CN109719736B - Self-moving robot and control method thereof - Google Patents
Self-moving robot and control method thereof Download PDFInfo
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- CN109719736B CN109719736B CN201711043653.8A CN201711043653A CN109719736B CN 109719736 B CN109719736 B CN 109719736B CN 201711043653 A CN201711043653 A CN 201711043653A CN 109719736 B CN109719736 B CN 109719736B
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Abstract
The self-moving robot comprises a robot main body (100), wherein a detection unit and a control unit are arranged on the robot main body, the detection unit comprises a plurality of transmitters and receivers which are arranged at intervals, limiting pieces (200) are arranged on the robot main body and used for controlling the receiving and transmitting ranges of the receivers and the transmitters, the transmitters and the receivers are respectively arranged in the respective limiting pieces, and the control unit is used for controlling the transmitters to transmit signals and determining the area where the obstacle is located according to the signals received by the receivers. According to the invention, by arranging a proper number of transmitters and receivers, controlling the receiving and transmitting ranges of the transmitters and the receivers by using the limiting piece, dividing a reasonable detection area according to the size of the machine, and rapidly and efficiently judging the specific positions of the obstacles according to the received signals, more accurate data are provided for planning the walking path of the self-moving robot and executing the obstacle avoidance action.
Description
Technical Field
The invention relates to a self-moving robot and a control method thereof, belonging to the technical field of small household appliance manufacturing.
Background
In the prior art, there are various ways of detecting obstacles from a mobile robot. Patent document CN101303410B discloses a single-emission multi-direction received obstacle detection method and device, wherein a plurality of ultrasonic sensors each include an ultrasonic emission function and an ultrasonic receiving function, only one ultrasonic sensor emits information in a certain period of time, and the other ultrasonic sensors each receive information, and the received information includes energy and distance values. The method adopts an ultrasonic sensor integrating ultrasonic transmission and receiving, and is easy to generate aftershock, interference, echo and blind area, and influences the detection result.
In addition, in the prior art, the detection of the direction of the obstacle by the self-moving robot only judges that the obstacle is on the left side, the right side or the right front of the robot from a large range, and the area division is too large. Which is disadvantageous for more accurate positioning of the obstacle.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a self-moving robot and a control method thereof, wherein the proper number of transmitters and receivers are arranged, the receiving and transmitting ranges of the transmitters and the receivers are controlled by utilizing limiting pieces, a reasonable detection area is divided according to the size of the robot, and the specific positions of obstacles are rapidly and efficiently judged according to received signals, so that more accurate data are provided for planning the walking path of the self-moving robot and executing obstacle avoidance actions.
The technical problems to be solved by the invention are realized by the following technical scheme:
the utility model provides a from mobile robot, includes the robot main part, is equipped with detecting element and control unit on the robot main part, detecting element includes a plurality of transmitters and the receiver of mutual interval arrangement, be equipped with the limiting piece on the robot main part for control receiver and the transceiver scope of transmitter, transmitter and receiver set up respectively in respective limiting piece, control unit is used for controlling the transmitter transmission signal, and confirm the region that the barrier was located according to the signal received by the receiver.
In order to accurately identify the position of the obstacle, the determining the area where the obstacle is located according to the signal received by the receiver further comprises calculating the distance between the obstacle and the self-moving robot according to the signal received by the receiver, so as to determine the area where the obstacle is located.
In order to enable the ultrasonic receiver to distinguish the source of the received signals, the control unit controls the transmitter to transmit signals, and the control unit controls the transmitters to transmit signals according to preset periodic intervals; or to control a plurality of transmitters to transmit differently encoded signals for the control unit.
