CN113126608A - Capacitance-triggered obstacle avoidance method and self-walking equipment - Google Patents
Capacitance-triggered obstacle avoidance method and self-walking equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- 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
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Abstract
The invention provides a capacitance triggering obstacle avoidance method and self-walking equipment. According to the invention, the electric signals generated by the capacitive sensors arranged around the shell of the self-walking equipment according to the obstacles around the self-walking equipment are received, and when the electric signals accord with the obstacle avoidance conditions, the self-walking equipment is driven to avoid the obstacles according to the electric signals, so that the obstacle is effectively avoided by using the human body signals detected by the non-contact type sensing device, namely the capacitive sensors, at a certain distance. The self-walking device can avoid the damage to the human body and the equipment caused by the obstacle avoidance reaction after the existing self-walking device is contacted with the human body. The invention can improve the accuracy of judging the barrier, avoid the occurrence of misjudgment and protect a user and self-walking equipment.
Description
Technical Field
The invention relates to the field of garden tools, in particular to a capacitance-triggered obstacle avoidance method.
Background
Self-propelled equipment such as intelligent mowing robots have been widely popularized for lawn trimming and maintenance, and reducing the energy put into lawn management by people. The intelligent mowing robot and other self-walking equipment inevitably encounter obstacles in the operation process. In order to avoid obstacles, a sensor needs to be arranged on the robot, so that the robot has the capabilities of recognizing and avoiding the obstacles.
The existing mowing robot adopts a Hall principle in the obstacle avoidance process, and the Hall signal is triggered by the induction of the collision of the shell, so that the obstacle avoidance processing is carried out. However, according to the method, the hall signal can be triggered only when the mowing robot touches an obstacle, and the touched object may be damaged in the touch process. Especially when touching the human body in the working path, the person may be frightened and further accidents may be caused. The existing obstacle avoidance mode has certain potential safety hazard.
Some among the prior art use infrared temperature measurement technique to be used for keeping away the barrier from walking equipment, and infrared temperature measurement generally uses thermoelectric type or photoelectric detector as detecting element. The temperature measuring system has simple manufacturing process and lower cost, and does not need to directly contact with a measured object during temperature measurement. However, the temperature is measured by using infrared radiation, and the detection mode is necessarily influenced by external factors such as the emissivity of an object, the temperature measurement distance, smoke dust, water vapor and the like. Therefore, the collision-free detection method has a problem that measurement errors are large and erroneous judgment is easy to occur in practical use.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a capacitance triggering obstacle avoidance method, and the invention triggers the self-walking equipment to avoid obstacles through the capacitance sensor, so that the self-walking equipment can be prevented from directly contacting with the obstacles, and meanwhile, the detection accuracy is ensured. The invention specifically adopts the following technical scheme.
Firstly, in order to achieve the above object, a capacitance-triggered obstacle avoidance method is provided, which includes the steps of: receiving electric signals generated by the capacitive sensors arranged on the periphery of the shell of the self-walking equipment according to obstacles on the periphery of the self-walking equipment; and when the electric signal meets the obstacle avoidance condition, driving the self-walking equipment to avoid the obstacle according to the electric signal.
Optionally, in the method for obstacle avoidance triggered by a capacitor, the capacitor sensor is coupled to an electric field of an obstacle around the self-walking device, and generates an electric signal according to a distance from the self-walking device to the obstacle around the self-walking device.
Optionally, the method for avoiding the obstacle by capacitive triggering further includes, before receiving the electrical signal of the capacitive sensor, the following steps: receiving a trigger signal generated by infrared sensors arranged on the periphery of a shell of the self-walking equipment according to obstacles on the periphery of the self-walking equipment; and when the trigger signal meets the trigger condition, receiving the electric signal of the capacitive sensor, and then correspondingly driving the self-walking equipment to avoid the obstacle according to the electric signal, or keeping the self-walking equipment to run according to the original running state when the electric signal does not meet the obstacle avoiding condition.
