CN111796290A - Ground detection method, ground detector and autonomous mobile device - Google Patents
Ground detection method, ground detector and autonomous mobile device Download PDFInfo
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- CN111796290A CN111796290A CN201910276304.3A CN201910276304A CN111796290A CN 111796290 A CN111796290 A CN 111796290A CN 201910276304 A CN201910276304 A CN 201910276304A CN 111796290 A CN111796290 A CN 111796290A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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Abstract
The invention relates to a ground detection method, a ground detector and an autonomous mobile device, wherein the ground detection method comprises the following steps: transmitting an ultrasonic detection signal to the ground; receiving detection signal feedback information; determining the ground material according to the detection signal feedback information; and determining the fluctuation state of the ground according to the detection signal feedback information. The ground detection method can simultaneously realize the detection of the ground material and the ground fluctuation state by adopting the received detection signal feedback information, and the processing process of the detection method is simple; the method can ensure that the corresponding ground detector has simple structure and small volume; in addition, the method provided by the invention is not influenced by environmental factors such as ground color, ground light reflection performance, environmental illumination intensity and the like, has high detection accuracy, and is beneficial to improving the intelligence of the autonomous mobile equipment and improving the user experience.
Description
Technical Field
The invention relates to the technical field of autonomous mobile equipment, in particular to a ground detection method, a ground detector and autonomous mobile equipment.
Background
The autonomous mobile device refers to a smart mobile device autonomously performing a preset task in a set area, and currently, the autonomous mobile device generally includes, but is not limited to, a cleaning robot (e.g., a smart sweeper, a smart floor wiper, a window wiping robot), a companion mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial patrol smart device (e.g., a power patrol robot, a smart forklift, etc.), and a security robot (e.g., a home or commercial smart guard robot). These service robot have labour saving and time saving, convenient operation's advantage, make people break away from loaded down with trivial details work, won more rest and entertainment time for people, promoted people's life comfort level.
However, the existing autonomous mobile device provides convenience for people, and meanwhile, has some problems, for example, the existing autonomous mobile device needs to continuously detect the ground condition in real time in the working process, judge whether the ground sinks or not, and whether steps, stairs, steep slopes or other raised obstacles exist, etc., the existing obstacle judgment logic is complex, the judgment parameters are more, so that more sensors need to be arranged on the autonomous mobile device, the space where the sensors can be arranged on the autonomous mobile device is limited, and more sensors not only occupy a large amount of installation space, but also increase the load of the autonomous mobile device; most of existing cliff detection methods use infrared signals for detection, however, the infrared signals are greatly influenced by the color of the ground, the light reflection performance of the ground and the ambient illumination intensity, and erroneous judgment is easy to occur; in addition, current autonomous mobile device is all exported the motor moment of torsion of fixed size on different materials subaerial for the cleaning effect to some great ground of resistance is poor, influences user's use satisfaction.
Disclosure of Invention
In view of the above, the present invention provides a ground detection method, a ground detector and an autonomous mobile device to overcome the disadvantages of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a ground detection method, comprising:
transmitting an ultrasonic detection signal to the ground;
receiving detection signal feedback information;
and determining the ground material according to the detection signal feedback information.
Optionally, the probe signal feedback information includes: echo time and echo intensity;
determining the ground material according to the detection signal feedback information, comprising:
determining the distance from a ground detector to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
Optionally, the distance-material-echo sound intensity correspondence chart is obtained by one of the following methods:
fixing the distance from the ground detector to the ground, changing the ground material, acquiring echo sound intensities corresponding to different ground materials, and acquiring the relation between the ground material and the echo sound intensity; then changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
under the condition of the same ground material, adjusting the distance between the ground detector and the ground to obtain the corresponding relation between the distance between the ground detector and the ground and the echo sound intensity; then changing the ground material, and obtaining the relation between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
and measuring the echo sound intensity under the conditions of changing the ground material and changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity.
Optionally, the ground detection method further includes: and determining the fluctuation state of the ground according to the detection signal feedback information.
Optionally, determining the undulation state of the ground according to the detection signal feedback information includes:
determining the distance from a ground detector to the ground according to the echo time;
judging whether the distance from the ground detector to the ground is within a preset safety threshold range or not;
and if the distance from the ground detector to the ground is out of the range of the preset safety threshold value, judging that the ground has the cliff.
The present invention also provides a ground detector comprising:
the ultrasonic wave transmitting module is used for transmitting an ultrasonic wave detection signal to the ground;
the feedback information receiving module is used for receiving the detection signal feedback information;
and the determining module is used for determining the ground material and the fluctuation information of the ground according to the detection signal feedback information.
