CN110502014A - A kind of method and robot of robot obstacle-avoiding - Google Patents
A kind of method and robot of robot obstacle-avoiding Download PDFInfo
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- CN110502014A CN110502014A CN201910778370.0A CN201910778370A CN110502014A CN 110502014 A CN110502014 A CN 110502014A CN 201910778370 A CN201910778370 A CN 201910778370A CN 110502014 A CN110502014 A CN 110502014A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The present invention is suitable for robotic technology field, provide the method and robot of a kind of robot obstacle-avoiding, wherein the method for the robot obstacle-avoiding includes when the robot has detected barrier, obtain the parameter information of the barrier, according to the current operating mode of the parameter information of the barrier and the robot, controls the robot and execute avoidance operation corresponding with the current operating mode of the parameter information of the barrier and the robot.The present invention operating mode current by the parameter information and robot of resultant fault object, robot can more accurately be controlled and execute corresponding avoidance operation, robot can not only be avoided the situation blindly crossed over occur, robot can also be avoided the situation in the certain regions to be cleaned of drain sweep occur, be conducive to the obstacle avoidance ability for improving robot and whole cleaning capacity.
Description
Technical field
The present invention relates to robot field more particularly to the methods and robot of a kind of robot obstacle-avoiding.
Background technique
With advances in technology and development, clean robot, which also gradually by the sweeper of simple function develops into collection, sweeps and drags function
All-in-one machine can be dragged in sweeping for one.The main brush and side for dragging all-in-one machine mainly to install by bottom front is wherein swept to brush the ash on ground
Dirt is gathered at blower mouth, the function so that mop and the water tank realization realizing the purpose of dust suction, and being arranged by bottom rear end mop floor
Energy.
In the prior art sweep drags all-in-one machine no matter to be in the mode of sweeping the floor, the mode that mops floor or sweep to drag integrated mode all and be default
Across mutually level barrier, however when sweep drag all-in-one machine be in mop floor mode or sweep drag integrated mode when, due to mop away from
Limited height from the ground, thus the obstacle climbing ability of robot at this time is insufficient, if still can be across according to robot under the mode of sweeping the floor
The parameter of barrier more is configured, then the mode that mops floor or sweeps the process for dragging the robot under integrated mode in across obstacle
In be easy to appear the situation blocked by barrier, to reduce the obstacle avoidance ability of robot；And if according to the mode of mopping floor or sweeping
The parameter for the barrier that robot can cross under integrated mode is dragged to be configured, then the robot under the mode of sweeping the floor is easy to neglect
Slightly certain barriers that can be crossed over, and then there are the certain regions to be cleaned of drain sweep, to influence the whole cleaning of robot
Ability.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, can control robot the embodiment of the invention provides a kind of method of robot obstacle-avoiding and robot
Avoidance operation corresponding with the parameter information of barrier and itself current operating mode is executed, is conducive to hoisting machine people's
Obstacle avoidance ability and whole cleaning capacity.
The first aspect of the embodiment of the present invention provides a kind of method of robot obstacle-avoiding, comprising:
When the robot has detected barrier, the parameter information of the barrier is obtained；
According to the current operating mode of the parameter information of the barrier and the robot, controls the robot and execute
Avoidance operation corresponding with the current operating mode of the parameter information of the barrier and the robot.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, control
It makes the robot and executes avoidance corresponding with the current operating mode of the parameter information of the barrier and the robot
Operation includes:
According to the current operating mode of the parameter information of the barrier and the robot, the class of the barrier is determined
Type；
According to the type of the determining barrier, it is corresponding with the type of the barrier to control the robot execution
Avoidance operation.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, really
The type of the barrier includes: calmly
When the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the height of the barrier
Degree is less than the first preset height, it is determined that the type of the barrier is that may span across type barrier, if the height of the barrier
More than or equal to the first preset height, it is determined that the type of the barrier is can not span type barrier.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, really
The type of the fixed barrier further include:
When the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the barrier inclines
Rake angle is less than the first predetermined angle, it is determined that the type of the barrier is that may span across type barrier, if the barrier
Tilt angle is greater than or equal to the first predetermined angle, it is determined that the type of the barrier is can not span type barrier.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, really
The type of the fixed barrier further include:
When the current operating mode of the robot is to sweep the floor mode, if the height of the barrier is default less than second
Highly, it is determined that the type of the barrier is that may span across type barrier, if the height of the barrier is greater than or equal to second
Preset height, it is determined that the type of the barrier is can not span type barrier.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, really
The type of the fixed barrier further include:
When the current operating mode of the robot is to sweep the floor mode, if the tilt angle of the barrier is less than second
Predetermined angle, it is determined that the type of the barrier be may span across type barrier, if the tilt angle of the barrier be greater than or
Equal to the second predetermined angle, it is determined that the type of the barrier is can not span type barrier.
