CN112764033A - Distance detection method and device and mobile robot - Google Patents
Distance detection method and device and mobile robot Download PDFInfo
- Publication number
- CN112764033A CN112764033A CN202011556702.XA CN202011556702A CN112764033A CN 112764033 A CN112764033 A CN 112764033A CN 202011556702 A CN202011556702 A CN 202011556702A CN 112764033 A CN112764033 A CN 112764033A
- Authority
- CN
- China
- Prior art keywords
- signal
- ground
- semaphore
- cliff detector
- transmitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 239000000463 material Substances 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 66
- 238000004458 analytical method Methods 0.000 claims description 65
- 238000005070 sampling Methods 0.000 claims description 46
- 238000000034 method Methods 0.000 claims description 13
- 238000001914 filtration Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 abstract description 34
- 238000005259 measurement Methods 0.000 abstract description 11
- 230000000875 corresponding effect Effects 0.000 description 35
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 230000011664 signaling Effects 0.000 description 4
- 238000012935 Averaging Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The application relates to a distance detection method, a device and a mobile robot, wherein a cliff detector comprises a first signal transmitter, a second signal transmitter and a signal receiver, when the distance detection operation of the cliff detector from the ground is carried out, the distance measurement is carried out by adopting a signal difference algorithm, the influence of ground material, color, roughness and the like on the measurement precision can be effectively avoided, the accurate distance information of the cliff detector from the ground is obtained, and the detection of a distance of two centimeters or even less can be realized. If the cliff detector scheme is applied to mobile robots such as sweeping robots, obstacles with the height larger than two centimeters can be effectively avoided, the sweeping robot is prevented from being trapped in a certain area, and the sweeping coverage rate of the sweeping robot is ensured.
Description
Technical Field
The present disclosure relates to the field of robot technologies, and in particular, to a distance detection method and apparatus, and a mobile robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. With the rapid development of scientific technology and the continuous improvement of the living standard of people, the floor sweeping robot is more and more widely used in daily life of people, and gradually becomes an essential household appliance for home life. Due to the fact that the working environment of the sweeping robot is complex and various, in order to guarantee reliable working and running of the sweeping robot, the cliff distance measuring sensor is used for preventing the sweeping robot from falling to become a necessary protection function of the sweeping robot.
The cliff detection sensor adopts a pair of infrared geminate transistors to detect the distance, has low measurement accuracy, and can be influenced by factors such as roughness, color, material and the like of a detected object, so that the distances of the same sampling value under different objects are inconsistent. In order to prevent false alarm of an object such as a black tile, the detection distance of the cliff detection sensor is generally set to be large, about 7 cm. The obstacle crossing height of the sweeping robot in the industry is mostly less than or equal to 2 cm, once the sweeping robot jumps over an obstacle larger than two cm, the sweeping robot is easily trapped in the area, the subsequent area cannot be swept, and the sweeping coverage rate of the sweeping robot is seriously influenced.
Disclosure of Invention
Accordingly, it is necessary to provide a distance detection method, a distance detection device and a mobile robot for solving the problem of low cleaning coverage rate of the conventional sweeping robot.
A distance detection method, comprising: when a first signal transmitter of the cliff detector starts to transmit a first transmission signal to the ground, acquiring a first semaphore, which is received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground; when a second signal emitter of the cliff detector starts to emit a second emission signal to the ground, acquiring a second semaphore of the second emission signal which is reflected by the ground and received by the signal receiver, wherein a signal emission area of the first emission signal is partially overlapped with a signal emission area of the second emission signal; obtaining a signal difference quantity according to the first signal quantity and the second signal quantity; and obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database.
In one embodiment, the step of obtaining a first semaphore, which is received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground, when a first signal transmitter of the cliff detector is turned on to transmit the first transmission signal to the ground, comprises: controlling a first signal transmitter of the cliff detector to start transmitting a first transmitting signal to the ground; and when the time length of the first signal transmitter for transmitting the first transmitting signal reaches a first preset time length, acquiring a first signal quantity received by a signal receiver of the cliff detector after the first transmitting signal is reflected by the ground.
In one embodiment, the step of obtaining a first semaphore in the first transmitted signal, which is reflected by the ground and received by a signal receiver of the cliff detector, comprises: collecting a first preset number of first receiving signals, wherein the first receiving signals are signals received by a signal receiver of the cliff detector after the first transmitting signals are reflected by the ground; and analyzing according to the first receiving signal to obtain a first semaphore.
In one embodiment, the step of analyzing the first received signal to obtain a first semaphore comprises: filtering each first receiving signal to obtain a corresponding first sampling signal; and carrying out average analysis on each first sampling signal to obtain a first semaphore.
In one embodiment, the step of obtaining a second semaphore, which is received by the signal receiver after the second transmission signal is reflected by the ground, when the second signal transmitter of the cliff detector is turned on to transmit the second transmission signal to the ground, includes: controlling a second signal transmitter of the cliff detector to start transmitting a second transmitting signal to the ground; and when the time length of the second signal transmitter for transmitting the second transmitting signal reaches a second preset time length, acquiring a second semaphore, which is received by the signal receiver after the second transmitting signal is reflected by the ground.
In one embodiment, the step of obtaining a second semaphore, which is received by the signal receiver after the second transmission signal is reflected by the ground, comprises: collecting a second preset number of second receiving signals, wherein the second receiving signals are signals received by the signal receiver after the second transmitting signals are reflected by the ground; and analyzing according to the second receiving signal to obtain a second semaphore.
In one embodiment, the step of analyzing the second received signal to obtain a second semaphore comprises: filtering each second receiving signal to obtain a corresponding second sampling signal; and carrying out average analysis on each second sampling signal to obtain a second semaphore.
In one embodiment, the step of obtaining the distance from the cliff detector to the ground according to the signal difference and a preset signal database comprises: performing matching analysis according to the signal difference and a preset signal database to obtain compensation parameters, wherein the preset database stores compensation parameters corresponding to different signal differences; and analyzing according to the compensation parameters to obtain the distance between the cliff detector and the ground.
