CN112835347B - Method and device for avoiding obstacles and sweeping robot - Google Patents
Method and device for avoiding obstacles and sweeping robot Download PDFInfo
- Publication number
- CN112835347B CN112835347B CN201911065475.8A CN201911065475A CN112835347B CN 112835347 B CN112835347 B CN 112835347B CN 201911065475 A CN201911065475 A CN 201911065475A CN 112835347 B CN112835347 B CN 112835347B
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- charging device
- distance
- determining
- signal
- 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.)
- Active
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 185
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000015654 memory Effects 0.000 claims description 20
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a method and a device for avoiding obstacles and a sweeping robot, and the method comprises the following steps: decoding a charging signal sent by a charging device and received by a first sensor of the sweeping robot; determining the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device according to the decoding result; under the condition that the first distance is larger than a first threshold value, according to the position of the charging device relative to the sweeping robot, determining a second distance between the sweeping robot and the charging device by using a photon flight time sensor of the sweeping robot; and under the condition that the second distance is smaller than the first threshold value, adjusting the moving track of the sweeping robot. According to the embodiment of the application, the first sensor and the photon flight time sensor are utilized to confirm the real-time distance between the sweeping robot and the charging seat when the sweeping robot walks, so that the sweeping robot is closer to the charging device under the condition that the sweeping robot does not collide with the charging device, and therefore the area around the charging device is effectively cleaned.
Description
Technical Field
The application relates to the technical field of computers, in particular to a method and a device for avoiding obstacles and a sweeping robot.
Background
The robot of sweeping the floor can plan different strategies of cleaning according to different environment in the external world as intelligent product to can get back to the charging seat when detecting self electric quantity not enough and charge. However, when the floor sweeping robot does not need to be charged, the floor sweeping robot is properly far away from the charging seat, and the floor sweeping robot is prevented from colliding with the charging seat, even the charging wire of the charging seat is collided. Therefore, in order to avoid the influence of the sweeping robot on the charging seat, the infrared sensor on the sweeping robot is required to detect the intensity of the charging signal so as to avoid the charging seat. However, the stronger the charging signal, the larger the avoidance range is, so that the cleaning range of the sweeping robot is reduced, the area which is missed to sweep is increased, the larger area in the vicinity of the charging seat cannot be cleaned, and the customer experience is poor. If the intensity of the charging signal is reduced, the recharging capability of the sweeping robot is affected. On the other hand, because the infrared sensor cannot identify the dark-colored obstacles and the transparent material, the sweeping robot may not identify the charging signal and collide with the charging seat under the influence of surrounding obstacles.
Disclosure of Invention
The embodiment of the application provides a method and a device for avoiding obstacles and a sweeping robot, so as to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present application provides a method for avoiding an obstacle, including:
decoding a charging signal sent by a charging device and received by a first sensor of the sweeping robot;
determining the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device according to the decoding result;
under the condition that the first distance is larger than a first threshold value, according to the position of the charging device relative to the sweeping robot, determining a second distance between the sweeping robot and the charging device by using a photon flight time sensor of the sweeping robot;
and under the condition that the second distance is smaller than the first threshold value, adjusting the moving track of the sweeping robot so as to sweep the area around the charging device and avoid collision with the charging device.
In one embodiment, determining the position of the charging device relative to the sweeping robot and the first distance between the sweeping robot and the charging device according to the decoding result comprises:
respectively acquiring decoding results of the charging signals received by each first sensor, wherein the decoding results at least comprise signal emission direction information and signal intensity information;
determining the position of the charging device relative to the sweeping robot according to the signal transmitting direction information in each decoding result;
and determining the first distance according to the signal strength information in each decoding result.
In one embodiment, acquiring the second distance from the charging device by using the photon time-of-flight sensor of the sweeping robot includes:
transmitting a signal to a charging device by using a transmitting end of each photon flight time sensor;
determining the flight time of each signal under the condition that the receiving end of each photon flight time sensor receives the signal returned from the charging device;
and determining a second distance between the sweeping robot and the charging device according to the flight time of each signal.