In one embodiment, the operating mode current according to the parameter information of the barrier and the robot, control
It makes the robot and executes avoidance corresponding with the current operating mode of the parameter information of the barrier and the robot
Operation includes:
If it is determined that the type of the barrier is that may span across type barrier, then controls the robot and execute across operation；
If it is determined that the type of the barrier can not span type barrier, then control the robot and execute operation of detouring.
In one embodiment, when the robot has detected barrier, the parameter information of the barrier is obtained
Include:
The robot is detected in the direction of motion by lower view sensor in the robot and/or Inertial Measurement Unit
On whether have barrier；
When the robot has detected barrier, surveyed by lower view sensor in the robot and/or inertia
Amount unit obtains the parameter information of barrier when the robot is maked somebody a mere figurehead by barrier.
In one embodiment, when the robot has detected barrier, the parameter information of the barrier is obtained
Further include:
Detect whether the robot has barrier in the movement direction by the distance measuring sensor in the robot；
When the robot has detected barrier, the machine is obtained by the distance measuring sensor in the robot
The parameter information of the barrier of people in the direction of travel.
The second aspect of the embodiment of the present invention provides a kind of robot, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, above-mentioned processor realize above-mentioned first when executing above-mentioned computer program
The method that aspect refers to.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, when the robot
When having detected barrier, the parameter information of the barrier is obtained, controls the ginseng of the robot execution and the barrier
The current operating mode corresponding avoidance operation of number information and the robot.Compared with prior art, real through the invention
Applying example can control robot execution avoidance operation corresponding with the parameter information of barrier and itself current operating mode,
Be conducive to the obstacle avoidance ability of hoisting machine people and the cleaning capacity of entirety, there is stronger usability and practicality；Pass through machine
Lower view sensor and/or the collected information of Inertial Measurement Unit on people come detect judge be on the robot motion direction
It is no to have barrier, and continue through the lower view sensor in robot when having barrier and being maked somebody a mere figurehead by the barrier and/or be used to
Property measuring unit obtain the parameter information of the barrier, be conducive to improve and obtain the accurate of the parameter information, pass through root
Classify according to the current operating mode of the parameter information and robot of barrier to barrier, is conducive to improve robot to barrier
Hinder the recognition capability of object；Judge that the robot is moving by the collected information of distance measuring sensor in robot to detect
Whether there is barrier on direction, and when having barrier and not maked somebody a mere figurehead by the barrier, continues through the survey in the robot
The information that barrier is obtained away from sensor is conducive to improve the accurate of the acquisition parameter information；In the Working mould of robot
Formula is the mode that mops floor or sweeps when dragging integrated mode, the size relation control between the height and the first preset height according only to barrier
The robot is executed across operation or operation of detouring, and is conducive to avoid in the mode that mops floor or is swept the machine dragged under integrated mode
There is the situation blindly crossed in people；Robot operating mode be mop floor mode or sweep drag integrated mode when, according only to obstacle
Size relation between the tilt angle of object and the first predetermined angle controls the robot and executes across operation or operation of detouring, and has
The robot under integrated mode is dragged the situation blindly crossed over occur conducive to avoiding being in the mode that mops floor or sweeping；In the work of robot
Mode is that size relation control robot when sweeping the floor mode, between the height and the second preset height according only to barrier is held
Row is conducive to avoid the feelings in drain sweep region to be cleaned occur in the robot swept the floor under mode across operation or operation of detouring
Shape；It is big between the tilt angle and the second predetermined angle according only to barrier when the operating mode of robot is to sweep the floor mode
Small relationship controls the robot and executes across operation or operation of detouring, and is conducive to avoid to go out in the robot swept the floor under mode
The situation in existing drain sweep region to be cleaned.