Preferably, the detection unit includes a first ultrasonic emitter provided on the robot body, a second ultrasonic emitter and a third ultrasonic emitter provided at intervals on both sides of the first ultrasonic emitter, a first ultrasonic receiver provided between the first ultrasonic emitter and the second ultrasonic emitter, and a second ultrasonic receiver provided between the first ultrasonic emitter and the third ultrasonic emitter;
the signal sent by the first ultrasonic transmitter can be received by the first ultrasonic receiver and the second ultrasonic receiver after being reflected by the obstacle, the signal sent by the second ultrasonic transmitter can only be received by the first ultrasonic receiver after being reflected by the obstacle, and the signal sent by the third ultrasonic transmitter can only be received by the second ultrasonic transmitter after being reflected by the obstacle.
Preferably, the first ultrasonic transmitter is disposed right in front of the main body.
In order to effectively prevent ultrasonic crosstalk and improve the ranging precision and the working efficiency of an ultrasonic system, an anti-crosstalk blocking piece is arranged between the ultrasonic transmitter and the ultrasonic receiver.
In order to control the receiving and transmitting range of the receiver and the transmitter, the limiting piece is a sound cavity assembly, the sound cavity assembly sequentially comprises a sound cavity shell, a sound cavity main body, an ultrasonic receiver or an ultrasonic transmitter and a cover plate from outside to inside, the ultrasonic receiver or the ultrasonic transmitter is fixed in the cover plate arranged in the robot main body through a sealing piece, and the sound cavity main body, the ultrasonic receiver or the ultrasonic transmitter is fixed by the sound cavity shell and the cover plate.
The invention also provides a control method of the self-moving robot, the self-moving robot comprises a robot main body, the robot main body is provided with limiting pieces, and a plurality of transmitters and receivers respectively arranged in the limiting pieces, the control method comprises the following steps: controlling the plurality of transmitters to transmit signals according to preset periodic intervals or controlling the plurality of transmitters to transmit signals with different codes; and calculating the distance between the obstacle and the receiver according to the signals received by the receiver, and further determining the area where the obstacle is located.
Specifically, the transmitter and receiver include a first ultrasonic transmitter disposed directly in front of the robot body, a second ultrasonic transmitter and a third ultrasonic transmitter disposed at intervals on both sides of the first ultrasonic transmitter, a first ultrasonic receiver disposed between the first ultrasonic transmitter and the second ultrasonic transmitter, and a second ultrasonic receiver disposed between the first ultrasonic transmitter and the third ultrasonic transmitter;
the signal sent by the first ultrasonic transmitter can be received by the first ultrasonic receiver and the second ultrasonic receiver after being reflected by the obstacle, the signal sent by the second ultrasonic transmitter can only be received by the first ultrasonic receiver after being reflected by the obstacle, and the signal sent by the third ultrasonic transmitter can only be received by the second ultrasonic transmitter after being reflected by the obstacle.
In order to enable the ultrasonic receiver to distinguish the source of the received signal, the transmitting signal of the ultrasonic transmitter according to the preset period interval is specifically: and controlling the first ultrasonic transmitter to transmit signals, controlling the second ultrasonic transmitter to transmit signals after the first interval time, controlling the third ultrasonic transmitter to transmit signals after the second interval time, and repeating the process after the third interval time.
Preferably, the value ranges of the first interval time, the second interval time and the third interval time are all 10ms-30ms.