In one embodiment, the step of obtaining the distance from the cliff detector to the ground according to the signal difference and the preset signal database further includes: and performing matching analysis according to the signal difference and a preset signal database to obtain the material information and/or the color information of the current ground.
A distance detection device comprising: the system comprises a first semaphore analysis module, a first semaphore analysis module and a signal receiver, wherein the first semaphore analysis module is used for acquiring a first semaphore, which is received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground, when a first signal transmitter of the cliff detector starts to transmit the first transmission signal to the ground; the second semaphore analysis module is used for acquiring a second semaphore, which is received by the signal receiver after the second transmitting signal is reflected by the ground, when a second signal transmitter of the cliff detector starts to transmit the second transmitting signal to the ground, wherein the signal transmitting area of the first transmitting signal is partially overlapped with the signal transmitting area of the second transmitting signal; a signal difference analysis module, configured to obtain a signal difference according to the first signal quantity and the second signal quantity; and the distance analysis module is used for obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database.
The mobile robot comprises a cliff detector and a controller, wherein the cliff detector comprises a first signal transmitter, a second signal transmitter and a signal receiver, the first signal transmitter, the second signal transmitter and the signal receiver are respectively connected with the controller, and the controller is used for detecting the distance from the cliff detector to the ground according to the distance detection method.
In one embodiment, the mobile robot further comprises a switching device, and the first signal transmitter and the second signal transmitter are respectively connected with the controller through the switching device.
In one embodiment, the mobile robot is a cleaning robot.
When the cliff detector is used for detecting the distance from the cliff to the ground, the first signal transmitter and the signal receiver are used for transmitting and receiving signals, then the second signal transmitter and the signal receiver are used for transmitting and receiving signals, and when the two times of signal transmission and reception are combined, the first signal quantity and the second signal quantity acquired at one end of the signal receiver are subjected to differential algorithm analysis, so that the distance information of the cliff detector from the ground is finally obtained. By adopting the scheme, the distance measurement is carried out by adopting a signal difference algorithm, the influence of ground material, color, roughness and the like on the measurement precision can be effectively avoided, the accurate distance information of the cliff detector from the ground is obtained, and the detection of the distance of two centimeters or even less can be realized. If the cliff detector scheme is applied to mobile robots such as sweeping robots, obstacles with the height larger than two centimeters can be effectively avoided, the sweeping robot is prevented from being trapped in a certain area, and the sweeping coverage rate of the sweeping robot is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, 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 illustrating a distance detection method according to an embodiment;
FIG. 2 is a schematic diagram of signal transmission-reception in one embodiment;
FIG. 3 is a schematic flow chart of a distance detection method according to another embodiment;
FIG. 4 is a schematic diagram illustrating a first semaphore analysis process according to an embodiment;
FIG. 5 is a schematic flow chart illustrating a distance detection method according to yet another embodiment;
FIG. 6 is a second signal analysis flow diagram according to an embodiment;
FIG. 7 is a schematic flowchart illustrating a distance detection method according to yet another embodiment;
FIG. 8 is a schematic diagram of an embodiment of a distance detection device;
fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a distance detecting method includes step S100, step S200, step S300, and step S400.
Step S100, when a first signal transmitter of the cliff detector starts to transmit a first transmission signal to the ground, acquiring a first signal quantity received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground.
Specifically, the signal that first signal transmitter transmitted to ground is first transmission signal, and first transmission signal reaches ground back, can be because the difference of ground material, roughness or color information, finally by the reflection different reflection signal of reflection back to signal receiver to be received by signal receiver. The controller can obtain the corresponding first semaphore by performing a series of sampling analysis on the transmitted signal received by the signal receiver.
It is to be understood that the cliff detector of the present embodiment is applicable to various devices or apparatuses that require a moving operation, and for the convenience of understanding the various embodiments of the present application, the following explanation will be made with respect to the cliff detector provided in the mobile robot.
The first signal emitter of the cliff detector is not only switched on at the same time but also in a different manner. In one embodiment, the cliff detector may be used for periodically transmitting a first transmission signal to the ground by using a certain preset time period as a period during the power-on motion of a mobile robot (or other types of movable working devices or equipment), and the signal receiver receives a signal which is transmitted through the ground and then returns to the signal receiver in real time, so as to finally obtain a corresponding first signal quantity. The starting of the first signal emitter is controlled through a controller of the mobile robot, and when the mobile robot runs on power, the controller of the mobile robot firstly sends a starting instruction to the first signal emitter to control the first signal emitter to start running.
Further, in one embodiment, a switch device may be further disposed between the first signal transmitter and the controller, and the controller indirectly controls the on/off of the first signal transmitter by controlling the on/off of the switch device. It is to be understood that the distance type of the switching device is not exclusive, and in one embodiment, the switching device may be implemented by a device having a switching function, such as a relay, a transistor, a Metal-Oxide-Semiconductor (MOS) transistor, or the like.
It should be noted that the type of first signal emitter is not exclusive, and in one embodiment the first signal emitter is an infrared signal emitter and the corresponding signal receiver is an infrared signal receiver. The embodiment adopts the infrared signal to carry out distance detection, and has the advantages of simple detection operation and strong detection reliability.
Step S200, when a second signal emitter of the cliff detector starts to emit a second emission signal to the ground, a second semaphore, which is received by the signal receiver after the second emission signal is reflected by the ground, is obtained.
Specifically, the signal transmission area of the first transmission signal partially overlaps with the signal transmission area of the second transmission signal. Similar to the first signal emitter, a second signal emitter is further arranged in the cliff detector, and after the controller acquires a first semaphore corresponding to the first transmission signal from the signal receiver, the second signal emitter is started to acquire a second semaphore. Since the first semaphore and the second semaphore subsequently need to be analyzed by a differential algorithm, it is necessary to ensure that there is an overlapping portion between the signaling region of the first transmission signal and the signaling region of the second transmission signal. Specifically, referring to fig. 2, only if the signal area of the first transmission signal and the signal area of the second transmission signal have an overlapping portion, the difference analysis can be performed according to the acquired first semaphore and the acquired second semaphore, and finally, the corresponding distance detection operation is implemented. It is understood that, in order to make the signal area of the first transmission signal overlap with the signal area of the second transmission signal, it is specifically realized by setting an appropriate angle between the first signal transmitter and the second signal transmitter.
