot is advanced is steep cliff.
Gear control assembly 5, gear control assembly 5 are separately connected with ultrasonic wave emitting module 1, ultrasonic wave receiving unit 2,
With low grade, middle-grade, high-grade three gears, control ultrasonic wave emitting module 1 emits the intensity of signal.
In conclusion the embodiment of the present invention discloses steep cliff detection method, device and sweeping robot, infrared signal is avoided
Detect the problem of mode of steep cliff is vulnerable to reverberation Color influences and the interference of strong light；
Emit ultrasonic signal using multiple gears, the transmission power of each gear is different, can greatly improve in this way
The distance range of ultrasonic distance measurement guarantees the reverberation that can have both measured closer distance, can also measure longer-distance anti-
Penetrate object；
And when sweeping robot works normally, since the reverberation that ultrasonic probe faces all is ground, distance is opposite
It is relatively close, distance can be detected using low-grade location, reducing machine power consumption to the greatest extent, improve the continuous of sweeping robot
Boat；And it can guarantee that noise is not too large in the normal cleaning process of sweeping robot using the transmitting of the ultrasonic wave of low-grade location.
In making steep cliff detection process, is detected by the steep cliff of continuous several times and determine steep cliff, guarantee the standard of steep cliff detection
True property.
The present invention realize sweeping robot steep cliff detection work, implementation is simple, environmental suitability is strong, detect can
By property height, the biggish performance for improving sweeping robot.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (11)
1. a kind of steep cliff detection method, which is characterized in that including,
Emit ultrasonic signal to sweeping robot front lower place；
Judge whether that receiving the ultrasonic signal in the given time encounters the echo-signal returned after reverberation；
If receiving, according to the echo-signal obtain the sweeping robot bottom between emitting substance at a distance from；
By the distance compared with pre-set distance threshold, whether the front lower place for judging that the sweeping robot is advanced is outstanding
Precipice.
2. steep cliff detection method according to claim 1, which is characterized in that
It is described to emit ultrasonic wave to sweeping robot front lower place, comprising:
Using different gears, ultrasonic signal is emitted to the front lower place of sweeping robot with unlike signal intensity.
3. steep cliff detection method according to claim 1, which is characterized in that further include, in the given time, most high-grade
Position does not receive echo-signal, then is judged as steep cliff.
4. steep cliff detection method according to claim 2, which is characterized in that it is described using different gears, with different letters
Number intensity includes to the front lower place of sweeping robot transmitting ultrasonic signal,
Since deep low gear, ultrasonic signal is emitted to robot front lower place with lowest signal intensity；
Judge whether that receiving the ultrasonic signal in the given time encounters the echo-signal returned after reverberation；
It when echo-signal cannot be received, shifts up increase signal strength step by step, returned until can receive in the given time
The echo-signal returned, or until reaching maximum gear.
5. steep cliff detection method according to claim 3, which is characterized in that, can be in the predetermined time when in a certain gear
The echo-signal for inside receiving return, the distance according to reverberation calculated away from robot are less than pre-set apart from threshold
Value when determining that front is not steep cliff, can emit ultrasonic wave again with lowest gear.
6. according to any steep cliff detection method of claim 3-4, which is characterized in that when the detection times for being judged as steep cliff
When meeting the steep cliff detection frequency threshold value, stop advancing.
7. a kind of steep cliff detection device, which is characterized in that including ultrasonic wave emitting module, ultrasonic wave receiving unit, distance resolve
Component and steep cliff detection components；
The ultrasonic wave emitting module emits for generating ultrasonic wave transmitting signal from the front lower portion of the robot；
The ultrasonic wave receiving unit, the ultrasonic wave for receiving transmitting from the front lower portion of the robot encounter reverberation
The echo-signal of reflection；
The distance resolves component, is separately connected with the ultrasonic wave emitting module and the ultrasonic wave receiving unit, based on
The time difference for calculating ultrasonic wave transmitting signal and corresponding echo-signal measures reverberation at a distance from robot bottom；
The steep cliff detection components resolve component with the distance and connect, will be described apart from the distance for resolving component output and pre-
The distance threshold being first arranged compares, and whether the front lower place for judging that the sweeping robot is advanced is steep cliff.
8. steep cliff detection device according to claim 7, which is characterized in that the steep cliff detection components also with the ultrasound
Wave emitting module is connected with the ultrasonic wave receiving unit, for detecting after maximum gear, signal transmitting within the set time
Whether echo-signal is received, if not receiving echo-signal, judges the front lower place of the sweeping robot traveling for steep cliff.
9. steep cliff detection device according to claim 7, which is characterized in that further include gear control assembly, the gear
Control assembly is connect with the ultrasonic wave emitting module, ultrasonic wave receiving unit；If cannot after current gear emits signal
Echo-signal is received, then gear control assembly carries out shift-up operation, until most high-grade；If can be received in current gear
Echo-signal, and front is not steep cliff, then again with lowest gear, continues to detect reverberation.
10. according to any steep cliff detection device of claim 7-9, which is characterized in that the ultrasonic wave emitting module
The receiving transducer of transmitting probe and the ultrasonic wave receiving unit, is respectively arranged in the front lower portion of unmanned plane；The transmitting probe
With the clipping room of receiving transducer away from ensuring not receive the signal of receiving transducer when emitting module emits signal with maximum intensity
It impacts.
11. a kind of sweeping robot, which is characterized in that including any steep cliff detection device of claim 7-10.
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| CN114532922A (en) * | 2022-01-31 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Method and device for detecting ground detection of cleaning robot under strong light |
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Application publication date: 20190222 |