CN112764033B - Distance detection method and device and mobile robot - Google Patents
Distance detection method and device and mobile robot Download PDFInfo
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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, a signal difference algorithm is adopted for distance measurement, the influence of ground materials, colors, roughness and the like on measurement precision can be effectively avoided, accurate distance information of the cliff detector from the ground is obtained, and detection of two centimeters or even smaller distances can be realized. If the cliff detector scheme is applied to the mobile robots such as the sweeping robot, the obstacle that the sweeping robot jumps down by more 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 robots, and in particular, to a distance detection method and apparatus, and a mobile robot.
Background
The floor sweeping robot is also called an automatic sweeping machine, an intelligent dust collection machine, 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 science and technology and the continuous improvement of the living standard of people, the sweeping robot is more and more widely used in the daily life of people and gradually becomes a household appliance indispensable for household life. Because the working environment of the robot cleaner is complex and various, in order to ensure the reliable working operation of the robot cleaner, the cliff ranging sensor is utilized to prevent the robot cleaner from falling off to become a necessary protection function of the robot cleaner.
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 an object to be detected, 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 the obstacle of more than two cm, the sweeping robot is easy to be trapped in the area, the subsequent area cannot be cleaned, and the cleaning coverage rate of the sweeping robot is seriously affected.
Disclosure of Invention
Based on the above, it is necessary to provide a distance detection method, a distance detection device and a mobile robot aiming at the problem of low cleaning coverage rate of the traditional 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 signal quantity received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground; when a second signal transmitter of the cliff detector starts to transmit a second transmission signal to the ground, acquiring a second signal quantity of the second transmission signal, which is received by the signal receiver after being reflected by the ground, wherein a signal transmission area of the first transmission signal is partially overlapped with a signal transmission area of the second transmission signal; obtaining a signal difference 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 acquiring the first signal quantity received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground when the first signal transmitter of the cliff detector is turned on to transmit the first transmission signal to the ground comprises: a first signal transmitter of the cliff detector is controlled to start transmitting a first transmission signal to the ground; and when the time length of the first signal transmitter for transmitting the first transmission signal reaches a first preset time length, acquiring a first signal quantity received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground.
In one embodiment, the step of obtaining a first signal quantity received by a signal receiver of the cliff detector after the first transmitted signal is reflected by the ground comprises: collecting a first preset number of first receiving signals, wherein the first receiving signals are signals received by a signal receiver of a cliff detector after the first transmitting signals are reflected by the ground; and analyzing according to the first received signal to obtain a first signal quantity.
In one embodiment, the step of analyzing the first received signal to obtain a first signal quantity includes: filtering each first receiving signal to obtain a corresponding first sampling signal; and carrying out average method analysis on each first sampling signal to obtain a first signal quantity.
In one embodiment, the step of acquiring a second signal amount 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: a second signal transmitter of the cliff detector is controlled to start transmitting a second transmitting signal to the ground; and when the time length of the second signal transmitter for transmitting the second transmission signal reaches a second preset time length, acquiring a second signal quantity of the second transmission signal which is received by the signal receiver after being reflected by the ground.
In one embodiment, the step of obtaining the second signal quantity received by the signal receiver after the second transmission signal is reflected by the ground includes: 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 received signal to obtain a second signal quantity.
In one embodiment, the step of analyzing the second received signal to obtain a second signal quantity includes: filtering each second receiving signal to obtain a corresponding second sampling signal; and carrying out average method analysis on each second sampling signal to obtain a second signal quantity.
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 includes: performing matching analysis according to the signal difference and a preset signal database to obtain compensation parameters, wherein the preset signal 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 preset signal database further stores ground material information and/or color information corresponding to different signal differences, and the step of obtaining the distance between the cliff detector and the ground according to the signal differences and the preset signal database further includes: and carrying out 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 first signal quantity analysis module is used for acquiring a first signal quantity 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 starts to transmit the first transmission signal to the ground; the second signal quantity analysis module is used for acquiring a second signal quantity 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, and a signal transmitting area of the first transmitting signal is partially overlapped with a signal transmitting area of the second transmitting signal; the signal difference analysis module is used for obtaining 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 between the cliff detector and 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 connected to the controller through the switching device, respectively.