Optionally, the method for avoiding the obstacle by capacitive triggering includes: the capacitance sensor is coupled with an electric field of an obstacle around the self-walking device to generate one or a combination of the electric field, the capacitance, the current and the voltage or the variation of the electric field, the capacitance, the current and the voltage.
Optionally, the method for avoiding the obstacle by capacitive triggering includes: the infrared sensor reaches a trigger threshold range according to one or a combination of voltage, current and electric field signals of a trigger signal generated by obstacles around the self-walking equipment or the variation of the trigger signal; the obstacle avoidance condition includes: the capacitance sensor reaches the obstacle avoidance threshold range according to one or the combination of an electric field, capacitance, current and voltage or the variation of the electric field, the capacitance, the current and the voltage generated by obstacles around the self-walking equipment.
Optionally, in the method for avoiding an obstacle by capacitive triggering, when the trigger signal meets a trigger condition, the driving self-walking device is switched to an obstacle avoidance preparation state; and in the obstacle avoidance preparation state, the running speed of the self-walking equipment is reduced.
Optionally, the method for avoiding the obstacle by capacitive triggering includes the following steps: judging which direction of the capacitive sensor and/or the infrared sensor around the self-walking equipment meets the obstacle avoidance condition and/or the trigger condition; driving the self-walking equipment to stop running or to turn to a direction different from the direction corresponding to the capacitive sensor and/or the infrared sensor meeting the obstacle avoidance condition and/or the trigger condition to avoid the obstacle
Meanwhile, to achieve the above object, the present invention also provides a self-walking apparatus, comprising: a housing; the capacitive sensor is arranged on the periphery of the shell of the self-walking equipment and used for generating an electric signal according to the distance from the self-walking equipment to surrounding obstacles; and the self-walking equipment carries out obstacle avoidance according to the electric signal.
Optionally, the self-walking device further comprises an infrared sensor, which is disposed around the housing of the self-walking device and used for converting obstacles around the self-walking device into a trigger signal.
Optionally, the self-walking apparatus further includes: the trigger signal comparison unit receives a trigger signal generated by infrared sensors arranged on the periphery of the self-walking equipment shell according to obstacles on the periphery of the self-walking equipment, and when the trigger signal meets a trigger condition, the trigger signal comparison unit receives an electric signal of the capacitance sensor and drives the self-walking equipment to be switched to an obstacle avoidance preparation state; and the electric signal comparison unit is used for receiving electric signals generated by the capacitive sensors arranged on the periphery of the self-walking equipment shell according to obstacles around the self-walking equipment, driving the self-walking equipment to judge which direction of the capacitive sensors and/or the infrared sensors around the self-walking equipment conforms to obstacle avoidance conditions and/or trigger conditions according to the electric signals when the electric signals conform to the obstacle avoidance conditions, and then driving the self-walking equipment to stop running or steering to the direction corresponding to the capacitive sensors and/or the infrared sensors conforming to the obstacle avoidance conditions and/or the trigger conditions to avoid the obstacle.
Advantageous effects
According to the invention, the electric signals generated by the capacitive sensors arranged around the shell of the self-walking equipment according to the obstacles around the self-walking equipment are received, and when the electric signals accord with the obstacle avoidance conditions, the self-walking equipment is driven to avoid the obstacles according to the electric signals, so that the obstacle is effectively avoided by using the human body signals detected by the non-contact type sensing device, namely the capacitive sensors, at a certain distance. The self-walking device can avoid the damage to the human body and the equipment caused by the obstacle avoidance reaction after the existing self-walking device is contacted with the human body. The invention can improve the accuracy of judging the barrier, avoid the occurrence of misjudgment and protect a user and self-walking equipment.
Furthermore, the periphery of the self-walking equipment shell can be provided with infrared sensors, the infrared sensors are matched with the infrared sensors through the capacitive sensors, firstly, the infrared sensors are used for preliminarily detecting obstacles in a larger distance range around the mower, and then, when the obstacles exist in the detection range of the infrared sensors, the non-contact capacitive sensors are further used for detecting human bodies or organisms in a smaller distance range around the mower. Therefore, the detection result of the invention can be more accurate, the problem of misjudgment or early avoidance when the infrared sensor is simply used can be effectively avoided, and the accuracy of judging the barrier is further improved.
In addition, the self-walking equipment can be further provided with an obstacle avoidance preparation state triggered by the infrared sensor. The obstacle avoidance preparation state can be triggered by the infrared sensor according to an obstacle signal with a longer distance, the capacitance sensor is started to further detect in the obstacle avoidance preparation state, meanwhile, the obstacle avoidance preparation action of reducing the running speed and the like can be further set for self-walking equipment for providing sufficient protection, and the equipment or a user is prevented from being accidentally injured in the further judgment process.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the external structure of the self-propelled device of the present invention;
FIG. 2 is a schematic diagram of a capacitive sensor signal detection circuit of the present invention;
in the drawings, 1 denotes a self-walking apparatus; and 2 denotes a capacitive sensor.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The meaning of "inside and outside" in the invention means that the direction from the machine shell of the self-walking equipment to the internal operation unit is inside, and vice versa, relative to the self-walking equipment itself; and not as a specific limitation on the mechanism of the device of the present invention.
The terms "left and right" as used herein refer to the left side of the user and the right side of the user, respectively, in the direction of travel of the self-propelled apparatus, without any particular limitation as to the mechanism of the apparatus of the present invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
Fig. 1 is a self-propelled apparatus according to the present invention, comprising:
a housing;
the capacitive sensor 2 is arranged on the periphery of the shell of the self-walking equipment 1 and used for generating an electric signal according to the distance from the self-walking equipment to surrounding obstacles; in a more specific implementation mode, the capacitive sensor is in a non-contact type, and long and narrow electrodes are plated on four sides of the capacitive sensor, so that a low-voltage alternating current electric field is formed in the conductor. When a person or an animal approaches, due to a human body electric field, a coupling capacitor is formed between a human body and a conductor layer, currents sent by electrodes on four sides flow to a contact, the intensity of the currents is inversely proportional to the distance from the human body to the electrodes, a controller behind a capacitance sensor calculates the proportion and the intensity of the currents, and therefore the distance between the human body or an object and the mowing robot is sensed, and the sensing distance of the sensor is usually only about 10-20 cm due to the human body electric field and the like;
and the self-walking 1 equipment carries out obstacle avoidance according to the electric signals according to the following steps: firstly, receiving an electric signal generated by a capacitive sensor 2 arranged around a shell of self-walking equipment 1 according to the distance from the self-walking equipment 1 to surrounding obstacles; then, when the electric signal meets the obstacle avoidance condition, judging that the capacitive sensor senses that organisms exist around the mowing robot 1, and driving self-walking equipment to actively avoid according to the electric signal; when the electric signal does not meet the obstacle avoidance condition, the self-walking equipment can keep running continuously in the current state.
Therefore, according to the invention, the capacitive sensors are arranged around the self-walking equipment such as the mowing robot, when a human body approaches, the capacitive sensors 2 are coupled with the electric field of the obstacle around the self-walking equipment, the coupling capacitance formed by the electric field of the human body and the conductor layer of the capacitive sensors is utilized to generate an electric signal according to the distance from the self-walking equipment to the obstacle around, for example, one or the combination or the variation of the electric field, the capacitance, the current and the voltage generated by the coupling of the capacitive sensors 2 and the electric field of the obstacle around the self-walking equipment, and then the distance between the human body and the self-walking equipment is judged according to the magnitude or the variation of the electric signal, so that the self-walking equipment is accurately triggered to avoid the obstacle without contact.
And a capacitive sensor with a smaller induction distance can be used, once the capacitive sensor 2 is coupled with an electric field of an obstacle around the self-walking equipment to generate an electric signal, the electric signal is regarded as a trigger obstacle avoidance condition, and the trigger is more sensitive at the moment.
The electrical signals can be output to the corresponding control unit through the circuit shown in fig. 2. In fig. 2, the capacitive sensor is connected to the left circuit of the coupler in the dashed box of fig. 2. When the capacitance sensor generates a current signal, the current signal in the left circuit is triggered by the coupler and can be output by the right circuit. The corresponding control unit is connected to the right circuit interface of fig. 2, and realizes the monitoring of the electric signal for reflecting the distance of the obstacle, so as to trigger the self-walking equipment to avoid the obstacle.
The circuit shown in fig. 2 is only one implementation of the capacitive sensor of the present invention to output an electrical signal, and those skilled in the art will appreciate that other signal output circuits or coupling cell circuits or signal isolation circuits can perform similar functions.
In other more preferred implementations, the present invention may further use the capacitive sensor in combination with an infrared sensor. Under the scheme, the capacitive sensor and the infrared sensor can be arranged on the periphery of the shell of self-walking equipment such as the mowing robot. The temperature measurement principle of the infrared sensor is the blackbody radiation law, the magnitude of outward radiation energy of an object and the distribution of the outward radiation energy according to the wavelength are closely related to the surface temperature of the object, and the higher the temperature of the object is, the stronger the emitted infrared radiation capability is. Therefore, in the running process of the self-walking equipment, temperature is measured through the infrared sensors, and the control unit or the comparison circuit of the self-walking equipment receives trigger signals generated by the infrared sensors arranged on the periphery of the shell of the self-walking equipment 1 according to obstacles on the periphery of the self-walking equipment 1, so that temperature of objects on the periphery of the robot is measured. When the object with the temperature enters the temperature measuring range of the infrared sensor, the trigger signal is judged to accord with the trigger condition. And then, the electric signal of the capacitive sensor 2 is further triggered and received, and at this time, if the current change of the coupling capacitor occurs, the object around the self-walking device can be considered as a person or an animal, so that a communication signal is given to the master controller, and then the self-walking device is correspondingly driven to avoid the obstacle according to the electric signal, or the self-walking device is kept to operate according to the original operation state when the electric signal does not accord with the obstacle avoiding condition. The obstacle avoidance action comprises stopping running or changing a running track.
According to the scheme that the capacitive sensor is correspondingly started by the infrared sensor, when the current of the coupling capacitor changes, the obstacle on the working path can be accurately judged to be a human body or an animal, so that the current is fed back to the main control unit, the control unit correspondingly responds to the obstacle, the mowing robot is driven to stop or change the movement path, and active protection is performed.
In the above scheme, the triggering condition may be set correspondingly according to the requirement of the obstacle avoidance accuracy of the self-walking device as follows: the infrared sensor reaches a trigger threshold range according to one or a combination of voltage, current and electric field signals of a trigger signal generated by obstacles around the self-walking device 1 or the variation of the trigger signal;
the obstacle avoidance condition can be correspondingly set as follows according to the obstacle avoidance precision requirement of the self-walking equipment: the capacitance sensor 2 reaches the obstacle avoidance threshold range according to one or a combination of an electric field, capacitance, current, and voltage generated by an obstacle around the self-walking apparatus 1, or a variation thereof. The control unit of the self-propelled device may be arranged to infer the distance from the distance of the self-propelled device to the obstacle by means of an electrical signal generated by the capacitive sensor 2. It is considered that, since the distance over which the capacitive sensor 2 can actually sense the electric field is short, the corresponding control unit of the self-propelled device can be set to perform the avoidance immediately upon detecting that the capacitive sensor 2 generates the electric signal output.
The trigger threshold range and the obstacle avoidance threshold range can be preset as fixed values, can also be set by a user, and can be automatically and flexibly determined through an algorithm according to environmental factors, such as the range of a working area, the working condition of a machine, the weather factor of operation and the like. Generally, the type strength of an electric signal generated by the electric field coupling of the capacitive sensor 2 is positively correlated with the distance between the obstacle and the capacitive sensor 2, so that the distance between the obstacle and the self-walking equipment can be judged through the electric signal, and accordingly obstacle avoidance is driven.
In other implementation manners, considering that the self-walking equipment still normally runs when the triggering condition is met and the capacitive sensor is triggered to detect, and possibly approaches or touches obstacles such as a human body and the like in the detection process, the self-walking equipment can further trigger a corresponding comparison unit or a control unit or a circuit to receive an electric signal of the capacitive sensor 2 when the triggering signal meets the triggering condition and the obstacles around the self-walking equipment are preliminarily detected, so as to drive the self-walking equipment to be switched to the obstacle avoidance preparation state; in the obstacle avoidance preparation state, the running speed of the self-walking equipment is reduced, and the capacitive sensor 2 and/or the infrared sensor which judge the direction around the self-walking equipment can be further detected to meet the obstacle avoidance condition and/or the trigger condition. Therefore, when the obstacle avoidance condition is further judged to be met, for example, when the current on the capacitance sensor changes, the obstacle is judged to be an animal body such as a human body, namely, the object is judged to be not touched, so that the self-walking equipment is driven to stop running, or the direction of turning is different from the direction corresponding to the capacitance sensor 2 and/or the infrared sensor meeting the obstacle avoidance condition and/or the trigger condition, and the obstacle is accurately avoided.
The control unit or the control chip can be set to calculate the distance between the self-walking equipment and the obstacle according to the proportion and the strength of the electric signals of the capacitive sensor. And when the distance between the obstacle and the self-walking equipment is smaller than a set threshold value, implementing an obstacle avoidance step.
Therefore, the non-contact capacitive sensor is arranged on the periphery of the shell of the self-walking equipment such as the mower, when a human body or a living being exists in a certain distance range around the self-walking equipment, the corresponding situation of the barrier is obtained in a non-contact mode through detection of the capacitive sensor, and the self-walking equipment is driven to sense and carry out avoidance movement. The invention can further match the infrared sensor with the non-contact capacitance sensor for use, when an obstacle exists in the detection range of the infrared sensor, the mower is driven to enter an obstacle avoidance preparation state, and the capacitance sensor is started for detection. Therefore, the invention can further utilize the obstacle avoidance preparation state to control the self-walking equipment to execute obstacle avoidance preparation actions such as reducing the running speed and the like so as to avoid possible damages to human bodies, obstacles or machines in the detection process of the capacitive sensor.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. A capacitance-triggered obstacle avoidance method is characterized by comprising the following steps:
receiving electric signals generated by capacitive sensors (2) arranged around a shell of the self-walking equipment (1) according to obstacles around the self-walking equipment (1);
and when the electric signal meets the obstacle avoidance condition, driving the self-walking equipment to avoid the obstacle according to the electric signal.
2. A method of capacitance triggered obstacle avoidance according to claim 1, characterized in that the capacitance sensor (2) is coupled to the electric field from the obstacles around the walking device to generate an electric signal.
3. A method of capacitance triggered obstacle avoidance according to claims 1-2, characterized by, before receiving the electrical signal of the capacitive sensor (2), further comprising the steps of:
receiving a trigger signal generated by infrared sensors arranged on the periphery of a shell of the self-walking equipment (1) according to obstacles around the self-walking equipment (1);
when the trigger signal meets the trigger condition, the electric signal of the capacitive sensor (2) is received, and then the self-walking equipment is correspondingly driven to avoid the obstacle according to the electric signal, or the self-walking equipment is kept to run according to the original running state when the electric signal does not meet the obstacle avoiding condition.
4. A method as claimed in claims 2 to 3, wherein said electrical signal comprises: the capacitance sensor (2) is coupled with an electric field of an obstacle around the self-walking device to generate one of an electric field, capacitance, current and voltage or a combination of the electric field, the capacitance, the current and the voltage or a variation of the electric field.
5. The capacitance-triggered obstacle avoidance method of claims 3-4, wherein the triggering conditions include: the infrared sensor reaches a trigger threshold range according to one or a combination of voltage, current and electric field signals of a trigger signal generated by obstacles around the self-walking device (1) or the variation of the trigger signal;
the obstacle avoidance condition includes: the capacitance sensor (2) reaches the obstacle avoidance threshold range according to one or the combination of an electric field, capacitance, current and voltage or the variation of the electric field, the capacitance, the current and the voltage generated by obstacles around the self-walking equipment (1).