Specifically, an extension line of a connection line between the center of the mobile robot and the ultrasonic transmitter and the ultrasonic receiver divides the front of the mobile robot into six detection areas, which are respectively defined as a first area, a second area, a third area, a fourth area, a fifth area and a sixth area in a clockwise direction; in the course of one of the detection periods,
when the first ultrasonic receiver only receives the signal sent by the second ultrasonic transmitter, the second ultrasonic receiver does not receive the signal, and the obstacle is judged to be positioned in the first area;
when the first ultrasonic receiver receives signals sent by the first ultrasonic transmitter and the second ultrasonic transmitter, the second ultrasonic receiver does not receive the signals, and the obstacle is judged to be located in the second area;
when the first ultrasonic receiver does not receive the signals, the second ultrasonic receiver receives the signals sent by the first ultrasonic transmitter and the third ultrasonic transmitter, and the obstacle is judged to be located in the fifth area;
when the first ultrasonic receiver does not receive the signal, the second ultrasonic receiver only receives the signal sent by the third ultrasonic transmitter, and the obstacle is judged to be positioned in the sixth area;
when the first ultrasonic receiver and the second ultrasonic receiver both receive the signal sent by the first ultrasonic transmitter, the distance between the obstacle and the receiver is calculated:
when the distance between the first ultrasonic receiver and the obstacle is smaller than the distance between the second ultrasonic receiver and the obstacle, the obstacle is judged to be located in the third area, when the distance between the first ultrasonic receiver and the obstacle is larger than the distance between the second ultrasonic receiver and the obstacle, the obstacle is judged to be located in the fourth area, and when the distance between the first ultrasonic receiver and the obstacle = the distance between the second ultrasonic receiver and the obstacle, the control unit judges that the obstacle is located right in front of the self-moving robot.
In order to avoid collision, the control method further includes: after determining the area where the obstacle is located, if the distance between the receiver and the obstacle is less than or equal to 10cm, controlling the self-moving robot to walk for a first distance along the direction away from the obstacle and then steering, wherein the first distance is more than or equal to the radius of the body of the self-moving robot.
In summary, the invention sets a proper number of transmitters and receivers, and then uses the limiting member to control the receiving and transmitting ranges of the transmitters and the receivers, so as to divide a reasonable detection area according to the size of the machine, and rapidly and efficiently judge the specific position of the obstacle according to the received signals, thereby providing more accurate data for planning the walking path of the self-moving robot and executing the obstacle avoidance action.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of a self-moving robot according to the present invention;
FIG. 2 is a schematic diagram of an acoustic chamber assembly according to the present invention;
fig. 3 is an exploded view of the structure of the acoustic chamber assembly of the present invention.
Detailed Description
Fig. 1 is a schematic structural view of a self-moving robot according to the present invention. As shown in fig. 1, the self-moving robot of the present invention comprises a robot main body 100, wherein the robot main body 100 is provided with components such as a walking unit, a detection unit, a control unit, etc., wherein the control unit controls the detection unit to work, receives and processes a detection signal of the detection unit, and thereby controls the walking unit to drive the robot main body 100 to walk.
The detection unit includes a plurality of transmitters and receivers arranged at intervals, and the transmitters and receivers may be ultrasonic transmitters and receivers, infrared transmitters and receivers, or laser transmitters and receivers, which will be described below by taking an ultrasonic transmitter as an example. Specifically, the detection unit comprises three ultrasonic transmitters and two ultrasonic receivers, signals sent by the ultrasonic transmitters can be received by the ultrasonic receivers after being reflected by the obstacle, and the control unit can further collect distance information, namely the distance between the obstacle and the ultrasonic receivers, besides collecting energy information of the signals. Preferably, in the present invention, the energy information is acquired by using a TOA algorithm (time of arrival method), the distance information is acquired by using a TOF method (time of flight method), the distance between the obstacle and the self-moving robot is measured as in the prior art, such as "Li Jinhua. A programmable ultrasonic sensor array camera positioning system [ J ]. Sensor and micro-system learned by robotics, 2011 (30): 79-82", and is not described in detail herein.
The ultrasonic receiver includes a first ultrasonic emitter 111 provided on the robot body 100, and a second ultrasonic emitter 112 and a third ultrasonic emitter 113 provided at intervals on both sides of the first ultrasonic emitter 111; a first ultrasonic receiver 121 is provided between the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112, and a second ultrasonic receiver 122 is provided between the first ultrasonic transmitter 111 and the third ultrasonic transmitter 113. Preferably, the first ultrasonic transmitter 111 is disposed right in front of the main body 100.
