CN116490064A - Intelligent obstacle avoidance method for mobile robot and mobile robot - Google Patents
Intelligent obstacle avoidance method for mobile robot and mobile robot Download PDFInfo
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- CN116490064A CN116490064A CN202180078984.3A CN202180078984A CN116490064A CN 116490064 A CN116490064 A CN 116490064A CN 202180078984 A CN202180078984 A CN 202180078984A CN 116490064 A CN116490064 A CN 116490064A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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Abstract
The intelligent obstacle avoidance method of the mobile robot and the mobile robot are characterized in that a depth information acquisition device is arranged on the mobile robot in advance, and a working assembly is arranged on the mobile robot, and the obstacle avoidance method comprises the following steps: step 12, obtaining depth information of a region to be worked of the mobile robot through a depth information obtaining device, wherein the depth information comprises depth information of a surface of the region to be worked and depth information of an obstacle, and the obstacle is positioned on the surface of the region to be worked in the advancing direction of the mobile robot; step 14, determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information; step 16, acquiring a real-time light intensity value of the mobile robot in the advancing direction; and step 18, controlling the action of the working components of the mobile robot based on the height value and the real-time light intensity value. Therefore, accidental injury to some small animals traveling at night can be avoided while obstacle avoidance failure caused by incapability of identifying some short obstacles can be avoided.
Description
The invention relates to the technical field of robots, in particular to an intelligent obstacle avoidance method of a mobile robot and the mobile robot.
With the rapid development of artificial intelligence technology, various robots are appeared in the daily life of people, and play more roles gradually while facilitating the daily life of people, wherein mobile robots are the most common robots in the market at present.
Conventional mobile robots typically utilize ultrasonic sensors, radar, or laser transmitters to achieve obstacle avoidance, and such obstacle avoidance sensors typically indirectly measure the real-time distance of an obstacle by measuring the time of flight of the transmitted signal returned after encountering the obstacle, to control the mobile robot to perform an obstacle avoidance action based on the real-time distance. However, in the prior art, mobile robots are generally unable to recognize some low obstacles, resulting in failure to avoid the obstacle.
Disclosure of Invention
Based on the above, it is necessary to provide an intelligent obstacle avoidance method for a mobile robot and a mobile robot for solving the technical problem that the conventional mobile robot cannot effectively identify a low obstacle and thus fails to avoid the obstacle.
To achieve the above and other objects, a first aspect of the present application provides a mobile robot intelligent obstacle avoidance method, the mobile robot walking and/or working within a work area defined by a boundary, the method comprising: determining a height value of a target object relative to the surface of the area to be worked under the condition that the target object is detected; acquiring parameters reflecting the illumination condition of the mobile robot when working in the working area; controlling walking and/or working of the mobile robot based on the height value and the parameter reflecting the illumination condition of the mobile robot.
In one embodiment, obtaining parameters reflecting the illumination of the mobile robot while operating in the work area comprises: and acquiring a real-time light intensity value of the mobile robot.
In one embodiment, the controlling walking and/or working of the mobile robot based on the height value, the real-time light intensity value comprises: if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, the mobile robot is controlled to keep the current state to continue walking and/or working; and if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the mobile robot to keep the current state to continue walking, and controlling the mobile robot to stop working.
In one embodiment, the controlling walking and/or working of the mobile robot based on the height value, the real-time light intensity value comprises: if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling the mobile robot to execute preset obstacle avoidance action, and controlling the mobile robot to keep a working state; and if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the mobile robot to execute a preset obstacle avoidance action and controlling the mobile robot to stop working.
In one embodiment, the controlling walking and/or working of the mobile robot based on the height value, the real-time light intensity value comprises: and if the height value is greater than or equal to a first preset height threshold value, controlling the mobile robot to execute a preset obstacle avoidance action, and controlling the mobile robot to work.
In one embodiment, obtaining parameters reflecting the illumination of the mobile robot while operating in the work area comprises: acquiring the current working time, seasonal parameters, the current position and weather conditions of the mobile robot during working; and determining the parameters reflecting the illumination condition of the mobile robot when the mobile robot works in the working area according to at least one of the current working time, the seasonal parameters, the current position and the weather condition.
The embodiment of the invention also provides a mobile robot which walks and/or works in the area to be worked defined by the boundary, wherein the mobile robot is provided with a robot body, a working assembly arranged on the robot body, a depth information acquisition device and a processor, the depth information acquisition device is configured to acquire depth information, the depth information comprises depth information of the surface of the area to be worked and depth information of an obstacle, and the obstacle is positioned on the surface of the area to be worked where the mobile robot is positioned; the work assembly is configured to execute a predetermined work; the processor is in signal connection with the working assembly and the depth information acquisition device and is used for controlling the walking and/or working of the mobile robot; the processor is configured to determine a height value of the target object relative to the surface of the area to be worked according to the depth information acquired by the depth information acquisition device when the target object is detected; acquiring parameters reflecting the illumination condition of the mobile robot when working in the working area; controlling walking and/or working of the mobile robot based on the height value and the parameter reflecting the illumination condition of the mobile robot.
In one embodiment, the mobile robot is provided with a light intensity information acquisition device; and taking the real-time light intensity value acquired by the light intensity information acquisition device as the parameter reflecting the illumination condition of the mobile robot when working in the working area.