6. The capacitance-triggered obstacle avoidance method of claim 3, wherein the driving self-propelled device is switched to an obstacle avoidance ready state when a trigger signal meets a trigger condition;
and in the obstacle avoidance preparation state, the running speed of the self-walking equipment is reduced.
7. The capacitance-triggered obstacle avoidance method of claims 1-3, wherein the step of driving the self-propelled device to avoid an obstacle according to an electrical signal specifically comprises:
judging which direction of the capacitive sensor (2) and/or the infrared sensor around the self-walking equipment conforms to an obstacle avoidance condition and/or a trigger condition;
and driving the self-walking equipment to stop running or steering to be different from the direction corresponding to the capacitive sensor (2) and/or the infrared sensor which meet the obstacle avoidance condition and/or the trigger condition to avoid the obstacle.
8. A self-propelled apparatus, comprising:
a housing;
the capacitive sensor (2) is arranged on the periphery of the shell of the self-walking equipment (1) and used for generating an electric signal according to the distance from the self-walking equipment to surrounding obstacles;
and the self-walking equipment (1) avoids obstacles according to the electric signals.
9. Self-propelled device according to claim 8, further comprising infrared sensors arranged around the housing of the self-propelled device (1) for converting obstacles around the self-propelled device into trigger signals.
10. A self-propelled device according to claims 8-9 and also comprising:
the trigger signal comparison unit is used for receiving a trigger signal generated by infrared sensors arranged on the periphery of a shell of the self-walking equipment (1) according to obstacles around the self-walking equipment (1), triggering the electric signal comparison unit to receive an electric signal of the capacitive sensor (2) when the trigger signal meets a trigger condition, and driving the self-walking equipment to be switched to an obstacle avoidance preparation state;
and the electric signal comparison unit is used for receiving electric signals generated by the capacitive sensors (2) arranged around the shell of the self-walking equipment (1) according to obstacles around the self-walking equipment (1), driving the self-walking equipment to judge which direction of the capacitive sensors (2) and/or the infrared sensors around the self-walking equipment accords with obstacle avoidance conditions and/or trigger conditions according to the electric signals when the electric signals accord with the obstacle avoidance conditions, and then driving the self-walking equipment to stop running or steering to be different from the direction corresponding to the capacitive sensors (2) and/or the infrared sensors which accord with the obstacle avoidance conditions and/or the trigger conditions to avoid obstacles.
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| CN201911413879.1A CN113126608A (en) | 2019-12-31 | 2019-12-31 | Capacitance-triggered obstacle avoidance method and self-walking equipment |
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| CN201911413879.1A CN113126608A (en) | 2019-12-31 | 2019-12-31 | Capacitance-triggered obstacle avoidance method and self-walking equipment |
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| CN (1) | CN113126608A (en) |
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| CN2356337Y (en) * | 1998-11-10 | 1999-12-29 | 华中理工大学 | Capacity mearing sensor |
| CN207384214U (en) * | 2017-03-29 | 2018-05-22 | 艾罗伯特公司 | Sweeping robot |
| WO2018125222A1 (en) * | 2016-12-30 | 2018-07-05 | Irobot Corporation | Robot lawn mower bumper system |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN110286675A (en) * | 2019-06-10 | 2019-09-27 | 旗瀚科技有限公司 | A kind of infrared obstacle avoidance method for disabled aiding robot of helping the elderly |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2356337Y (en) * | 1998-11-10 | 1999-12-29 | 华中理工大学 | Capacity mearing sensor |
| WO2018125222A1 (en) * | 2016-12-30 | 2018-07-05 | Irobot Corporation | Robot lawn mower bumper system |
| CN207384214U (en) * | 2017-03-29 | 2018-05-22 | 艾罗伯特公司 | Sweeping robot |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN110286675A (en) * | 2019-06-10 | 2019-09-27 | 旗瀚科技有限公司 | A kind of infrared obstacle avoidance method for disabled aiding robot of helping the elderly |
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Application publication date: 20210716 |