It is understood that the beneficial effect of above-mentioned second aspect may refer to the associated description in above-mentioned first aspect,
Details are not described herein.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention one provides；
Fig. 2-a is the flow diagram of the method for robot obstacle-avoiding provided by Embodiment 2 of the present invention；
Fig. 2-b is schematic diagram when robot provided by Embodiment 2 of the present invention is maked somebody a mere figurehead by barrier；
Fig. 3 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention three provides；
Fig. 4 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention four provides；
Fig. 5 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention five provides；
Fig. 6 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention six provides；
Fig. 7 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention seven provides；
Fig. 8 is the structural schematic diagram for the robot that the embodiment of the present invention eight provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention one provides, the execution of the method
Main body can be clean robot, and the clean robot is the household intelligent robot in Intelligent home service robot, can
To be automatically performed the cleaning to ground by certain artificial intelligence, including but not limited to sweeping robot, mop floor machine
It people and sweeps and drags integrated robot；The method may include following steps:
S101: when the robot has detected barrier, the parameter information of the barrier is obtained.
In one embodiment, the barrier is the object for referring to stop robot motion, including where robot
The object in object and the perpendicular perpendicular with the horizontal plane on horizontal plane, such as wire rod, desk, chair, carpet, threshold
Or wall etc..
In one embodiment, whether when the robot advances, detecting in itself direction of advance has barrier.
In one embodiment, whether when the robot retreats, detecting in itself direction of retreat has barrier.
In one embodiment, the robot can be judged according to the environmental information of surrounding in itself direction of advance or
Whether there is barrier in direction of retreat.
In one embodiment, the parameter information includes the height of the barrier and/or the inclination of the barrier
Angle.
S102: according to the current operating mode of the parameter information of the barrier and the robot, the machine is controlled
People executes avoidance operation corresponding with the current operating mode of the parameter information of the barrier and the robot.
It should be noted that due to robot after starting up often according to the current setting of user or shutdown before
It is arranged to determine corresponding operating mode, thus for robot, the operating mode of itself belongs to Given information, without special
Door obtains, direct use.
In one embodiment, the current operating mode of the robot includes but is not limited to the mode of mopping floor, mode of sweeping the floor
Or it sweeps and drags integrated mode.
In one embodiment, the avoidance operation includes across the operation that operates and detour, wherein including institute across operation
It states robot and crosses the barrier above the barrier, operation of detouring includes the robot from the barrier
Left side, right side or rear bypass the barrier.
In one embodiment, it when the parameter information of the barrier includes the height of the barrier, can control
The robot executes avoidance operation corresponding with the current operating mode of the height of the barrier and the robot.
It in one embodiment, can be with when the parameter information of the barrier includes the tilt angle of the barrier
It controls the robot and executes keep away corresponding with the current operating mode of the tilt angle of the barrier and the robot
Barrier operation.
In one embodiment, when the parameter information of the barrier include the barrier height and the barrier
Tilt angle when, can control the robot execute tilt angle with the height of the barrier and the barrier and
The corresponding avoidance operation of the current operating mode of the robot.
