CN112230643A - Mobile robot for detecting front obstacle and method thereof - Google Patents
Mobile robot for detecting front obstacle and method thereof Download PDFInfo
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- CN112230643A CN112230643A CN201910634931.XA CN201910634931A CN112230643A CN 112230643 A CN112230643 A CN 112230643A CN 201910634931 A CN201910634931 A CN 201910634931A CN 112230643 A CN112230643 A CN 112230643A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a mobile robot for detecting a front obstacle and a method thereof, wherein the method comprises the following steps: a robot body; the control unit is arranged in the robot body and fastened inside the robot body; the first detector is connected with the control unit through a line; the first detector is fixedly arranged at the front end of the mobile robot and is vertical to the center line of the robot body; the first detector sends the detected barrier signals to the control unit; the driving wheel is connected with the control unit through a line; a second detector. According to the invention, firstly, the first detector and the robot body form an angle alpha larger than 0 degree, so that the first detector can detect an obstacle signal slightly higher than the robot body, the mobile robot cannot collide with the obstacle strongly or even block the mobile robot, and the second detector enables the mobile robot to detect the height and the distance of the obstacle in front, so that the mobile robot cannot collide with the obstacle strongly, and furniture cannot be damaged due to severe collision.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a mobile robot and a method for detecting a front obstacle.
Background
The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.
In the prior art, as shown in fig. 1, 2, 3 and 4, the obstacle detectors of the mobile robot mainly adopt three types, namely, a laser radar, an infrared radar and an ultrasonic radar, but when the detectors are installed on the mobile robot, the first mobile robot can only lean against collision because the top of the robot is not provided with the obstacle detector, so that the lower parts of furniture and the like are damaged by the mobile robot, and the first mobile robot only generates a corresponding map after the first collision instead of taking infrared signals or other signals as a basis for stopping or returning, and can automatically decelerate when cleaning again so as to ensure that the mobile robot can be cleaned through the bottom of a sofa cover and the like; the second method adopts vision parallel to the mobile robot, because a detector installed on the vision parallel to the mobile robot is obstructed by a cover plate (6) and other parts above the detector, or because light scattering is serious, an obstacle signal detected by astigmatism is weak, even an obstacle cannot be detected, and the detector can only detect the strongest light or sound wave and other signals, the mobile robot can intelligently detect the relevant environment parallel to the vision of the mobile robot. When encountering an obstacle slightly higher than the mobile robot, the detector mounted by the method cannot well detect the existence of the obstacle in time, particularly the mobile robot which adopts the laser sensor to detect the obstacle. When the mobile robot meets the obstacle, corresponding countermeasures cannot be taken timely to prevent the mobile robot from being stuck. The mobile robot can often be clamped by a barrier slightly higher than the mobile robot when cleaning, so that the experience of a user is greatly reduced. Especially, in the existing home, no matter the distance between a sofa and the ground or the distance between a table (7) and the ground is short, the mobile robot is very easy to clamp and can not well detect the obstacle.
Therefore, there is a need in the art to provide a mobile robot and a method thereof capable of detecting a front obstacle in a timely manner.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a mobile robot capable of detecting a front obstacle in time and a method thereof, which can reduce the occurrence of the situation that the mobile robot is stuck by a lower obstacle.
In order to achieve the purpose, the invention adopts the following technical scheme: the invention provides a mobile robot for detecting a front obstacle, which comprises a robot body; a control unit which is internally fastened in the robot body; the first detector is connected with the control unit through a line; the first detector is fixedly arranged at the front end of the mobile robot and is perpendicular to the center line of the robot body; the first detector sends the detected obstacle signal to the control unit; the first detector forms an angle alpha larger than 0 DEG with the robot body, so that the first detector can detect an obstacle signal slightly higher than the robot body; and the driving wheel is connected with the control unit through a line.
Further, the first detector is an infrared detector, a laser radar detector, an ultrasonic detector or a visual sensor.
Further, the angle α is 1 ° to 30 °.
Furthermore, a second detector parallel to the robot body is further arranged at the front end of the robot body and perpendicular to the lower side of the center line position of the robot body, and the second detector is connected with the control unit through a line.
Further, the second detector is an infrared detector or an ultrasonic detector.