In one embodiment, the mobile robot is a cleaning robot.
The 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 first signal transmitter and the signal receiver are utilized to transmit and receive signals, then the second signal transmitter and the signal receiver are utilized to transmit and receive signals, and then when the two signals are transmitted and received, the first signal quantity and the second signal quantity acquired at one end of the signal receiver are combined to carry out differential algorithm analysis, and finally the distance information of the cliff detector from the ground is obtained. Through the scheme, the distance measurement is carried out by adopting the signal difference algorithm, the influence of ground materials, colors, 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 two centimeters or even smaller distances can be realized. If the cliff detector scheme is applied to the mobile robots such as the sweeping robot, the obstacle that the sweeping robot jumps down by more 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 of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of 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 flowchart of a distance detection method according to another embodiment;
FIG. 4 is a schematic diagram of a first signal analysis flow in an embodiment;
FIG. 5 is a flowchart of a distance detection method according to another embodiment;
FIG. 6 is a schematic diagram of a second signal analysis flow chart according to an embodiment;
FIG. 7 is a flowchart of a distance detection method according to another embodiment;
FIG. 8 is a schematic diagram of a distance detecting device according to an embodiment;
fig. 9 is a schematic diagram of a mobile robot in an embodiment.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a distance detection method includes steps S100, S200, S300, and S400.
In step S100, when the first signal transmitter of the cliff detector is turned on to transmit the first transmission signal to the ground, a first signal quantity of the first transmission signal reflected by the ground and received by the signal receiver of the cliff detector is obtained.
Specifically, the signal transmitted to the ground by the first signal transmitter is a first transmission signal, and after the first transmission signal reaches the ground, the first transmission signal is reflected to the signal receiver due to different ground materials, roughness or color information and finally reflected to the signal receiver, so that the first transmission signal is received by the signal receiver. The controller obtains the corresponding first signal quantity by performing a series of sampling analyses on the transmitted signal received at the signal receiver.
It will be appreciated that the cliff detector of the present embodiment may be applied to various devices or apparatuses that require a moving operation, and in order to facilitate understanding of the various embodiments of the present application, the following explanation will be made with the cliff detector disposed on a moving robot.
The timing and manner of activation of the first signal transmitter of the cliff detector is not unique. In one embodiment, the first transmitting signal is periodically transmitted to the ground with a certain preset time period during the power-on movement of the mobile robot (or other type of mobile operation device or equipment) using the cliff detector, and the signal receiver receives the signal transmitted from the ground and returned to the signal receiver in real time, so as to obtain the corresponding first signal quantity finally. The first signal transmitter is started to realize control through the controller of the mobile robot, and when the mobile robot is powered on to run, the controller of the mobile robot firstly sends a starting instruction to the first signal transmitter to control the first signal transmitter to start to run.
Further, in one embodiment, a switching device may be further disposed between the first signal transmitter and the controller, where the controller indirectly implements the on-off control of the first signal transmitter by controlling the on-off of the switching device. It will be appreciated that the type of distance of the switching means is not exclusive and in one embodiment may be implemented using devices with switching functions, such as relays, transistors or MOS (Metal-Oxide-Semiconductor) transistors, etc.
It should be noted that the type of first signal transmitter is not exclusive, and in one embodiment the first signal transmitter is an infrared signal transmitter and the corresponding signal receiver is an infrared signal receiver. The embodiment adopts infrared signals to carry out distance detection, and has the advantages of simple detection operation and high detection reliability.
In step S200, when the second signal transmitter of the cliff detector is turned on to transmit the second transmission signal to the ground, a second signal quantity of the second transmission signal reflected by the ground and received by the signal receiver is obtained.