FIG. 2 is a schematic diagram of an acoustic chamber assembly according to the present invention; fig. 3 is an exploded view of the structure of the acoustic chamber assembly of the present invention. As shown in fig. 2 and 3, the robot main body 100 is provided with a plurality of limiting members 200 for controlling the receiving and transmitting ranges of the receiver and the transmitter, in the present invention, the limiting members 200 are sound cavity components, the sound cavity components sequentially comprise a sound cavity housing 201, a sound cavity main body 202, an ultrasonic receiver or an ultrasonic transmitter (taking the first ultrasonic transmitter 111 as an example in the drawing) and a cover plate 203 from outside to inside, the ultrasonic receiver or the ultrasonic transmitter is fixed in the cover plate 203 arranged inside the robot main body through a sealing member 204, and the sound cavity housing 201 and the cover plate 203 fix the sound cavity main body 202, the ultrasonic receiver or the ultrasonic transmitter. Specifically, the acoustic chamber assembly may be assembled by first installing the ultrasonic receiver or ultrasonic transmitter into the seal 204 and then installing the cover 203. The front end of the sound cavity main body 202 is provided with a resonant cavity and a loudspeaker, and the purpose of the resonant cavity is to eliminate blind spots of an ultrasonic near field region, interference and middle-low frequency interference, and improve measurement accuracy, for example, for ultrasonic waves with the frequency of 40kHz, the inner diameter of the ultrasonic resonant cavity is required to be larger than 3.0mm; the loudspeaker is in order to control ultrasonic probe's coverage, through the bowl mouth design of exit, eliminates the export emission influence. The basic rule followed by the horn design is that the lower the horn, the lower the peak of the 40kHz ultrasonic wave. The radius of the circular ring at the joint of the loudspeaker and the resonant cavity determines the sound field intensity at the center of the ultrasonic probe and the effective coverage range of the sound field intensity, and the design follows the basic rule that the smaller the radius of the circular ring is, the stronger the sound field intensity at the center is, and the smaller the coverage range is.
The method is based on the condition that the gain of the software and the hardware and the driving power are fixed, the design of the software and the hardware can be changed by changing, and the two are matched with each other, so that the purpose of controlling the single ultrasonic coverage area and the resolution is achieved. The invention is not limited thereto, and a person skilled in the art may change the structure of the limiting member to achieve different limiting effects without departing from the inventive concept of the present invention.
In the present embodiment, the first ultrasonic receiver 121 is set to receive only the signals emitted from the first ultrasonic emitter 111 and the second ultrasonic emitter 112 by the restriction member, and the second ultrasonic receiver 122 is set to receive only the signals emitted from the first ultrasonic emitter 111 and the third ultrasonic emitter 113. In other words, the signal emitted from the first ultrasonic transmitter 111 may be received by the first ultrasonic receiver 121 and the second ultrasonic receiver 122 after being reflected by the obstacle, the signal emitted from the second ultrasonic transmitter 112 may be received by only the first ultrasonic receiver 121 after being reflected by the obstacle, and the signal emitted from the third ultrasonic transmitter 113 may be received by only the second ultrasonic receiver 122 after being reflected by the obstacle. The invention is not limited thereto, and a person skilled in the art can adjust the shape and position of the limiting member as required, and can add additional ultrasonic transmitters, ultrasonic receivers and limiting members to further refine the detection range or realize different functions.
As shown in fig. 1, an extension line connecting the center of the mobile robot and the detection means divides the front of the mobile robot into six detection areas, namely, a first area 101, a second area 102, a third area 103, a fourth area 104, a fifth area 105 and a sixth area 106, in a clockwise direction. Table 1 shows the situation that the ultrasonic receiver receives the obstacle in different areas, and it should be noted that "yes" in the table indicates that the ultrasonic receiver can receive the signal after being reflected by the obstacle sent by the ultrasonic transmitter, and "no" indicates that the ultrasonic receiver cannot receive the signal after being reflected by the obstacle sent by the ultrasonic transmitter, and the invention does not compare the signal after being diffracted by the obstacle sent by the ultrasonic transmitter.