In one embodiment, the light intensity information acquiring means comprises the depth information acquiring means.
In one embodiment, the depth information acquiring means includes at least one of: a TOF camera, a binocular camera or a structured light camera.
In one embodiment, the processor is configured to control walking and/or working of the mobile robot based on the altitude value, the real-time light intensity value, comprising:
if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling a working assembly of the mobile robot to keep working in a current state, and controlling a walking assembly of the mobile robot to keep walking in the current state;
and if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the traveling assembly of the mobile robot to keep the current state to continue traveling, and controlling the working assembly of the mobile robot to stop working.
In one embodiment, the mobile robot is provided with a touch sensor, the touch sensor is configured to detect a target object by means of direct collision, and the first preset height threshold is smaller than the height of the touch sensor.
In the mobile robot in the above embodiment, in the case where the target object is detected, the height value of the target object with respect to the surface of the area to be worked is determined; acquiring parameters reflecting the illumination condition of the mobile robot when the mobile robot works in a working area; the walking and/or working of the mobile robot is controlled based on the height value and the parameters reflecting the illumination condition of the mobile robot. By the mode, the situation that the mobile robot cannot accurately identify the short obstacle on the surface of the area to be worked and cannot adopt a safe walking strategy when the short obstacle is identified is avoided. The working state of the mobile robot can be controlled when the short obstacle is identified at night, so that accidental injuries to some small animals traveling at night are avoided, and the intelligence of the mobile robot is effectively improved.
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other embodiments of the drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart illustration of a mobile robot intelligent obstacle avoidance method in a first embodiment of the present application;
fig. 2 is a flowchart illustration of a mobile robot intelligent obstacle avoidance method in a second embodiment of the present application;
fig. 3 is a flowchart illustrating a mobile robot intelligent obstacle avoidance method according to a third embodiment of the present application;
fig. 4 is a flowchart illustration of a mobile robot intelligent obstacle avoidance method in a fourth embodiment of the present application;
fig. 5 is a flowchart illustrating a mobile robot intelligent obstacle avoidance method according to a fifth embodiment of the present application;
fig. 6 is a schematic structural diagram of an intelligent obstacle avoidance apparatus for a mobile robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a mobile robot intelligent obstacle avoidance apparatus according to another embodiment of the present application;
FIG. 8 is a schematic diagram of a mobile robot according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural view of a robot lawnmower according to an embodiment of the present application;
FIG. 10a is a left side view of a lawn mowing robot in an embodiment of the present application;
FIG. 10b is a top view of a lawn mowing robot in another embodiment of the present application;
fig. 11 is an application scenario schematic diagram of a mowing robot in an embodiment of the present application;
fig. 12 is a flowchart illustrating a mobile robot intelligent obstacle avoidance method according to another embodiment of the present application.
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Where the terms "comprising," "having," and "including" are used herein, another component may also be added unless explicitly defined as such, e.g., "consisting of … …," etc. Unless mentioned to the contrary, singular terms may include plural and are not to be construed as being one in number.
It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.
In the description of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," or "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the connection may be direct or indirect via an intermediate medium, or may be internal communication between two components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Referring to fig. 1, in one embodiment of the present application, there is provided an intelligent obstacle avoidance method for a mobile robot, where a depth information acquisition device is set on the mobile robot in advance, and a working assembly is set on the mobile robot, the method includes:
And step 12, acquiring depth information of a region to be worked of the mobile robot through the depth information acquisition device, wherein the depth information comprises depth information of the surface of the region to be worked and depth information of an obstacle, and the obstacle is positioned on the surface of the region to be worked in the advancing direction of the mobile robot.
Step 14, determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
step 16, acquiring a real-time light intensity value of the mobile robot in the advancing direction;
and step 18, controlling the action of the working components of the mobile robot based on the height value and the real-time light intensity value.
Referring to fig. 12, in one embodiment of the present application, an intelligent obstacle avoidance method of a mobile robot is provided, where a depth information obtaining device and a working assembly are disposed on the mobile robot, and the method includes:
step 1201, in case a target object (hereinafter also referred to as an obstacle) is detected, determining a height value of the target object with respect to the surface of the area to be worked;
step 1202, acquiring parameters reflecting the illumination condition of the mobile robot when working in the working area;
Step 1203, controlling the walking and/or working of the mobile robot based on the height value and the parameter reflecting the illumination condition of the mobile robot. The target object may be a small animal such as a small hedgehog, mouse or snake, or a fallen leaf, small ball, or the like.
Correspondingly, the mobile robot is provided with a robot body, a working assembly arranged on the robot body, a depth information acquisition device and a processor, wherein the depth information acquisition device is configured to acquire depth information, the depth information comprises depth information of the surface of a region to be worked and depth information of a target object, and the target object is positioned on the surface of the region to be worked where the mobile robot is positioned; a work component configured to perform a predetermined work; the processor is in signal connection with the working assembly and the depth information acquisition device and is used for controlling the walking and/or working of the mobile robot; the processor is configured to determine a height value of the target object relative to the surface of the area to be worked according to the depth information acquired by the depth information acquisition device in the case that the target object is detected; acquiring parameters reflecting the illumination condition of the mobile robot when the mobile robot works in a working area; the walking and/or working of the mobile robot is controlled based on the height value and the parameters reflecting the illumination condition of the mobile robot.