The present invention also provides an autonomous mobile device, comprising:
the device comprises a motion mechanism, a control unit, a driving unit and a ground detector;
the driving unit is used for driving the movement mechanism;
the movement mechanism is used for moving the autonomous mobile equipment on the ground;
the ground detector is arranged at the front part below the autonomous mobile equipment and faces the ground;
the ground detector comprises an ultrasonic transmitting end and an ultrasonic receiving end; the ultrasonic transmitting end is used for transmitting an ultrasonic detection signal to the ground; the ultrasonic receiving end is used for receiving detection signal feedback information;
the ground detector is electrically connected with the control unit; and the control unit is used for determining the material of the ground where the autonomous mobile equipment is located according to the detection signal feedback information in the moving process of the autonomous mobile equipment.
Optionally, the probe signal feedback information includes: echo time and echo intensity;
the control unit determines the material of the ground where the autonomous mobile equipment is located according to the detection signal feedback information, and the method comprises the following steps:
determining the distance from a ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
Optionally, the control unit is further configured to determine, according to the probe signal feedback information, an undulation state of the ground where the autonomous mobile device is located during movement of the autonomous mobile device;
the control unit determines the fluctuation state of the ground where the autonomous mobile device is located according to the detection signal feedback information, and specifically includes:
determining the distance from a ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground according to the echo time;
judging whether the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground is within a preset safety threshold range;
and if the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground is out of a preset safety threshold range, judging that the ground has the cliff.
Optionally, the control unit controls a working mode of the autonomous mobile device according to the determined ground material; and/or the presence of a gas in the gas,
and when the ground where the autonomous mobile equipment is located is judged to be provided with the cliff, sending an alarm signal and/or controlling the autonomous mobile equipment to execute anti-falling operation.
By adopting the technical scheme, the ground detection method comprises the following steps: transmitting a detection signal to the ground; receiving detection signal feedback information; and determining the ground material according to the detection signal feedback information, and determining the fluctuation state of the ground according to the detection signal feedback information. The ground detection method can simultaneously realize the detection of the ground material and the ground fluctuation information by adopting the received detection signal feedback information, and the processing process of the detection method is simple; the method can ensure that the corresponding ground detector has simple structure and small volume; in addition, the method of the invention is not influenced by environmental factors such as ground color, ground light reflection performance, environmental illumination intensity and the like, and has high detection accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a ground detection method according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a distance-material-echo sound intensity mapping relationship according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the ground detection method of the present invention;
FIG. 4 is a schematic diagram of a structural principle provided by an embodiment of the ground finder of the present invention:
FIG. 5 is a schematic diagram of an architecture provided by an embodiment of the autonomous mobile apparatus of the present invention;
FIG. 6a is a schematic diagram of the structure provided by the autonomous mobile device of the present invention;
FIG. 6b is a schematic diagram of an ultrasonic transmitting end and an ultrasonic receiving end in the autonomous moving apparatus of the present invention;
FIG. 6c is a schematic diagram of a ground finder installation location in an autonomous mobile device;
fig. 6d is a schematic view of another installation position structure of the ground finder in the autonomous moving apparatus.
In the figure: 1. an ultrasonic wave emitting module; 2. a feedback information receiving module; 3. a determination module; 4. a motion mechanism; 5. a control unit; 6. a drive unit; 7. a ground detector; 400. a chassis; 410. a driving wheel; 420. an auxiliary wheel; 430. brushing edges; 200. a ground surface; 201. an ultrasonic wave transmitting end; 202. an ultrasonic receiving end; 203. a lower end face of the ground detector; 221. ultrasonic detection signals; 222. the signal feedback information is detected.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The term "cliff" as used herein is a term specific to the field of autonomous mobile devices, and refers to a state in which the ground in front of the autonomous mobile device in the traveling direction is uneven, and thus the ground has undulations, such as a sunken, downward-falling ground state, e.g., downward steps/stairs, downward steep slopes, etc., or a ground state having protrusions lower than the height of the chassis of the autonomous mobile device, e.g., sill stones, doorbars, floor fan or floor lamp bases, upward-protruding small steps, upward slopes, which are all considered to have "cliffs" in the present invention. A cliff is a ground undulation state; the flat ground is also a ground rolling state, i.e. a ground rolling state with zero rolling. In the present invention, the ground detector detects ground heave information, that is, information on the ground heave state, to detect whether the ground has a ground heave state such as the "cliff", and for example, detects "ground heave information" indicating the distance from the ground detector to the ground to determine the ground heave state.
Fig. 1 is a schematic flow chart of a ground detection method according to an embodiment of the present invention.
