CN111240310A - Robot obstacle avoidance processing method and device and electronic equipment - Google Patents
Robot obstacle avoidance processing method and device and electronic equipment Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 195
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- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 21
- 238000002372 labelling Methods 0.000 claims description 17
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The embodiment of the application provides a robot obstacle avoidance processing method and device and electronic equipment, and relates to the technical field of intelligent home. The method comprises the following steps: the method comprises the steps that in the process that a sweeping robot travels, first detection data of a radar sensor and/or detection data of a collision sensor are/is obtained in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, and if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor. The embodiment of the application realizes that whether the sweeping robot collides with the barrier or not is determined, and the robot can run along the barrier after the robot breaks down with the barrier.
Description
Technical Field
The application relates to the technical field of smart home, in particular to a robot obstacle avoidance method and device and electronic equipment.
Background
Along with the development of information technology and the continuous improvement of the requirements of people on living quality, the intelligent household products gradually appear in the daily life of people, wherein the representative sweeping robot is more and more popular among people.
The sweeping robot detects obstacles in real time and whether the obstacles collide with the obstacles or not in the process of moving forwards, and needs to run along the obstacles when the obstacles are detected or the obstacles collide are detected, for example, when the obstacles are walls, when walls are detected or the obstacles collide with the walls are detected, the robots run along the walls to avoid the constant collision with the obstacles, so that how to detect the obstacles or the collisions with the obstacles and how to run along the obstacles become a key problem.
Disclosure of Invention
The application provides a robot obstacle avoidance processing method, device and electronic equipment, which can solve the problems of obstacle detection, collision with an obstacle and running along the obstacle. The technical scheme is as follows:
in a first aspect, a method for obstacle avoidance processing of a robot is provided, and the method includes:
the method comprises the steps that in the traveling process of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time;
determining whether the sweeping robot collides with an obstacle currently or not based on first detection data of the radar sensor and/or detection data of the collision sensor;
and if the fact that the sweeping robot collides with the obstacle at present and needs to work along the obstacle at present is determined, controlling the sweeping robot to work along the obstacle based on second detection data of the radar sensor and/or detection data of the infrared sensor.
In one possible implementation manner, the control of the sweeping robot to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor includes:
controlling the sweeping robot to rotate until a preset condition is met;
controlling the sweeping robot to work along the obstacle;
when the sweeping robot works along the obstacle, the second detection data of the radar sensor is kept as a first preset threshold value and/or the detection data of the infrared sensor is kept as a second preset threshold value;
the preset conditions include at least one of the following:
the second detection data of the radar sensor is a first preset threshold value;
the detection data of the distance sensor is a second preset threshold value.
In one possible implementation manner, determining whether the sweeping robot collides with the obstacle currently based on the first detection data of the radar sensor and/or the detection data of the collision sensor further includes:
and if the fact that the sweeping robot collides with the obstacle currently is determined, marking the obstacle on the corresponding grid map.
In one possible implementation, the method for performing obstacle labeling on a corresponding grid map includes:
determining the current position information of the sweeping robot;
determining the current position information of the obstacle and/or the shape information of the obstacle based on the current position information of the sweeping robot and the first detection data of the radar sensor and/or the detection data of the collision sensor;
and marking the obstacle on the corresponding grid map based on the current position information of the obstacle and/or the shape information of the obstacle.
In one possible implementation, the method further includes:
marking obstacles on a corresponding grid map based on a driving path of the sweeping robot and detection data of a radar sensor corresponding to the driving path;
the detection data of the radar sensor includes: first detection data of the radar sensor and/or second detection data of the radar sensor.
In one possible implementation, the method further includes:
and controlling the sweeping robot to work based on the marked grid map.
In a second aspect, an apparatus for obstacle avoidance processing of a robot is provided, the apparatus comprising:
the acquisition module is used for acquiring first detection data of the radar sensor and/or detection data of the collision sensor in real time in the travelling process of the sweeping robot;
the determining module is used for determining whether the sweeping robot collides with the obstacle currently or not based on the first detection data of the radar sensor and/or the detection data of the collision sensor acquired by the acquiring module;
and the first control working module is used for controlling the sweeping robot to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor when the determination module determines that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently.