TABLE 1
In order to enable the ultrasonic receiver to distinguish the source of the received signal, the control unit controls the three ultrasonic transmitters to transmit signals at predetermined periodic intervals, for example, the control unit may control the first ultrasonic transmitter 111 to transmit signals and the second ultrasonic transmitter 112 to transmit signals after a first interval (preferably 10ms-30ms, such as 20 ms), and then control the third ultrasonic transmitter 113 to transmit signals after a second interval (which may be the same as or different from the first interval, preferably 10ms-30ms, such as 20 ms), at which time, all three ultrasonic transmitters have transmitted signals, and the control unit determines the source of the signals based on the time of the signals received by the ultrasonic receiver. The first interval time and the second interval time can be set by a technician according to parameters such as detection distance of the obstacle. Further, in order to precisely detect the position of the obstacle in real time, after one period in which the three ultrasonic transmitters sequentially transmit signals ends, the control unit may control the ultrasonic transmitters to repeat the above process after a third interval time (which may be the same as or different from the first interval time, preferably 10ms to 30ms, such as 20 ms) elapses.
As can be seen from the above table, when the self-moving robot of the present invention works, in one detection period, if the first ultrasonic receiver 121 only receives the signal sent by the second ultrasonic transmitter 112 and the second ultrasonic receiver 122 does not receive the signal, the control unit can directly determine that the obstacle is located in the first area 101; if the first ultrasonic receiver 121 receives the signals sent by the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112 and the second ultrasonic receiver 122 does not receive the signals, the control unit may directly determine that the obstacle is located in the second area 102; if the first ultrasonic receiver 121 does not receive the signal, the second ultrasonic receiver 122 receives the signals sent by the first ultrasonic transmitter 111 and the third ultrasonic transmitter 113, and the control unit may directly determine that the obstacle is located in the fifth area 105; if the first ultrasonic receiver 121 does not receive the signal and the second ultrasonic receiver 122 receives only the signal from the third ultrasonic transmitter 113, the control unit may directly determine that the obstacle is located in the sixth area 106. Further, the control unit may further confirm the distance between the obstacle and the receiver according to the received signal.
If the first ultrasonic receiver 121 and the second ultrasonic receiver 122 both receive the signal sent by the first ultrasonic transmitter 111, the control unit can only determine that the obstacle is located in the third area 103 or the fourth area 104, and the control unit calculates the distance between the obstacle and the receiver according to the signal received by the receiver, so as to determine the area where the obstacle is located.
Specifically, when the distance between the first ultrasonic receiver 121 and the obstacle < the distance between the second ultrasonic receiver 122 and the obstacle, the control unit determines that the obstacle is located in the third region 103, when the distance between the first ultrasonic receiver 121 and the obstacle > the distance between the second ultrasonic receiver 122 and the obstacle, the control unit determines that the obstacle is located in the fourth region 104, and when the distance between the first ultrasonic receiver 121 and the obstacle = the distance between the second ultrasonic receiver 122 and the obstacle, the control unit determines that the obstacle is located directly in front of the self-moving robot.
The number of ultrasonic transmitters and ultrasonic receivers can be increased by those skilled in the art to ensure accurate positioning, taking into consideration the size and travel speed of the self-moving robot.
Of course, in order for the ultrasonic receiver to be able to distinguish the source of the signal it receives, other means may be used by the person skilled in the art, such as a control unit controlling the plurality of transmitters to transmit differently encoded signals, which may be frequency, time division multiplexed, carrier waves, etc.