Specifically, the signal emission region of the first emission signal partially overlaps the signal emission region of the second emission signal. Similarly to the first signal transmitter, a second signal transmitter is further arranged in the cliff detector, and after the controller acquires the first signal quantity corresponding to the first transmission signal from the signal receiver, the second signal transmitter is started to acquire the second signal quantity. Since the differential arithmetic analysis of the first and second signal quantities is subsequently required, it is necessary to ensure that there is an overlap between the signal emission areas of the first and second transmission signals. Referring to fig. 2 in combination, only if there is an overlapping portion between the signal region of the first transmission signal and the signal region of the second transmission signal, a difference analysis can be performed according to the obtained first signal quantity and the second signal quantity, so as to finally implement a corresponding distance detection operation. It will be appreciated that in order to provide an overlap of the signal region of the first transmitted signal and the signal region of the second transmitted signal, this may be achieved by arranging the first signal transmitter at a suitable angle to 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 for transmitting the first transmission signal, the second signal transmitter is correspondingly controlled to be turned off, and when the second signal transmitter is turned on for transmitting the second transmission signal, the first signal transmitter is correspondingly controlled to be turned off.
Similarly, in one embodiment, a switching device may be further disposed between the second signal transmitter and the controller, where the controller indirectly implements the on-off control of the second signal transmitter by controlling the on-off of the switching device. It will be appreciated that the type of distance of the switching means is not exclusive and in one embodiment may be implemented using devices with switching functions, such as relays, transistors or MOS transistors.
It should be noted that the type of second signal transmitter is not exclusive, and in one embodiment, the second signal transmitter is an infrared signal transmitter as is the first signal transmitter, and the corresponding signal receiver is an infrared signal receiver.
Step S300, obtaining the signal difference according to the first signal quantity and the second signal quantity.
Specifically, when 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 controller makes a difference between the first signal quantity and the second signal quantity, and then a corresponding signal difference can be obtained.
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 thought of the signal difference algorithm, the distance between the cliff detector and the ground can be obtained by combining the analysis and calculation with a preset signal database.
It should be noted that in one embodiment, the controller is pre-stored with a predetermined distance, and the distance of the cliff detector from the ground is substantially constant, i.e. substantially the predetermined 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 (namely, the part with a certain height difference on the ground where the mobile robot is positioned before), a certain difference exists between the detected distance and the preset distance, the height of the cliff is further obtained according to the difference between the detected distance and the preset distance, and the analysis operation of whether the mobile robot can jump over the cliff for operation can be realized according to the height.
Referring to fig. 3 in combination, in one embodiment, step S100 includes step S110 and step S120.
Step S110, a first signal transmitter of the cliff detector is controlled to start transmitting a first transmission signal to the ground; in step S120, when the duration of the first signal transmitter transmitting the first transmission signal reaches the first predetermined duration, a first signal quantity of the first transmission signal, which is received by the signal receiver of the cliff detector after being reflected by the ground, is obtained.
Specifically, when the signal transmitter transmits a signal, the signal which is just transmitted is not a stable signal, so in this embodiment, in order to effectively improve accuracy of the first signal, after the duration of the first signal transmitter starting to transmit the first transmission signal to the ground reaches the first preset duration, the first signal is further acquired at the signal receiver.
It can be understood that in this embodiment, the controller controls the first signal emitter of the cliff detector to be turned on, specifically, may send an on signal to a switching device between the first signal emitter and the controller, so that the power source can flow into the first signal emitter through the switching device, so as to implement the emitting operation of the first emitting signal.
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, the first signal transmitter needs to wait for about 40 microseconds before the signal starts to stabilize, so in a more detailed embodiment, the first preset time size may be 50 microseconds, that is, when the controller controls the first signal transmitter to start transmitting the first transmission signal for 50 microseconds, the first signal 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.
Referring to fig. 4 in combination, in one embodiment, the step of acquiring the first signal quantity received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground includes step S121 and step S122.
Step S121, collecting a first preset number of first received signals; step S122, analyzing according to the first received signal to obtain a first signal quantity.