Therefore due to the embodiment of the present application be control robot execute with the parameter information of barrier and itself currently
Operating mode corresponding avoidance operation, thus can more closing to reality needs, can make to be in different working modes
Robot cross over the robot of different height, can not only avoid in the mode that mops floor or sweep the robot dragged under integrated mode
There is the situation blindly crossed over, additionally it is possible to avoid a possibility that drain sweep occur in the robot swept the floor under mode, be conducive to mention
The ability of high robot across obstacle and whole clean ability, have stronger usability and practicality.
Embodiment two
Fig. 2-a is the flow diagram of the method for robot obstacle-avoiding provided by Embodiment 2 of the present invention, is to above-mentioned implementation
The further refinement of step S101 and S102 in example one and explanation, this method may comprise steps of:
S201: the robot is detected by lower view sensor in the robot and/or Inertial Measurement Unit and is being transported
Whether there is barrier on dynamic direction, when the robot has detected barrier, is sensed by the lower view in the robot
Device and/or Inertial Measurement Unit obtain the parameter information of barrier when the robot is maked somebody a mere figurehead by barrier.
In one embodiment, the robot is by the universal wheel of the aerial bottom front for referring to the robot of barrier
Have passed past barrier and the driving wheel of the bottom rear end of the robot is in and empties situation liftoff but when not clearing the jumps,
As shown in Fig. 2-b.
In one embodiment, the lower view sensor is external sensor, and such as robot bottom installation is several
A infrared sensor；The Inertial Measurement Unit is internal sensor, such as the IMU unit of the robot interior.
In one embodiment, the IMU unit includes but is not limited to that three uniaxial accelerometers and three are uniaxial
Gyroscope, wherein accelerometer exists for detecting the acceleration of robot in three dimensions, gyroscope for detecting robot
Angular speed in three-dimensional space.
Since the transmitting module when infrared sensor is after the direction of motion along robot launches outward infrared signal, if machine
There is barrier in the direction of motion of device people, then the receiving module of infrared sensor can receive anti-through barrier in preset duration
The infrared signal penetrated, thus the presence of barrier can be detected in the application by infrared sensor.
Due to the barrier effect of barrier, robot its velocity and acceleration after encountering barrier will necessarily be gradually kept to
0, thus by the acceleration of real-time detection robot, and analyze it can determine robot in the movement direction whether
Encounter barrier.
In one embodiment, the height of the barrier can be obtained by the lower view sensor in the robot.
In one embodiment, the inclination of the barrier can be obtained by the Inertial Measurement Unit in the robot
Angle.
S202: according to the current operating mode of the parameter information of the barrier and the robot, the obstacle is determined
It is corresponding with the obstacle identity to control the robot execution according to the type of the determining barrier for the type of object
Avoidance operation.
In one embodiment, the type of the barrier include may span across type barrier and can not span type barrier,
It wherein may span across type barrier and refer to that the robot is easy to cross the barrier above the barrier, it is usually high
Spend the lesser barrier of lower and/or tilt angle, such as wire rod, threshold and carpet；Can not span type barrier refer to it is described
Robot is difficult to cross the barrier above the barrier, and usually the higher and/or tilt angle of height is biggish
Barrier, such as desk, chair, wall, step and abrupt slope.
In one embodiment, however, it is determined that the type of the barrier is that may span across type barrier, then controls the machine
People executes across operation.
In one embodiment, however, it is determined that the type of the barrier can not span type barrier, then control the machine
People executes operation of detouring.
Therefore the embodiment of the present application two is compared to embodiment one, can by lower view sensor in robot and/
Or the collected information of Inertial Measurement Unit judges whether there is barrier on the robot motion direction to detect, and is having barrier
Hinder object and lower view sensor in robot is continued through by the barrier when aerial and/or Inertial Measurement Unit is described to obtain
The parameter information of barrier is conducive to improve the accurate of the acquisition parameter information；Further, it is also possible to according to the parameter of barrier
The current operating mode of information and robot classifies to barrier, is conducive to improve robot to the identification energy of barrier
Power has stronger usability and practicality.