In one possible implementation, the first control operation module includes: a control rotation unit and a control working unit;
the control rotation unit is used for controlling the sweeping robot to rotate until a preset condition is met;
the control working unit is used for controlling the sweeping robot to work along the obstacle;
when the sweeping robot works along the obstacle, the second detection data of the radar sensor is kept as a first preset threshold value and/or the detection data of the infrared sensor is kept as a second preset threshold value;
the preset conditions include at least one of the following:
the second detection data of the radar sensor is a first preset threshold value;
the detection data of the distance sensor is a second preset threshold value.
In one possible implementation, the apparatus further includes: a first labeling module;
and the first labeling module is used for labeling the barrier on the corresponding grid map when the determining module determines that the current collision with the barrier occurs.
In one possible implementation, the first labeling module includes: the device comprises a first determining unit, a second determining unit and a labeling unit;
the first determining unit is used for determining the current position information of the sweeping robot;
the second determining unit is used for determining the current position information of the obstacle and/or the shape information of the obstacle based on the current position information of the sweeping robot determined by the first determining unit and the first detection data of the radar sensor and/or the detection data of the collision sensor;
and the marking unit is used for marking the obstacle on the corresponding grid map based on the position information of the obstacle and/or the shape information of the obstacle, which is determined by the second determining unit, at present.
In one possible implementation, the apparatus further includes: a second labeling module;
the second marking module is used for marking the barrier on the corresponding grid map based on the driving path of the sweeping robot and the detection data of the radar sensor corresponding to the driving path;
the detection data of the radar sensor includes: first detection data of the radar sensor and/or second detection data of the radar sensor.
In one possible implementation, the apparatus further includes: a second control working module;
and the second control working module is used for controlling the sweeping robot to work based on the marked grid map.
In a third aspect, an electronic device is provided, which includes:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: a method of performing the robot obstacle avoidance process according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the method for robot obstacle avoidance processing shown in the first aspect.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
the application provides a method, a device and electronic equipment for obstacle avoidance processing of a robot, wherein in the process of advancing of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if the sweeping robot is determined to collide with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, namely whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after collision, the second detection data of the radar sensor and/or the detection data of the infrared sensor are/is used for controlling the sweeping robot to work along the obstacle, so that the sweeping robot can run along the obstacle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart of a method for obstacle avoidance processing of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an apparatus for obstacle avoidance processing of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of another robot obstacle avoidance processing apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device for obstacle avoidance processing of a robot according to an embodiment of the present disclosure;
fig. 5 is a schematic view of positions of sensors in the sweeping robot according to the embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The embodiment of the application provides a method for obstacle avoidance processing of a robot, and as shown in fig. 1, the method includes:
step S101, acquiring first detection data of a radar sensor and/or detection data of a collision sensor in real time in the traveling process of the sweeping robot.
For the embodiment of the application, the detection data of the radar sensor is divided into two parts, namely first detection data and second detection data, wherein the first detection data can be combined with the collision sensor and used for determining whether the collision sensor collides with an obstacle; the second detection data can be combined with the infrared sensor and used for controlling the sweeping robot to work along the obstacle.
Wherein the collision sensor is provided at the front end of the robot as shown in fig. 5. The division of the front end of the robot and the rear end of the robot may be determined by: the robot is divided into two areas by a straight line where a connecting line of two driving wheels of the robot is located, wherein the area close to the direction in which the robot advances along the straight line is a front half area, the area far away from the direction in which the robot advances along the straight line is a rear half area, the front end of the robot refers to the periphery of the front half area, and the rear end of the robot refers to the periphery of the rear half area. The impact sensor may be used to monitor the impact location of the impact.
For the embodiment of the application, the collision sensor is mainly composed of the laser radar, and the collision azimuth is determined by utilizing the positioning function of the laser radar. And, the provision of two collision sensors can facilitate accurate determination of the collision position of the collision, wherein the collision position includes the left side of the robot, the middle of the robot, and/or the right side of the robot, with respect to the direction in which the robot advances along a straight line, the left side of the perpendicular bisector of the line connecting the two drive wheels is referred to as the left side of the robot, the position on the perpendicular bisector of the line connecting the two drive wheels is referred to as the middle of the robot, and the right side of the perpendicular bisector of the line connecting the two drive wheels is referred to as the right side of the robot.