Specifically, the first received signal is a signal received by a signal receiver of the cliff detector after the first transmitted signal is reflected by the ground. In this embodiment, when the controller samples a first received signal received at one end of the signal receiver, in order to ensure accuracy of a first signal quantity obtained finally and eliminate errors, during analysis of the first signal quantity, a plurality of first transmission signals are first collected, transmitted through the ground, and then returned to the first received signal of the signal receiver, and then the first signal quantity is obtained by combining the plurality of first received signals for analysis.
It should be noted that, when the acquisition operation of the plurality (i.e., the first preset number) of first received signals is performed, the plurality of first received signals are obtained by the controller by sampling continuously. That is, when sampling is started, according to the sampling precision of the controller, each sampling period correspondingly collects a first receiving signal in the sampling period corresponding to the first preset number of times.
It will be appreciated that the specific size of the first predetermined number is not unique, as long as the error is reasonably reduced or eliminated by analysis of each of the first received signals collected. For example, in one embodiment, any number of the first predetermined number 8-32, i.e., 8, 9, … …, up to 32, of the first received signals may be collected. In a more detailed embodiment, the first preset 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 preset period of time, the first signal is continuously collected for 16 times, and then the final first signal quantity analysis operation is performed in combination with the 16 first received signals.
Further, in one embodiment, step S122 includes: filtering each first receiving signal to obtain a corresponding first sampling signal; and carrying out average method analysis on each first sampling signal to obtain a first signal quantity.
Specifically, in this embodiment, in order to further ensure the sampling accuracy of the first signal, the controller may further perform filtering processing on the first received signal obtained by each sampling, so as to obtain the first sampled signal corresponding to each sampling, and then perform a final first semaphore analysis operation by using the filtered first sampled signal. The sampling average method in this embodiment analyzes, and solves an average value for each first sampling signal obtained by sampling, thereby obtaining a final first signal quantity.
It should be noted that, in the averaging method shown in this embodiment, specifically, the corresponding first signal quantity may be obtained simply by solving the average value of all the first sampling signals. The method can also adopt a head and tail removing average method to analyze, namely, the first sampling signals with the largest numerical value and the smallest numerical value in the sampled first preset number (marked as n) are removed, and the remaining n-2 first sampling signals are directly sampled to carry out average value solving, so that the corresponding first signal quantity is obtained.
Referring to fig. 5, step S200 includes step S210 and step S220 in one embodiment.
Step S210, controlling a second signal transmitter of the cliff detector to start transmitting a second transmission signal to the ground; step S220, when the duration of the second signal transmitter transmitting the second transmission signal reaches the second preset duration, the second signal quantity of the second transmission signal, which is received by the signal receiver after being reflected by the ground, is obtained.
Specifically, similar to the above-mentioned operation of starting the first signal transmitter to acquire the first signal amount, in this embodiment, in order to effectively improve the accuracy of sampling the second signal amount, after the duration of starting the second signal transmitter to transmit the second transmission signal to the ground reaches the second preset duration, the second signal amount is further acquired at the signal receiver.
It can be understood that in this embodiment, the controller controls the second signal transmitter of the cliff detector to be turned on, specifically, an on signal may be sent to a switching device between the second signal transmitter and the controller, so that the power supply can flow into the second signal transmitter through the switching device, so as to implement the transmitting operation of the second transmitting signal.
It should be noted that the second preset time period is not unique in size, and the first preset time period 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, such as 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, the second signal transmitter needs to wait for about 40 microseconds before the second signal transmitter starts to stabilize, so in a more detailed embodiment, the second preset time size can be 50 microseconds, that is, when the controller controls the second signal transmitter to start transmitting the second transmission signal for 50 microseconds, the second signal 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.
Referring to fig. 6, in one embodiment, the step of acquiring the second signal quantity received by the signal receiver after the second transmission signal is reflected by the ground includes step S221 and step S222.
Step S221, collecting a second preset number of second received signals; step S222, analyzing the second received signal to obtain a second signal quantity.
Specifically, the second receiving signal is a signal received by the signal receiver after the second transmitting 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 second signal quantity obtained finally and eliminate errors, during the second signal quantity analysis, first, a plurality of second transmission signals are collected, transmitted through the ground, and then returned to the second received signal of the signal receiver, and then, the second signal quantity is obtained by combining the plurality of second received signals for analysis.
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 obtained by the controller by sampling continuously. That is, when sampling is started, according to the sampling precision of the controller, in the sampling period corresponding to the second preset number of times, each sampling period correspondingly acquires a second receiving signal.
It will be appreciated 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, so long as the error is reasonably reduced or eliminated by analyzing each of the collected second received signals. For example, in one embodiment, the second preset number is 16, that is, after the controller controls the second signal transmitter to transmit the second transmission signal to the ground for a second preset period of time, the second signal is continuously collected for 16 times, and then the final second signal quantity analysis operation is performed in combination with the 16 second received 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 signal quantity.
Specifically, in this embodiment, in order to further ensure the sampling accuracy of the first signal, the controller may further perform filtering processing on the second received signal obtained by each sampling, so as to obtain a second sampled signal corresponding to each sampling, and then perform a final second signal quantity analysis operation by using the filtered second sampled signal. The sampling average method in this embodiment analyzes, and solves an average value for each second sampling signal obtained by sampling, thereby obtaining a final second signal quantity.
It should be noted that, in the averaging method shown in this embodiment, the corresponding second signal quantity may be obtained by simply solving the average value of all the second sampling signals. And the analysis can also be carried out by adopting a head and tail removing average method, namely, the second sampling signals with the largest numerical value and the smallest numerical value in the second sampled signals with the second preset number (marked as n) are removed, and the remaining n-2 second sampling signals are directly sampled to carry out average value solving, so that the corresponding second signal quantity is obtained.
Referring to fig. 7, step S400 includes step S410 and step S420 in one embodiment.
Step S410, performing matching analysis according to the signal difference and a preset signal database to obtain compensation parameters; and step S420, analyzing according to the compensation parameters to obtain the distance between the cliff detector and the ground.
Specifically, the preset signal database stores compensation parameters corresponding to different signal differences. The preset signal 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 performs analysis and calculation according to the compensation parameters, the time from the transmission of the first transmission signal to the reception of the signal receiver, the time from the transmission of the second transmission signal to the reception of the signal receiver, the propagation speed of the signal and the like, so that the distance between the final cliff detector and the ground can be 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 association, and after the controller obtains the compensation parameter, the controller directly performs matching analysis to obtain corresponding distance information, that is, the distance between the current cliff detector and the ground.
In one embodiment, the preset signal database further stores ground material information and/or color information corresponding to different signal differences, and step S400 further includes: and carrying out 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 signal database further stores the signal difference and the corresponding ground material information and/or color information in a correlated manner, and when the signal difference is obtained by the controller through analysis and then matched with the preset signal database, the corresponding ground material information and/or color information under the current signal difference is further obtained.
In the distance detection method, the 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 performed, the first signal transmitter and the signal receiver are utilized to perform signal transmission and reception, then the second signal transmitter and the signal receiver are utilized to perform signal transmission and reception, and when the two 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, and finally the distance information of the cliff detector from the ground is obtained. Through the scheme, the distance measurement is carried out by adopting the signal difference algorithm, the influence of ground materials, colors, 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 two centimeters or even smaller distances can be realized. If the cliff detector scheme is applied to the mobile robots such as the sweeping robot, the obstacle that the sweeping robot jumps down by more 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 semaphore analysis module 300, and a distance analysis module 400.
Specifically, the present invention relates to a method for manufacturing a semiconductor device. The first signal quantity analysis module 100 is configured to obtain, when a first signal transmitter of the cliff detector is turned on to transmit a first transmission signal to the ground, a first signal quantity of the first transmission signal reflected by the ground and received by a signal receiver of the cliff detector; the second signal quantity analysis module 200 is configured to obtain a second signal quantity of the second transmission signal received by the signal receiver after being 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 analysis 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 from the cliff detector to 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 transmitting the first transmit signal to the ground; when the time length of the first signal transmitter for transmitting the first transmission signal reaches a first preset time length, a first signal quantity which is received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground is obtained.
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 signal quantity.
In one 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 method analysis on each first sampling signal to obtain a first signal quantity.
In one embodiment, the second signal analysis module 200 is further configured to control a second signal transmitter of the cliff detector to turn on transmitting a second transmission signal to the ground; and when the time length of the second signal transmitter for transmitting the second transmission signal reaches a second preset time length, acquiring a second signal quantity of the second transmission 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 acquire a second preset number of second received signals; and analyzing according to the second received signal to obtain a second signal quantity.
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 signal quantity.
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, so as to obtain material information and/or color information of the current ground.
For specific limitations of the distance detection device, reference may be made to the above limitations of the distance detection method, and no further description is given here. The respective modules in the above-described distance detection apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
When the distance detection operation of the cliff detector from the ground is carried out, the first signal emitter and the signal receiver are utilized to carry out signal emission and receiving, then the second signal emitter and the signal receiver are utilized to carry out signal emission and receiving, and then when the two signal emission and receiving are combined, differential algorithm analysis is carried out on the first signal quantity and the second signal quantity acquired at one end of the signal receiver, and finally the distance information of the cliff detector from the ground is obtained. Through the scheme, the distance measurement is carried out by adopting the signal difference algorithm, the influence of ground materials, colors, 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 two centimeters or even smaller distances can be realized. If the cliff detector scheme is applied to the mobile robots such as the sweeping robot, the obstacle that the sweeping robot jumps down by more 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 perform distance detection of the cliff detector 10 from 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 reflected to the signal receiver 13 due to different materials, roughness or color information of the ground, so as to be received by the signal receiver 13. The controller 20 obtains the corresponding first signal quantity by performing a series of sampling analyses on the transmitted signal received at the signal receiver 13.
The timing and manner of activation of the first signal transmitter 11 of the cliff detector 10 is not unique. In one embodiment, the first transmitting signal is periodically transmitted to the ground with a certain preset period of time during the power-on movement of the mobile robot (or other type of mobile operation device or equipment) using the cliff detector 10, and the signal receiver 13 receives the signal transmitted from the ground and returned to the signal receiver 13 in real time, so as to obtain the corresponding first signal quantity. The first signal transmitter 11 is turned on by the controller 20 of the mobile robot, and when the mobile robot is powered on, the controller 20 of the mobile robot first sends an on command to the first signal transmitter 11 to control the first signal transmitter 11 to turn on.
Further, in an embodiment, a switching device may be further disposed between the first signal transmitter 11 and the controller 20, and at this time, the controller 20 indirectly controls the on/off of the switching device to realize the on/off control of the first signal transmitter 11. It will be appreciated that the type of distance of the switching means is not exclusive and in one embodiment may be implemented using devices with switching functions, such as relays, transistors or MOS (Metal-Oxide-Semiconductor) transistors, etc.
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 infrared signals to carry out distance detection, and has the advantages of simple detection operation and high detection reliability.
Similar to the first signal transmitter 11, a second signal transmitter 12 is further disposed in the cliff detector 10, and after the controller 20 acquires the first signal amount corresponding to the first transmission signal from the signal receiver 13, the second signal transmitter 12 is turned on to acquire the second signal amount. Since the differential arithmetic analysis of the first and second signal quantities is subsequently required, it is necessary to ensure that there is an overlap between the signal emission areas of the first and second transmission signals. Referring to fig. 2 in combination, only if there is an overlapping portion between the signal region of the first transmission signal and the signal region of the second transmission signal, a difference analysis can be performed according to the obtained first signal quantity and the second signal quantity, so as to finally implement a corresponding distance detection operation. It will be appreciated that in order to provide an overlap of the signal areas of the first and second transmitted signals, this may be achieved by arranging the first and second signal emitters 11, 12 at a suitable angle.
It should be noted that, in one embodiment, in order to avoid interference between the transmitted signals of the first signal transmitter 11 and the second signal transmitter 12, when the first signal transmitter 11 is turned on to transmit the first transmission 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 transmission signal, the first signal transmitter 11 is correspondingly controlled to be turned off.
Similarly, in one embodiment, a switching device may be further disposed between the second signal transmitter 12 and the controller 20, where the controller 20 indirectly controls the on/off of the switching device to realize the on/off control of the second signal transmitter 12. It will be appreciated that the type of distance of the switching means is not exclusive and in one embodiment may be implemented using devices with switching functions, such as relays, transistors or MOS transistors.
It should be noted that the type of second signal transmitter 12 is not exclusive, and in one embodiment, the second signal transmitter 12 is an infrared signal transmitter as is 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 by the first signal transmitter 11 to the ground and obtains a second signal quantity according to a second transmission signal transmitted by the second signal transmitter 12 to the ground, the corresponding signal difference is obtained by subtracting the first signal quantity from the second signal quantity.
After the controller 20 obtains the signal difference, based on the idea of the signal difference algorithm, the distance from the cliff detector 10 to the ground at this time can be obtained by performing analysis calculation in combination with a preset signal database.
It should be noted that in one embodiment, the controller 20 is pre-stored with a predetermined distance, and the distance of the cliff detector 10 from the ground is substantially constant, i.e., substantially the predetermined distance, when the mobile robot in which the cliff detector 10 is used is on a level ground. When the mobile robot moves to the edge of the cliff (namely, the part with a certain height difference on the ground where the mobile robot is positioned before), a certain difference exists between the detected distance and the preset distance, the height of the cliff is further obtained according to the difference between the detected distance and the preset distance, and the analysis operation of whether the mobile robot can jump over the cliff for operation can be realized according to the height.
It will be appreciated that the type of mobile robot is not exclusive and that in one embodiment the mobile robot is a cleaning robot. The cleaning robot, namely the sweeping robot, can effectively avoid the obstacle that the sweeping robot jumps down by more than two centimeters by designing the cliff detector 10 of the embodiment at the sweeping robot, avoid the sweeping robot to be 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, when the distance detection operation of the cliff detector 10 from the ground is performed, the first signal transmitter 11 and the signal receiver 13 are used for transmitting and receiving signals, then the second signal transmitter 12 and the signal receiver 13 are used for transmitting and receiving signals, and then the first signal quantity and the second signal quantity acquired at one end of the signal receiver 13 are combined for performing differential algorithm analysis during the two signal transmissions and receptions, so as to finally obtain the distance information of the cliff detector 10 from the ground. Through the scheme, the distance measurement is performed by adopting the signal difference algorithm, the influence of ground materials, colors, 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 two centimeters or even smaller distances can be realized.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (12)
1. A distance detection method, comprising:
when a first signal transmitter of the cliff detector is started to transmit a first transmission signal to the ground, a second signal transmitter is controlled to be closed, and a first signal quantity of the first transmission signal, which is reflected by the ground and then received by a signal receiver of the cliff detector, is obtained;
when a second signal transmitter of the cliff detector is started to transmit a second transmission signal to the ground, the first signal transmitter is controlled to be closed, a second signal quantity of the second transmission signal, which is reflected by the ground and then received by the signal receiver, is obtained, and a signal transmission area of the first transmission signal is partially overlapped with a signal transmission area of the second transmission signal;
Obtaining signal difference according to the first signal quantity and the second signal quantity, wherein the first signal quantity and the second signal quantity are subjected to difference to obtain corresponding signal difference;
obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database;
the step of obtaining the distance between the cliff detector and the ground according to the signal difference and a preset signal database comprises the following steps: performing matching analysis according to the signal difference and a preset signal database to obtain compensation parameters, wherein the preset signal database stores compensation parameters corresponding to different signal differences; and analyzing according to the compensation parameter, the time from the transmission of the first transmission signal to the reception of the signal receiver, the time from the transmission of the second transmission signal to the reception of the signal receiver and the propagation speed of the signal, so as to obtain the distance between the cliff detector and the ground.