Embodiment three
Fig. 3 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention three provides, and is to above-described embodiment
The another refinement of step S101 and explanation, this method in one may comprise steps of:
S301: detect whether the robot has obstacle in the movement direction by the distance measuring sensor in the robot
Object obtains the robot by the distance measuring sensor in the robot and exists when the robot has detected barrier
The parameter information of barrier on direction of travel.
In one embodiment, the distance measuring sensor can be that can be realized three-dimensional ranging purpose in the robot
External sensor, such as depth camera and/or line laser sensor.
In one embodiment, the depth camera can image for monocular structure light depth camera, binocular depth
Head or TOF depth camera.
In one embodiment, the depth camera is installed on the side of the robot, the line laser sensor
It is installed on the top of the robot.
It should be noted that the depth camera and/or line laser sensor in the application are used to hinder on different height
Hinder the detection of object.
When the distance measuring sensor is the depth camera in the robot, depth camera acquisition can be first passed through
Then the image information of robot in the movement direction judges that robot is being moved by the analysis of the image information to acquisition
Whether there is barrier on direction, edge analysis such as is carried out to the image information of acquisition.
When the distance measuring sensor is the line laser sensor in the robot, line laser sensor can be first passed through
Transmitting module send out laser signal, then by the receiving module of detection line laser sensor in preset duration whether
The laser signal through barrier reflection is received to judge whether robot has barrier in the movement direction.
In one embodiment, when the robot advances, the barrier of the robot in the direction of travel is institute
State the barrier in front of robot；When the robot retreats, the barrier of the robot in the direction of travel is described
The barrier at robot rear.
S302: according to the current operating mode of the parameter information of the barrier and the robot, the machine is controlled
People executes avoidance operation corresponding with the current operating mode of the parameter information of the barrier and the robot.
Wherein, above-mentioned steps S302 is identical as the step S102 in embodiment one, and specific implementation process can be found in step
The description of S102, so here is no more repetition.
Therefore the embodiment of the present application three can be adopted compared to embodiment one by the distance measuring sensor in robot
The information collected judges whether the robot has a barrier in the movement direction to detect, and is having barrier and not by the barrier
When hindering rack sky, the distance measuring sensor in the robot is continued through to obtain the information of barrier, is conducive to improve acquisition
The parameter information it is accurate.
Example IV
Fig. 4 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention four provides, and is to above-described embodiment
Another refinement of step S102 in one and explanation, this method may comprise steps of:
S401: when the robot has detected barrier, the parameter information of the barrier is obtained.
Wherein, above-mentioned steps S401 is identical as the step S101 in embodiment one, and specific implementation process can be found in step
The description of S101, so here is no more repetition.
It should be noted that when the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, need
The height of the barrier is judged whether less than the first preset height, if so, controlling the robot executes step
S402a；If it is not, then controlling the robot executes step S402b.
S402a: when the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the obstacle
The height of object is less than the first preset height, it is determined that the type of the barrier is that may span across type barrier, however, it is determined that the barrier
The type for hindering object is that may span across type barrier, then controls the robot and execute across operation.
S402b: when the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the obstacle
The height of object be greater than or equal to the first preset height, it is determined that the type of the barrier be can not span type barrier, if really
The type of the fixed barrier be can not span type barrier, then control the robot and execute operation of detouring.
Therefore the embodiment of the present application four is compared to embodiment one, can be the mould that mops floor in the operating mode of robot
Formula is swept when dragging integrated mode, and the size relation between the height and the first preset height according only to barrier controls the robot
It executes and crosses over the operation that operates or detour, be conducive to avoid in the mode that mops floor or sweep the robot appearance blindness dragged under integrated mode
The situation of leap has stronger usability and practicality.
Embodiment five
Fig. 5 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention five provides, and is to above-described embodiment
The another refinement of step S102 in one and explanation, this method may comprise steps of:
S501: when the robot has detected barrier, the parameter information of the barrier is obtained.