In one embodiment, in the case that the second distance is smaller than the first threshold, adjusting the movement track of the sweeping robot includes:
under the condition that the second distance is smaller than the first threshold value, acquiring the position of the charging device relative to the sweeping robot in real time by using the photon flight time sensor;
according to the position of the charging device relative to the sweeping robot, the moving track of the sweeping robot is adjusted.
In one embodiment, adjusting the movement track of the sweeping robot according to the position of the charging device relative to the sweeping robot includes:
determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by using the photon flight time sensor;
and planning the movement track again according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot.
In a second aspect, an embodiment of the present application provides an obstacle avoidance apparatus, including:
the decoding module is used for decoding a charging signal sent by the charging device and received by a first sensor of the sweeping robot;
the first determining module is used for determining the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device according to the decoding result;
the second determining module is used for determining a second distance between the sweeping robot and the charging device by using the photon flight time sensor of the sweeping robot according to the position of the charging device relative to the sweeping robot under the condition that the first distance is greater than the first threshold;
and the adjusting module is used for adjusting the moving track of the sweeping robot under the condition that the second distance is smaller than the first threshold value so as to sweep the area around the charging device and avoid collision with the charging device.
In one embodiment, the first determining module comprises:
the acquisition submodule is used for respectively acquiring decoding results of the charging signals received by the first sensors, and the decoding results at least comprise signal emission direction information and signal intensity information;
the first determining submodule is used for determining the position of the charging device relative to the sweeping robot according to the signal transmitting azimuth information in each decoding result;
and the second determining submodule is used for determining the first distance according to the signal strength information in each decoding result.
In one embodiment, the second determining module comprises:
the transmitting submodule is used for transmitting signals to the charging device by utilizing the transmitting end of each photon flight time sensor;
the third determining submodule is used for determining the flight time of each signal under the condition that the receiving end of each photon flight time sensor receives the signal returned from the charging device;
and the fourth determining submodule is used for determining a second distance between the sweeping robot and the charging device according to the flight time of each signal.
In one embodiment, the adjustment module includes:
the acquisition submodule is used for acquiring the position of the charging device relative to the sweeping robot in real time by using the photon flight time sensor under the condition that the second distance is smaller than the first threshold value;
and the adjusting submodule is used for adjusting the moving track of the sweeping robot according to the position of the charging device relative to the sweeping robot.
In one embodiment, the adjustment submodule includes:
the determining unit is used for determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by utilizing the photon flight time sensor;
and the planning unit is used for re-planning the movement track according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot.
In a third aspect, an embodiment of the present application provides a sweeping robot, including the obstacle avoidance device of the second aspect.
In a fourth aspect, an embodiment of the present application provides an electronic device, where functions of the electronic device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the electronic device may be configured to include a processor and a memory, the memory being configured to store a program that enables the electronic device to perform the above-described obstacle avoidance method, and the processor being configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.
In a fifth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions for storing an electronic device and computer software instructions for the electronic device, which includes a program for executing the above-mentioned obstacle avoidance method.
One of the above technical solutions has the following advantages or beneficial effects: after the position and the distance of the charging device are confirmed by decoding the charging signal through the first sensor, the real-time distance between the sweeping robot and the charging seat when the sweeping robot walks is further confirmed through the photon flight time sensor, so that the sweeping robot can be closer to the charging device under the condition that the sweeping robot does not collide with the charging device, and the surrounding area of the charging device is effectively cleaned.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a flowchart of a method of avoiding an obstacle according to an embodiment of the present application.
Fig. 2 shows a detailed flowchart of step S200 of a method for avoiding an obstacle according to an embodiment of the present application.
Fig. 3 shows a detailed flowchart of step S300 of the method for avoiding an obstacle according to the embodiment of the present application.
Fig. 4 shows a specific flowchart of step S400 of a method of avoiding an obstacle according to an embodiment of the present application.
Fig. 5 shows a specific flowchart of step S420 of the method of avoiding an obstacle according to an embodiment of the present application.
Fig. 6 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to an embodiment of the present application.
Fig. 7 is a block diagram illustrating a first determination module of an obstacle avoidance apparatus according to an embodiment of the present application.
Fig. 8 is a block diagram illustrating a second determination module of an obstacle avoidance apparatus according to an embodiment of the present application.