The control unit sequentially judges whether the two ultrasonic receivers can receive the signals, and calculates the distance between the obstacle and the receivers after receiving the signals, so that the obstacle is positioned more accurately, and the self-moving robot is controlled to work more accurately. If the distance between the receiver and the obstacle is less than or equal to 10cm after the area where the obstacle is located is determined, the self-moving robot is controlled to walk in the direction away from the obstacle for a first distance and then turn, and preferably, the first distance is more than or equal to the radius of the body of the self-moving robot.
As can be seen from the above, the control unit of the self-moving robot in the present invention determines the distance between the receiver and the obstacle according to the signal, so that the position of the obstacle relative to the self-moving robot can be accurately identified, and the walking unit is controlled to drive the robot main body 100 to walk, thereby avoiding collision. It should be added that, after identifying the obstacle, the conventional robot often executes obstacle avoidance actions such as rollback and steering, but the obstacle avoidance action is not accurate enough because the position of the obstacle cannot be determined, for example, the steering is only rotated 90 ° leftwards or rightwards, etc., while in the invention, because the self-moving robot accurately identifies the position of the obstacle, the control unit can more accurately execute the obstacle avoidance action, for example, the robot can walk continuously after decelerating and rotating by a certain angle (the angle can be set by a person skilled in the art according to the angle of the obstacle), so that the walking efficiency is improved.
Further, in order to effectively prevent the ultrasonic crosstalk phenomenon and improve the ranging accuracy and the working efficiency of the ultrasonic system, an anti-crosstalk blocking member (not shown in the figure) is arranged between the ultrasonic transmitter and the ultrasonic receiver, and the anti-crosstalk blocking member is arranged on the outer surface of the robot main body 100 and protrudes or is recessed from the outer surface, for example, the anti-crosstalk blocking member may be in a straight line shape, and the ultrasonic transmitter and the ultrasonic receiver are divided on two sides and are substantially symmetrical with each other with the anti-crosstalk blocking member as the center; the crosstalk prevention barrier may also be circular arc-shaped, at least partially enclosing the ultrasonic transmitter or the ultrasonic receiver inside; alternatively, the crosstalk prevention barrier may be bumps or pits or the like densely arranged on the outer surface of the body.
Preferably, in the present invention, the three ultrasonic transmitters and the two ultrasonic receivers are preferably disposed on the same horizontal plane, that is, the heights of the three ultrasonic transmitters and the two ultrasonic receivers on the robot main body 100 are the same, or any two of the three ultrasonic transmitters and the two ultrasonic receivers may be disposed on different horizontal planes, so as to facilitate extraction of distance information and division of regions.
The working process of the self-moving robot in the invention is as follows:
after the mobile robot starts up, the control unit controls the three ultrasonic transmitters to transmit signals according to the preset period interval, if an obstacle exists in the second area 102 in front of the mobile robot in the walking process, the first ultrasonic receiver 121 receives signals transmitted by the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112 in one detection period, the second ultrasonic receiver 122 does not receive signals, and at the moment, the control unit determines that the obstacle is positioned in the second area 102 according to the received signal condition, so that the walking unit is controlled to retreat to turn right for a certain angle and avoid the obstacle. If an obstacle exists in the third area 103 in front of the mobile robot during walking, the first ultrasonic receiver 121 and the second ultrasonic receiver 122 both receive signals sent by the first ultrasonic transmitter 111, and at this time, the control unit compares the distance information to determine the position of the obstacle. That is, according to the different positions of the obstacles, the control unit determines the positions of the obstacles directly through the energy information without comparing the distance information, and thus the workload of the control unit is reduced in the present embodiment when only three ultrasonic transmitters and two ultrasonic receivers are provided, if the obstacles are in the first region 101, the second region 102, the fifth region 105 and the sixth region 106.
The present invention is not limited to the positions and the number of the ultrasonic transmitters and the ultrasonic receivers, and the embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes may be made within the scope of the instructions provided by those skilled in the art without departing from the spirit of the present invention.