As shown in fig. 1, the ground detection method according to this embodiment includes:
s110: transmitting an ultrasonic detection signal to the ground;
s120: receiving detection signal feedback information;
further, the probe signal feedback information includes: echo time and echo intensity;
the echo time is the time difference between an ultrasonic detection signal sent by an ultrasonic transmitting end arranged on a ground detector and detection signal feedback information of an ultrasonic echo received by an ultrasonic receiving end;
after being reflected by the ground, the ultrasonic detection signal transmitted to the ground by the ultrasonic transmitting end becomes an ultrasonic echo carrying ground material and/or distance information, which is called detection signal feedback information. The echo sound intensity is the sound intensity of the ultrasonic echo received by the ultrasonic receiving end.
S130: and determining the ground material according to the detection signal feedback information.
Further, determining the ground material according to the detection signal feedback information includes:
determining the distance from a ground detector to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
Further, the distance-material-echo sound intensity correspondence chart may be obtained by one of the following methods:
the first method is as follows: fixing the distance from the ground detector to the ground, changing the ground material, acquiring echo sound intensities corresponding to different ground materials, and acquiring the relationship between the ground material and the echo sound intensity; then changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
the second method comprises the following steps: under the condition of the same ground material, adjusting the distance between the ground detector and the ground to obtain the corresponding relation between the distance between the ground detector and the ground and the echo sound intensity; then changing the ground material, and obtaining the relation between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
the third method comprises the following steps: and measuring the echo sound intensity under the conditions of changing the ground material and changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity.
In actual operation, the specific process of the first mode is as follows:
measuring the distance from the ground detector to the floor from d; the ground detector is fixedly provided with an ultrasonic transmitting end and an ultrasonic receiving end.
S131: the method comprises the following steps of respectively placing a ground detector under the environment of covering the ground by a wood floor, a ceramic tile and a carpet, setting the distance from the ground detector to the ground as d, emitting ultrasonic signals with the same intensity by an ultrasonic emitting end, reflecting the ultrasonic signals by the ground to form ultrasonic echoes carrying ground material and/or distance information, namely detecting signal feedback information, receiving the ultrasonic echoes by an ultrasonic receiving end, and respectively recording the echo sound intensity received by the ultrasonic receiving end under each ground material; at this time, recording as finishing one measurement;
s132: changing the distance from the ground detector to the ground, namely d + delta d, and carrying out next measurement according to the step S131 to obtain the corresponding relation of distance, material and echo sound intensity under each ground material;
s133: when d is less than or equal to S, repeating the step S132, wherein S is the calibrated maximum distance value;
s134: and (4) making a chart of the distance-echo sound intensity corresponding relation under each obtained ground material.
It should be noted that, in order to ensure the accuracy of the graph, when the echo sound intensity is measured at different distances for each ground material, a mode of measuring and averaging for multiple times may be adopted to finally determine the echo sound intensity, and then the distance-material-echo sound intensity corresponding relationship is determined to form a calibrated distance-material-echo sound intensity corresponding relationship graph.
Similarly, in the second mode, under the same ground material, the distance from the ground detector to the ground is adjusted, and the corresponding relation between the distance from the ground detector to the ground and the echo sound intensity is obtained; and then changing the ground material to obtain the relation between the distance from the ground detector to the ground and the ground material and the echo sound intensity. And the third mode is to obtain the relation between the distance from the ground detector to the ground and the sound intensity of the ground material and the echo under the condition of simultaneously changing the ground material and the distance from the ground detector to the ground. And will not be described in detail herein.
It can be understood that the distance from the ground detector to the ground is determined by the echo time, and in the implementation of this embodiment, the echo time-material-echo sound intensity corresponding relation chart can be established by completely referring to the above process.
In the actual ground detection process, echo time and echo sound intensity are obtained, the distance d ' from the bottom of the autonomous mobile equipment to the ground is calculated according to the echo time, comparison is carried out according to the distance d ' and a distance-material-echo sound intensity corresponding relation chart of the echo sound intensity after calibration, and if the echo sound intensity is in an echo sound intensity range corresponding to a certain ground material at the distance d ', the ground material where the ground detector is located is judged to be the ground material corresponding to the echo sound intensity range.
It should be noted that the distance d from the ground detector to the ground may be the same as or different from the distance d' from the bottom of the autonomous moving apparatus to the ground. If the ground probe is installed at the bottom of the autonomous mobile device and the lower end surface 203 of the ground probe (i.e., the lower end surface of the ultrasonic transmitting end 201 and/or the lower end surface of the ultrasonic receiving end 202) is flush with the lower surface of the bottom of the autonomous mobile device, as shown in fig. 6c, d is d'; otherwise, if the ground finder is installed in an inwardly concave recess of the bottom of the autonomous moving apparatus, as shown in fig. 6d, the distance d from the lower end surface 203 of the ground finder to the ground is greater than the distance d 'from the lower surface of the bottom of the autonomous moving apparatus (i.e., the lower surface of the chassis 400) to the ground, i.e., d > d'.