As an example, the depth information acquiring means may include at least one Of a Time Of Flight (TOF) camera, a binocular camera, or a structured light camera, wherein the TOF camera captures a Time Of Flight Of near infrared light from transmission to reception by a proprietary sensor to determine the object distance; the binocular camera shoots an object by using a double camera, and calculates the object distance according to the triangle principle; the structured light camera projects specific light information to the surface of the object by utilizing structured light, the information such as the position and the depth of the object is acquired by the camera, and the information such as the position and the depth of the object is calculated according to the change of the light signal caused by the object, so that the whole three-dimensional space is restored.
As an example, in one embodiment of the present application, a binocular camera is employed to acquire depth information (height value) of a target object on a region to be worked with respect to a surface of the region to be worked. The depth information may include a distance and an angle between a target object on the area to be worked and the mobile robot, so that the mobile robot may obtain a three-dimensional model of the obstacle and the lawn according to the distance and the angle between a plurality of points of the object (such as the obstacle or the grass) on the area to be worked, and further obtain a height value of the obstacle on the surface of the area to be worked relative to the surface of the area to be worked, where the obstacle may be located in a forward direction of the mobile robot or may be near the forward direction. There may be a plurality of mounting positions of the binocular camera, which are related to the robot body and the robot travel speed. For example, a binocular camera may be disposed on top of the mobile robot, for example, the mounting position of the binocular camera may be disposed at a distance of 15 cm to 25 cm from the surface of the working area of the mobile robot; the center shaft of the mirror surface of the binocular camera is arranged to form an acute angle with the advancing direction of the mobile robot, and the binocular camera is obliquely and downwards detected so as to accurately detect the depth information of the short obstacle on the surface of the area to be worked and the depth information on the surface of the area to be worked in the advancing direction of the mobile robot, thereby avoiding the occurrence of obstacle avoidance failure caused by the fact that the short obstacle cannot be effectively identified, and effectively improving the intelligence of the mowing robot. As to the technical principle of how to acquire depth information of a photographed object and construct a three-dimensional model of the photographed object by using the depth camera, it is common knowledge of those skilled in the art, and will not be described herein.
As an example, the mobile robot may be an outdoor robot such as a mowing robot, a fertilizing robot, an irrigation robot, a snow removing robot, or a cleaning robot, and thus, the working assembly of the mobile robot described in the embodiments of the present application may be at least one of a mowing assembly, a fertilizing assembly, an irrigation assembly, a snow removing assembly, or a cleaning assembly, and so forth. Since some small animals such as small hedgehog, mice or snakes appear on the surface of the area to be worked of the mobile robot at night, the height values of the small animals are generally short, the height values of the small animals may not reach the obstacle avoidance recognition range of the mobile robot, the real-time light intensity value in the advancing direction can be obtained by setting the mobile robot, the real-time light intensity value can be the local light intensity value of the area to be worked or the environment light intensity value of the environment where the mobile robot is located, when the real-time light intensity value is smaller than the preset light intensity threshold value, the mobile robot is in a night working mode, whether the height value of an obstacle relative to the surface of the area to be worked is located in a preset night obstacle avoidance range is further judged, if the height value of the obstacle relative to the surface of the area to be worked is judged, the work component of the mobile robot can be controlled to stop working, and damage to the small night animals such as small hedgehog is avoided.
In one embodiment of the present application, obtaining parameters reflecting illumination conditions of a mobile robot while operating in a work area includes: a real-time light intensity value of the mobile robot is acquired. The light intensity value may be acquired by a light intensity information acquisition device configured on the mobile robot, and may be, for example, an illumination intensity sensor such as a photosensor. The light intensity value may also be acquired by the above-described depth information acquiring means.
In another embodiment of the present application, obtaining parameters reflecting illumination conditions of a mobile robot while operating in a work area includes: acquiring the current working time, seasonal parameters and weather conditions of the mobile robot during working; at least one of the current working time, the seasonal parameter and the weather condition is input into the illumination determination model to obtain a parameter reflecting the illumination condition of the mobile robot when working in the working area. Further, the current position of the robot may also be obtained, for example: and the current longitude and latitude information is input into the illumination system together to determine certain parameters so as to obtain parameters reflecting the current illumination condition. That is, a parameter reflecting an illumination condition of the mobile robot while operating in the work area may be determined according to at least one of a current operating time, a seasonal parameter, a current location, and a weather condition. For example: the 5-point half of the northern hemisphere in sunny days in summer is illuminated in the daytime, so that the robot can adopt a walking and/or working strategy in the daytime when meeting the obstacle, and the 5-point half of the northern hemisphere in cloudy days in winter is illuminated at night, so that the robot can adopt a walking and/or working strategy in the night when meeting the obstacle. The working strategy of determining the obstacle meeting at daytime or at night by time and season is consistent with the working strategy of determining the obstacle meeting at daytime or at night by a real-time light intensity value, and the following examples can be referred to.
Correspondingly, when encountering an obstacle, if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling the mobile robot to keep the current state and continue walking and/or working, namely controlling the working assembly of the mobile robot to keep the current state and continue working, and controlling the walking assembly of the mobile robot to keep the current state and continue walking; if the height value is smaller than the first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working, namely, the walking component of the mobile robot is controlled to keep the current state to continue walking, and the working component of the mobile robot is controlled to stop working. At low light intensity values, such as at night, small night animals such as small hedgehogs are usually exposed, and when the animals are detected, the machine is controlled to stop working so as to prevent the small animals from being accidentally injured during walking.
In one embodiment, the mobile robot is provided with a touch sensor configured to detect the target object by means of a direct collision, wherein the first preset height threshold is smaller than the height of the touch sensor. As shown in fig. 10a and 10b, the touch sensor may be a shroud 306 on the mower.
In one specific application scenario, when the mower detects an obstacle, the height of the obstacle and the current illumination condition are determined. When the height of the obstacle is lower than that of the shield and is the daytime, the machine can be controlled to ignore the obstacle, and the current working and walking states are kept; when the height of the obstacle is lower than the height of the shield and is at night, the machine can be controlled to keep the current walking state.
Correspondingly, in another embodiment of the present application, when an obstacle is encountered, if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold value, the mobile robot is controlled to execute a preset obstacle avoidance action, and the mobile robot is controlled to maintain a working state; if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, the mobile robot is controlled to execute a preset obstacle avoidance action, and the mobile robot is controlled to stop working.
In one specific application scenario, when the mower detects an obstacle, the height of the obstacle and the current illumination condition are determined. When the height of the obstacle is lower than the height of the shield and is the daytime, the machine can be controlled to turn under the condition of keeping the working state so as to avoid the obstacle; when the obstacle height is lower than the shield height and is at night, the machine can be controlled to turn under the condition of stopping working so as to avoid the obstacle.
In one embodiment of the present application, when an obstacle is encountered, if the obstacle height value is detected to be greater than or equal to a first preset height threshold value, the mobile robot is controlled to execute a preset obstacle avoidance action, and the mobile robot is controlled to work. That is, the mower is controlled to avoid the obstacle when the obstacle height is greater than the guard height.
Referring to fig. 2, in one embodiment of the present application, the controlling the operation of the working components of the mobile robot based on the height value and the real-time light intensity value includes:
step 182, if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is greater than or equal to the preset light intensity threshold, controlling the mobile robot to move forward and controlling the working assembly to execute the working action;
step 184, if the height value is greater than the second preset height threshold and less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, controlling the mobile robot to move forward and controlling the working assembly to stop executing the working action.
As an example, the night obstacle avoidance range interval of the mobile robot may be set to be greater than the second preset height threshold and less than the first preset height threshold. When the real-time light intensity value of the mobile robot in the advancing direction is smaller than a preset light intensity threshold value, and the height value of an obstacle on the surface of a to-be-worked area in the advancing direction of the mobile robot relative to the surface of the to-be-worked area is larger than a second preset height threshold value and smaller than a first preset height threshold value, determining that a night obstacle is detected, controlling a working assembly of the mobile robot to stop working, and avoiding damage to night animals such as small hedgehog; when the real-time light intensity value of the mobile robot in the advancing direction is larger than or equal to a preset light intensity threshold value, the mobile robot is in a daytime working mode, even if the height value is detected to be larger than a second preset height threshold value and smaller than a first preset height threshold value, the mobile robot is controlled to advance and the working assembly is controlled to execute working actions, and as night-driving animals rarely appear in the daytime, the mobile robot is set to still move straight and control the working assembly to execute the working actions when the mobile robot detects that the height value is located in an obstacle avoidance range interval at night in the daytime. For example, when the mobile robot is a mowing robot and works in daytime, the mowing robot is controlled to move forward and perform mowing action even if the height value is detected to be larger than a second preset height threshold value and smaller than a first preset height threshold value; and when the mower works at night, if the height value is detected to be larger than the second preset height threshold value and smaller than the first preset height threshold value, the mower robot is controlled to move forwards and the mower assembly of the mower robot is controlled to stop executing mowing actions, so that the intelligent performance of the mower robot is improved, and meanwhile, the mower robot is prevented from injuring small night animals when mowing at night.
Further, referring to fig. 3, in one embodiment of the present application, the step of controlling the operation of the working components of the mobile robot based on the height value and the real-time light intensity value includes:
step 185, if the height value is greater than or equal to a first preset height threshold value, controlling the mobile robot to execute a preset obstacle avoidance action;
and step 186, if the height value is smaller than or equal to a second preset height threshold value, controlling the mobile robot to move forward and controlling the working assembly to execute working action.
As an example, please continue to refer to fig. 3, the obstacle avoidance height threshold of the mobile robot may be set as a first preset height threshold, and if the height value of the obstacle on the surface of the area to be worked in the advancing direction of the mobile robot relative to the surface of the area to be worked is greater than or equal to the first preset height threshold, the mobile robot is controlled to execute the preset obstacle avoidance action. For example, when the mobile robot detects that the height value of a person, a fence, a tree or the like on the surface of the area to be worked in the advancing direction relative to the surface of the area to be worked is greater than or equal to a first preset height threshold value, the mobile robot is controlled to execute preset obstacle avoidance actions. The first preset height threshold value can be set to be smaller than or equal to the height value of the body of the mobile robot, so that the mobile robot can accurately identify the obstacle with the height value lower than the height value of the body of the mobile robot, intelligent obstacle avoidance is realized, and the occurrence of obstacle avoidance failure caused by incapability of effectively identifying low obstacles such as kittens, big hedgehogs or puppies is avoided, so that the intelligence of the mobile robot is effectively improved. And when the mobile robot detects that the height value of the obstacle on the surface of the area to be worked in the advancing direction relative to the surface of the area to be worked is smaller than or equal to a second preset height threshold value, the mobile robot is controlled to move forwards and the working assembly is controlled to execute the working action, so that the mobile robot is prevented from executing the preset obstacle avoidance action when the mobile robot takes the very low objects such as leaves, metal rods or wood rods or the like with smaller height values or shadow in the plant as the obstacles to be avoided. For example, when the mobile robot is a mowing robot, if it is detected that the height value of the obstacle on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is smaller than or equal to a second preset height threshold value, the mowing robot is controlled to move forward and the mowing assembly is controlled to execute a preset mowing action, so that the mowing robot is prevented from taking very low objects such as leaves, metal rods or wood rods or the like as obstacles to be avoided in a grass, and the situation that the mowing area is missed is avoided.
Further, referring to fig. 4, in an embodiment of the present application, the intelligent obstacle avoidance method for a mobile robot includes:
step 11, a light intensity information acquisition device is arranged on the mobile robot in advance;
step 161, acquiring the real-time light intensity value of the mobile robot in the advancing direction by the light intensity information acquiring device.
As an example, please continue to refer to fig. 4, the real-time light intensity value of the mobile robot in the forward direction, for example, the local light intensity value of the area to be worked of the mobile robot, is obtained by setting the light intensity information obtaining device on the mobile robot in advance, so as to determine whether the area is daytime or not through the real-time light intensity value, when the real-time light intensity value is detected to be smaller than the preset light intensity threshold, the mobile robot is controlled to work in the night work mode, when the night obstacle, for example, the night hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop executing the work action, so as to avoid the damage to the night small animal, for example, the small hedgehog.
Further, referring to fig. 5, in an embodiment of the present application, the step of obtaining the light intensity value of the mobile robot in the forward direction includes:
Step 162, acquiring the real-time light intensity value of the mobile robot in the forward direction by the depth information acquiring device.
As an example, please continue to refer to fig. 5, since the photoelectric sensor in the depth information acquiring apparatus is used to convert the received optical signal into an electrical signal, when the photoelectric sensor is triggered, the magnitude of the output current of the photoelectric sensor is within a certain light intensity range, and increases with the increase of the intensity value of the received light, so that it may be determined that the mobile robot is in daytime when the output current value of the photoelectric sensor of the depth information acquiring apparatus is greater than or equal to the preset current threshold value, otherwise, the mobile robot is controlled to operate in the night working mode. When a night obstacle such as a small night hedgehog is detected, the mobile robot is controlled to move forward and the working assembly is controlled to stop executing working actions so as to avoid injuring the small night animal such as the small hedgehog. The sharpness of the image acquired by the depth information acquiring device is related to the magnitude of the output current of the photoelectric sensor, and in general, the greater the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquiring device is, so that the light intensity value of the light received by the depth information acquiring device can be indirectly determined according to the gray scale information of the image acquired by the depth information acquiring device.
It should be understood that, although the steps in the flowcharts of fig. 1-5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, while at least some of the steps in fig. 1-5 may include multiple sub-steps or multiple stages, the sub-steps or stages are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Further, referring to fig. 6, in an embodiment of the present application, an intelligent obstacle avoidance apparatus 300 for a mobile robot is provided, including a depth information obtaining apparatus 302 and a processor 303, where the depth information obtaining apparatus 302 may be disposed on a body of the mobile robot and is configured to obtain depth information of a to-be-worked area of the mobile robot, where the depth information includes depth information of a surface of the to-be-worked area and depth information of an obstacle, and the obstacle is located on the surface of the to-be-worked area in a forward direction of the mobile robot; the processor 303 may be provided at the body of the mobile robot, the processor 303 being connected to the depth information acquiring device 302, the processor 303 being configured to:
Determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
acquiring a real-time light intensity value of the mobile robot in the advancing direction;
and controlling the action of a working component of the mobile robot based on the height value and the real-time light intensity value.
Specifically, please continue to refer to fig. 6, the mobile robot may be an outdoor robot such as a mowing robot, a fertilizing robot, an irrigation robot, a snow removing robot, or a cleaning robot, and thus, the working component of the mobile robot in the embodiments of the present application may be at least one of a mowing component, a fertilizing component, an irrigation component, a snow removing component, or a cleaning component. Because some small animals such as small hedgehog, mice or snakes appear on the surface of the area to be worked of the mobile robot at night, the height values of the small animals are generally short, the height values of the small animals may not reach the obstacle avoidance recognition range of the mobile robot, the processor is set to acquire a real-time light intensity value in the advancing direction, the real-time light intensity value can be a local light intensity value of the area to be worked or an environment light intensity value of the environment where the mobile robot is located, when the real-time light intensity value is smaller than the preset light intensity threshold value, the mobile robot is illustrated to be in a night working mode, whether the height value of an obstacle relative to the surface of the area to be worked is located in a preset night obstacle avoidance range is further judged, if the height value of the obstacle relative to the surface of the area to be worked is judged, the work component of the mobile robot can be controlled to stop working, and damage to the small night animals such as small hedgehog is avoided.