Fig. 9 is a block diagram illustrating a configuration of an adjustment module of an obstacle avoidance apparatus according to an embodiment of the present application.
Fig. 10 shows a block diagram of an electronic device for implementing the method for avoiding obstacles according to the embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flowchart of a method of avoiding an obstacle according to an embodiment of the present application. As shown in fig. 1, the obstacle avoidance method includes:
s100: and decoding a charging signal sent by the charging device and received by a first sensor of the sweeping robot.
The type of the first sensor may be selected according to the kind of the charging signal emitted from the charging device. For example, in the case where the charging signal is an infrared signal, the first sensor may employ an infrared sensor.
Because the charging signal coverage area that charging device sent is wider, consequently can utilize a plurality of first sensors on the robot of sweeping the floor to carry out the receipt of charging signal. And the decoding results of the charging signals by the sensors arranged at different positions on the sweeping robot can be different.
Decoding the charging signal may be understood as: content information represented by the received charging signal is determined. Or determining a transmitting end corresponding to the charging signal. A plurality of different transmitting terminals may be provided on the charging device.
In one example, during the movement of the sweeping robot, the first sensor may receive a charging signal from the charging device according to a preset time frequency.
S200: and determining the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device according to the decoding result.
The decoding result may include a set position of the transmitting end that transmits the charging signal on the charging device. For example, the decoding result is that the charging signal is transmitted by a transmitting end located right in front of, on the left side of, or on the right side of the charging device. According to the setting position of each first sensor on the sweeping robot and the setting position of the sending end corresponding to the charging signal received by each first sensor on the charging device, the position of the charging device relative to the sweeping robot can be comprehensively judged.
The decoding result may also include the strength of the charging signal. The first sensors can comprehensively calculate the distance between the sweeping robot and the charging device and the current pose of the sweeping robot relative to the charging device according to the strength of the received charging signals. For example, the sweeping robot is directly opposite to the charging device, and an included angle of 45 degrees is formed between the right front of the sweeping robot and the right front of the charging device.
The decoding result may also include the meaning represented by the charging signal. For example, if the decoding result of the charging signal is signal No. 1, it indicates that the distance between the sweeping robot and the charging device is very short. When the decoding result of the charging signal is the signal No. 2, the charging signal is sent out from the left side of the charging device. When the decoding result of the charging signal is the signal No. 3, the charging signal is sent out from the right side of the charging device. According to the setting position of each first sensor on the sweeping robot and the meaning of the charging signal received by each first sensor, the position of the charging device relative to the sweeping robot can be comprehensively judged.
S300: and under the condition that the first distance is larger than the first threshold value, determining a second distance between the sweeping robot and the charging device by using a Time of flight (TOF) sensor of the sweeping robot according to the position of the charging device relative to the sweeping robot.
The size of the first threshold may be selected as needed, and is not particularly limited herein. For example, when the first distance is detected to be greater than one meter, the sweeping robot is controlled to continue to move towards the charging device, the light pulse is sent to the direction of the charging device in real time through the photon flight time sensor, and the second distance between the sweeping robot and the charging device is determined according to the time of returning of the light pulse.
In one example, the signal transmitted by a photon time-of-flight sensor can be tapered outwardly so that one photon time-of-flight sensor can transmit multiple signals to multiple different locations simultaneously. The range of signals received by the photon time-of-flight sensor can also be a conical outward divergent region, so that one photon time-of-flight sensor can receive signals reflected back from one or more different positions.
S400: and under the condition that the second distance is smaller than the first threshold value, adjusting the moving track of the sweeping robot so as to sweep the area around the charging device and avoid collision with the charging device.
The first threshold value can be understood as the safe distance between the sweeping robot and the charging device, when the safe distance is reached, the sweeping robot cannot collide with the charging device or be wound with a power line of the charging device, and meanwhile, the area around the charging device can be effectively swept.
In one example, the first threshold needs to be greater than a safe avoidance distance of the obstacle, less than a reception distance of the charging signal.
