CN109901571A - A kind of robotically-driven mode conversion device - Google Patents
A kind of robotically-driven mode conversion device Download PDFInfo
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- CN109901571A CN109901571A CN201711312502.8A CN201711312502A CN109901571A CN 109901571 A CN109901571 A CN 109901571A CN 201711312502 A CN201711312502 A CN 201711312502A CN 109901571 A CN109901571 A CN 109901571A
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Abstract
The present invention provides a kind of robotically-driven mode conversion device, emits the projected array that at least four infrared rays are constituted to projected area by infrared projection array module；And then processor controls the projection density of infrared projection array module according to the movement speed of drive module.From the projection density of infrared projection array module can be adjusted with the movement speed of robot, to realize the high-precision control of infrared projection array module mode, while guaranteeing obstacle detection demand, infrared projection array module power consumption is reduced.
Description
Technical Field
The invention relates to a robot technology, in particular to a robot driving mode conversion device.
Background
With the continuous development of robotics, home robots have come into the daily lives of consumers. In the process of indoor movement of the existing robot, in order to avoid obstacles, a plurality of devices are often required to cooperate to detect and avoid the obstacles.
However, in the prior art, there are a plurality of usage scenarios of the robot, and for some specific scenarios, the power consumption of the robot is often increased by using a plurality of devices to detect the obstacle.
Disclosure of Invention
The invention provides a robot driving mode conversion device, which reduces power consumption while ensuring the detection precision of an obstacle.
A first aspect of the present invention provides a robot driving mode switching apparatus including: the robot comprises a robot body, a driving module, an infrared projection array module and a processor;
the processor is electrically connected with the driving module and the infrared projection array module respectively; the driving module is arranged at the bottom of the robot body, the processor is arranged in the robot body, and the infrared projection array module is arranged on the outer surface of the robot body;
the infrared projection array module is used for emitting a projection array formed by at least four infrared rays to the projection area;
and the processor is used for controlling the projection density of the infrared projection array module according to the moving speed of the driving module.
Optionally, when the moving speed is greater than a first speed value, the processor is specifically configured to control the infrared projection array module to emit the projection array at a first projection density; or,
when the moving speed is less than or equal to a second speed value, the processor is specifically configured to control the infrared projection array module to emit the projection array at a second projection density; or,
and when the moving speed is less than or equal to the first speed value and greater than the second speed value, the processor is specifically configured to control the infrared projection array module to emit the projection array at a third projection density, where the first speed value is greater than the second speed value.
Optionally, the infrared projection array module includes: the infrared projection system comprises a first infrared projection array unit, a second infrared projection array unit, a third infrared projection array unit and a fourth infrared projection array unit;
the first infrared projection array unit, the second infrared projection array unit, the third infrared projection array unit and the fourth infrared projection array unit are arranged on the top of the robot body in an encircling manner at equal intervals;
the first infrared projection array unit emits a first projection array to a first projection area; the second infrared projection array unit emits a second projection array to a second projection area; the third infrared projection array unit emits a third projection array to a third projection area; the fourth infrared projection array unit emits a fourth projection array to a fourth projection area.
Optionally, the processor is further configured to determine whether a movement direction of the driving module matches any one of the first infrared projection array unit, the second infrared projection array unit, the third infrared projection array unit, or the fourth infrared projection array unit;
if the movement direction of the driving module is matched with the first infrared projection array unit, configuring the first infrared projection array unit to emit the first projection array at a first projection density, and configuring the second infrared projection array unit to emit the second projection array at a second projection density; the third infrared projection array unit emits the third projection array at a second projection density; the fourth infrared projection array unit emits the fourth projection array at a second projection density.
According to the robot driving mode conversion device provided by the embodiment of the invention, the projection array formed by at least four infrared rays is emitted to the projection area through the infrared projection array module; and the processor controls the projection density of the infrared projection array module according to the moving speed of the driving module. The projection density of the infrared projection array module can be adjusted according to the moving speed of the robot, so that high-precision control of the infrared projection array module mode is achieved, and the power consumption of the infrared projection array module is reduced while the requirement for detecting obstacles is met.
Drawings
Fig. 1 is a schematic structural diagram of a robot-driven power consumption control apparatus according to an embodiment of the present invention;
FIG. 2A is a schematic view of a projection array according to an embodiment of the present invention;
fig. 2B is a schematic diagram of an avoidance path according to an embodiment of the present invention;
FIGS. 3A, 3B and 3C are schematic views of a shot density according to an embodiment of the present invention;
fig. 4 is a schematic top view of another robot driving mode switching device according to an embodiment of the present invention;
fig. 5 is a functional schematic diagram of a robot driving mode conversion device according to an embodiment of the present invention.
Detailed Description
Fig. 1 is a schematic structural diagram of a robot driving mode conversion device according to an embodiment of the present invention, and referring to fig. 1, the robot driving mode conversion device includes: the robot comprises a robot body 100, a driving module 101, an infrared projection array module 102 and a processor 103;
the processor 103 is electrically connected with the driving module 101 and the infrared projection array module 102 respectively; the driving module 101 is arranged at the bottom of the robot body 100, the processor 103 is arranged inside the robot body 100, and the infrared projection array module 102 is arranged on the outer surface of the robot body 100;
the infrared projection array module 102 is used for emitting a projection array formed by at least four infrared rays to a projection area;
and the processor 103 is used for controlling the projection density of the infrared projection array module 102 according to the moving speed of the driving module 101.