As an example, since the photoelectric sensor in the depth information acquiring apparatus is used to convert the received light signal into an electrical signal, when the photoelectric sensor is triggered, the magnitude of the output current of the photoelectric sensor is within a certain light intensity range, and increases with the increase of the intensity value of the received light, it is possible to set that the output current value of the photoelectric sensor of the depth information acquiring apparatus is greater than or equal to a preset current threshold value, and determine that the mobile robot is in daytime, otherwise, control the mobile robot to operate in the night operation mode. When a night obstacle such as a small night hedgehog is detected, the mobile robot is controlled to move forward and the working assembly is controlled to stop executing working actions so as to avoid injuring the small night animal such as the small hedgehog. The sharpness of the image acquired by the depth information acquiring device is related to the magnitude of the output current of the photoelectric sensor, and in general, the greater the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquiring device is, so that the light intensity value of the light received by the depth information acquiring device can be indirectly determined according to the gray scale information of the image acquired by the depth information acquiring device. In this embodiment, the real-time light intensity value of the mobile robot in the forward direction may be determined directly based on the gray-scale information of the image of the depth information acquiring device and/or the output current of the photoelectric sensor, so as to control the action of the working component of the mobile robot according to the real-time light intensity value and the height value of the obstacle on the surface of the area to be worked relative to the surface of the area to be worked in the forward direction of the mobile robot, which is acquired by the depth information acquiring device.
Further, referring to fig. 7, in an embodiment of the present application, an intelligent obstacle avoidance apparatus 400 for a mobile robot is provided, which includes a depth information acquiring apparatus 302, a processor 303, and a light intensity information acquiring apparatus 304. The depth information obtaining device 302 may be disposed on a body of the mobile robot, and is configured to obtain depth information of a to-be-worked area of the mobile robot, where the depth information includes depth information of a surface of the to-be-worked area and depth information of an obstacle, and the obstacle is located on the surface of the to-be-worked area in a forward direction of the mobile robot; the light intensity information acquisition device 304 is used for acquiring a real-time light intensity value of the mobile robot in the advancing direction; the processor 303 is connected to both the depth information acquiring means 302 and the light intensity information acquiring means 304 and configured to:
determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
acquiring the real-time light intensity value of the mobile robot in the advancing direction through the light intensity information acquisition device;
and controlling the action of a working component of the mobile robot based on the height value and the real-time light intensity value.
As an example, please continue to refer to fig. 7, when the real-time light intensity value acquired by the light intensity information acquisition device is greater than or equal to the preset light intensity threshold, it may be determined that the mobile robot is in the daytime, otherwise, the mobile robot is controlled to operate in the night working mode. When a night obstacle such as a small night hedgehog is detected, the mobile robot is controlled to move forward and the working assembly is controlled to stop executing working actions so as to avoid injuring the small night animal such as the small hedgehog.
Further, referring to fig. 8, in one embodiment of the present application, a mobile robot 500 is provided, including a robot body 301, a depth information acquiring device 302 and a processor 303, where the depth information acquiring device 302 is disposed on the robot body 301 and is configured to acquire depth information of a to-be-worked area of the mobile robot, the depth information includes depth information of a surface of the to-be-worked area and depth information of an obstacle, and the obstacle is located on the surface of the to-be-worked area in a forward direction of the mobile robot; the processor 303 is provided in the robot body 301, connected to the depth information acquiring device 302, and configured to:
determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
acquiring a real-time light intensity value of the mobile robot in the advancing direction;
and controlling the action of a working component of the mobile robot based on the height value and the real-time light intensity value.
Specifically, referring to fig. 8, the real-time light intensity value of the mobile robot in the forward direction may be determined directly based on the gray-scale information of the image of the depth information acquiring device and/or the output current of the photoelectric sensor, so as to control the action of the working component of the mobile robot according to the real-time light intensity value and the height value of the obstacle on the surface of the area to be worked relative to the surface of the area to be worked in the forward direction of the mobile robot, which is acquired by the depth information acquiring device. When a night obstacle such as a small night hedgehog is detected, the mobile robot is controlled to move forward and the working assembly is controlled to stop executing working actions so as to avoid injuring the small night animal such as the small hedgehog.
As an example, please continue to refer to fig. 8, in one embodiment of the present application, the depth information acquiring device 302 includes at least one of a TOF camera, a binocular camera, or a structured light camera.
Further, referring to fig. 9, 10a and 10b, in one embodiment of the present application, a mowing robot 600 is provided, including a robot body 301, a depth information acquiring device 302, a processor 303, a light intensity information acquiring device 304 and a mowing assembly 305, wherein the mowing assembly 305 is disposed on the robot body 301 and is configured to perform a preset mowing action; the depth information obtaining device 302 is disposed on the robot body 301, and is configured to obtain depth information of a to-be-worked area of the mobile robot, where the depth information includes depth information of a surface of the to-be-worked area and depth information of an obstacle, and the obstacle is located on the surface of the to-be-worked area in a forward direction of the mobile robot; the light intensity information acquisition device 304 is arranged on the robot body 301 and is used for acquiring a real-time light intensity value of the mobile robot in the advancing direction; the processor 303 is disposed on the robot body 301 and connected to the mowing assembly 305, the depth information acquiring device 302 and the light intensity information acquiring device 304, and the processor 303 is configured to:
Determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;
acquiring a real-time light intensity value of the mobile robot in the advancing direction;
and controlling a mowing assembly of the mobile robot to act based on the height value and the real-time light intensity value.
And if the height value of the obstacle on the surface of the area to be worked in the advancing direction of the mobile robot relative to the surface of the area to be worked is larger than or equal to a second preset height threshold value and smaller than or equal to a first preset height threshold value, when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling the robot body to move forward and controlling the mowing assembly to execute preset mowing action, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the robot body to move forward and controlling the mowing assembly to stop executing mowing action.
As an example, please refer to fig. 11, the depth information of the surface of the area to be worked in the advancing direction of the mowing robot and the depth information of the obstacle located on the surface of the area to be worked in the advancing direction of the mobile robot are acquired by using the depth information acquiring device 302 provided in the mowing robot; for example, the binocular camera 3021 may be used to obtain depth information of an obstacle on the surface of the area to be worked in the advancing direction of the mobile robot, where the depth information may include a distance and an angle between an object on the area to be worked of the mobile robot and the mobile robot, so that the mobile robot may obtain a three-dimensional model of the obstacle and the lawn according to the distance and the angle between a plurality of points of the object (for example, the obstacle or the grass) on the area to be worked, and further obtain a height value Hmax of the obstacle on the surface of the area to be worked relative to the surface of the area to be worked in the advancing direction of the mobile robot. Mounting the binocular camera 3021 on the top of the body of the mowing robot, wherein the mounting position of the binocular camera 3021 can be set to be 15 cm-25 cm away from the surface of the working area of the mobile robot; the center axis of the mirror surface of the binocular camera 3021 is set to form an acute angle with the advancing direction of the mobile robot, and the binocular camera 3021 is used for detecting obliquely downwards so as to accurately detect depth information of the surface of the area to be worked in the advancing direction of the mobile robot and depth information of the obstacle on the surface of the area to be worked in the advancing direction of the mobile robot. The processor 303 obtains a real-time light intensity value of the mobile robot in the forward direction and controls the action of the working components of the mobile robot based on the height value and the real-time light intensity value. If the height value Hmax is greater than or equal to a first preset height threshold, the processor 303 controls the mowing robot to execute a preset obstacle avoidance action, such as moving backward, moving backward or moving forward around with a preset track to be away from the obstacle 800, and the first preset height threshold may be set to be a lower limit value of a nursery or an upper limit value of a hedgehog and less than or equal to a height value of a body of the mowing robot, so that the mowing robot can accurately identify an obstacle with a height value lower than that of the body of the mowing robot, thereby realizing intelligent obstacle avoidance, avoiding occurrence of obstacle avoidance failure caused by incapability of effectively identifying a low obstacle, and effectively improving the intelligence of the mowing robot. Since some small animals such as small hedgehog, mice or snakes appear on the surface of the artificial region of the mowing robot at night, the small animals are generally shorter, the height values of the small animals cannot reach the obstacle avoidance recognition range of the mowing robot, when the real-time light intensity value acquired by the processor of the mowing robot is smaller than the preset light intensity threshold value, the mowing robot is indicated to work in a night working mode, whether the maximum value of the obstacle height difference is located in a preset night obstacle avoidance range interval is further judged, and the night obstacle avoidance range interval is larger than or equal to a second preset height threshold value and smaller than or equal to a first preset height threshold value, if so, the night obstacle is judged to be detected; if the real-time light intensity value is larger than or equal to the preset light intensity threshold value, the mowing robot is indicated to work in a daytime working mode, and as the probability of small animals appearing on the surface of a daytime mowing robot working area in the daytime is small, when the height value is larger than or equal to a second preset height threshold value and smaller than or equal to a first preset height threshold value, it is judged that a short inanimate obstacle positioned in a lawn is detected, the mowing robot is controlled to move forwards and execute preset mowing actions, the mowing action is finished while the mowing robot is controlled to cross the short inanimate obstacle, the intelligence of the mowing robot is effectively improved, and meanwhile the small animals at night are prevented from being hurt when the mowing robot mows at night.
Further, with continued reference to fig. 9, 10a, 10b and 11, in one embodiment of the present application, the processor 303 is configured to:
if the height value is less than or equal to the second preset height threshold, the robot body 301 is controlled to move forward and the mowing assembly 305 is controlled to execute the preset mowing action.
As an example, please continue to refer to fig. 9, fig. 10a and fig. 10b, if the height value is smaller than the second preset height threshold, it is determined that the obstacle on the surface of the area to be worked in the advancing direction of the mowing robot 600 is an extremely low obstacle, such as one or more of fallen leaves, a metal rod or a waste paper box, etc., the mowing robot 600 is controlled to advance and execute the preset mowing action, so as to avoid the obstacle avoidance action of the mowing robot caused by the extremely low obstacle on the lawn, and thus avoid the occurrence of missing mowing areas.
The intelligent obstacle avoidance device for the mobile robot or each module in the mobile robot can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (12)
- An intelligent obstacle avoidance method for a mobile robot, wherein the mobile robot walks and/or works in a work area defined by a boundary, the method comprising:determining a height value of a target object relative to the surface of the area to be worked under the condition that the target object is detected;acquiring parameters reflecting the illumination condition of the mobile robot when working in the working area;Controlling walking and/or working of the mobile robot based on the height value and the parameter reflecting the illumination condition of the mobile robot.
- The mobile robot intelligent obstacle avoidance method of claim 1 wherein obtaining parameters reflecting the illumination of the mobile robot while operating in the work area comprises:and acquiring a real-time light intensity value of the mobile robot.
- The mobile robot intelligent obstacle avoidance method of claim 2, wherein said controlling walking and/or operation of said mobile robot based on said altitude value, said real-time light intensity value comprises:if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, the mobile robot is controlled to keep the current state to continue walking and/or working;and if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the mobile robot to keep the current state to continue walking, and controlling the mobile robot to stop working.
- The mobile robot intelligent obstacle avoidance method of claim 2, wherein said controlling walking and/or operation of said mobile robot based on said altitude value, said real-time light intensity value comprises:If the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling the mobile robot to execute preset obstacle avoidance action, and controlling the mobile robot to keep a working state;and if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the mobile robot to execute a preset obstacle avoidance action and controlling the mobile robot to stop working.
- The mobile robot intelligent obstacle avoidance method of claim 2, wherein said controlling walking and/or operation of said mobile robot based on said altitude value, said real-time light intensity value comprises:and if the height value is greater than or equal to a first preset height threshold value, controlling the mobile robot to execute a preset obstacle avoidance action, and controlling the mobile robot to work.
- The mobile robot intelligent obstacle avoidance method of claim 1 wherein obtaining parameters reflecting the illumination of the mobile robot while operating in the work area comprises:acquiring the current working time, seasonal parameters, the current position and weather conditions of the mobile robot during working;And determining the parameters reflecting the illumination condition of the mobile robot when the mobile robot works in the working area according to at least one of the current working time, the seasonal parameters, the current position and the weather condition.
- A mobile robot is characterized in that the mobile robot walks and/or works in a region to be worked defined by a boundary, a robot body, a working component and a walking component which are arranged on the robot body, a depth information acquisition device and a processor are arranged on the mobile robot,the depth information acquisition device is configured to acquire depth information, wherein the depth information comprises depth information of the surface of a region to be worked and depth information of a target object, and the target object is positioned on the surface of the region to be worked where the mobile robot is positioned;the work assembly is configured to execute a predetermined work;the processor is in signal connection with the working assembly, the walking assembly and the depth information acquisition device and is used for controlling the walking and/or working of the mobile robot;the processor is configured to determine a height value of the target object relative to the surface of the area to be worked according to the depth information acquired by the depth information acquisition device when the target object is detected; acquiring parameters reflecting the illumination condition of the mobile robot when working in the working area; controlling walking and/or working of the mobile robot based on the height value and the parameter reflecting the illumination condition of the mobile robot.
- The mobile robot of claim 7, wherein the mobile robot is provided with a light intensity information acquisition device; and taking the real-time light intensity value acquired by the light intensity information acquisition device as the parameter reflecting the illumination condition of the mobile robot when working in the working area.
- The mobile robot of claim 8, wherein the depth information acquiring means is comprised by the light intensity information acquiring means.
- The mobile robot of claim 8, wherein the depth information acquiring means comprises at least one of: a TOF camera, a binocular camera or a structured light camera.
- The mobile robot of claim 7, wherein the processor is configured to control walking and/or operation of the mobile robot based on the altitude value, the real-time light intensity value, comprising:if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is larger than or equal to the preset light intensity threshold value, controlling a working assembly of the mobile robot to keep working in a current state, and controlling a traveling assembly of the mobile robot to keep traveling in the current state;And if the height value is smaller than a first preset height threshold value, and when the real-time light intensity value is smaller than the preset light intensity threshold value, controlling the traveling assembly of the mobile robot to keep the current state to continue traveling, and controlling the working assembly of the mobile robot to stop working.
- The mobile robot of claim 11, wherein the mobile robot is configured with a touch sensor configured to detect a target object by way of a direct collision, the first preset height threshold being less than a height of the touch sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2020113871275 | 2020-12-01 | ||
| CN202011387127 | 2020-12-01 | ||
| PCT/CN2021/134820 WO2022117001A1 (en) | 2020-12-01 | 2021-12-01 | Intelligent obstacle avoidance method of mobile robot, and mobile robot |
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| CN116490064A true CN116490064A (en) | 2023-07-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20160338262A1 (en) * | 2014-01-21 | 2016-11-24 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous mower |
| CN106134620B (en) * | 2015-04-02 | 2019-02-19 | 宝时得科技（中国）有限公司 | Intelligent grass-removing and its control method |
| IT201800003378A1 (en) * | 2018-03-08 | 2019-09-08 | Stiga S P A In Breve Anche St S P A | Mower with ultrasonic deterrent device for wild animals. |
| CN110945997A (en) * | 2018-09-27 | 2020-04-03 | 苏州宝时得电动工具有限公司 | Automatic mower, operation control method and device thereof, and electronic equipment |
| CN109634286B (en) * | 2019-01-21 | 2021-06-25 | 傲基科技股份有限公司 | Visual obstacle avoidance method for mowing robot, mowing robot and readable storage medium |
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