Adjusting the movement trajectory of the sweeping robot may include adjusting a current pose of the sweeping robot with respect to the charging device, and a sweeping trajectory of the sweeping robot at a next moment. The adjusted moving track can control the sweeping robot to walk along the wall along the outer wall of the charging device, so that the surrounding area of the charging device is swept. The adjusted moving track can also control the sweeping robot to avoid the charging device and walk to other areas.
In one example, when the second distance is smaller than the first threshold, the detection result of the wall-following sensor and/or the photon time-of-flight sensor can be used for controlling the sweeping robot to move along the wall along the outer wall of the charging device, so that the effective sweeping of the area around the charging device is realized.
In one embodiment, as shown in fig. 2, determining the position of the charging device relative to the sweeping robot and the first distance between the sweeping robot and the charging device according to the decoding result includes:
s210: and respectively acquiring decoding results of the charging signals received by the first sensors, wherein the decoding results at least comprise signal emission direction information and signal strength information.
The signal emission direction information can be understood as the source direction and angle of the charging signal relative to the sweeping robot. The signal strength information may be understood as the strength of the received signal. When the signal is strong, the distance between the sweeping robot and the transmitting end for transmitting the charging signal is short, otherwise, the distance between the sweeping robot and the transmitting end for transmitting the charging signal is long.
S220: and determining the position of the charging device relative to the sweeping robot according to the signal transmitting direction information in each decoding result.
S230: and determining the first distance according to the signal strength information in each decoding result.
In one embodiment, as shown in fig. 3, acquiring the second distance from the charging device by using the photon time-of-flight sensor of the sweeping robot includes:
s310: and transmitting signals to the charging device by using the transmitting end of each photon flight time sensor.
In one example, the photon time-of-flight sensor may send out electrical pulse signals at a preset signal transmission frequency during movement of the sweeping robot.
S320: when the receiving end of each photon time-of-flight sensor receives a signal returned from the charging device, the time-of-flight of each signal is determined.
In one example, the photon time-of-flight sensor records the time at which an electrical pulse signal is sent to the location at which the charging device is located, and records the time at which an electrical pulse signal returned by the charging device is received. And determining the flight time of the signal according to the sending time and the receiving time.
It should be noted that the short flight time is understood as the signal strength is strong. A long time of flight is understood to mean a strong signal strength.
S330: and determining a second distance between the sweeping robot and the charging device according to the flight time of each signal.
In one embodiment, as shown in fig. 4, in the case that the second distance is smaller than the first threshold, adjusting the movement trajectory of the sweeping robot includes:
s410: and under the condition that the second distance is smaller than the first threshold value, acquiring the position of the charging device relative to the sweeping robot in real time by using the photon flight time sensor.
S420: according to the position of the charging device relative to the sweeping robot, the moving track of the sweeping robot is adjusted.
In one embodiment, as shown in fig. 5, adjusting the moving track of the sweeping robot according to the position of the charging device relative to the sweeping robot includes:
s4210: and determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by using the photon time-of-flight sensor.
In one example, the distance between the sweeping robot and each obstacle in the surrounding environment and the position of each obstacle relative to the sweeping robot are determined by the signal direction and the signal strength received by each photon flight time sensor circumferentially arranged on the sweeping robot.
S4220: and planning the movement track again according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot. Therefore, the replanned moving track can be ensured to avoid the collision between the sweeping robot and the obstacle, and the area around the obstacle can be effectively cleaned. The obstacle may comprise any item located in the environment surrounding the sweeping robot, including the charging device may be considered an obstacle.
Fig. 6 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to an embodiment of the present application. As shown in fig. 6, the obstacle avoidance apparatus 100 includes:
the decoding module 10 is configured to decode a charging signal sent by the charging device and received by a first sensor of the sweeping robot.
The first determining module 20 is configured to determine, according to the decoding result, a position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device.
The second determining module 30 is configured to determine, according to the position of the sweeping robot relative to the charging device, a second distance between the sweeping robot and the charging device by using the photon flight time sensor of the sweeping robot when the first distance is greater than the first threshold.
And the adjusting module 40 is configured to adjust a moving track of the sweeping robot when the second distance is smaller than the first threshold, so as to sweep an area around the charging device and avoid collision with the charging device.