For the embodiment of the application, the radar sensor is located on the radar cover protruding above the body of the sweeping robot, as shown in fig. 5. In the embodiment of the application, if the radar sensor detects an obstacle but the collision sensor does not trigger a collision signal, it is determined that the current obstacle has a certain height (e.g., a sofa bottom, a tea table bottom), and the collision signal is triggered. In the embodiment of the application, the collision signal triggered by the radar sensor and the collision signal triggered by the collision sensor are of the same type.
And S102, determining whether the sweeping robot collides with the obstacle currently or not based on the first detection data of the radar sensor and/or the detection data of the collision sensor.
For the embodiment of the application, the first detection data of the radar sensor and the detection data of the collision sensor are fused together and then transmitted to the bottom layer, so that whether the sweeping robot collides with the obstacle at present is judged.
For the embodiment of the present application, the data obtained by the radar sensor is 360 degrees, the triggering angle of the collision sensor is 180 degrees in front only at the edge of the front edge, the wall sensor is on the right side and only one infrared laser is directed to the right side, so that data about 150 degrees ahead of the radar data (30 degrees reduced to prevent a false collision) is used to detect whether a collision occurs.
And S103, if it is determined that the sweeping robot collides with the obstacle at present and needs to work along the obstacle at present, controlling the sweeping robot to work along the obstacle based on second detection data of the radar sensor and/or detection data of the infrared sensor.
For the embodiment of the application, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the direction of the sweeping robot is adjusted, and the sweeping robot is controlled to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor.
For the embodiment of the application, data of about 10 degrees on the right side of the radar sensor is used for controlling the sweeping robot to work along the obstacle in combination with the infrared sensor.
The embodiment of the application provides a method for obstacle avoidance processing of a robot, in the process of advancing of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, namely whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after collision, the second detection data of the radar sensor and/or the detection data of the infrared sensor are/is used for controlling the sweeping robot to work along the obstacle, so that the sweeping robot can run along the obstacle.
In a possible implementation manner of the embodiment of the application, in step S103, the sweeping robot is controlled to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor, including: step S1031 (not shown in the figure) and step S1032 (not shown in the figure), wherein,
step S1031, controlling the floor sweeping robot to rotate until preset conditions are met;
wherein the preset condition comprises at least one of the following conditions:
the second detection data of the radar sensor is a first preset threshold value;
the detection data of the distance sensor is a second preset threshold value.
For the embodiment of the present application, the first preset threshold and the second preset threshold may be the same or different, and are not limited in the embodiment of the present application.
For the embodiment of the application, the distance sensor may be an infrared sensor, and may also be other sensors capable of accurately measuring the distance value. The embodiments of the present application are not limited.
For the embodiment of the application, the robot can be far away from the obstacle by controlling the robot to move; then, in the process of the rotation movement, the distance sensor is used for sensing the distance value of the obstacle in real time, and the change situation of the distance value of the obstacle is detected, and the change situation can represent the position relation between the robot and the obstacle.
According to the embodiment of the application, whether the current orientation of the robot is parallel to the obstacle or not is judged according to the change situation of the distance value of the obstacle and the collision direction of the robot.
Specifically, the change of the obstacle distance value is mainly caused by the change of the current orientation of the robot during the rotation movement, which means that the current orientation of the robot during the rotation movement has a mapping relation with the obstacle distance value. Specifically, according to the principle that the vertical distance is the shortest, as the included angle between the current orientation of the robot and the obstacle becomes smaller, the obstacle distance value also becomes smaller, and when the included angle is 0 degree, the current orientation of the robot is parallel to the obstacle, and the orientation of the distance sensor is perpendicular to the edge of the obstacle, so that the corresponding obstacle distance value is the smallest at this time.
And step S1032, controlling the sweeping robot to work along the obstacle.
When the sweeping robot works along the obstacle, the second detection data of the radar sensor is kept as the first preset threshold value and/or the detection data of the infrared sensor is kept as the second preset threshold value.
In another possible implementation manner of the embodiment of the present application, after step S102, the method further includes: step Sa (not shown in the figure), in which,
and step Sa, if the fact that the sweeping robot collides with the obstacle currently is determined, marking the obstacle on the corresponding grid map.
For the embodiment of the application, the grid map is a product of rasterizing a real map in reality, and decomposes an environment into discrete grids, each grid has a value, the grids contain two types of information, namely coordinates and whether the grid is obstructed, and are used for describing environment information in detail, and are easy to create and maintain, but if the number of the grids divided in the environment is small, the precision is not high. The greater the number of grids, the higher the accuracy.
For the embodiment of the application, when the fact that the sweeping robot collides with the obstacle is determined, the obstacle is marked in the grid map, so that the obstacle can be avoided when a route is planned for the robot, or the robot avoids the obstacle when the robot runs to the position, therefore, when the sweeping robot runs next time, detection logic does not need to be started, calculation consumption is reduced, and electric quantity loss is reduced.
In another possible implementation manner of the embodiment of the present application, the step Sa of marking an obstacle on a corresponding grid map includes: step Sa1 (not shown), step Sa2 (not shown), and step Sa3 (not shown), wherein,
and step Sa1, determining the current position information of the sweeping robot.
And step Sa2, determining the current position information of the obstacle and/or the shape information of the obstacle based on the current position information of the sweeping robot and the first detection data of the radar sensor and/or the detection data of the collision sensor.
For the embodiment of the application, the sweeping robot has a positioning function, namely the current position information of the sweeping robot can be determined in real time, and when the sweeping robot detects an obstacle, the current position information of the sweeping robot is determined, namely the current position information of the obstacle can be determined. In the embodiment of the present application, the shape information of the obstacle is determined based on the first detection data of the radar sensor and the detection data of the collision sensor.
For example, based on the first detection data of the radar sensor, it is determined that the obstacle is farther away from the sweeping robot, and based on the detection data of the collision sensor, it is determined that the obstacle is an obstacle having a concave upper part and a convex lower part when the obstacle is detected (or the obstacle is detected to be closer); on the contrary, if an obstacle is detected based on the first detection data of the radar sensor (or if the sweeping robot is detected to be closer to the obstacle), and the collision sensor does not detect the obstacle, the obstacle may have a shape of an obstacle with a height or an obstacle which is convex and concave.
Step Sa3, marking the obstacle on the corresponding grid map based on the current position information and/or shape information of the obstacle.
In the embodiment of the present application, when an obstacle is marked on the corresponding grid map, the marking may be performed based on only the position information of the obstacle, or may be performed based on the position information and the shape information of the obstacle. And are not limited in the examples of the present application.
According to the embodiment of the application, the current position information of the obstacle and/or the shape information of the obstacle are determined based on the current position information of the sweeping robot, the first detection data of the radar sensor and/or the detection data of the collision sensor, and the position information of the obstacle and/or the shape information of the obstacle are marked on the corresponding grid map, so that the driving route can be more accurately planned for a user, and the collision with the obstacle can be further avoided.
In a possible implementation manner of the embodiment of the present application, the method further includes: step Sb (not shown in the figure), in which,
and step Sb, marking the obstacles on the corresponding grid map based on the driving path of the sweeping robot and the detection data of the radar sensor corresponding to the driving path.
Wherein the detection data of the radar sensor includes: first detection data of the radar sensor and/or second detection data of the radar sensor.
For the embodiment of the application, as the sweeping robot is positioned in real time in the driving process, the position information and the shape information of the obstacle in the driving route of the sweeping robot can be determined based on the corresponding relation between the driving route of the sweeping robot and the detection data of the radar sensor, and then the position information and the shape information of the obstacle in the driving route of the determined sweeping robot are marked in the corresponding grid map.
In a possible implementation manner of the embodiment of the present application, the method further includes: step Sc (not shown), in which,
and step Sc, controlling the sweeping robot to work based on the marked grid map.
According to the embodiment of the application, the working route is planned based on the marked grid map, the sweeping robot is controlled to work based on the planned route, the obstacle can be directly avoided, detection logic does not need to be started, and the obstacle is detected in real time.
As shown in fig. 2, the device 20 for robot obstacle avoidance processing according to the embodiment of the present application may include: an acquisition module 21, a determination module 22, a first control work module 23, wherein,
the acquisition module 21 is configured to acquire first detection data of the radar sensor and/or detection data of the collision sensor in real time during the traveling process of the sweeping robot.
A determining module 22, configured to determine whether the sweeping robot is currently colliding with the obstacle based on the first detection data of the radar sensor and/or the detection data of the collision sensor acquired by the acquiring module 21.
And the first control working module 23 is configured to control the sweeping robot to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor when the determination module 22 determines that the sweeping robot is currently collided with the obstacle and needs to work along the obstacle.
The embodiment of the application provides a device for obstacle avoidance processing of a robot, in the process of advancing of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, namely whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after the collision occurs, the second detection data of the radar sensor and/or the detection data of the infrared sensor are/is used for controlling the sweeping robot to work along the obstacle, so that the sweeping robot can run along the obstacle.
The device for robot obstacle avoidance processing of this embodiment can execute the method for robot obstacle avoidance processing provided in the above method embodiments, and the implementation principles thereof are similar, and are not described here again.
As shown in fig. 3, the another robot obstacle avoidance processing apparatus 30 according to the embodiment of the present application may include: an acquisition module 31, a determination module 32, a first control work module 33, wherein,
the acquisition module 31 is configured to acquire first detection data of the radar sensor and/or detection data of the collision sensor in real time during the traveling process of the sweeping robot.
The acquiring module 31 in fig. 3 has the same or similar function as the acquiring module 21 in fig. 2.
A determining module 32, configured to determine whether the sweeping robot is currently colliding with the obstacle based on the first detection data of the radar sensor and/or the detection data of the collision sensor acquired by the acquiring module 31.
Wherein the determining module 32 in fig. 3 has the same or similar function as the determining module 22 in fig. 2.
And the first control working module 33 is configured to control the sweeping robot to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor when the determination module 32 determines that the sweeping robot is currently collided with the obstacle and needs to work along the obstacle.
Wherein the first control operation module 33 in fig. 3 has the same or similar function as the first control operation module 23 in fig. 2.
Further, as shown in fig. 3, the first control operation module 33 includes: controls the rotating unit 331, controls the working unit 332, wherein,
and the control rotating unit 331 is used for controlling the sweeping robot to rotate until a preset condition is met.
And a control working unit 332 for controlling the sweeping robot to work along the obstacle.
Wherein the preset condition comprises at least one of the following conditions:
the second detection data of the radar sensor is a first preset threshold value;
the detection data of the distance sensor is a second preset threshold value.
When the sweeping robot works along the obstacle, the second detection data of the radar sensor is kept as the first preset threshold value and/or the detection data of the infrared sensor is kept as the second preset threshold value.
Further, as shown in fig. 3, the apparatus 30 further includes: a first labeling module 34, wherein,
and the first labeling module 34 is used for labeling the obstacle on the corresponding grid map when the determining module 32 determines that the sweeping robot is currently collided with the obstacle.
For the embodiment of the application, when the fact that the sweeping robot collides with the obstacle is determined, the obstacle is marked in the grid map, so that the obstacle can be avoided when a route is planned for the robot, or the robot avoids the obstacle when the robot runs to the position, therefore, when the sweeping robot runs next time, detection logic does not need to be started, calculation consumption is reduced, and electric quantity loss is reduced.
Further, as shown in fig. 3, the first labeling module 34 includes: a first determination unit 341, a second determination unit 342, an annotation unit 343, wherein,
the first determining unit 341 is configured to determine the current location information of the sweeping robot.
A second determining unit 342, configured to determine the current position information of the obstacle and/or the shape information of the obstacle based on the current position information of the sweeping robot determined by the first determining unit 341 and the first detection data of the radar sensor and/or the detection data of the collision sensor.
For the embodiment of the present application, the first determining unit 341 and the second determining unit 342 may be the same unit, or may be two different units, which is not limited in the embodiment of the present application.
Fig. 3 shows only a case where the first determination unit and the second determination unit are two different units, but the case shown in fig. 3 is not limited.
The labeling unit 343 is configured to label the obstacle on the corresponding grid map based on the position information of the obstacle currently located and/or the shape information of the obstacle determined by the second determining unit 342.
According to the embodiment of the application, the current position information of the obstacle and/or the shape information of the obstacle are determined based on the current position information of the sweeping robot, the first detection data of the radar sensor and/or the detection data of the collision sensor, and the position information of the obstacle and/or the shape information of the obstacle are marked on the corresponding grid map, so that the driving route can be more accurately planned for a user, and the collision with the obstacle can be further avoided.
Further, as shown in fig. 3, the apparatus 30 further includes: a second labeling module 35, in which,
and the second labeling module 35 is configured to label the obstacle on the corresponding grid map based on the driving path of the sweeping robot and the detection data of the radar sensor corresponding to the driving path.
Wherein the detection data of the radar sensor includes: first detection data of the radar sensor and/or second detection data of the radar sensor.
Further, as shown in fig. 3, the apparatus 30 further includes: a second control operation module 36, wherein,
and the second control working module 36 is used for controlling the sweeping robot to work based on the marked grid map.
For the embodiment of the present application, the first control operation module 33 and the second control operation module 36 may be the same module or different modules. The embodiments of the present application are not limited.
Fig. 3 shows only a case where the first control operation module 33 and the second control operation module 36 are different modules, but is not limited to the case shown in fig. 3.
The embodiment of the application provides a device for obstacle avoidance processing of a robot, in the process of advancing of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, namely whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after the collision occurs, the second detection data of the radar sensor and/or the detection data of the infrared sensor are/is used for controlling the sweeping robot to work along the obstacle, so that the sweeping robot can run along the obstacle.
The device for robot obstacle avoidance processing of this embodiment can execute the method for robot obstacle avoidance processing shown in any of the above method embodiments, and the implementation principles are similar, and are not described here again.
An embodiment of the present application provides an electronic device, as shown in fig. 4, an electronic device 4000 shown in fig. 4 includes: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the electronic device 4000 may further comprise a transceiver 4004. In addition, the transceiver 4004 is not limited to one in practical applications, and the structure of the electronic device 4000 is not limited to the embodiment of the present application.
The processor 4001 is applied to the embodiment of the present application, and is configured to implement the functions of the obtaining module, the determining module, and the control working module shown in fig. 2 or fig. 3, and/or the first labeling module, the second labeling module, and the second control working module shown in fig. 3. The transceiver 4004 comprises a receiver and a transmitter, and the transceiver 4004 is used in the embodiments of the present application to realize information interaction with other electronic devices.
The memory 4003 is used for storing application codes for executing the scheme of the present application, and the execution is controlled by the processor 4001. The processor 4001 is configured to execute application codes stored in the memory 4003 to implement actions of the apparatus for robot obstacle avoidance processing provided in the embodiment shown in fig. 2 or fig. 3.
The embodiment of the application provides electronic equipment, in the advancing process of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are acquired in real time, whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, namely whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after collision occurs, the sweeping robot is controlled through the second detection data of the radar sensor and/or the detection data of the infrared sensor The robot works along the obstacle, so that the sweeping robot can run along the obstacle.
The embodiment of the application provides an electronic device suitable for any embodiment of the method. And will not be described in detail herein.
The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for obstacle avoidance processing of a robot shown in the above method embodiment.
The embodiment of the application provides a computer-readable storage medium, in the process of traveling of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time, then whether the sweeping robot collides with an obstacle currently is determined based on the first detection data of the radar sensor and/or the detection data of the collision sensor, if it is determined that the sweeping robot collides with the obstacle currently and needs to work along the obstacle currently, the sweeping robot is controlled to work along the obstacle based on second detection data of the radar sensor and/or detection data of an infrared sensor, that is, whether the sweeping robot collides with the obstacle can be determined through the first detection data of the radar sensor and/or the detection data of the collision sensor, and after the collision occurs, the second detection data of the radar sensor and/or the detection data of the infrared sensor are/is used for controlling the sweeping robot to work along the obstacle, so that the sweeping robot can run along the obstacle.