Wherein, above-mentioned steps S501 is identical as the step S101 in embodiment one, and specific implementation process can be found in step
The description of S101, so here is no more repetition.
It should be noted that when the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, need
The tilt angle of the barrier is judged whether less than the first predetermined angle, if so, controlling the robot executes step
S502a；If it is not, then controlling the robot executes step S502b.
S502a: when the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the obstacle
The tilt angle of object is less than the first predetermined angle, it is determined that the type of the barrier is that may span across type barrier, however, it is determined that institute
The type for stating barrier is that may span across type barrier, then controls the robot and execute across operation.
S502b: if the tilt angle of the barrier is greater than or equal to the first predetermined angle, it is determined that the barrier
Type is can not span type barrier, however, it is determined that the type of the barrier be can not span type barrier, then control the machine
Device people executes operation of detouring.
Wherein, the tilt angle of the barrier refers to tilt angle of the barrier relative to ground, can pass through
Directly measurement obtains or converts to obtain according to the tilt angle of the robot.
Therefore the embodiment of the present application five is compared to embodiment one, can be the mould that mops floor in the operating mode of robot
Formula is swept when dragging integrated mode, and the size relation between the tilt angle and the first predetermined angle according only to barrier controls the machine
Device people execution across operation or operation of detouring is conducive to avoid being in the mode that mops floor or sweep that the robot under integrated mode is dragged to occur
The situation blindly crossed over has stronger usability and practicality.
Embodiment six
Fig. 6 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention six provides, and is to above-described embodiment
Another refinement of step S102 in one and explanation, this method may comprise steps of:
S601: when the robot has detected barrier, the parameter information of the barrier is obtained.
Wherein, above-mentioned steps S601 is identical as the step S101 in embodiment one, and specific implementation process can be found in step
The description of S101, so here is no more repetition.
It should be noted that needing to judge the obstacle when the current operating mode of the robot is to sweep the floor mode
Whether the height of object is less than the second preset height, if so, controlling the robot executes step S602a；If it is not, then controlling institute
It states robot and executes step S602b.
S602a: when the current operating mode of the robot is to sweep the floor mode, if the height of the barrier is less than the
Two preset heights, it is determined that the type of the barrier is that may span across type barrier, however, it is determined that the type of the barrier is can
Span type barrier then controls the robot and executes across operation.
S602b: if the height of the barrier is greater than or equal to the second preset height, it is determined that the type of the barrier
For can not span type barrier, however, it is determined that the type of the barrier be can not span type barrier, then control the robot
Execute operation of detouring.
Therefore the embodiment of the present application six is compared to embodiment one, can be mould of sweeping the floor in the operating mode of robot
When formula, size relation between the height and the second preset height according only to barrier control the robot execute across operation or
It detours and operates, be conducive to avoid the situation in drain sweep region to be cleaned occur in the robot swept the floor under mode, have stronger
Usability and practicality.
Embodiment seven
Fig. 7 is the flow diagram of the method for the robot obstacle-avoiding that the embodiment of the present invention seven provides, and is to above-described embodiment
The refinement and explanation of step S102 in one, this method may comprise steps of:
S701: when the robot has detected barrier, the parameter information of the barrier is obtained.
Wherein, above-mentioned steps S701 is identical as the step S101 in embodiment one, and specific implementation process can be found in step
The description of S101, so here is no more repetition.
It should be noted that needing to judge the obstacle when the current operating mode of the robot is to sweep the floor mode
Whether the tilt angle of object is less than the second predetermined angle, if so, controlling the robot executes step S702a；If it is not, then controlling
It makes the robot and executes step S702b.
S702a: when the current operating mode of the robot is to sweep the floor mode, if the tilt angle of the barrier is small
In the second predetermined angle, it is determined that the type of the barrier is that may span across type barrier, however, it is determined that the type of the barrier
To may span across type barrier, then controls the robot and execute across operation.
S702b: if the tilt angle of the barrier is greater than or equal to the second predetermined angle, it is determined that the barrier
Type is can not span type barrier, however, it is determined that the type of the barrier be can not span type barrier, then control the machine
Device people executes operation of detouring.
It should be noted that second preset height is greater than first preset height, second predetermined angle is big
In first predetermined angle.
Therefore the embodiment of the present application seven is compared to embodiment one, can be mould of sweeping the floor in the operating mode of robot
When formula, the size relation between the tilt angle and the second predetermined angle according only to barrier controls the robot and executes across behaviour
Make or operation of detouring, be conducive to avoid the situation in drain sweep region to be cleaned occur in the robot swept the floor under mode, have compared with
Strong usability and practicality.
Embodiment eight
Fig. 8 is the structural schematic diagram for the robot that the embodiment of the present invention eight provides.As shown in figure 8, the machine of the embodiment
People 8 includes: processor 80, memory 81 and is stored in the meter that can be run in the memory 81 and on the processor 80
Calculation machine program 82.The processor 80 realizes the step in above method embodiment one, example when executing the computer program 82
Step S101 to S102 as shown in Figure 1.Alternatively, realizing the step in above method embodiment two, such as walked shown in Fig. 2-a
Rapid S201 to S202.Alternatively, realizing the step in above method embodiment three, such as step S301 to S302 shown in Fig. 3.Or
Person realizes the step in above method embodiment four, such as step S401 to S402b shown in Fig. 4.Alternatively, realizing above-mentioned side
Step in method embodiment five, such as step S501 to S502b shown in fig. 5.Alternatively, realizing in above method embodiment six
Step, such as step S601 to S602b shown in fig. 6.Alternatively, realizing the step in above method embodiment seven, such as Fig. 7 institute
The step S701 to S702b shown.
The robot 8 is clean robot, including but not limited to sweeping robot, floor-mopping robot and sweeps and drags one
Machine.The robot may include, but be not limited only to, processor 80, memory 81.It will be understood by those skilled in the art that Fig. 8 is only
It is only the example of robot 8, does not constitute the restriction to robot 8, may include components more more or fewer than diagram, or
Certain components or different components are combined, such as the robot can also be set including input-output equipment, network insertion
Standby, bus etc..
The processor 80 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 81 can be the internal storage unit of the robot 8, such as the hard disk or memory of robot 8.
The memory 81 is also possible to the External memory equipment of the robot 8, such as the plug-in type being equipped in the robot 8 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 81 can also both include the internal storage unit of the robot 8 or wrap
Include External memory equipment.The memory 81 is for other programs needed for storing the computer program and the robot
And data.The memory 81 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method of robot obstacle-avoiding characterized by comprising
When the robot has detected barrier, the parameter information of the barrier is obtained；
According to the current operating mode of the parameter information of the barrier and the robot, the robot execution and institute are controlled
State the parameter information of barrier and the corresponding avoidance operation of operating mode that the robot is current.
2. the method according to claim 1, wherein according to the parameter information of the barrier and the robot
Current operating mode controls the robot and executes the work current with the parameter information of the barrier and the robot
The corresponding avoidance of mode, which operates, includes:
According to the current operating mode of the parameter information of the barrier and the robot, the type of the barrier is determined；
According to the type of the determining barrier, controls the robot and execute keep away corresponding with the type of the barrier
Barrier operation.
3. according to the method described in claim 2, it is characterized in that, according to the parameter information of the barrier and the robot
Current operating mode determines that the type of the barrier includes:
When the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the height of the barrier is small
In the first preset height, it is determined that the type of the barrier is that may span across type barrier, if the height of the barrier is greater than
Or it is equal to the first preset height, it is determined that the type of the barrier is can not span type barrier.