It should be noted that, in one embodiment, in order to avoid interference of the transmitted signals between the first signal transmitter and the second signal transmitter, when the first signal transmitter is turned on to transmit the first transmitted signal, the second signal transmitter is correspondingly controlled to be turned off, and when the second signal transmitter is turned on to transmit the second transmitted signal, the first signal transmitter is correspondingly controlled to be turned off.
Similarly, in one embodiment, a switch device may be further disposed between the second signal transmitter and the controller, and the controller indirectly controls the on/off of the second signal transmitter by controlling the on/off of the switch device. It is to be understood that the distance type of the switching device is not exclusive, and in one embodiment, the switching device may be implemented by a device having a switching function, such as a relay, a transistor, a MOS transistor, or the like.
It should be noted that the type of second signal emitter is not exclusive and in one embodiment, the second signal emitter, like the first signal emitter, is an infrared signal emitter and the corresponding signal receiver is an infrared signal receiver.
In step S300, a signal difference is obtained according to the first signal quantity and the second signal quantity.
Specifically, after the controller obtains a first signal quantity according to a first transmission signal transmitted to the ground by the first signal transmitter and obtains a second signal quantity according to a second transmission signal transmitted to the ground by the second signal transmitter, the first signal quantity and the second signal quantity are subtracted to obtain a corresponding signal difference quantity.
And step S400, obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database.
Specifically, after the controller obtains the signal difference, based on the idea of the signal difference algorithm, the distance from the cliff detector to the ground can be obtained by performing analysis and calculation in combination with a preset signal database.
It should be noted that in one embodiment, the controller has a pre-set distance pre-stored therein, and the distance of the cliff detector from the ground is substantially constant, i.e. substantially the pre-set distance, when the mobile robot using the cliff detector is on a level ground. When the mobile robot moves to the edge of the cliff (i.e., a part where the ground where the mobile robot is located has a certain height difference), a certain difference exists between the detected distance and the preset distance, and the height of the cliff is further obtained based on the difference between the detected distance and the preset distance, so that an analysis operation of whether the mobile robot can jump over the cliff to perform a work can be performed based on the height.
Referring to fig. 3, in one embodiment, step S100 includes step S110 and step S120.
Step S110, controlling a first signal emitter of the cliff detector to start emitting a first emission signal to the ground; step S120, when the duration of the first transmission signal transmitted by the first signal transmitter reaches a first predetermined duration, acquiring a first semaphore, which is received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground.
Specifically, when the signal transmitter transmits a signal, the signal that is just started to be transmitted is generally not a stable signal, and therefore, in order to effectively improve the accuracy of the first semaphore in this embodiment, after the duration that the first signal transmitter starts to transmit the first transmit signal to the ground reaches the first preset duration, the first semaphore is further acquired at the signal receiver.
It is understood that, in this embodiment, the controller controls the first signal emitter of the cliff detector to be turned on, and specifically, may send an on signal to a switch device between the first signal emitter and the controller, so that the power can flow into the first signal emitter through the switch device, and the emitting operation of the first emitting signal is implemented.
It should be noted that the size of the first preset time period is not exclusive, and may specifically be any value between 10 microseconds and 100 microseconds, for example, 10 microseconds, 20 microseconds, 30 microseconds, 40 microseconds, 50 microseconds, 60 microseconds, 70 microseconds, 80 microseconds, 90 microseconds, 100 microseconds, and the like. Taking the first signal transmitter as an infrared transmitter as an example, after the first signal transmitter transmits the first transmission signal, it needs to wait for about 40 microseconds before the signal starts to be stable, so in a more detailed embodiment, the first preset duration may be 50 microseconds, that is, when the controller controls the first signal transmitter to start transmitting the first transmission signal 50 microseconds after the controller starts to transmit the first transmission signal, the first signal quantity acquisition operation after the first transmission signal is reflected by the ground is started at the signal receiver, so as to ensure the accuracy of the acquired first signal quantity.
Referring to fig. 4, in one embodiment, the step of acquiring the first semaphore of the first transmission signal received by the signal receiver of the cliff detector after being reflected by the ground includes steps S121 and S122.
Step S121, collecting a first preset number of first receiving signals; step S122, analyzing according to the first received signal to obtain a first semaphore.
Specifically, the first received signal is a signal received by the signal receiver of the cliff detector after the first transmitted signal is reflected by the ground. In this embodiment, when the controller samples the first received signal received at one end of the signal receiver, in order to ensure accuracy of the finally obtained first signal quantity and eliminate an error, when the first signal quantity is analyzed, the controller firstly collects a plurality of first received signals, which are sent back to the signal receiver after being transmitted on the ground, and then analyzes the first received signals by combining the plurality of first received signals to obtain the first signal quantity.
It should be noted that when a plurality (i.e., a first preset number) of first received signals are acquired, the plurality of first received signals are sampled by the controller continuously. That is, when the sampling is started, in the sampling period of the number corresponding to the first preset number, each sampling period correspondingly acquires a first receiving signal according to the sampling precision of the controller.
It is understood that the specific size of the first preset number is not exclusive, and the error can be reasonably reduced or eliminated by analyzing each collected first received signal. For example, in one embodiment, the first predetermined number of times may be any number of times from 8 to 32, i.e., from 8, 9, … …, up to 32 first received signals may be collected. In a more detailed embodiment, the first predetermined number is 16, that is, after the controller controls the first signal transmitter to transmit the first transmission signal to the ground for a first predetermined time period, the controller starts to continuously acquire 16 times of the first reception signals, and then performs the final first semaphore analysis operation by combining the 16 first reception signals.