In one embodiment, as shown in fig. 7, the first determining module 20 includes:
the obtaining submodule 21 is configured to obtain decoding results of the charging signals received by the first sensors, where the decoding results at least include signal emitting direction information and signal strength information.
And the first determining submodule 22 is used for determining the position of the charging device relative to the sweeping robot according to the signal transmitting direction information in each decoding result.
And a second determining submodule 23, configured to determine the first distance according to the signal strength information in each decoding result.
In one embodiment, as shown in fig. 8, the second determining module 30 includes:
and the sending submodule 31 is used for sending signals to the charging device by utilizing the sending end of each photon flight time sensor.
And a third determining submodule 32 for determining the flight time of each signal in the case where the receiving end of each photon flight time sensor receives a signal returned from the charging device.
And a fourth determining submodule 33, configured to determine a second distance between the sweeping robot and the charging device according to the flight time of each signal.
In one embodiment, as shown in fig. 9, the adjustment module 40 includes:
and the obtaining submodule 41 is configured to obtain, in real time, a position of the charging device relative to the sweeping robot by using the photon flight time sensor when the second distance is smaller than the first threshold.
And the adjusting submodule 42 is used for adjusting the moving track of the sweeping robot according to the position of the charging device relative to the sweeping robot.
In one embodiment, the adjustment submodule includes:
and the determining unit is used for determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by using the photon time-of-flight sensor.
And the planning unit is used for re-planning the movement track according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
The embodiment of the application also comprises a sweeping robot which comprises the device for avoiding the obstacle in any embodiment.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 10, the present invention is a block diagram of an electronic device of a method for avoiding an obstacle according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 10, the electronic apparatus includes: one or more processors 901, memory 902, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical information for a Graphical User Interface (GUI) on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 10 illustrates an example of a processor 901.
The memory 902, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the road traffic network model construction method in the embodiments of the present application. The processor 901 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 902, that is, implements the road traffic network model building method in the above method embodiments.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the road traffic network model building electronic device, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include memory remotely located from the processor 901, which may be connected to the road traffic network model building electronics via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the road traffic network model construction method may further include: an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903, and the output device 904 may be connected by a bus or other means, and fig. 10 illustrates an example of a connection by a bus.
The input device 903 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the road traffic network model building electronics, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 904 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD) such as a Liquid crystal Cr9 star display 9, a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, Integrated circuitry, Application Specific Integrated Circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (Cathode Ray Tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (13)
1. A method of avoiding an obstacle, comprising:
decoding a charging signal sent by a charging device and received by a first sensor of the sweeping robot;
according to the decoding result, the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device are determined;
under the condition that the first distance is larger than a first threshold value, according to the position of the charging device relative to the sweeping robot, determining a second distance between the sweeping robot and the charging device by using a photon flight time sensor of the sweeping robot;
adjusting the movement track of the sweeping robot to sweep the area around the charging device and avoid collision with the charging device under the condition that the second distance is smaller than a first threshold value,
the first threshold is larger than the avoidance distance of the obstacle and smaller than the receiving distance of the charging signal.
2. The method of claim 1, wherein determining the position of the charging device relative to the sweeping robot and the first distance between the sweeping robot and the charging device according to the decoding result comprises:
respectively acquiring decoding results of the charging signals received by the first sensors, wherein the decoding results at least comprise signal emission direction information and signal intensity information;
determining the position of the charging device relative to the sweeping robot according to the signal transmitting direction information in each decoding result;
and determining the first distance according to the signal strength information in each decoding result.
3. The method of claim 1, wherein acquiring a second distance from the charging device using a photon time-of-flight sensor of the sweeping robot comprises:
transmitting a signal to the charging device by using a transmitting end of each photon flight time sensor;
determining the flight time of each signal when the receiving end of each photon flight time sensor receives the signal returned from the charging device;
and determining the second distance between the sweeping robot and the charging device according to the flight time of each signal.
4. The method of claim 1, wherein adjusting the trajectory of movement of the sweeping robot if the second distance is less than a first threshold comprises:
under the condition that the second distance is smaller than a first threshold value, the position of the charging device relative to the sweeping robot is obtained in real time by using the photon flight time sensor;
and adjusting the movement track of the sweeping robot according to the position of the charging device relative to the sweeping robot.
5. The method of claim 4, wherein adjusting the movement trajectory of the sweeping robot according to the position of the charging device relative to the sweeping robot comprises:
determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by using the photon flight time sensor;
and replanning a moving track according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot.
6. An obstacle avoidance apparatus, comprising:
the decoding module is used for decoding a charging signal sent by the charging device and received by a first sensor of the sweeping robot;
the first determining module is used for determining the position of the charging device relative to the sweeping robot and a first distance between the sweeping robot and the charging device according to a decoding result;
the second determining module is used for determining a second distance between the sweeping robot and the charging device by using a photon flight time sensor of the sweeping robot according to the position of the charging device relative to the sweeping robot under the condition that the first distance is greater than a first threshold value;
an adjusting module, configured to adjust a movement trajectory of the sweeping robot when the second distance is smaller than a first threshold, so as to clean an area around the charging device and avoid collision with the charging device,
the first threshold is larger than the avoidance distance of the obstacle and smaller than the receiving distance of the charging signal.
7. The apparatus of claim 6, wherein the first determining module comprises:
the acquisition submodule is used for respectively acquiring decoding results of the charging signals received by the first sensors, and the decoding results at least comprise signal emission direction information and signal intensity information;
the first determining submodule is used for determining the position of the charging device relative to the sweeping robot according to the signal transmitting direction information in each decoding result;
and the second determining submodule is used for determining the first distance according to the signal strength information in each decoding result.
8. The apparatus of claim 6, wherein the second determining module comprises:
the transmitting submodule is used for transmitting signals to the charging device by using the transmitting end of each photon flight time sensor;
the third determining submodule is used for determining the flight time of each signal under the condition that the receiving end of each photon flight time sensor receives the signal returned from the charging device;
a fourth determining submodule, configured to determine the second distance between the sweeping robot and the charging device according to the flight time of each signal.
9. The apparatus of claim 6, wherein the adjustment module comprises:
the acquisition submodule is used for acquiring the position of the charging device relative to the sweeping robot in real time by using the photon flight time sensor under the condition that the second distance is smaller than a first threshold value;
and the adjusting submodule is used for adjusting the moving track of the sweeping robot according to the position of the charging device relative to the sweeping robot.
10. The apparatus of claim 9, wherein the adjustment submodule comprises:
the determining unit is used for determining a third distance between the sweeping robot and surrounding obstacles and the position of the obstacles relative to the sweeping robot by using the photon time-of-flight sensor;
and the planning unit is used for re-planning the movement track according to the position of the charging device relative to the sweeping robot, the third distance between the sweeping robot and the obstacle and the position of the obstacle relative to the sweeping robot.
11. A sweeping robot comprising an obstacle avoidance apparatus according to any one of claims 6 to 10.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
13. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911065475.8A CN112835347B (en) | 2019-11-04 | 2019-11-04 | Method and device for avoiding obstacles and sweeping robot |
| PCT/CN2020/122698 WO2021088649A1 (en) | 2019-11-04 | 2020-10-22 | Obstacle avoidance method, detection result verification method, and robot vacuum cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911065475.8A CN112835347B (en) | 2019-11-04 | 2019-11-04 | Method and device for avoiding obstacles and sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112835347A CN112835347A (en) | 2021-05-25 |
| CN112835347B true CN112835347B (en) | 2022-04-08 |
Family
ID=75921357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911065475.8A Active CN112835347B (en) | 2019-11-04 | 2019-11-04 | Method and device for avoiding obstacles and sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112835347B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038470A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN103941307A (en) * | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | Cleaning robot and controlling method thereof for avoiding barriers |
| CN104765363A (en) * | 2014-12-10 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Intelligent floor sweeping robot and control method thereof |
| CN107041718A (en) * | 2016-02-05 | 2017-08-15 | 北京小米移动软件有限公司 | Clean robot and its control method |
| CN107179083A (en) * | 2017-07-25 | 2017-09-19 | 中央民族大学 | Intelligent robot paths planning method and system |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| CN108008413A (en) * | 2018-01-15 | 2018-05-08 | 上海兰宝传感科技股份有限公司 | A kind of multi-faceted distributed electro-optical distance measurement obstacle avoidance system and method |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN109512344A (en) * | 2019-01-04 | 2019-03-26 | 云鲸智能科技（东莞）有限公司 | A kind of mobile robot |
| CN208659202U (en) * | 2017-11-03 | 2019-03-29 | 苏州海力电器有限公司 | Sweeping robot obstacle detector |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
-
2019
- 2019-11-04 CN CN201911065475.8A patent/CN112835347B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102038470A (en) * | 2009-10-09 | 2011-05-04 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN103941307A (en) * | 2014-01-13 | 2014-07-23 | 苏州爱普电器有限公司 | Cleaning robot and controlling method thereof for avoiding barriers |
| CN104765363A (en) * | 2014-12-10 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Intelligent floor sweeping robot and control method thereof |
| CN107041718A (en) * | 2016-02-05 | 2017-08-15 | 北京小米移动软件有限公司 | Clean robot and its control method |
| CN107179083A (en) * | 2017-07-25 | 2017-09-19 | 中央民族大学 | Intelligent robot paths planning method and system |
| CN107544494A (en) * | 2017-08-17 | 2018-01-05 | 上海美祎科技有限公司 | Sweeping robot and its barrier-avoiding method |
| CN208659202U (en) * | 2017-11-03 | 2019-03-29 | 苏州海力电器有限公司 | Sweeping robot obstacle detector |
| CN108008413A (en) * | 2018-01-15 | 2018-05-08 | 上海兰宝传感科技股份有限公司 | A kind of multi-faceted distributed electro-optical distance measurement obstacle avoidance system and method |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN109567678A (en) * | 2018-12-07 | 2019-04-05 | 江苏美的清洁电器股份有限公司 | The cleaning control method and its device and sweeping robot of sweeping robot |
| CN109512344A (en) * | 2019-01-04 | 2019-03-26 | 云鲸智能科技（东莞）有限公司 | A kind of mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112835347A (en) | 2021-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110723079B (en) | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor | |
| CN111311925B (en) | Parking space detection method and device, electronic equipment, vehicle and storage medium | |
| WO2021238888A1 (en) | Elevator control method and system, conveying robot, and elevator controller | |
| CN111368760B (en) | Obstacle detection method and device, electronic equipment and storage medium | |
| CN110827325B (en) | Target tracking method and device, electronic equipment and storage medium | |
| CN111694287A (en) | Obstacle simulation method and device in unmanned simulation scene | |
| CN110986980B (en) | Automatic driving planning route detection method and device and electronic equipment | |
| CN112859829B (en) | Vehicle control method and device, electronic equipment and medium | |
| CN111190186A (en) | Radar detection method and device and electronic equipment | |
| CN112578788A (en) | Vehicle obstacle avoidance quadratic programming method, device, equipment and readable storage medium | |
| CN111177869A (en) | Method, device and equipment for determining sensor layout scheme | |
| CN110879395A (en) | Obstacle position prediction method and device and electronic equipment | |
| CN111007860B (en) | Path planning method and device and sweeping robot | |
| CN112784637A (en) | Ground obstacle detection method, ground obstacle detection device, electronic device, and storage medium | |
| US11960296B2 (en) | Method and apparatus for autonomous mobile device | |
| CN111814651A (en) | Method, device and equipment for generating lane line | |
| EP4332713A1 (en) | Obstacle avoidance method and apparatus for automatic walking device, medium, and electronic device | |
| CN112835347B (en) | Method and device for avoiding obstacles and sweeping robot | |
| CN110595798B (en) | Test method and device | |
| CN113534810A (en) | Logistics robot and logistics robot system | |
| CN112773261B (en) | Method and device for avoiding obstacles and sweeping robot | |
| CN112835345A (en) | Detection result verification method and device and sweeping robot | |
| US12032381B2 (en) | Accompanying mobile body | |
| CN110728721B (en) | Method, device and equipment for acquiring external parameters | |
| WO2021088649A1 (en) | Obstacle avoidance method, detection result verification method, and robot vacuum cleaner |
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 |