Since the ultrasonic waves cannot detect a surface at a short distance (for example, a normal ultrasonic detector cannot detect a surface within 2 cm), that is, the ultrasonic ground detector can only measure a surface beyond the error distance threshold D, the ultrasonic ground detector can be disposed in the concave portion of the bottom of the autonomous moving apparatus, as shown in fig. 6D, so that the depth of the concave portion is greater than the error distance threshold D, and thus, the range from the bottom of the autonomous moving apparatus to the ground 200 within the distance D' is a meaningful measurable distance for the ultrasonic ground detector. Of course, it will be understood by those skilled in the art that the distance d from the ground finder to the ground and the distance d' from the bottom of the autonomous mobile apparatus on which the ground finder is mounted to the same ground differ by only one depth of the inwardly recessed portion of the bottom of the autonomous mobile apparatus, and the depth of the recessed portion is a constant determined after the ground finder is installed, as long as d is determined, i.e., d 'is determined, and vice versa, the "ground finder to ground distance" d of the present invention is only numerically different from the "bottom to ground distance" d' of the autonomous mobile device, but are identical in physical sense, therefore, the scope of the technical solution referred to by the "ground detector-to-ground distance" d of the present invention is equivalent to the scope of the "bottom-to-ground distance" d' of the autonomous mobile device, and shall be within the scope of the present invention.
For example, as shown in fig. 2, a curve 1 is a corresponding relationship diagram of a distance d' from the bottom of the autonomous moving apparatus to the ground and an echo sound intensity under a tile material; the curve 2 is a corresponding relation graph of the distance d' from the bottom of the autonomous mobile equipment to the ground and the echo sound intensity under the condition of the wood board material; curve 3 is a corresponding relationship diagram of the distance d' from the bottom of the autonomous moving apparatus to the ground and the echo sound intensity under the carpet material. For example, the detected distance d' from the bottom of the autonomous mobile device to the ground is 20mm, and the echo intensity is 0.021w/m2Then, according to the distance-material-echo intensity mapping table in fig. 2, when the distance d 'is 20mm, the echo intensity range corresponding to each ground material is found, and as can be seen from fig. 2, when the distance d' is 20mm, the echo intensity is 0.021w/m2And if the echo sound intensity range corresponding to the ceramic tile ground material is included, judging that the ground material where the ground detector is located is the ceramic tile ground.
The ground detection method of the embodiment obtains the feedback information of the ultrasonic echo detection signal carrying ground information by emitting the ultrasonic detection signal to the ground and reflecting the ultrasonic detection signal on the ground, receives the feedback information of the detection signal, and finally determines the ground material according to the feedback information of the detection signal; the method provided by the embodiment is not influenced by environmental factors such as the color of the ground, the light reflecting performance of the ground, the ambient illumination intensity and the like, the detection accuracy is high, and the processing process of the detection method is simple.
Fig. 3 is a schematic flow chart of a second embodiment of the ground detection method according to the present invention.
As shown in fig. 3, the ground detection method according to the present embodiment includes:
s110: transmitting an ultrasonic detection signal to the ground;
s120: receiving detection signal feedback information;
further, the probe signal feedback information includes: echo time and echo intensity;
the echo time is the time difference between an ultrasonic detection signal sent by an ultrasonic transmitting end arranged on a ground detector and detection signal feedback information of an ultrasonic echo received by an ultrasonic receiving end;
after being reflected by the ground, the ultrasonic detection signal transmitted to the ground by the ultrasonic transmitting end becomes an ultrasonic echo carrying ground material and/or distance information, which is called detection signal feedback information. The echo sound intensity is the sound intensity of the ultrasonic echo received by the ultrasonic receiving end.
S130': and determining the ground material according to the echo time and the echo intensity, and determining the fluctuation information of the ground according to the echo time.
Determining the ground material according to the echo time and the echo intensity is described in the above embodiments, and will not be described herein.
Further, determining the ground material according to the echo time and the echo intensity comprises:
determining the distance from a ground detector to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart. The obtaining method of the distance-material-echo sound intensity correspondence chart refers to the above embodiment, and is not described herein again.
Further, determining the fluctuation information of the ground according to the echo time and the echo intensity comprises:
determining the distance from a ground detector to the ground according to the echo time;
judging whether the distance from the ground detector to the ground is within a preset safety threshold range or not;
if the distance from the ground detector to the ground is within a preset safety threshold range, judging that the ground does not have a cliff, such as the ground is flat, or the ground has small fluctuation, and the normal operation of the autonomous mobile equipment is not influenced;
if the distance from the ground detector to the ground is out of the range of a preset safety threshold value, judging that the ground has a cliff; if the distance d 'from the bottom of the autonomous mobile device to the ground exceeds a safety threshold (e.g., d' > 25mm), it may be determined that the ground in front may have a sunken, concave cliff, such as a downward step/staircase, a downward steep slope, or other ground heave condition; or if the distance d 'from the bottom of the autonomous mobile device to the ground is below a safety threshold range (e.g., d' <2mm), a cliff with a protrusion from the front ground that is below the height of the autonomous mobile device chassis, such as a sill stone, a passing door strip, a pedestal of a floor fan or floor lamp, a small step protruding upward, an upward slope, or other ground heave condition, may be determined. The safety threshold in this case ranges from 2mm to 25 mm. It will be understood by those skilled in the art that different safety threshold ranges may be set for different application scenarios or autonomous mobile device types, for example, for a cleaning robot, a safety threshold range of 0mm to 40mm may also be set, and thus the safety threshold range should not limit the scope of the present invention.