Further, in one embodiment, step S122 includes: filtering each first receiving signal to obtain a corresponding first sampling signal; and carrying out average analysis on each first sampling signal to obtain a first semaphore.
Specifically, in order to further ensure the sampling accuracy of the first signal in this embodiment, the controller may further perform filtering processing on the first received signal obtained by sampling each time, so as to obtain the first sampled signal in each sampling, and then perform final first semaphore analysis operation by using the filtered first sampled signal. The sampling average method of the embodiment analyzes, and solves an average value of each first sampling signal obtained by sampling to obtain a final first semaphore.
It should be noted that the averaging method shown in this embodiment may be specifically, after all the first sampling signals are subjected to average value solving, the corresponding first semaphore is obtained. The method can also be used for analyzing by adopting a head and tail removing average method, namely, the first sampling signals with the largest numerical value and the smallest numerical value in the first sampling signals with the first preset number (marked as n) are removed, and the rest n-2 first sampling signals are directly sampled to carry out average value solving to obtain the corresponding first semaphore.
Referring to fig. 5, in one embodiment, step S200 includes step S210 and step S220.
Step S210, controlling a second signal emitter of the cliff detector to start emitting a second emission signal to the ground; step S220, when the time length for the second signal transmitter to transmit the second transmitting signal reaches a second predetermined time length, obtaining a second semaphore, which is received by the signal receiver after the second transmitting signal is reflected by the ground.
Specifically, similar to the above operation of starting the first signal transmitter to acquire the first semaphore, in this embodiment, in order to effectively improve the sampling accuracy of the second semaphore, after the time period for starting the second signal transmitter to transmit the second transmission signal to the ground reaches a second preset time period, the second semaphore is further acquired at the signal receiver.
It is understood that, in this embodiment, the controller controls the second signal emitter of the cliff detector to turn on, and specifically, may send a turn-on signal to a switch device between the second signal emitter and the controller, so that the power can flow into the second signal emitter through the switch device, and the second signal emitter is enabled to emit the second transmission signal.
It should be noted that the size of the second preset time period is not exclusive, and the first preset time periods may be the same or different. In one embodiment, the second preset time period may specifically be any value between 10 microseconds and 100 microseconds, for example, 10 microseconds, 20 microseconds, 30 microseconds, 40 microseconds, 50 microseconds, 60 microseconds, 70 microseconds, 80 microseconds, 90 microseconds, 100 microseconds, and the like. Taking the second signal transmitter as an infrared transmitter as an example, after the second signal transmitter transmits the second transmission signal, the signal needs to wait for about 40 microseconds before the signal starts to be stable, so in a more detailed embodiment, the second preset duration can be 50 microseconds, that is, when the controller controls the second signal transmitter to start transmitting the second transmission signal 50 microseconds after the controller starts to transmit the second transmission signal, the second signal quantity acquisition operation after the second transmission signal is reflected by the ground is started at the signal receiver, so as to ensure the accuracy of the acquired second signal quantity.
Referring to fig. 6, in an embodiment, the step of obtaining the second signal quantity of the second transmission signal received by the signal receiver after being reflected by the ground includes steps S221 and S222.
Step S221, collecting a second preset number of second receiving signals; step S222, analyzing according to the second received signal to obtain a second semaphore.
Specifically, the second received signal is a signal received by the signal receiver after the second transmitted signal is reflected by the ground. In this embodiment, when the controller samples the second received signal received at one end of the signal receiver, in order to ensure accuracy of the finally obtained second signal quantity and eliminate an error, when the second signal quantity is analyzed, the controller firstly collects a plurality of second received signals, which are returned to the signal receiver after the second transmitted signals are transmitted on the ground, and then, the second received signals are analyzed by combining the plurality of second received signals to obtain the second signal quantity.
It should be noted that, when the acquisition operation of the plurality (i.e., the second preset number) of second received signals is performed, the plurality of second received signals are sampled by the controller continuously. That is, when the sampling is started, in the sampling period of the number corresponding to the second preset number, each sampling period correspondingly acquires a second receiving signal according to the sampling precision of the controller.
It is understood that the specific size of the second predetermined number is not unique, and may be the same as or different from the first predetermined number, as long as the analysis is performed by each of the collected second received signals, and the error may be reasonably reduced or eliminated. For example, in one embodiment, the second predetermined number is 16, that is, after the controller controls the second signal transmitter to transmit the second transmitting signal to the ground for a second predetermined time period, the controller starts to continuously acquire 16 times of the second receiving signals, and then performs the final second semaphore analysis operation by combining the 16 second receiving signals.
In one embodiment, step S222 includes: filtering each second receiving signal to obtain a corresponding second sampling signal; and carrying out average analysis on each second sampling signal to obtain a second semaphore.
Specifically, in order to further ensure the sampling accuracy of the first signal in this embodiment, the controller may further perform filtering processing on the second received signal obtained by each sampling, so as to obtain a second sampled signal in each sampling, and then perform final second semaphore analysis operation by using the filtered second sampled signal. The sampling average method of this embodiment analyzes, and solves an average value of each second sampling signal obtained by sampling to obtain a final second semaphore.
It should be noted that the averaging method shown in this embodiment may be specifically, after all the second sampling signals are subjected to average value solving, the corresponding second semaphore is obtained. Or, a head and tail removing average method may be adopted for analysis, that is, the second sampling signals with the largest numerical value and the smallest numerical value in the second sampling signals with the second preset number (marked as n) are removed, and the remaining n-2 second sampling signals are directly sampled to perform average value solution, so as to obtain the corresponding second semaphore.
Referring to fig. 7, in one embodiment, step S400 includes step S410 and step S420.
Step S410, carrying out matching analysis according to the signal difference and a preset signal database to obtain a compensation parameter; and step S420, analyzing according to the compensation parameters to obtain the distance between the cliff detector and the ground.