The invention provides a self-moving robot and a control method thereof, wherein the proper number of transmitters and receivers are arranged, the receiving and transmitting ranges of the transmitters and the receivers are controlled by utilizing limiting pieces, a reasonable detection area is divided according to the size of the robot, and the specific positions of obstacles are rapidly and efficiently judged according to received signals, so that more accurate data are provided for planning the walking path of the self-moving robot and executing obstacle avoidance actions.
Claims (12)
1. The self-moving robot comprises a robot main body (100), wherein the robot main body is provided with a detection unit and a control unit, the detection unit comprises a plurality of transmitters and receivers which are arranged at intervals, and the self-moving robot is characterized in that the robot main body is provided with limiting pieces (200) for controlling the receiving and transmitting ranges of the receivers and the transmitters, the transmitters and the receivers are respectively arranged in the respective limiting pieces, and the control unit is used for controlling the transmitters to transmit signals and determining the area where an obstacle is located according to the signals received by the receivers; the limiting piece is a sound cavity assembly, the sound cavity assembly sequentially comprises a sound cavity shell (201), a sound cavity main body (202), an ultrasonic receiver or an ultrasonic transmitter and a cover plate (203) from outside to inside, the ultrasonic receiver or the ultrasonic transmitter is fixed in the cover plate arranged in the robot main body through a sealing piece, and the sound cavity shell and the cover plate fix the sound cavity main body, the ultrasonic receiver or the ultrasonic transmitter; the front end of the sound cavity main body is provided with a resonant cavity and a loudspeaker.
2. The self-moving robot of claim 1, wherein determining the area in which the obstacle is located based on the signal received by the receiver further comprises calculating a distance between the obstacle and the self-moving robot based on the signal received by the receiver, thereby determining the area in which the obstacle is located.
3. The self-moving robot as claimed in claim 2, wherein the control unit controls the transmitter to transmit signals as a control unit controls the plurality of transmitters to transmit signals at predetermined periodic intervals; or to control a plurality of transmitters to transmit differently encoded signals for the control unit.
4. A self-moving robot according to claim 3, wherein the detection unit comprises a first ultrasonic emitter (111) provided on the robot body (100), a second ultrasonic emitter (112) and a third ultrasonic emitter (113) provided at intervals on both sides of the first ultrasonic emitter, a first ultrasonic receiver (121) provided between the first ultrasonic emitter and the second ultrasonic emitter, and a second ultrasonic receiver (122) provided between the first ultrasonic emitter and the third ultrasonic emitter;
the signal sent by the first ultrasonic transmitter can be received by the first ultrasonic receiver and the second ultrasonic receiver after being reflected by the obstacle, the signal sent by the second ultrasonic transmitter can only be received by the first ultrasonic receiver after being reflected by the obstacle, and the signal sent by the third ultrasonic transmitter can only be received by the second ultrasonic receiver after being reflected by the obstacle.
5. The self-moving robot according to claim 4, wherein the first ultrasonic transmitter (111) is disposed right in front of the main body (100).
6. The self-moving robot of claim 4, wherein an anti-crosstalk barrier is provided between the ultrasonic transmitter and the ultrasonic receiver.
7. The control method of the self-moving robot is characterized in that the self-moving robot comprises a robot main body (100), limiting pieces (200) and a plurality of transmitters and receivers which are respectively arranged in the limiting pieces, wherein the limiting pieces are sound cavity components, the sound cavity components sequentially comprise a sound cavity shell (201), a sound cavity main body (202), an ultrasonic receiver or an ultrasonic transmitter and a cover plate (203) from outside to inside, the ultrasonic receiver or the ultrasonic transmitter is fixed in the cover plate arranged in the robot main body through sealing pieces, and the sound cavity shell and the cover plate fix the sound cavity main body, the ultrasonic receiver or the ultrasonic transmitter; the front end of the sound cavity main body is provided with a resonant cavity and a loudspeaker; the control method comprises the following steps:
controlling the plurality of transmitters to transmit signals according to preset periodic intervals or controlling the plurality of transmitters to transmit signals with different codes;
and calculating the distance between the obstacle and the receiver according to the signals received by the receiver, and further determining the area where the obstacle is located.