4. according to the method described in claim 3, it is characterized in that, according to the parameter information of the barrier and the robot
Current operating mode determines the type of the barrier further include:
When the current operating mode of the robot be mop floor mode or sweep drag integrated mode when, if the inclination angle of the barrier
Degree is less than the first predetermined angle, it is determined that the type of the barrier is that may span across type barrier, if the inclination of the barrier
Angle is greater than or equal to the first predetermined angle, it is determined that the type of the barrier is can not span type barrier.
5. according to the method described in claim 2, it is characterized in that, according to the parameter information of the barrier and the robot
Current operating mode determines the type of the barrier further include:
When the current operating mode of the robot is to sweep the floor mode, if the height of the barrier is less than the second default height
Degree, it is determined that the type of the barrier is that may span across type barrier, if the height of the barrier is greater than or equal to second in advance
If height, it is determined that the type of the barrier is can not span type barrier.
6. according to the method described in claim 5, it is characterized in that, according to the parameter information of the barrier and the robot
Current operating mode determines the type of the barrier further include:
When the current operating mode of the robot is to sweep the floor mode, if the tilt angle of the barrier is default less than second
Angle, it is determined that the type of the barrier is that may span across type barrier, if the tilt angle of the barrier is greater than or equal to
Second predetermined angle, it is determined that the type of the barrier is can not span type barrier.
7. according to the described in any item methods of claim 3 to 6, which is characterized in that according to the parameter information of the barrier and
The current operating mode of the robot controls the parameter information and the robot of the robot execution and the barrier
The corresponding avoidance of current operating mode, which operates, includes:
If it is determined that the type of the barrier is that may span across type barrier, then controls the robot and execute across operation；
If it is determined that the type of the barrier can not span type barrier, then control the robot and execute operation of detouring.
8. the method according to claim 1, wherein obtaining institute when the robot has detected barrier
The parameter information for stating barrier includes:
Detecting the robot by lower view sensor in the robot and/or Inertial Measurement Unit is in the movement direction
It is no to have barrier；
When the robot has detected barrier, pass through the lower view sensor and/or inertia measurement list in the robot
Member obtains the parameter information of barrier when the robot is maked somebody a mere figurehead by barrier.
9. the method according to claim 1, wherein obtaining institute when the robot has detected barrier
State the parameter information of barrier further include:
Detect whether the robot has barrier in the movement direction by the distance measuring sensor in the robot；
When the robot has detected barrier, the robot is obtained by the distance measuring sensor in the robot and is existed
The parameter information of barrier on direction of travel.
10. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor is realized when executing the computer program as in claim 1 to 9
The step of any one the method.
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| CN201910778370.0A CN110502014A (en) | 2019-08-22 | 2019-08-22 | A kind of method and robot of robot obstacle-avoiding |
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|---|---|---|---|
| CN201910778370.0A CN110502014A (en) | 2019-08-22 | 2019-08-22 | A kind of method and robot of robot obstacle-avoiding |
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| CN201910778370.0A Pending CN110502014A (en) | 2019-08-22 | 2019-08-22 | A kind of method and robot of robot obstacle-avoiding |
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| CN110989630A (en) * | 2019-12-30 | 2020-04-10 | 科沃斯机器人股份有限公司 | Self-moving robot control method, device, self-moving robot and storage medium |
| CN111407192A (en) * | 2020-03-20 | 2020-07-14 | 珠海市一微半导体有限公司 | Work control method and system of cleaning robot |
| CN111700553A (en) * | 2020-06-05 | 2020-09-25 | 科沃斯机器人股份有限公司 | Obstacle avoidance method, device, robot and storage medium |
| CN111775151A (en) * | 2020-06-28 | 2020-10-16 | 河南工业职业技术学院 | Intelligent control system of robot |
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| CN114089756A (en) * | 2021-11-16 | 2022-02-25 | 合肥瓦力觉启机器人科技有限公司 | Robot obstacle avoidance method and system |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Applicant after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 16 / F, building B1, Nanshan wisdom Park, 1001 Xili Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN LD ROBOT Co.,Ltd. |
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