Specifically, the preset database stores compensation parameters corresponding to different signal differences. The preset database stores data representing the corresponding relation between the signal difference and different compensation parameters, and after the controller obtains the signal difference according to the first signal quantity and the second signal quantity, the signal difference and the preset signal database are subjected to matching analysis to obtain the corresponding compensation parameters in the current state. And the final controller analyzes and calculates according to the compensation parameter, the time from the transmission of the first transmission signal to the reception of the signal receiver, the propagation speed of the signal and the like, and the distance from the cliff detector to the ground can be finally obtained.
Further, in an embodiment, the compensation parameter, the ground material information, the distance between the cliff detector and the ground, and the like may be stored in a correlated manner, and after the controller obtains the compensation parameter, the corresponding distance information, that is, the distance between the current cliff detector and the ground, is obtained through direct matching analysis.
In one embodiment, the preset database further stores ground material information and/or color information corresponding to different dispersion amounts, and the step S400 further includes: and performing matching analysis according to the signal difference and a preset signal database to obtain the material information and/or the color information of the current ground.
Specifically, in this embodiment, the preset database further associates and stores the signal difference amount and the corresponding ground material information and/or color information, and when the controller matches the preset signal database after analyzing the signal difference amount, the controller further obtains the ground material information and/or color information corresponding to the current signal difference amount.
When the distance detection operation of the cliff detector from the ground is carried out, firstly, the first signal emitter and the signal receiver are used for carrying out signal emission and reception, then, the second signal emitter and the signal receiver are used for carrying out signal emission and reception, and then, when two times of signal emission and reception are combined, the first signal quantity and the second signal quantity obtained at one end of the signal receiver are subjected to differential algorithm analysis, and finally, the distance information of the cliff detector from the ground is obtained. By adopting the scheme, the distance measurement is carried out by adopting a signal difference algorithm, the influence of ground material, color, roughness and the like on the measurement precision can be effectively avoided, the accurate distance information of the cliff detector from the ground is obtained, and the detection of the distance of two centimeters or even less can be realized. If the cliff detector scheme is applied to mobile robots such as sweeping robots, obstacles with the height larger than two centimeters can be effectively avoided, the sweeping robot is prevented from being trapped in a certain area, and the sweeping coverage rate of the sweeping robot is ensured.
Referring to fig. 8, a distance detecting apparatus includes: a first semaphore analysis module 100, a second semaphore analysis module 200, a delta signal analysis module 300 and a distance analysis module 400.
Specifically, the following components: the first semaphore analysis module 100 is configured to, when a first signal transmitter of the cliff detector starts to transmit a first transmit signal to the ground, obtain a first semaphore, which is received by a signal receiver of the cliff detector after the first transmit signal is reflected by the ground; the second semaphore analysis module 200 is configured to obtain a second semaphore, which is received by the signal receiver after the second transmission signal is reflected by the ground, when the second signal transmitter of the cliff detector starts to transmit the second transmission signal to the ground; the signal difference analyzing module 300 is configured to obtain a signal difference according to the first signal quantity and the second signal quantity; the distance analysis module 400 is configured to obtain a distance between the cliff detector and the ground according to the signal difference and a preset signal database.
In one embodiment, the first semaphore analysis module 100 is further configured to control the first signal transmitter of the cliff detector to turn on to transmit a first transmit signal to the surface; when the time length of the first signal transmitter for transmitting the first transmitting signal reaches a first preset time length, acquiring a first signal quantity of the first transmitting signal which is reflected by the ground and received by a signal receiver of the cliff detector.
In one embodiment, the first semaphore analysis module 100 is further configured to collect a first preset number of first received signals; and analyzing according to the first received signal to obtain a first semaphore.
In an embodiment, the first semaphore analysis module 100 is further configured to filter each first received signal to obtain a corresponding first sampled signal; and carrying out average analysis on each first sampling signal to obtain a first semaphore.
In one embodiment, the second semaphore analysis module 200 is further configured to control the second signal emitter of the cliff detector to turn on emitting a second transmission signal to the surface; and when the time length of the second signal transmitter for transmitting the second transmitting signal reaches a second preset time length, acquiring a second signal quantity of the second transmitting signal which is received by the signal receiver after being reflected by the ground.
In one embodiment, the second semaphore analysis module 200 is further configured to collect a second preset number of second received signals; and analyzing according to the second receiving signal to obtain a second semaphore.
In one embodiment, the second semaphore analysis module 200 is further configured to filter each second received signal to obtain a corresponding second sampled signal; and carrying out average analysis on each second sampling signal to obtain a second semaphore.
In one embodiment, the distance analysis module 400 is further configured to perform matching analysis according to the signal difference and a preset signal database to obtain a compensation parameter; and analyzing according to the compensation parameters to obtain the distance between the cliff detector and the ground.
In one embodiment, the distance analysis module 400 is further configured to perform matching analysis according to the signal difference and a preset signal database to obtain material information and/or color information of the current ground.
For the specific definition of the distance detection device, reference may be made to the above definition of the distance detection method, which is not described herein again. The modules in the distance detection device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
When the distance detection operation of the cliff detector from the ground is carried out, firstly, the first signal emitter and the signal receiver are used for carrying out signal emission and reception, then, the second signal emitter and the signal receiver are used for carrying out signal emission and reception, and when two times of signal emission and reception are combined, the first signal quantity and the second signal quantity obtained at one end of the signal receiver are subjected to difference algorithm analysis, and finally, the distance information of the cliff detector from the ground is obtained. By adopting the scheme, the distance measurement is carried out by adopting a signal difference algorithm, the influence of ground material, color, roughness and the like on the measurement precision can be effectively avoided, the accurate distance information of the cliff detector from the ground is obtained, and the detection of the distance of two centimeters or even less can be realized. If the cliff detector scheme is applied to mobile robots such as sweeping robots, obstacles with the height larger than two centimeters can be effectively avoided, the sweeping robot is prevented from being trapped in a certain area, and the sweeping coverage rate of the sweeping robot is ensured.
Referring to fig. 9, a mobile robot includes a cliff detector 10 and a controller 20, the cliff detector 10 includes a first signal transmitter 11, a second signal transmitter 12 and a signal receiver 13, the first signal transmitter 11, the second signal transmitter 12 and the signal receiver 13 are respectively connected to the controller 20 (not shown), and the controller 20 is configured to detect a distance from the cliff detector 10 to the ground according to the distance detection method described above.