The embodiment of the application provides a computer-readable storage medium which is suitable for any embodiment of the method. And will not be described in detail herein.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot obstacle avoidance processing method is characterized by comprising the following steps:
the method comprises the steps that in the traveling process of a sweeping robot, first detection data of a radar sensor and/or detection data of a collision sensor are/is acquired in real time;
determining whether the sweeping robot collides with an obstacle currently based on first detection data of a radar sensor and/or detection data of a collision sensor;
and if the fact that the sweeping robot collides with the obstacle at present and needs to work along the obstacle at present is determined, controlling the sweeping robot to work along the obstacle based on second detection data of the radar sensor and/or detection data of the infrared sensor.
2. The method of claim 1, wherein controlling the sweeping robot to work along the obstacle based on the second detection data of the radar sensor and/or the detection data of the infrared sensor comprises:
controlling the sweeping robot to rotate until a preset condition is met;
controlling the sweeping robot to work along the obstacle;
when the sweeping robot works along an obstacle, second detection data of the radar sensor is kept as a first preset threshold value and/or detection data of the infrared sensor is kept as a second preset threshold value;
the preset condition comprises at least one of the following conditions:
the second detection data of the radar sensor is a first preset threshold value;
and the detection data of the distance sensor is a second preset threshold value.
3. The method of claim 1, wherein determining whether the sweeping robot is currently colliding with the obstacle based on the first detection data of the radar sensor and/or the detection data of the collision sensor, further comprising:
and if the fact that the sweeping robot collides with the obstacle currently is determined, marking the obstacle on the corresponding grid map.
4. The method of claim 3, wherein the performing obstacle labeling on the corresponding grid map comprises:
determining the current position information of the sweeping robot;
determining the current position information of the obstacle and/or the shape information of the obstacle based on the current position information of the sweeping robot and the first detection data of the radar sensor and/or the detection data of the collision sensor;
and marking the obstacle on the corresponding grid map based on the current position information and/or the shape information of the obstacle.
5. The method of claim 1, further comprising:
marking obstacles on a corresponding grid map based on the driving path of the sweeping robot and detection data of a radar sensor corresponding to the driving path;
the detection data of the radar sensor includes: first detection data of the radar sensor and/or second detection data of the radar sensor.
6. The method according to any one of claims 3-5, further comprising:
and controlling the sweeping robot to work based on the marked grid map.
7. The utility model provides a device that barrier was handled is kept away to robot which characterized in that includes:
the acquisition module is used for acquiring first detection data of the radar sensor and/or detection data of the collision sensor in real time in the travelling process of the sweeping robot;
the determining module is used for determining whether the sweeping robot collides with an obstacle currently or not based on the first detection data of the radar sensor and/or the detection data of the collision sensor acquired by the acquiring module;
and the first control working module is used for controlling the sweeping robot to work along the obstacle based on second detection data of the radar sensor and/or detection data of the infrared sensor when the determining module determines that the sweeping robot collides with the obstacle at present and needs to work along the obstacle at present.
8. The apparatus of claim 7, wherein the first control effort module comprises: a control rotation unit and a control working unit;
the control rotation unit is used for controlling the sweeping robot to rotate until a preset condition is met;
the control working unit is used for controlling the sweeping robot to work along the obstacle;
when the sweeping robot works along an obstacle, second detection data of the radar sensor is kept as a first preset threshold value and/or detection data of the infrared sensor is kept as a second preset threshold value;
the preset condition comprises at least one of the following conditions:
the second detection data of the radar sensor is a first preset threshold value;
and the detection data of the distance sensor is a second preset threshold value.
9. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: method of performing a robot obstacle avoidance process according to any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of robot obstacle avoidance processing according to any one of claims 1 to 6.
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| CN201811347820.2A CN111240310A (en) | 2018-11-13 | 2018-11-13 | Robot obstacle avoidance processing method and device and electronic equipment |
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| CN201811347820.2A CN111240310A (en) | 2018-11-13 | 2018-11-13 | Robot obstacle avoidance processing method and device and electronic equipment |
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