2. The distance detecting method according to claim 1, wherein the step of controlling the second signal transmitter to be turned off when the first signal transmitter of the cliff detector is turned on to transmit the first transmission signal to the ground, and acquiring the first signal amount received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground, comprises:
The first signal transmitter of the cliff detector is controlled to be started to transmit a first transmission signal to the ground, and the second signal transmitter is controlled to be closed;
and when the time length of the first signal transmitter for transmitting the first transmission signal reaches a first preset time length, acquiring a first signal quantity received by a signal receiver of the cliff detector after the first transmission signal is reflected by the ground.
3. The distance detection method according to claim 2, wherein the step of acquiring the first signal quantity received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground comprises:
collecting a first preset number of first receiving signals, wherein the first receiving signals are signals received by a signal receiver of a cliff detector after the first transmitting signals are reflected by the ground;
and analyzing according to the first received signal to obtain a first signal quantity.
4. A 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 method analysis on each first sampling signal to obtain a first signal quantity.
5. The distance detection method according to any one of claims 1 to 4, wherein the step of controlling the first signal transmitter to be turned off when the second signal transmitter of the cliff detector is turned on to transmit the second transmission signal to the ground, and acquiring the second signal amount of the second transmission signal received by the signal receiver after being reflected by the ground, includes:
the second signal transmitter of the cliff detector is controlled to be started to transmit a second transmission signal to the ground, and the first signal transmitter is controlled to be closed;
and when the time length of the second signal transmitter for transmitting the second transmission signal reaches a second preset time length, acquiring a second signal quantity of the second transmission signal which is received by the signal receiver after being reflected by the ground.
6. The distance detection method according to claim 5, wherein the step of acquiring a second signal amount of the second transmission signal received by the 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 received signal to obtain a second signal quantity.
7. The distance detection method according to claim 6, wherein the step of analyzing the second received signal to obtain a second signal amount includes:
filtering each second receiving signal to obtain a corresponding second sampling signal;
and carrying out average method analysis on each second sampling signal to obtain a second signal quantity.
8. The distance detection method according to claim 1, wherein the preset signal database further stores ground material information and/or color information corresponding to different signal differences, and the step of obtaining the distance from the cliff detector to the ground according to the signal differences and the preset signal database further comprises:
and carrying out 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.
9. A distance detecting device, characterized by comprising:
the first signal quantity analysis module is used for controlling the second signal transmitter to be closed when the first signal transmitter of the cliff detector is started to transmit a first transmission signal to the ground, and acquiring a first signal quantity received by the signal receiver of the cliff detector after the first transmission signal is reflected by the ground;
The second signal quantity analysis module is used for controlling the first signal transmitter to be closed when the second signal transmitter of the cliff detector is started to transmit a second transmission signal to the ground, so as to acquire a second signal quantity received by the signal receiver after the second transmission signal is reflected by the ground, wherein a signal transmission area of the first transmission signal is partially overlapped with a signal transmission area of the second transmission signal;
the signal difference analysis module is used for obtaining signal difference according to the first signal quantity and the second signal quantity, wherein the first signal quantity and the second signal quantity are subjected to difference to obtain corresponding signal difference;
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 distance analysis module is also used for carrying out matching analysis according to the signal difference and a preset signal database to obtain compensation parameters, and the preset signal database stores compensation parameters corresponding to different signal differences; and analyzing according to the compensation parameter, the time from the transmission of the first transmission signal to the reception of the signal receiver, the time from the transmission of the second transmission signal to the reception of the signal receiver and the propagation speed of the signal, so as to obtain the distance between the cliff detector and the ground.
10. A mobile robot comprising a cliff detector and a controller, the cliff detector comprising a first signal transmitter, a second signal transmitter and a signal receiver, the first signal transmitter, the second signal transmitter and the signal receiver being connected to the controller respectively, the controller being adapted to perform distance detection of the cliff detector from the ground in accordance with the distance detection method of any one of claims 1-8.
11. The mobile robot of claim 10, 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.
12. The mobile robot of claim 10, wherein the mobile robot is a cleaning robot.
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| 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 |
| 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 |
| CN115519586A (en) * | 2022-08-29 | 2022-12-27 | 云鲸智能(深圳)有限公司 | Cliff detection method for robot, and storage medium |
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