Specifically, the signal transmitted to the ground by the first signal transmitter 11 is a first transmission signal, and after the first transmission signal reaches the ground, the first transmission signal is finally reflected by different reflection signals back to the signal receiver 13 due to different ground materials, roughness or color information, so as to be received by the signal receiver 13. The controller 20 may obtain the corresponding first semaphore by performing a series of sampling analysis on the transmitted signal received at the signal receiver 13.
The timing and manner of activation of the first signal emitter 11 of the cliff detector 10 is not unique. In one embodiment, the method may be that during the power-on movement of the mobile robot (or other type of movable working device or equipment) using the cliff detector 10, a first transmission signal is periodically transmitted to the ground for a certain preset time period, and the signal receiver 13 receives the signal transmitted from the ground and then returned to the signal receiver 13 in real time, so as to finally obtain the corresponding first signal quantity. The starting of the first signal emitter 11 is controlled by the controller 20 of the mobile robot, and when the mobile robot is powered on and operated, the controller 20 of the mobile robot firstly sends a starting instruction to the first signal emitter 11 to control the first signal emitter 11 to start operation.
Further, in an embodiment, a switch device may be further disposed between the first signal transmitter 11 and the controller 20, and the controller 20 indirectly controls the on/off of the first signal transmitter 11 by controlling the on/off of the switch device. It is to be understood that the distance type of the switching device is not exclusive, and in one embodiment, the switching device may be implemented by a device having a switching function, such as a relay, a transistor, a Metal-Oxide-Semiconductor (MOS) transistor, or the like.
It should be noted that the type of first signal emitter 11 is not exclusive, and in one embodiment, the first signal emitter 11 is an infrared signal emitter and the corresponding signal receiver 13 is an infrared signal receiver 13. The embodiment adopts the infrared signal to carry out distance detection, and has the advantages of simple detection operation and strong detection reliability.
Similarly to the first signal emitter 11, a second signal emitter 12 is further provided in the cliff detector 10, and after the controller 20 acquires a first signal amount corresponding to the first transmission signal from the signal receiver 13, the second signal emitter 12 is turned on to acquire a second signal amount. Since the first semaphore and the second semaphore subsequently need to be analyzed by a differential algorithm, it is necessary to ensure that there is an overlapping portion between the signaling region of the first transmission signal and the signaling region of the second transmission signal. Specifically, referring to fig. 2, only if the signal area of the first transmission signal and the signal area of the second transmission signal have an overlapping portion, the difference analysis can be performed according to the acquired first semaphore and the acquired second semaphore, and finally, the corresponding distance detection operation is implemented. It is understood that, in order to make the signal area of the first transmission signal overlap with the signal area of the second transmission signal, it is specifically realized by setting the appropriate angle between the first signal emitter 11 and the second signal emitter 12.
It should be noted that, in one embodiment, in order to avoid interference of the transmitted signals between the first signal transmitter 11 and the second signal transmitter 12, when the first signal transmitter 11 is turned on to transmit the first transmitted signal, the second signal transmitter 12 is correspondingly controlled to be turned off, and when the second signal transmitter 12 is turned on to transmit the second transmitted signal, the first signal transmitter 11 is correspondingly controlled to be turned off.
Similarly, in an embodiment, a switch device may be further disposed between the second signal transmitter 12 and the controller 20, and the controller 20 indirectly controls the on/off of the second signal transmitter 12 by controlling the on/off of the switch device. It is to be understood that the distance type of the switching device is not exclusive, and in one embodiment, the switching device may be implemented by a device having a switching function, such as a relay, a transistor, a MOS transistor, or the like.
It should be noted that the type of the second signal transmitter 12 is not exclusive, and in one embodiment, the second signal transmitter 12 is an infrared signal transmitter as well as the first signal transmitter 11, and the corresponding signal receiver 13 is an infrared signal receiver 13.
When the controller 20 obtains a first signal quantity according to a first transmission signal transmitted from the first signal transmitter 11 to the ground and obtains a second signal quantity according to a second transmission signal transmitted from the second signal transmitter 12 to the ground, the first signal quantity and the second signal quantity are subtracted to obtain a corresponding signal difference quantity.
After the controller 20 obtains the signal difference, based on the idea of signal difference algorithm, the distance from the cliff detector 10 to the ground can be obtained by performing analysis calculation with the preset signal database.
It should be noted that in one embodiment, the controller 20 has a pre-set distance pre-stored therein, and that the distance of the cliff detector 10 from the ground is substantially constant, i.e. substantially the pre-set distance, when the mobile robot using the cliff detector 10 is on a level ground. When the mobile robot moves to the edge of the cliff (i.e., a part where the ground where the mobile robot is located has a certain height difference), a certain difference exists between the detected distance and the preset distance, and the height of the cliff is further obtained based on the difference between the detected distance and the preset distance, so that an analysis operation of whether the mobile robot can jump over the cliff to perform a work can be performed based on the height.
It will be appreciated that the type of mobile robot is not exclusive and in one embodiment the mobile robot is a cleaning robot. The cleaning robot, namely the sweeping robot, can effectively avoid the sweeping robot from jumping over an obstacle with a height of more than two centimeters by designing the cliff detector 10 of the embodiment in the sweeping robot, avoid the sweeping robot from being trapped in a certain area, and ensure the sweeping coverage rate of the sweeping robot.