Specifically, fig. 2A is a schematic diagram of a projection array according to an embodiment of the present invention, see fig. 2A, and fig. 2B is a schematic diagram of an evasive path according to an embodiment of the present invention, see fig. 2A and fig. 2B, where the projection array forms at least four projection points on a surface of an obstacle; when at least one piece of infrared ray contacts the surface of the obstacle and feeds back to the infrared projection array module 102, the infrared projection array module 102 is specifically configured to generate local three-dimensional data of the obstacle according to the feedback information; for example, in fig. 2A, the solid dots B on the right are projected points when the infrared rays are projected onto the obstacle, and the hollow far points a are projected points when the infrared rays do not contact the obstacle; alternatively, the hollow far point a projects infrared rays to an obstacle beyond a certain distance range, and such an obstacle may not affect the current movement of the robot. Obviously, the local stereo data of the obstacle can be generated through the feedback information of the plurality of solid dots B, wherein, since the surface of the obstacle can be uneven, the infrared projection array module 102 can obtain the local stereo data of the obstacle for the projection points of some protruding parts on the obstacle, so as to form a more precise avoidance path based on the local stereo data, for example, as shown in fig. 2B, thereby effectively avoiding the robot from colliding with the obstacle.
According to the robot driving mode conversion device provided by the embodiment of the invention, the projection array formed by at least four infrared rays is emitted to the projection area through the infrared projection array module; and the processor controls the projection density of the infrared projection array module according to the moving speed of the driving module. The projection density of the infrared projection array module can be adjusted according to the moving speed of the robot, so that high-precision control of the infrared projection array module mode is achieved, and the power consumption of the infrared projection array module is reduced while the requirement for detecting obstacles is met.
Optionally, the robot driving mode converting device may include a plurality of infrared emitters and receivers, each of the infrared emitters and receivers may emit and receive infrared rays in a specific direction, and the adjustment of the projection density may be achieved by controlling the number of on or off states of the infrared emitters and receivers, where a possible implementation manner is given below, and fig. 3A, 3B, and 3C are schematic diagrams of the projection density according to an embodiment of the present invention.
Referring to fig. 3A, when the moving speed is greater than the first speed value, the processor 103 is specifically configured to control the infrared projection array module 102 to emit the projection array at the first projection density;
specifically, it can be seen that in fig. 3A, the black solid dots are projected dots.
Referring to fig. 3B, when the moving speed is less than or equal to the second speed value, the processor 103 is specifically configured to control the infrared projection array module 102 to emit the projection array at the second projection density;
specifically, compared with fig. 3A, the hollow dots B appearing in fig. 3B are the positions of the original projection points after the infrared ray emitting and receiving devices are turned off; the solid dots a are the projected dots that still exist. It can be seen that the second projected density is less than the first projected density.
In combination with fig. 3B, referring to fig. 3C, when the moving speed is less than or equal to the first speed value and greater than the second speed value, the processor 103 is specifically configured to control the infrared projection array module 102 to emit the projection array at a third projection density, where the first speed value is greater than the second speed value.
Further, in order to improve the accuracy and comprehensiveness of monitoring obstacles, the infrared projection array module may include a plurality of infrared projection array units facing different directions, specifically, four infrared projection array units are described below as an example, fig. 4 is a schematic top view structural diagram of another robot driving mode conversion apparatus provided in an embodiment of the present invention, and referring to fig. 4, the infrared projection array module 102 includes: a first infrared projection array unit 102-1, a second infrared projection array unit 102-2, a third infrared projection array unit 102-3, and a fourth infrared projection array unit 102-4;
the first infrared projection array unit 102-1, the second infrared projection array unit 102-2, the third infrared projection array unit 102-3 and the fourth infrared projection array unit 102-4 are all electrically connected to the processor 103.
The first infrared projection array unit 102-1, the second infrared projection array unit 102-2, the third infrared projection array unit 102-3 and the fourth infrared projection array unit 102-4 are arranged at the top of the robot body 100 in an encircling manner at equal intervals;
the first infrared projection array unit 102-1 emits a first projection array to a first projection area; the second infrared projection array unit 102-2 emits a second projection array to a second projection area; the third infrared projection array unit 102-3 emits a third projection array to a third projection area; the fourth infrared projection array unit 102-4 emits a fourth projection array to the fourth projection area.
Specifically, taking the first infrared projection array unit 102-1 as an example, if a difference value occurs in the feedback information of the first projection array, for example, a difference value occurs in the feedback time and distance of two projection points in the first projection array, and the difference value is different from a preset standard feedback time and distance without an obstacle, the processor 103 is specifically configured to compare the difference value with an obstacle standard range; if the first projection area is matched with the obstacle standard range, confirming that an obstacle exists in the first projection area; specifically, the obstacle criterion range may be an empirical value, that is, a range of values in which the difference value is possible when an obstacle is present. Specifically, the difference value may be implemented by feeding back information such as time and distance.