In the actual ground detection process, echo time and echo sound intensity are obtained, the distance d ' from the autonomous mobile equipment to the ground is calculated according to the echo time, comparison is carried out according to the distance d ' and a distance-material-echo sound intensity corresponding relation chart of the echo sound intensity after calibration, and if the echo sound intensity is in an echo sound intensity range corresponding to a certain ground material at the distance d ', the ground material where the ground detector is located is judged to be the ground material corresponding to the echo sound intensity range. For example, as shown in FIG. 2, such as detected autonomous mobile device arrivalThe distance d' of the ground is 20mm, and the echo sound intensity is 0.012w/m2From the distance-material-echo intensity correspondence table in fig. 2, when the distance d 'is 20mm, the echo intensity range corresponding to each ground material is found, and as can be seen from fig. 2, when the distance d' is 20mm, the echo intensity is 0.012w/m2And if the position belongs to the echo sound intensity range corresponding to the carpet floor material, judging that the floor material below the floor detector is the floor covered by the carpet at the moment. And further judging whether the distance d 'is 20mm within a preset safety threshold range (0-40mm), and judging that the ground does not have the cliff because the distance d' is 20mm within the preset safety threshold range (0-40 mm). It should be understood by those skilled in the art that the above examples for identifying various floor materials such as wood boards, ceramic tiles, carpets, etc. are only illustrative of the technical solution of the present invention and should not be construed as limiting the technical solution of the present invention.
As shown in fig. 6a, the ground finder 7 is used to detect ground relief information on the autonomous mobile device's motion path. In the prior art, most of ground detectors for detecting ground relief information belong to light detectors for acquiring ground relief information through electromagnetic waves, for example, infrared pair transistors detect the ground through infrared rays, and TOF (time of flight ranging sensor) detects the ground through laser. The basic mode of the light detector is that a transmitting end emits detection light (such as infrared rays or laser light), a receiving end receives incident light of the detection light which enters the receiving end after passing through a surface to be detected, and distance information from the light detector to the ground is obtained, so that whether the ground to be detected rises or falls is judged. The light detector is often interfered by factors such as ground color, light intensity, light source change and the like, for example, a dark floor can cause the light detector to be misjudged as a cliff; and the excessively bright light rays are reflected into the receiving end after being reflected by the mirror surface, so that the receiving end of the light ray detector is saturated, and the ground state cannot be judged.
The ground detection method of the embodiment transmits the ultrasonic detection signal to the ground, obtains the ultrasonic echo detection signal feedback information carrying the ground information through ground reflection, receives the detection signal feedback information, finally determines the fluctuation information of the ground material and the ground according to the detection signal feedback information, can detect the fluctuation state of the ground material and the ground simultaneously only by using one group of ultrasonic sensors, and has simple processing process; the method can ensure that the corresponding ground detector has simple structure, small volume and low requirement on the installation space at the bottom of the autonomous mobile equipment; in addition, the method can effectively avoid the interference of light to the ground detector, is not influenced by environmental factors such as ground color, ground light reflection performance, environmental illumination intensity and the like, and has high detection accuracy.
Fig. 4 is a schematic diagram of a structural principle provided by an embodiment of the ground finder of the present invention.
As shown in fig. 4, the ground finder according to the present embodiment includes:
the ultrasonic wave transmitting module 1 is used for transmitting an ultrasonic wave detection signal to the ground;
a feedback information receiving module 2, configured to receive probe signal feedback information;
and the determining module 3 is used for determining the ground material and the fluctuation information of the ground according to the detection signal feedback information.
The ground detector described in this embodiment adopts the working principle of the second embodiment of the ground detection method described above, that is: in the detection process, the ultrasonic wave transmitting module 1 transmits an ultrasonic wave detection signal to the ground, the feedback information receiving module 2 receives echo time and echo intensity, and the determining module 3 determines the ground material and the fluctuation information of the ground according to the echo time and the echo intensity.
Further, the determining module 3 determines the ground material according to the echo time and the echo intensity, and includes:
determining the distance from a ground detector to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
Further, the determining module 3 determines the undulation state of the ground according to the detection signal feedback information, including:
determining the distance from a ground detector to the ground according to the echo time;
judging whether the distance from the ground detector to the ground is within a preset safety threshold range or not;
and if the distance from the ground detector to the ground is out of the range of the preset safety threshold value, judging that the ground has the cliff.