8. The control method according to claim 7, wherein the transmitter and receiver include a first ultrasonic transmitter (111) disposed directly in front of the robot body (100), a second ultrasonic transmitter (112) and a third ultrasonic transmitter (113) disposed at intervals on both sides of the first ultrasonic transmitter, a first ultrasonic receiver (121) disposed between the first ultrasonic transmitter and the second ultrasonic transmitter, and a second ultrasonic receiver (122) disposed between the first ultrasonic transmitter and the third ultrasonic transmitter;
the signal sent by the first ultrasonic transmitter can be received by the first ultrasonic receiver and the second ultrasonic receiver after being reflected by the obstacle, the signal sent by the second ultrasonic transmitter can only be received by the first ultrasonic receiver after being reflected by the obstacle, and the signal sent by the third ultrasonic transmitter can only be received by the second ultrasonic receiver after being reflected by the obstacle.
9. The control method according to claim 8, wherein the transmission signal for controlling the ultrasonic transmitter at the preset period interval is specifically: the first ultrasonic transmitter (111) is controlled to transmit a signal, the second ultrasonic transmitter (112) is controlled to transmit a signal after a first interval, the third ultrasonic transmitter (113) is controlled to transmit a signal after a second interval, and the above-described process is repeated after a third interval.
10. The control method of claim 8, wherein the first interval, the second interval, and the third interval each have a value ranging from 10ms to 30ms.
11. The control method according to claim 8, wherein an extension line from a line between a center of the mobile robot and the ultrasonic transmitter and the ultrasonic receiver divides the front of the mobile robot into six detection areas, which are defined as a first area (101), a second area (102), a third area (103), a fourth area (104), a fifth area (105), and a sixth area (106), respectively, in a clockwise direction; in the course of one of the detection periods,
when the first ultrasonic receiver (121) only receives the signal sent by the second ultrasonic transmitter (112), the second ultrasonic receiver (122) does not receive the signal, and the obstacle is judged to be positioned in the first area;
when the first ultrasonic receiver receives signals sent by the first ultrasonic transmitter (111) and the second ultrasonic transmitter, the second ultrasonic receiver does not receive the signals, and the obstacle is judged to be located in the second area;
when the first ultrasonic receiver does not receive the signals, the second ultrasonic receiver receives the signals sent by the first ultrasonic transmitter and the third ultrasonic transmitter (113), and the obstacle is judged to be positioned in the fifth area;
when the first ultrasonic receiver does not receive the signal, the second ultrasonic receiver only receives the signal sent by the third ultrasonic transmitter, and the obstacle is judged to be positioned in the sixth area;
when the first ultrasonic receiver and the second ultrasonic receiver both receive the signal sent by the first ultrasonic transmitter, the distance between the obstacle and the receiver is calculated:
when the distance between the first ultrasonic receiver and the obstacle is smaller than the distance between the second ultrasonic receiver and the obstacle, the obstacle is judged to be located in the third area, when the distance between the first ultrasonic receiver and the obstacle is larger than the distance between the second ultrasonic receiver and the obstacle, the obstacle is judged to be located in the fourth area, and when the distance between the first ultrasonic receiver and the obstacle = the distance between the second ultrasonic receiver and the obstacle, the control unit judges that the obstacle is located right in front of the self-moving robot.
12. The control method according to claim 7, characterized in that the control method further comprises: after determining the area where the obstacle is located, if the distance between the receiver and the obstacle is less than or equal to 10cm, controlling the self-moving robot to walk for a first distance along the direction away from the obstacle and then steering, wherein the first distance is more than or equal to the radius of the body of the self-moving robot.
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