The processor 103 is further configured to generate avoidance path information; the driving module 101 moves according to the avoidance path information.
Optionally, if the first projection area does not match the obstacle standard range, confirming that no obstacle exists in the first projection area; the processor 103 is further configured to drive the driving module 101 to move according to the original path.
Further, referring to fig. 3A, 3B, 3C and 4, the processor 103 is further configured to determine whether the movement direction of the driving module 101 matches any one of the first infrared projection array unit 102-1, the second infrared projection array unit 102-2, the third infrared projection array unit 102-3 or the fourth infrared projection array unit 102-4;
fig. 5 is a functional schematic diagram of a robot driving mode conversion apparatus according to an embodiment of the present invention, referring to fig. 5, taking a first infrared projection array unit 102-1 as an example, if a moving direction of a driving module 101 matches with the first infrared projection array unit 102-1, the first infrared projection array unit 102-1 is configured to emit a first projection array at a first projection density, and a second infrared projection array unit 102-2 is configured to emit a second projection array at a second projection density; the third infrared projection array unit 102-3 emits a third projection array at a second projection density; the fourth infrared projection array unit 102-4 emits the fourth projection array at the second projection density.
By adopting the implementation mode corresponding to the embodiment in fig. 5, the obstacle detection precision is ensured in the moving direction of the robot, and the overall power consumption of the robot is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A robot driving mode switching apparatus, comprising: the robot comprises a robot body, a driving module, an infrared projection array module and a processor;
the processor is electrically connected with the driving module and the infrared projection array module respectively; the driving module is arranged at the bottom of the robot body, the processor is arranged in the robot body, and the infrared projection array module is arranged on the outer surface of the robot body;
the infrared projection array module is used for emitting a projection array formed by at least four infrared rays to the projection area;
and the processor is used for controlling the projection density of the infrared projection array module according to the moving speed of the driving module.
2. A robot-driven mode conversion apparatus according to claim 1, wherein the processor is configured to control the infrared projection array module to emit the projection array at a first projection density when the moving speed is greater than a first speed value; or,
when the moving speed is less than or equal to a second speed value, the processor is specifically configured to control the infrared projection array module to emit the projection array at a second projection density; or,
and when the moving speed is less than or equal to the first speed value and greater than the second speed value, the processor is specifically configured to control the infrared projection array module to emit the projection array at a third projection density, where the first speed value is greater than the second speed value.
3. The robot-driven mode conversion device of claim 1, wherein the infrared projection array module comprises: the infrared projection system comprises a first infrared projection array unit, a second infrared projection array unit, a third infrared projection array unit and a fourth infrared projection array unit;
the first infrared projection array unit, the second infrared projection array unit, the third infrared projection array unit and the fourth infrared projection array unit are arranged on the top of the robot body in an encircling manner at equal intervals;
the first infrared projection array unit emits a first projection array to a first projection area; the second infrared projection array unit emits a second projection array to a second projection area; the third infrared projection array unit emits a third projection array to a third projection area; the fourth infrared projection array unit emits a fourth projection array to a fourth projection area.
4. The robot driving mode conversion device according to claim 3, wherein the processor is further configured to determine whether a movement direction of the driving module matches any one of the first infrared projection array unit, the second infrared projection array unit, the third infrared projection array unit, or the fourth infrared projection array unit;
if the movement direction of the driving module is matched with the first infrared projection array unit, configuring the first infrared projection array unit to emit the first projection array at a first projection density, and configuring the second infrared projection array unit to emit the second projection array at a second projection density; the third infrared projection array unit emits the third projection array at a second projection density; the fourth infrared projection array unit emits the fourth projection array at a second projection density.
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| CN201711312502.8A CN109901571A (en) | 2017-12-10 | 2017-12-10 | A kind of robotically-driven mode conversion device |
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| CN201711312502.8A CN109901571A (en) | 2017-12-10 | 2017-12-10 | A kind of robotically-driven mode conversion device |
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| CN202795054U (en) * | 2012-09-07 | 2013-03-13 | 安徽省电力科学研究院 | Anti-collision system for motion of robot |
| CN202939487U (en) * | 2012-12-14 | 2013-05-15 | 山东电力集团公司电力科学研究院 | Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot |
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- 2017-12-10 CN CN201711312502.8A patent/CN109901571A/en active Pending
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| CN202795054U (en) * | 2012-09-07 | 2013-03-13 | 安徽省电力科学研究院 | Anti-collision system for motion of robot |
| CN202939487U (en) * | 2012-12-14 | 2013-05-15 | 山东电力集团公司电力科学研究院 | Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot |
| US20160320777A1 (en) * | 2015-04-29 | 2016-11-03 | Lg Electronics Inc. | Moving robot and controlling method thereof |
| CN205113499U (en) * | 2015-11-13 | 2016-03-30 | 上海归墟电子科技有限公司 | General motion chassis of modularization desktop robot |
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Application publication date: 20190618 |