In the mobile robot, the cliff detector 10 includes the first signal transmitter 11, the second signal transmitter 12, and the signal receiver 13, and when the cliff detector 10 performs the operation of detecting the distance from the ground, the first signal transmitter 11 and the signal receiver 13 are used to transmit and receive signals, the second signal transmitter 12 and the signal receiver 13 are used to transmit and receive signals, and then when the two times of signal transmission and reception are combined, the first signal quantity and the second signal quantity acquired at one end of the signal receiver 13 are subjected to differential algorithm analysis, and finally the distance information of the cliff detector 10 from the ground is obtained. By adopting the scheme, the distance measurement is carried out by adopting a signal difference algorithm, the influence of ground material, color, roughness and the like on the measurement precision can be effectively avoided, the accurate distance information of the cliff detector 10 from the ground is obtained, and the detection of the distance of two centimeters or even less can be realized.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A distance detection method, comprising:
when a first signal transmitter of the cliff detector starts to transmit a first transmission signal to the ground, acquiring a first semaphore, which is received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground;
when a second signal emitter of the cliff detector starts to emit a second emission signal to the ground, acquiring a second semaphore of the second emission signal which is reflected by the ground and received by the signal receiver, wherein a signal emission area of the first emission signal is partially overlapped with a signal emission area of the second emission signal;
obtaining a signal difference quantity according to the first signal quantity and the second signal quantity;
and obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database.
2. The distance detection method according to claim 1, wherein the step of obtaining a first signal quantity of the first transmission signal reflected by the ground and received by the signal receiver of the cliff detector when the first signal transmitter of the cliff detector is turned on to transmit the first transmission signal to the ground comprises:
controlling a first signal transmitter of the cliff detector to start transmitting a first transmitting signal to the ground;
and when the time length of the first signal transmitter for transmitting the first transmitting signal reaches a first preset time length, acquiring a first signal quantity received by a signal receiver of the cliff detector after the first transmitting signal is reflected by the ground.
3. The method of claim 2, wherein the step of obtaining a first semaphore in the first transmitted signal reflected from the ground and received by a signal receiver of the cliff detector comprises:
collecting a first preset number of first receiving signals, wherein the first receiving signals are signals received by a signal receiver of the cliff detector after the first transmitting signals are reflected by the ground;
and analyzing according to the first receiving signal to obtain a first semaphore.
4. The distance detection method according to claim 3, wherein said step of analyzing said first received signal to obtain a first signal quantity comprises:
filtering each first receiving signal to obtain a corresponding first sampling signal;
and carrying out average analysis on each first sampling signal to obtain a first semaphore.
5. The distance detection method according to any one of claims 1 to 4, wherein the step of obtaining a second signal quantity of the second transmission signal reflected by the ground and received by the signal receiver when the second signal transmitter of the cliff detector is turned on to transmit the second transmission signal to the ground comprises:
controlling a second signal transmitter of the cliff detector to start transmitting a second transmitting signal to the ground;
and when the time length of the second signal transmitter for transmitting the second transmitting signal reaches a second preset time length, acquiring a second semaphore, which is received by the signal receiver after the second transmitting signal is reflected by the ground.
6. The distance detection method of claim 5, wherein said step of obtaining a second signal quantity of said second transmitted signal received by said signal receiver after being reflected by the ground comprises:
collecting a second preset number of second receiving signals, wherein the second receiving signals are signals received by the signal receiver after the second transmitting signals are reflected by the ground;
and analyzing according to the second receiving signal to obtain a second semaphore.
7. The distance detection method according to claim 6, wherein said step of analyzing said second received signal to obtain a second signal quantity comprises:
filtering each second receiving signal to obtain a corresponding second sampling signal;
and carrying out average analysis on each second sampling signal to obtain a second semaphore.
8. The method of claim 1, wherein the step of obtaining the distance from the cliff detector to the ground based on the signal delta and a predetermined signal database comprises:
performing matching analysis according to the signal difference and a preset signal database to obtain compensation parameters, wherein the preset database stores compensation parameters corresponding to different signal differences;
and analyzing according to the compensation parameters to obtain the distance between the cliff detector and the ground.
9. The distance detecting method according to claim 8, wherein the preset database further stores ground material information and/or color information corresponding to different signal difference amounts, and the step of obtaining the distance from the cliff detector to the ground according to the signal difference amounts and the preset database further comprises:
and performing matching analysis according to the signal difference and a preset signal database to obtain the material information and/or the color information of the current ground.
10. A distance detection device, comprising:
the system comprises a first semaphore analysis module, a first semaphore analysis module and a signal receiver, wherein the first semaphore analysis module is used for acquiring a first semaphore, which is received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground, when a first signal transmitter of the cliff detector starts to transmit the first transmission signal to the ground;
the second semaphore analysis module is used for acquiring a second semaphore, which is received by the signal receiver after the second transmitting signal is reflected by the ground, when a second signal transmitter of the cliff detector starts to transmit the second transmitting signal to the ground, wherein the signal transmitting area of the first transmitting signal is partially overlapped with the signal transmitting area of the second transmitting signal;
a signal difference analysis module, configured to obtain a signal difference according to the first signal quantity and the second signal quantity;
and the distance analysis module is used for obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database.
11. A mobile robot comprising a cliff detector and a controller, wherein the cliff detector comprises a first signal transmitter, a second signal transmitter and a signal receiver, the first signal transmitter, the second signal transmitter and the signal receiver are respectively connected to the controller, and the controller is configured to perform distance detection of the cliff detector from the ground according to the distance detection method of any one of claims 1 to 9.
12. The mobile robot of claim 11, further comprising a switching device, wherein the first signal transmitter and the second signal transmitter are respectively connected to the controller through the switching device.