The ground detector of the embodiment transmits a detection signal to the ground, obtains ultrasonic echo detection signal feedback information carrying ground information through ground reflection, receives the detection signal feedback information, and determines the ground material and the fluctuation information of the ground according to the detection signal feedback information; the ground detector can detect the ground material and the ground fluctuation state simultaneously only by using one group of ultrasonic sensors, has simple structure and small volume, and has low requirement on the installation space at the bottom of the autonomous mobile equipment; in addition, the ground detector described in this embodiment can not be influenced by environmental factors such as ground color, ground reflection performance and ambient light intensity, and the detection accuracy rate is high.
Fig. 5 is a schematic diagram of an architecture provided by an embodiment of the autonomous mobile apparatus of the present invention.
As shown in fig. 5, the autonomous mobile apparatus according to the present embodiment includes:
a motion mechanism 4, a control unit 5, a drive unit 6, and a ground detector 7;
the drive unit 6 is used for driving the movement mechanism 4;
the movement mechanism 4 is used for moving the autonomous mobile equipment on the ground;
the ground detector 7 is arranged at the front under the autonomous moving apparatus and is arranged towards the ground, as shown in fig. 6 a;
as shown in fig. 6b, the ground detector 7 includes an ultrasonic transmitting end 201 and an ultrasonic receiving end 202; the ultrasonic transmitting end 201 transmits an ultrasonic detection signal 221 to the ground; the ultrasonic detection signal 221 becomes an ultrasonic echo carrying ground material and/or distance information after being reflected by the ground, and is called detection signal feedback information 222; the ultrasonic receiving end 202 receives the detection signal feedback information 222;
the ultrasonic wave transmitting end 201 and the ultrasonic wave receiving end 202 may be separate ultrasonic sensors, or may be the same ultrasonic sensor.
The ground detector 7 is electrically connected to the control unit 5, and can transmit the detection signal feedback information 222 collected by the ultrasonic receiving end 202 to the control unit 5. The control unit 5 is configured to determine, according to the probe signal feedback information 222, a material of a ground where the autonomous mobile device is located, during a moving process of the autonomous mobile device.
The control unit 5 is also electrically connected with the driving unit 6, and the control unit 5 controls the motion state of the motion mechanism 4 through the driving unit 6. The control unit 5 determines the ground material and/or the undulation state of the ground according to the feedback information of the detection signal collected by the ground detector 7, and controls the state of the moving mechanism 4, for example, when it is determined that the ground has a steep rise or fall, the control unit 5 controls the moving mechanism 4 to decelerate or steer.
The motion mechanism 4 may be in various forms such as a wheel set, a track, two or more feet, or a combination of the above forms.
In practical application of the autonomous mobile device described in this embodiment, the autonomous mobile device may be: the cleaning robot, as shown in fig. 6a, the moving mechanism 4 may include two driving wheels 410 and an auxiliary wheel 420, the two driving wheels 410 are symmetrically disposed, and the auxiliary wheel 420 is disposed between the two driving wheels 410, and the three are distributed in a triangle. Each driving wheel 410 is correspondingly connected with a driving motor (i.e. a driving unit 6), the driving motors are electrically connected with the control unit 5, and the control unit 5 can respectively control the rotating speed of the driving motors according to the detection signal feedback information collected by the ground detector 7, so that the two driving wheels 410 realize turning or synchronous rotation, linear motion and the like through differential speed. Two side brushes 430 are also provided on the chassis 400 of the cleaning robot. The ground finder 7 is arranged in front of the underside of the autonomous mobile device (e.g. the chassis 400 shown in fig. 6 a) and is arranged towards the ground. As shown in fig. 6b, the ground detector 7 includes an ultrasonic transmitting end 201 and an ultrasonic receiving end 202, the ultrasonic transmitting end 201 transmits an ultrasonic detection signal 221 towards the ground direction, the ultrasonic detection signal 221 is reflected and/or scattered by the ground 200, and then the detection signal feedback information 222 containing the ground relief information is partially or completely received by the ultrasonic receiving end 202, and the ground detector 7 determines the relief state of the ground according to the received detection signal feedback information 222.
The autonomous mobile device refers to an intelligent mobile device performing a predetermined task in a set area, and includes but is not limited to: cleaning robots (robot vacuum Cleaner, RVC), for example: intelligent floor sweeping machines, intelligent floor mopping machines, window wiping robots and the like; a logistics robot, a transfer robot, and the like; weeding robots, ice shoveling robots, and the like; a companion type mobile robot, for example: intelligent electronic pets, nursing robots; service-type mobile robots, for example: hospitalizing robots in hotels, hotels and meeting places; industrial inspection intelligent equipment, such as electric inspection robots, intelligent forklifts and the like; security robot, for example: domestic or commercial intelligent guard robot etc. It should be noted that the autonomous moving apparatus is not limited to the above-mentioned ones, and any apparatus having an autonomous moving function should belong to the autonomous moving apparatus of the present embodiment.
Further, the control unit 5 can control the operation mode of the driving unit 6 according to the determined ground material.
Such as: when the autonomous mobile equipment is the intelligent sweeper, controlling the intelligent sweeper to sweep in a carpet working mode when the detected ground material is a carpet; and when the detected ground material is the ceramic tile, controlling the intelligent sweeper to clean in a ceramic tile working mode.
Specifically, after the floor material of the autonomous mobile device is determined to be a tile floor, the driving unit 6 is controlled to switch to a working mode corresponding to the tile, and the torque of the wheel set motor can be controlled in the working mode to adapt to the floor material of the autonomous mobile device. The existing autonomous mobile equipment outputs motor torques of fixed sizes on the ground made of different materials, so that the cleaning effect on some ground with large resistance is poor, and the use satisfaction of users is influenced. In this embodiment, when the floor material is determined to be a tile, the driving unit 6 is controlled to switch to a working mode corresponding to the tile, and since the tile has a small resistance, the torque of the wheel set motor in the corresponding working mode is also small, the power of the wheel set motor can be reduced, the rotation speeds of the main brush and the side brush can be reduced, and the power of the vacuum-pumping device can be reduced; when the floor material is judged to be the carpet, the driving unit 6 is controlled to be switched to the working mode corresponding to the carpet, and the resistance of the carpet is large, so that the torque of the wheel set motor in the corresponding working mode is also large, the power of the wheel set motor can be improved, the rotating speeds of the main brush and the side brush are improved, the power of the vacuum-pumping equipment is improved, and the anti-skidding mode and the anti-winding mode are started simultaneously. If the torque of the wheel set motor is still kept at the torque of the motor on the tile floor when the floor is made of the carpet, the autonomous moving device is likely to slip, the effective movement of the autonomous moving device is influenced, the cleaning effect is poor, and the cleaning robot is not beneficial to treating the specific obstacle type and the specific puzzlement problem under the carpet environment; if when the ground material is the ceramic tile, the motor torque of the wheel set still keeps the motor torque on the carpet ground, the motor torque of the autonomous moving device exceeds the required value at the moment, the waste of electric energy is caused, and meanwhile, the triggered escaping mode can not adapt to the current environment. Therefore, through this embodiment the mode of working with autonomic mobile device and place ground material suit, be favorable to when guaranteeing to realize better clean effect, reduce power consumption to there is stronger adaptability to actual operational environment.
Further, when a cliff is detected, the control unit 5 may further control the alarm module to send an alarm signal, and control the driving unit 6 to perform a fall prevention operation, such as changing a current running route, moving in an opposite direction with a certain curvature, or taking a fall prevention action such as backing.
The autonomous mobile device described in this embodiment can detect the ground material and the ground undulation state by using the ground detector 7 installed at the bottom of the autonomous mobile device; the autonomous mobile equipment can complete detection of ground materials and ground fluctuation states under the interference of environmental factors such as different ground colors, different ground light reflection performance, different environmental illumination intensities and the like, has high detection accuracy, is favorable for avoiding falling of the autonomous mobile equipment and influencing the normal use of the autonomous mobile equipment, is favorable for improving the intelligence of the autonomous mobile equipment and improving the user experience; furthermore, since the ground detector device is simple and requires little installation space, space from the main mobile device can be saved for integrating more functions.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that in the description of the present invention, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of ground detection, comprising:
transmitting an ultrasonic detection signal to the ground;
receiving detection signal feedback information;
and determining the ground material according to the detection signal feedback information.
2. The ground detection method according to claim 1,
the sounding signal feedback information includes: echo time and echo intensity;
determining the ground material according to the detection signal feedback information, comprising:
determining the distance from a ground detector to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
3. The ground detection method according to claim 2, wherein the distance-material-echo sound intensity mapping table is obtained by one of the following methods:
fixing the distance from the ground detector to the ground, changing the ground material, acquiring echo sound intensities corresponding to different ground materials, and acquiring the relationship between the ground material and the echo sound intensity; then changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
under the condition of the same ground material, adjusting the distance between the ground detector and the ground to obtain the corresponding relation between the distance between the ground detector and the ground and the echo sound intensity; then changing the ground material, and obtaining the relation between the distance from the ground detector to the ground and the ground material and the echo sound intensity; or the like, or, alternatively,
and measuring the echo sound intensity under the conditions of changing the ground material and changing the distance from the ground detector to the ground, and acquiring the relationship between the distance from the ground detector to the ground and the ground material and the echo sound intensity.
4. The ground detection method according to any one of claims 1 to 3, further comprising: and determining the fluctuation state of the ground according to the detection signal feedback information.
5. The ground detection method according to claim 4, wherein determining the heave state of the ground according to the detection signal feedback information comprises:
determining the distance from a ground detector to the ground according to the echo time;
judging whether the distance from the ground detector to the ground is within a preset safety threshold range or not;
and if the distance from the ground detector to the ground is out of the range of the preset safety threshold value, judging that the ground has the cliff.
6. A ground probe, comprising:
the ultrasonic wave transmitting module is used for transmitting an ultrasonic wave detection signal to the ground;
the feedback information receiving module is used for receiving the detection signal feedback information;
and the determining module is used for determining the ground material and the fluctuation information of the ground according to the detection signal feedback information.
7. An autonomous mobile device, comprising:
the device comprises a motion mechanism, a control unit, a driving unit and a ground detector;
the driving unit is used for driving the movement mechanism;
the movement mechanism is used for moving the autonomous mobile equipment on the ground;
the ground detector is arranged at the front part below the autonomous mobile equipment and faces the ground;
the ground detector comprises an ultrasonic transmitting end and an ultrasonic receiving end; the ultrasonic transmitting end is used for transmitting an ultrasonic detection signal to the ground; the ultrasonic receiving end is used for receiving detection signal feedback information;
the ground detector is electrically connected with the control unit; and the control unit is used for determining the material of the ground where the autonomous mobile equipment is located according to the detection signal feedback information in the moving process of the autonomous mobile equipment.
8. The autonomous mobile device of claim 7,
the sounding signal feedback information includes: echo time and echo intensity;
the control unit determines the material of the ground where the autonomous mobile equipment is located according to the detection signal feedback information, and the method comprises the following steps:
determining the distance from a ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground according to the echo time;
and acquiring the ground material corresponding to the echo sound intensity at the distance according to the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground in a preset calibrated distance-material-echo sound intensity corresponding relation chart.
9. The autonomous mobile apparatus of claim 7 or 8, wherein the control unit is further configured to determine a rolling state of a ground on which the autonomous mobile apparatus is located according to the probe signal feedback information during movement of the autonomous mobile apparatus;
the control unit determines the fluctuation state of the ground where the autonomous mobile device is located according to the detection signal feedback information, and specifically includes:
determining the distance from a ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground according to the echo time;
judging whether the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground is within a preset safety threshold range;
and if the distance from the ground detector to the ground or the distance from the bottom of the autonomous mobile equipment to the ground is out of a preset safety threshold range, judging that the ground has the cliff.
10. The autonomous mobile apparatus of claim 9, wherein the control unit controls an operation mode of the autonomous mobile apparatus according to the determined ground material; and/or the presence of a gas in the gas,
and when the ground where the autonomous mobile equipment is located is judged to be provided with the cliff, sending an alarm signal and/or controlling the autonomous mobile equipment to execute anti-falling operation.
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| CN201910276304.3A CN111796290B (en) | 2019-04-08 | 2019-04-08 | Ground detection method, ground detector and autonomous mobile device |
| PCT/CN2020/078542 WO2020207173A1 (en) | 2019-04-08 | 2020-03-10 | Ground detection method, ground detector, and autonomous mobile device |
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| CN201910276304.3A CN111796290B (en) | 2019-04-08 | 2019-04-08 | Ground detection method, ground detector and autonomous mobile device |
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| CN112704437A (en) * | 2020-12-23 | 2021-04-27 | 炬星科技（深圳）有限公司 | Sweeping robot control method, equipment and storage medium |
| CN112764033A (en) * | 2020-12-24 | 2021-05-07 | 珠海格力电器股份有限公司 | Distance detection method and device and mobile robot |
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| WO2022142782A1 (en) * | 2020-12-30 | 2022-07-07 | 速感科技（北京）有限公司 | Method and device for determining motion parameter of autonomous mobile device |
| WO2022170715A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Cleaning robot escape method and apparatus, medium, and electronic device |
| WO2022233182A1 (en) * | 2021-05-06 | 2022-11-10 | 北京石头世纪科技股份有限公司 | Intelligent mobile device and control method therefor, and electronic device and storage medium |
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| CN113008982B (en) * | 2021-02-08 | 2024-04-26 | 中科传启（苏州）科技有限公司 | Ground material identification method and device and intelligent cleaning device |
| CN114237243A (en) * | 2021-12-16 | 2022-03-25 | 杭州图灵视频科技有限公司 | Anti-falling method and device for mobile robot, electronic equipment and storage medium |
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Also Published As
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| CN111796290B (en) | 2023-10-10 |
| WO2020207173A1 (en) | 2020-10-15 |
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