The invention also provides a method for detecting the front obstacle, when the driving wheel drives the robot body to move, the first detector which is arranged right in front of the robot body and forms an angle alpha larger than 0 degree with the robot body actually detects whether the front L4 has the obstacle; and if the robot body is in an obstacle blocking state when the robot body travels to a preset distance value L1 fed back by the first detector in the control unit, the control unit controls the traveling condition of the mobile robot.
Further, the control unit presets a distance value L1 of 5 cm.
Further, when the robot body is in an obstacle blocking state when the robot body moves to a preset distance value L1 in the control unit, the control unit controls the mobile robot to slowly move forward.
Further, when the robot body is in an obstacle blocking state when the robot body moves to a preset distance value L1 in the control unit, the control unit controls the mobile robot to move backwards.
Further, when the robot body is in an obstacle blocking state when the robot body moves to a preset distance value L1 in the control unit, the control unit controls the mobile robot to turn to continue to move forward.
Furthermore, a second detector parallel to the robot body is further arranged at the front end of the robot body and perpendicular to the lower portion of the center line position of the robot body, the second detector is connected with the control unit through a line, and a threshold value is arranged on the second detector and used for detecting the distance of the obstacle, so that the traveling condition of the robot body is controlled.
Further, the threshold values of the second detector for detecting the obstacle distance are respectively: presetting a detected obstacle distance threshold value L2; the second detector presets a third obstacle height detection threshold H1.
Further, the second detector actually detects an obstacle distance threshold L3, judges that the second detector actually detects a third obstacle height threshold H2, and transmits information to the control unit when L3 first reaches the threshold of L2, so as to change the traveling condition of the robot body; when H2 reaches the threshold value of H1 first, the second probe transmits information to the control unit so as to change the traveling condition of the robot body.
Further, the preset obstacle detection distance threshold L2 is 4 cm.
Further, the second detector presets a threshold H1 for detecting the height of a third obstacle to be 2 cm.
Further, the second detector is an infrared detector or an ultrasonic detector.
Further, the first detector is an infrared detector, a laser radar detector, an ultrasonic detector or a visual sensor.
Further, the angle α is 1 ° to 30 °.
Further, the control unit judges the L1 fed back by the first probe, the L2 fed back by the second probe and the H1 fed back by the second probe, and when the robot body reaches any one threshold value first, the control unit controls the driving wheels so as to change the traveling condition of the robot body.
Further, the control unit controls the robot body to rotate in place before controlling the driving wheels to change the traveling condition of the robot body.
Further, when the robot body reaches any one preset threshold value first, the robot body will slowly move forward by a preset distance L5, and again, whether the obstacle is a moving obstacle is determined again by the obstacle distance L4 ' fed back by the first detector and L3 ' and H2 ' of the obstacle detected by the second detector.
Further, after the robot body will slowly move forward by a preset distance L5, when no obstacle is detected again through the obstacle distance L4 ' fed back by the first detector and the obstacle detection L3 ' and H2 ' of the second detector, the control unit judges that the obstacle is a moving obstacle through the related information fed back by the first detector and the second detector, and thus the control unit controls the driving wheel to move forward at the original speed; after the robot body slowly moves forward by a preset distance L5, detecting the distance L4 'of the obstacle and the distance H3' and H2 'of the obstacle again through the obstacle distance L4' fed back by the first detector and the second detector, and when any obstacle is detected to still reach the preset value, the control unit judges that the obstacle is a fixed immovable obstacle through the related information fed back by the first detector and the second detector, so that the control unit controls the driving wheels to change the running condition of the robot body.
Further, the preset distance L5 is 10 cm.
Compared with the prior art, the invention has the following advantages:
firstly, an angle alpha larger than 0 degree is formed between the first detector and the robot body, so that the first detector can detect an obstacle slightly lower than the robot body, and the mobile robot cannot collide with the obstacle strongly or even be clamped; secondly, the second detector enables the mobile robot to detect the height and the distance of the front obstacle, so that the mobile robot cannot collide with the obstacle strongly, and the first detector and the second detector cooperate with each other to detect the obstacle, so that furniture cannot be damaged due to severe collision; and finally, detecting the barrier through mutual cooperation of the first detector and the second detector to judge whether the barrier is a temporarily moving barrier, so that the traveling area of the robot body is completely covered, and the phenomenon of missing and falling is avoided.
Drawings
Fig. 1 is a schematic diagram depicting a conventional mobile robot for detecting an obstacle ahead in the background section of the present invention;
fig. 2 is a partially enlarged schematic view of a conventional mobile robot for detecting an obstacle in front described in the background of the invention section;
FIG. 3 is a schematic diagram illustrating a conventional mobile robot for detecting a front obstacle stuck in the background section of the present invention;
FIG. 4 is an enlarged partial schematic view of a conventional mobile robot for detecting a forward obstacle, as described in the background of the invention section;
FIG. 5 is a schematic diagram of a mobile robot for detecting an obstacle in front according to an embodiment of the present invention;
FIG. 6 is a partially enlarged schematic view of a mobile robot for detecting an obstacle in front according to an embodiment of the present invention;
FIG. 7 is a block diagram of a mobile robot for detecting an obstacle in front according to an embodiment of the present invention;
FIG. 8 is a schematic view illustrating the operation of a mobile robot for detecting an obstacle in front according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a mobile robot for detecting a front obstacle according to an embodiment of the present invention, which determines that the obstacle is a moving obstacle.
Wherein, the symbols in the drawings are simply explained as follows:
1-a robot body; 2-a control unit; 3-a first detector; 4, driving wheels; 5-a second detector; 6, covering a plate; 7-a table; 8 to a third obstacle.
Detailed Description
In order to more fully understand the technical content of the present invention, the present invention will be further described with reference to the accompanying drawings, but not limited thereto.
Referring to fig. 2 and 5 to 7, the mobile robot for detecting a front obstacle according to the present invention includes a robot body 1, and it should be understood that the robot body 1 may be a sweeper, a mopping machine, an AGV, a mobile air cleaner, etc. The control unit 2, the control unit 2 is internally fastened inside the robot body 1, it should be understood that the control unit 2 is a control chip which can be an STM32 chip or other similar chips for realizing the function. And the first detector 3, wherein the first detector 3 is connected with the control unit 2 through a line. The first detector 3 is fastened at the front end of the mobile robot and is perpendicular to the center line of the robot body 1. The first detector 3 transmits the detected obstacle signal to the control unit 2. The first probe 3 forms an angle α greater than 0 ° with the robot body 1, so that the first probe 3 can detect an obstacle signal slightly higher than the robot body 1. The driving wheels 4 and the driving wheels 4 are connected with the control unit 2 through lines. When the height h1 of the table 7 from the ground is slightly higher than the height h2 of the robot body 1, the robot body 1 may be directly pressed under the table 7 because the robot body 1 may have a certain inertial impact force even if the robot body cannot stop moving forward in time during the forward movement process, or the height h1 of the table 7 may not be directly detected. And an angle alpha larger than 0 degree is formed between the first detector 3 and the robot body 1, so that the first detector 3 can timely detect an obstacle signal slightly higher than the robot body 1, and timely make a motion of avoiding being pressed under the table 7.
In an embodiment of the present invention, as shown in fig. 5 and 6, the first detector 3 is an infrared detector, a lidar detector, an ultrasonic detector or a vision sensor.
Referring to fig. 5 and 6, in an embodiment of the present invention, the angle α is 1 ° to 30 °, but not limited thereto, and the preset value may be set by a user.
Referring to fig. 5 and 6, in an embodiment of the present invention, a second probe 5 parallel to the robot body 1 is further disposed at the front end of the robot body 1 and below a position perpendicular to the center line of the robot body 1.
Referring to fig. 5 to 7, in an embodiment of the present invention, the second detector 5 is an infrared detector or an ultrasonic detector, and the second detector 5 is connected to the control unit 2 through a line.
Referring to fig. 5 to 8, the present invention further provides a method for detecting a front obstacle, when the driving wheel 4 drives the robot body 1 to move, the first detector 3 disposed right in front of the robot body 1 and forming an angle α greater than 0 ° with the robot body 1 actually detects whether there is an obstacle in front L4. If the robot body 1 is in an obstacle blocking state when traveling to a preset distance value L1 fed back by the first detector 3 in the control unit 2, that is, L4-L1 ≦ 0, the control unit 2 controls the traveling condition of the mobile robot.
Referring to fig. 5 to 8, in an embodiment of the present invention, the preset distance value L1 of the control unit 2 is 5 cm.
Referring to fig. 5 to 8, in an embodiment of the present invention, when the robot body 1 is in an obstacle blocking state when it travels to a preset distance value L1 in the control unit 2, the control unit 2 controls the mobile robot to move forward slowly.
Referring to fig. 5 to 8, in an embodiment of the present invention, when the robot body 1 is in an obstacle obstructing state when it travels to a preset distance value L1 in the control unit 2, the control unit 2 controls the mobile robot to move backward.
Referring to fig. 5 to 8, in an embodiment of the present invention, when the robot body 1 is in an obstacle blocking state when it travels to a preset distance value L1 in the control unit 2, the control unit 2 controls the mobile robot to turn to move forward.
Referring to fig. 5 to 8, in an embodiment of the present invention, a second detector 5 parallel to the robot body 1 is further disposed at the front end of the robot body 1 and below a position perpendicular to a center line of the robot body 1, the second detector 5 is connected to the control unit 2 through a line, and the second detector 5 is provided with a threshold for detecting an obstacle distance, so as to control a traveling condition of the robot body 1.
Referring to fig. 5 to 8, in an embodiment of the present invention, the threshold values of the second detector 5 for detecting the obstacle distance are: the detected obstacle distance threshold L2 is preset. The second detector 5 presets a third obstacle height detection threshold H1.
Referring to fig. 5 to 8, in an embodiment of the present invention, the second probe 5 actually detects an obstacle distance threshold L3, and determines that the second probe 5 actually detects a third obstacle height threshold H2, and when L3 first reaches the threshold of L2, that is, when L3-L2 ≦ 0, the second probe 5 transmits information to the control unit 2, so as to change the traveling condition of the robot body 1. When H2 reaches the threshold of H1, i.e., H1-H2 ≦ 0, the second probe 5 transmits information to the control unit 2 to change the traveling condition of the robot body 1.
Referring to fig. 5 to 8, in an embodiment of the present invention, the preset obstacle distance detection threshold L2 is preferably 4cm, but is not limited thereto, and the preset value may be set by a user.
In an embodiment of the present invention, as shown in fig. 5 to 8, the second detector 5 preferably presets a threshold H1 for detecting the height of the third obstacle to be 2cm, but is not limited thereto, and the preset value may be set by a user.
Referring to fig. 5 to 8, in an embodiment of the present invention, the second detector 5 is an infrared detector or an ultrasonic detector.
Referring to fig. 5 to 8, in an embodiment of the present invention, the first detector 3 is an infrared detector, a lidar detector, an ultrasonic detector or a vision sensor. When the first detector 3 is an ultrasonic detector, the robot body 1 controls the traveling condition of the driving wheels 4 through the control unit 2 when the height of the obstacle, which can be detected by the ultrasonic detector from a set distance value such as 50cm, is higher than 2 cm; if the ultrasonic probe is not at an obstacle height higher than 2cm detected from a set distance value such as 50cm, the robot body 1 will travel at the original speed without changing the traveling condition.
Referring to fig. 5 to 8, in an embodiment of the present invention, the angle α is 1 ° to 30 °, but not limited thereto, and the preset value may be set by a user.
Referring to fig. 5 to 8, in an embodiment of the present invention, the control unit 2 determines L1 fed back by the first probe 3 and L2 and H1 fed back by the second probe 5, and when the robot body 1 reaches any one threshold value first, the control unit 2 controls the driving wheels 4 to change the traveling condition of the robot body 1.
Referring to fig. 5 to 8, in an embodiment of the present invention, before the control unit 2 controls the driving wheels 4 to change the traveling condition of the robot body 1, the control unit further controls the robot body 1 to rotate in place. The robot body 1 rotates in place to scan the surrounding environment, and corresponding strategies are made for the driving condition of the local robot 1 in the next step, such as speed reduction driving, turning direction and continuing driving.
Referring to fig. 5 to 9, in an embodiment of the present invention, when the robot body 1 reaches any one of the preset threshold values first, the robot body 1 will slowly move forward by a preset distance L5 by using the L1 fed back by the first detector 3, the L2 and the H1 fed back by the second detector 5, and then the obstacle distance L4 ' fed back by the first detector 3 and the L3 ' and H2 ' of the obstacle detected by the second detector 5 are used to determine whether the obstacle is a moving obstacle again.
As shown in fig. 5 to 9, in an embodiment of the present invention, after the robot body 1 will slowly move forward by a preset distance L5, when the obstacle distance L4 ' fed back by the first detector 3 and the obstacle distances L3 ' and H2 ' of the second detector 5 are both detected, and no obstacle is detected, for example, when the person is detected to move for the first time and the person leaves the detection area when the detection is performed again, the control unit 2 determines that the obstacle is a moving obstacle by the related information fed back by the first detector 3 and the second detector 5, so that the control unit 2 controls the driving wheels 4 to move forward at the original speed; after the robot body 1 will slowly move forward by a preset distance L5, the obstacle distance L4 ' fed back by the first detector 3 and the obstacle distance L3 ' and H2 ' of the second detector 5 are detected again, and when any obstacle is detected to reach the preset value, the control unit 2 judges that the obstacle is a fixed immovable obstacle through the related information fed back by the first detector 3 and the second detector 5, so that the control unit 2 controls the driving wheels 4 to change the traveling condition of the robot body 1.
Referring to fig. 5 to 9, in an embodiment of the present invention, the preset distance L5 is preferably 10cm, but is not limited thereto, and the preset value may be a custom setting.
According to the invention, firstly, the first detector 3 and the robot body 1 form an angle alpha larger than 0 degree, so that the first detector 3 can detect an obstacle slightly lower than the robot body 1, and the mobile robot cannot collide with the obstacle strongly or even be clamped; secondly, the second detector 5 enables the mobile robot to detect the height and the distance of the front obstacle, so that the mobile robot cannot collide with the obstacle strongly, and the first detector 3 and the second detector 5 cooperate with each other to detect the obstacle, so that furniture cannot be damaged due to severe collision; finally, the first detector 3 and the second detector 5 cooperate with each other to detect the obstacle and judge whether the obstacle is a temporary moving obstacle, so that the traveling area of the robot body 1 is completely covered, and the phenomenon of missing and falling is avoided. When the robot body 1 is a sweeping robot or a mopping robot, it is important to judge whether the obstacle is a temporary moving obstacle, so that the method can ensure that the robot body 1 does not have an area which is not swept or dragged, and ensure the comprehensive coverage of a cleaning area.
The above specific embodiments are merely illustrative of the inventive concept and many modifications and variations may be made by those skilled in the art without departing from the inventive concept. Such modifications and variations are intended to be included within the scope of the present invention.
Claims (23)
1. A mobile robot for detecting a preceding obstacle, comprising:
a robot body (1);
the control unit (2), the said control unit (2) is built-in and fastened to the said robot body (1) inside;
the first detector (3), the first detector (3) is connected with the control unit (2) through a line; the first detector (3) is fixedly arranged at the front end of the mobile robot and is perpendicular to the center line of the robot body (1); the first detector (3) sends the detected obstacle signal to the control unit (2); the first probe (3) forms an angle a with the robot body (1) which is greater than 0 DEG, so that the first probe (3) can detect an obstacle signal which is slightly higher than the robot body (1);
the driving wheel (4) is connected with the control unit (2) through a line.
2. A mobile robot detecting obstacles ahead according to claim 1, characterized in that the first detector (3) is an infrared detector, a lidar detector, an ultrasonic detector or a vision sensor.
3. The mobile robot for detecting an obstacle ahead of claim 1, wherein the angle α is 1 ° to 30 °.
4. A method for detecting a front obstacle according to claim 1, wherein a second detector (5) parallel to the robot body (1) is further provided at the front end of the robot body (1) and below a position perpendicular to the center line of the robot body (1), and the second detector (5) is connected to the control unit (2) through a line.
5. A mobile robot for detecting obstacles ahead according to claim 4, characterized in that the second detector (5) is an infrared detector or an ultrasonic detector.
6. A method for detecting a front obstacle is characterized in that when a driving wheel (4) drives a robot body (1) to move, a first detector (3) which is arranged right in front of the robot body (1) and forms an angle alpha larger than 0 degrees with the robot body (1) actually detects whether an obstacle exists in front L4; if the robot body (1) is in an obstacle blocking state when the robot body travels to a preset distance value L1 fed back by the first detector (3) in the control unit (2), the control unit (2) controls the traveling condition of the mobile robot.
7. Method for detecting an obstacle ahead according to claim 6, characterized in that the control unit (2) presets a distance value L1 of 5 cm.
8. The method for detecting the obstacle ahead according to claim 6, characterized in that when the robot body (1) is in the obstacle obstructing state when it travels to the preset distance value L1 in the control unit (2), the control unit (2) controls the mobile robot to move forward slowly.
9. The method for detecting the obstacle ahead according to claim 6, characterized in that when the robot body (1) is in the obstacle obstructing state when it travels to a preset distance value L1 in the control unit (2), the control unit (2) controls the mobile robot to move backward.
10. The method for detecting the obstacle in front according to claim 6, characterized in that when the robot body (1) is in the obstacle blocking state when it travels to the preset distance value L1 in the control unit (2), the control unit (2) controls the mobile robot to turn to continue to move forward.
11. A method for detecting a front obstacle according to claim 6, characterized in that a second probe (5) is provided at the front end of the robot body (1) and perpendicular to the center line of the robot body (1) and parallel to the robot body (1), the second probe (5) is connected to the control unit (2) by a wire, and the second probe (5) is provided with a threshold value for detecting an obstacle distance, thereby controlling the traveling condition of the robot body (1).
12. A method for detecting an obstacle ahead according to claim 11, characterized in that the thresholds for the second detector (5) to detect the obstacle distance are respectively: presetting a detected obstacle distance threshold value L2; the second detector (5) presets a third obstacle height detection threshold H1.
13. The method of detecting a front obstacle according to claim 12, characterized in that the second probe (5) actually detects the obstacle distance threshold L3, judges that the second probe (5) actually detects the third obstacle height threshold H2, when L3 first reaches the threshold L2, the second probe (5) transmits information to the control unit (2) to change the traveling condition of the robot body (1); when H2 reaches the threshold value of H1 first, the second probe (5) transmits information to the control unit (2) so as to change the traveling condition of the robot body (1).
14. The method of detecting a forward obstacle according to claim 12, wherein the preset detected obstacle distance threshold L2 is 4 cm.
15. A method for detecting an obstacle ahead according to claim 12, characterized in that the second detector (5) presets a third obstacle height detection threshold H1 of 2 cm.
16. A method of detecting a forward obstacle as claimed in claim 11, characterised in that the second detector (5) is an infrared detector or an ultrasonic detector.
17. A method of detecting an obstacle ahead according to claim 6, characterized in that the first detector (3) is an infrared detector, a lidar detector, an ultrasonic detector or a vision sensor.
18. The method of detecting an obstacle ahead of claim 6, wherein the angle α is 1 ° to 30 °.
19. A method of detecting a front obstacle according to any one of claims 6 to 18, characterized in that the control unit (2) judges L1 fed back by the first probe (3), L2 and H1 fed back by the second probe (5), and when the robot body (1) reaches any one of the preset thresholds first, the control unit (2) controls the driving wheels (4) so as to change the traveling condition of the robot body (1).
20. A method of detecting an obstacle ahead according to claim 19, wherein the controlling unit (2) further comprises controlling the robot body (1) to rotate in place before controlling the driving wheels (4) to change the traveling condition of the robot body (1).
21. The method for detecting a front obstacle according to claim 19, wherein the first detector (3) feeds back L1, the second detector (5) feeds back L2 and H1, when the robot body (1) reaches any one of the preset thresholds first, the robot body (1) will slowly advance a preset distance L5, and the obstacle is detected again by the first detector (3) feeds back the obstacle distance L4 ' and the second detector (5) detects L3 ' and H2 ' of the obstacle, and whether the obstacle is a moving obstacle is determined again.
22. The method for detecting a front obstacle according to claim 21, wherein when the robot body (1) is going to advance slowly by a preset distance L5, and then again the obstacle distance L4 ' fed back by the first detector (3) and the obstacle distances L3 ' and H2 ' detected by the second detector (5) are both found not to detect any obstacle, the control unit (2) judges that the obstacle is a moving obstacle by the related information fed back by the first detector (3) and the second detector (5), so that the control unit (2) controls the driving wheel (4) to advance at the original speed; after the robot body (1) will slowly advance for a preset distance L5, the obstacle distance L4 ' fed back by the first detector (3) and the obstacle distance H3 ' and H2 ' of the second detector (5) are used for detecting obstacles again, and when any obstacle is detected to reach the preset value, the control unit (2) judges that the obstacle is a fixed and immovable obstacle through the related information fed back by the first detector (3) and the second detector (5), so that the control unit (2) controls the driving wheel (4) to change the advancing condition of the robot body (1).
23. The method of detecting an obstacle ahead of claim 21, wherein the preset distance L5 is 10 cm.
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| WO2023116914A1 (en) * | 2021-12-23 | 2023-06-29 | 苏州宝时得电动工具有限公司 | Self-moving robot and obstacle handling method therefor |
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