13. The mobile robot of claim 11, wherein the mobile robot is a cleaning robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011556702.XA CN112764033B (en) | 2020-12-24 | 2020-12-24 | Distance detection method and device and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011556702.XA CN112764033B (en) | 2020-12-24 | 2020-12-24 | Distance detection method and device and mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112764033A true CN112764033A (en) | 2021-05-07 |
| CN112764033B CN112764033B (en) | 2024-03-08 |
Family
ID=75695643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011556702.XA Active CN112764033B (en) | 2020-12-24 | 2020-12-24 | Distance detection method and device and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112764033B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113495567A (en) * | 2021-08-27 | 2021-10-12 | 湖南格兰博智能科技有限责任公司 | Cliff detection method and sweeping robot |
| CN113854900A (en) * | 2021-09-28 | 2021-12-31 | 北京石头世纪科技股份有限公司 | Self-moving robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1125821A (en) * | 1997-07-07 | 1999-01-29 | Omron Corp | Optical sensor device |
| US20140088761A1 (en) * | 2012-09-21 | 2014-03-27 | Irobot Corporation | Proximity Sensing On Mobile Robots |
| CN105223951A (en) * | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | Self-movement robot |
| KR20180024326A (en) * | 2016-08-29 | 2018-03-08 | 엘지전자 주식회사 | Moving Robot and controlling method |
| CN108020844A (en) * | 2017-11-27 | 2018-05-11 | 深圳市沃特沃德股份有限公司 | Steep cliff detection method and robot |
| CN110403529A (en) * | 2019-06-21 | 2019-11-05 | 安克创新科技股份有限公司 | Self-moving device and ground Material Identification method |
| CN111142543A (en) * | 2020-02-17 | 2020-05-12 | 珠海市一微半导体有限公司 | Robot obstacle avoidance device, control method, edge control method and distance measurement system |
| CN111610783A (en) * | 2020-04-29 | 2020-09-01 | 尚科宁家(中国)科技有限公司 | Autonomous robot travel control method, autonomous robot, and storage medium |
| CN111631640A (en) * | 2020-05-26 | 2020-09-08 | 珠海市一微半导体有限公司 | Application method of detection device capable of judging condition of robot walking surface |
| CN111796290A (en) * | 2019-04-08 | 2020-10-20 | 速感科技（北京）有限公司 | Ground detection method, ground detector and autonomous mobile device |
-
2020
- 2020-12-24 CN CN202011556702.XA patent/CN112764033B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1125821A (en) * | 1997-07-07 | 1999-01-29 | Omron Corp | Optical sensor device |
| US20140088761A1 (en) * | 2012-09-21 | 2014-03-27 | Irobot Corporation | Proximity Sensing On Mobile Robots |
| CN105404298A (en) * | 2012-09-21 | 2016-03-16 | 艾罗伯特公司 | Proximity Sensing On Mobile Robots |
| CN105223951A (en) * | 2015-09-14 | 2016-01-06 | 苏州爱普电器有限公司 | Self-movement robot |
| KR20180024326A (en) * | 2016-08-29 | 2018-03-08 | 엘지전자 주식회사 | Moving Robot and controlling method |
| CN108020844A (en) * | 2017-11-27 | 2018-05-11 | 深圳市沃特沃德股份有限公司 | Steep cliff detection method and robot |
| CN111796290A (en) * | 2019-04-08 | 2020-10-20 | 速感科技（北京）有限公司 | Ground detection method, ground detector and autonomous mobile device |
| CN110403529A (en) * | 2019-06-21 | 2019-11-05 | 安克创新科技股份有限公司 | Self-moving device and ground Material Identification method |
| CN111142543A (en) * | 2020-02-17 | 2020-05-12 | 珠海市一微半导体有限公司 | Robot obstacle avoidance device, control method, edge control method and distance measurement system |
| CN111610783A (en) * | 2020-04-29 | 2020-09-01 | 尚科宁家(中国)科技有限公司 | Autonomous robot travel control method, autonomous robot, and storage medium |
| CN111631640A (en) * | 2020-05-26 | 2020-09-08 | 珠海市一微半导体有限公司 | Application method of detection device capable of judging condition of robot walking surface |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113495567A (en) * | 2021-08-27 | 2021-10-12 | 湖南格兰博智能科技有限责任公司 | Cliff detection method and sweeping robot |
| CN113854900A (en) * | 2021-09-28 | 2021-12-31 | 北京石头世纪科技股份有限公司 | Self-moving robot |
| CN113854900B (en) * | 2021-09-28 | 2023-01-03 | 北京石头世纪科技股份有限公司 | Self-moving robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112764033B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112764033B (en) | Distance detection method and device and mobile robot | |
| CN111526768A (en) | Mobile device for cleaning and control method thereof | |
| CN111796290B (en) | Ground detection method, ground detector and autonomous mobile device | |
| CN112020041B (en) | Communication system of cleaning robot and base station | |
| CN108209773A (en) | The intelligent barrier avoiding method of clean robot and clean robot | |
| CN107643750B (en) | Method for identifying slope of intelligent walking equipment and intelligent walking equipment | |
| CN113796778B (en) | Remote operation and maintenance method, device, system, robot, chip and storage medium | |
| US11191407B2 (en) | Cleaning of pet areas by autonomous cleaning robots | |
| CN111338332B (en) | Automatic walking equipment and obstacle avoidance method and device thereof | |
| CN106019260A (en) | Distance sensor anti-fouling method and system on mobile terminal | |
| KR101697557B1 (en) | Dust measurement apparatus and robot cleaner included the apparatus | |
| CN113633221B (en) | Method, device and system for processing missed-scanning area of automatic cleaning equipment | |
| CN110946508A (en) | Control method and device of sweeping robot using laser radar and camera | |
| CN115373408A (en) | Cleaning robot, control method, device, equipment and storage medium thereof | |
| JP2007029489A (en) | Self-propelled cleaner and its program | |
| CN113116240B (en) | Mop removal reminding method and device and cleaning robot | |
| CN107803837B (en) | Restricting device, visual floor sweeping robot and control method of visual floor sweeping robot | |
| CN113119128A (en) | Robot, operation control method thereof, electronic device, and storage medium | |
| KR100264832B1 (en) | Robot cleaner control device using computer and its method | |
| US11249490B2 (en) | Self-moving device capable of automatically recognizing an object in front, and recognition method thereof | |
| CN113598656B (en) | Cleaning method and device for mobile robot, storage medium and electronic device | |
| CN113484856B (en) | Control method, processor, control device for household appliance and household appliance | |
| CN113100675A (en) | Mop removal reminding method and device and cleaning robot system | |
| CN113008982B (en) | Ground material identification method and device and intelligent cleaning device | |
| EP3942330B1 (en) | Distance measurement sensor which detects error state in accordance with foreign substance and mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |