CN117678933A - Cliff detection device of multisensor - Google Patents
Cliff detection device of multisensor Download PDFInfo
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- CN117678933A CN117678933A CN202211099769.4A CN202211099769A CN117678933A CN 117678933 A CN117678933 A CN 117678933A CN 202211099769 A CN202211099769 A CN 202211099769A CN 117678933 A CN117678933 A CN 117678933A
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- 238000004140 cleaning Methods 0.000 claims abstract description 79
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Abstract
The invention discloses a cliff detection device with multiple sensors, which comprises a distance sensor, a gesture sensor and a controller, wherein the distance sensor, the gesture sensor and the controller are arranged on intelligent cleaning equipment; the gesture sensor is used for detecting gesture parameters of the intelligent cleaning equipment; the distance sensor is used for detecting a measured value of the ground clearance of the intelligent cleaning equipment; the controller queries a calibration threshold corresponding to the attitude parameter in a pre-established calibration database; judging whether the front can normally pass or not according to the calibration threshold and the measured value; and the single measured value is corrected through the gesture parameters of the airframe detected by the configured gesture sensor, so that false triggering in an obstacle surmounting scene is avoided, and the accuracy of route planning is improved.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning equipment, in particular to a cliff detection device with multiple sensors.
Background
At present, intelligent cleaning equipment is widely applied to daily life, and people can finish different cleaning works by utilizing different intelligent cleaning equipment, and the intelligent cleaning equipment needs to judge the ground clearance through cliff detection, so that the front can normally pass through, and a forward route is determined.
However, cliff detection in the prior art can only be singly judged according to the detected ground clearance, and when the posture of the intelligent cleaning equipment body changes, the detected ground clearance can be inaccurate, and misjudgment can be caused at the moment, so that the accuracy of intelligent cleaning equipment route planning is affected.
Disclosure of Invention
The invention provides a cliff detection device with multiple sensors, which is used for correcting the limitation of single data by combining the gesture parameters of a detected machine body, avoiding false triggering in obstacle crossing scenes and improving the accuracy of route planning.
The embodiment of the invention provides a multi-sensor cliff detection device, which comprises a distance sensor, an attitude sensor and a controller, wherein the distance sensor, the attitude sensor and the controller are arranged on intelligent cleaning equipment;
the gesture sensor is used for detecting gesture parameters of the intelligent cleaning equipment;
the distance sensor is used for detecting a measured value of the ground clearance of the intelligent cleaning equipment;
the controller queries a calibration threshold corresponding to the attitude parameter in a pre-established calibration database; and judging whether the front can normally pass or not according to the calibration threshold value and the measured value.
Preferably, the attitude sensor includes a gyroscope;
the gyroscope is used for detecting the inclination angle of the straight line where the body of the intelligent cleaning device is located and the moving direction as the gesture parameter.
Further, the calibration data base establishment process includes:
setting a preset angle interval in a preset angle range, and determining each angle value of the angle range;
tilting the intelligent cleaning equipment to each angle value of the angle range, and measuring a calibration value corresponding to each angle value when the intelligent cleaning equipment is at a preset cliff trigger height by adopting the distance sensor;
and correspondingly storing each angle value and the corresponding calibration value, and establishing the calibration database.
As an improvement of the above solution, the calibration data base establishment process includes:
repeatedly measuring the calibration value of each angle value in the calibration database for N times to obtain an average calibration value of each angle value, wherein N is more than 1;
and correspondingly storing each angle value and the corresponding average calibration value, and establishing the calibration database.
Preferably, the cliff trigger height is determined according to factory settings and structural parameters of the intelligent cleaning device. As an improvement of the above solution, the distance sensor is a TOF distance sensor.
As a preferred solution, the process of querying the calibration threshold corresponding to the attitude parameter by the controller includes:
comparing whether each angle value in the calibration database is the same as the inclination angle;
when the angle value which is the same as the inclination angle is inquired in the calibration database, taking the calibration value corresponding to the angle value as the calibration threshold value;
when all angle values of the calibration database are different from the inclination angle, obtaining two angle values closest to the inclination angle and two corresponding calibration values, performing linear calculation in the range of the two obtained angle values, and determining a calibration threshold value corresponding to the inclination angle.
Preferably, the process of querying the calibration threshold corresponding to the attitude parameter by the controller further comprises:
according to each angle value in the calibration database, rounding the inclined angle to obtain a rounded angle;
and taking the calibration value corresponding to the rounding angle as the calibration threshold value.
In a preferred manner, the process of determining whether the front can normally pass or not by the controller according to the calibration threshold value and the measured value specifically includes:
comparing the calibration threshold with the measured value;
when the calibration threshold is larger than the measured value, judging that the front cannot normally pass;
and when the calibration threshold is not greater than the measured value, judging that the front can normally pass.
Preferably, the distance sensor is an infrared pair tube sensor arranged at the edge of the intelligent cleaning equipment;
the infrared geminate transistor sensor is used for detecting the vertical distance between the infrared geminate transistor sensor and the ground;
the attitude sensor is an inertial measurement unit.
The invention provides a multi-sensor cliff detection device, which comprises a distance sensor, a gesture sensor and a controller, wherein the distance sensor, the gesture sensor and the controller are arranged on intelligent cleaning equipment; the gesture sensor is used for detecting gesture parameters of the intelligent cleaning equipment; the distance sensor is used for detecting the measured value of the intelligent cleaning equipment; the controller queries a calibration threshold corresponding to the attitude parameter in a pre-established calibration database; judging whether the front can normally pass or not according to the calibration threshold and the measured value; and the single measured value is corrected through the gesture parameters of the airframe detected by the configured gesture sensor, so that false triggering in an obstacle surmounting scene is avoided, and the accuracy of route planning is improved.
Drawings
Fig. 1 is a schematic structural diagram of a cliff detection device with multiple sensors according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an operation state of an intelligent cleaning apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an operation state of an intelligent cleaning apparatus according to another embodiment of the present invention;
FIG. 4 is a schematic diagram showing an operation state of an intelligent cleaning apparatus according to another embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an operation state of an intelligent cleaning apparatus according to another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a cliff detection device with multiple sensors, which is shown in fig. 1, and is a schematic structural diagram of the cliff detection device with the multiple sensors, wherein the device comprises a distance sensor 2, a gesture sensor 3 and a controller 4 which are arranged on an intelligent cleaning equipment body 1;
the gesture sensor is used for detecting gesture parameters of the intelligent cleaning equipment;
the distance sensor is used for detecting a measured value of the ground clearance of the intelligent cleaning equipment;
the controller queries a calibration threshold corresponding to the attitude parameter in a pre-established calibration database; and judging whether the front can normally pass or not according to the calibration threshold value and the measured value.
When the embodiment is implemented, the controller is respectively connected with the distance sensor and the gesture sensor and is used for receiving data of the distance sensor and the gesture sensor to judge cliff detection.
The distance sensor is arranged in the advancing direction of the intelligent cleaning equipment and is used for detecting the vertical downward distance of the intelligent cleaning equipment and used as a measured value of the ground clearance of the intelligent cleaning equipment;
the measured value is specifically that the distance sensor transmits a signal to a specified direction and receives the intensity of the signal fed back, and the distance of the obstacle in the specified direction is represented according to the intensity of the signal; in this embodiment the distance from the ground.
When the gesture is normal in the operation process of the intelligent cleaning equipment, the measured value can accurately reflect the distance between the intelligent cleaning equipment and the ground in the advancing direction, cliff detection can be directly carried out by adopting the measured value, and the schematic diagram of the operation state of the intelligent cleaning equipment is provided by the embodiment of the invention, which is shown in fig. 2.
When the intelligent cleaning equipment is in an abnormal posture due to self reasons or external obstacles in the operation process, the measured value cannot accurately reflect the distance from the intelligent cleaning equipment to the ground in the advancing direction, so that an attitude sensor is required to be adopted to detect the attitude parameter of the intelligent cleaning equipment, and the attitude parameter is used for the operation attitude of the intelligent cleaning equipment and comprises three-axis angle values of the intelligent cleaning equipment. Referring to fig. 3, an operation state diagram of an intelligent cleaning apparatus according to another embodiment of the present invention is shown.
The controller acquires gesture parameters acquired by the gesture sensor, and matches corresponding calibration thresholds in a preset calibration database, wherein the calibration database comprises the corresponding relation between each gesture parameter and the calibration threshold;
and judging whether the front can normally pass or not according to the calibration threshold value and the measured value.
And the single measured value is corrected through the gesture parameters of the airframe detected by the configured gesture sensor, so that false triggering in an obstacle surmounting scene is avoided, and the accuracy of route planning is improved.
In yet another embodiment provided by the present invention, the attitude sensor includes a gyroscope;
the gyroscope is used for detecting the inclination angle of the body of the intelligent cleaning equipment relative to the movement direction as the attitude parameter.
In the implementation of the present embodiment, the attitude sensor is specifically a gyroscope;
the gyroscope is used for detecting the included angle between the straight line of the machine body and the moving direction of the intelligent cleaning equipment in the horizontal plane of the moving direction and the vertical line as an inclined angle;
specifically, the straight line of the machine body is specifically the straight line of the top or the bottom;
when the intelligent cleaning device moves on the horizontal ground, the inclination angle is the included angle between the straight line where the machine body is located and the horizontal line, see fig. 4, which is a schematic diagram of the operation state of the intelligent cleaning device according to another embodiment of the present invention.
When the intelligent cleaning device moves on the ground with a certain inclination, the inclination angle is the included angle between the straight line where the machine body is located and the inclined ground, and referring to fig. 5, a schematic diagram of an operation state of the intelligent cleaning device according to another embodiment of the present invention is provided.
The inclination angle of the machine body and the movement direction is obtained as the attitude parameter, so that the measured value can be accurately corrected, and the accuracy of cliff detection is improved.
In yet another embodiment of the present invention, the calibration data base establishment process includes:
setting a preset angle interval in a preset angle range, and determining each angle value of the angle range;
tilting the intelligent cleaning equipment to each angle value of the angle range, and measuring a calibration value corresponding to each angle value when the intelligent cleaning equipment is at a preset cliff trigger height by adopting the distance sensor;
and correspondingly storing each angle value and the corresponding calibration value, and establishing the calibration database.
When the embodiment is implemented, calibration of cliff detection threshold values is carried out, a preset angle interval is set in a preset angle range, and each angle value of the angle range is determined;
the preset angle range setting may be [ -5, +5], and 11 angle values are determined at an angular interval of 1 ° within the angle range, respectively, -5 ° to +5°;
and placing the intelligent cleaning equipment at a preset cliff trigger height position, reading and recording the calibration value of the distance sensor for each angle value of the inclination value of the intelligent cleaning equipment.
For example, if the preset cliff trigger height is calibrated to be 80, the intelligent cleaning device is placed on the cliff of 80, the intelligent cleaning device is tilted to-5 ° to +5°, and the calibration value obtained under each angle value is read, where the following table is a correspondence table between the angle value obtained and the calibration value when the calibration database is built:
table 1 correspondence table of angle values and calibration values
| Angle (°) | Calibration value |
| 0 | 110 |
| 1 | 100 |
| 2 | 90 |
| 3 | 85 |
| 4 | 82 |
| …… | …… |
It should be noted that, the preset angle range may be selected according to the actual situation, and the angle range is limited from 0 ° to the obstacle crossing value of the intelligent cleaning device. For example, the obstacle crossing value is designed to be 20, and according to the shape of a machine body, the positions of wheels and the like of the intelligent cleaning equipment, the inclination angle which can occur most in the obstacle crossing process is calculated to be 5 degrees, the angle range can be 5 degrees, and the angle of the intelligent cleaning equipment in the same way is a negative value when the intelligent cleaning equipment is inclined in opposite phase; and the margin can be increased for the angle range to achieve 6 degrees. However, the angle selection range only affects the effect in practice, and does not affect the implementation of the scheme.
It should be noted that, the angular interval of the angular values may be selected to be denser, for example, to be calibrated once at an interval of 0.5 ° or wider, and selecting a denser interval may have a more accurate effect according to the reliability setting of the intelligent cleaning apparatus, while requiring more storage space and calibration time.
And correspondingly storing each angle value and the corresponding calibration value, establishing the calibration database, matching the calibration threshold value, calibrating each angle value, avoiding errors of calibration parameters caused by nonlinear reading of the sensor or individual difference of the intelligent cleaning equipment, and improving accuracy.
In yet another embodiment of the present invention, the calibration data base establishment process includes:
repeatedly measuring the calibration value of each angle value in the calibration database for N times to obtain an average calibration value of each angle value, wherein N is more than 1;
and correspondingly storing each angle value and the corresponding average calibration value, and establishing the calibration database.
When the embodiment is implemented, a preset angle interval is set in a preset angle range, and each angle value of the angle range is determined;
and placing the intelligent cleaning equipment at a preset cliff trigger height position, reading and recording the calibration value of the distance sensor for each angle value of the inclination value of the intelligent cleaning equipment.
And repeatedly measuring each angle value for N times, wherein the larger N is, the more accurate the calibration value is, and taking the value obtained after the average treatment of the obtained value as the calibration value, so that the accuracy of the calibration value is improved, and accidental errors are avoided.
In yet another embodiment provided by the invention, the cliff trigger height is determined according to factory settings and structural parameters of the intelligent cleaning apparatus.
When the embodiment is implemented, the initial cliff trigger height is determined according to the setting and structural parameters of the intelligent cleaning equipment when leaving the factory;
for example, determining a cliff height value through which the intelligent cleaning device can pass according to a default obstacle crossing height or a cliff height through which the intelligent cleaning device can pass when leaving a factory;
calculating the limit of the intelligent cleaning equipment for obstacle crossing according to the height of the base of the intelligent cleaning equipment, the distance between the travelling wheels, the height of the radius of the travelling wheels and the like;
the cliff trigger height is determined according to factory setting and structural parameters, so that the cliff height which can be traversed by the intelligent cleaning equipment can be determined more accurately.
In yet another embodiment provided by the present invention, the distance sensor is a TOF distance sensor.
When the embodiment is implemented, the TOF distance sensor is adopted to accurately obtain the distance and accurately provide the measured value, so that the detection of the calibration value is not required in advance, the measured value corresponding to the inclination angle is obtained only through geometric operation, the cliff detection efficiency of the scheme can be improved, and the repeated calibration process is avoided.
In still another embodiment of the present invention, the process of querying, by the controller, the calibration threshold corresponding to the attitude parameter includes:
comparing whether each angle value in the calibration database is the same as the inclination angle;
when the angle value which is the same as the inclination angle is inquired in the calibration database, taking the calibration value corresponding to the angle value as the calibration threshold value;
when all angle values of the calibration database are different from the inclination angle, obtaining two angle values closest to the inclination angle and two corresponding calibration values, performing linear calculation in the range of the two obtained angle values, and determining a calibration threshold value corresponding to the inclination angle.
When the embodiment is implemented, after the calibration process of the calibration threshold is completed, the acquired inclination angle is used as the attitude parameter;
comparing whether the inclination angle is the same as a plurality of angle values calibrated in advance in a calibration database, namely inquiring a table of the calibration database;
and when the angle value which is the same as the inclination angle is inquired in the calibration database, namely, the calibration value corresponding to the inclination angle is inquired in a table of the calibration database, the corresponding calibration value is used as the calibration threshold, and cliff judgment is carried out according to the calibration threshold and the acquired measured value.
When all angle values of the calibration database are different from the inclination angle, namely, the calibration value corresponding to the inclination angle cannot be queried in a table of the calibration database, obtaining two angle values closest to the inclination angle and two corresponding calibration values, and performing linear calculation in the range of the two obtained angle values;
and (3) performing linear calculation in the range of the two queried angle values, and determining a calibration threshold corresponding to the inclination angle. The current inclination angle is 0.4 degrees, but in the process of establishing a calibration data base, 1 degree is used as an angle interval, so that when all angle values in the calibration data base are different from the inclination angle, the closest angle values are respectively obtained by inquiry and are respectively 0 to 1 degrees, and the corresponding calibration values are respectively 110 to 100 degrees, simple linearization calculation is carried out, and 106 is used as the calibration value of the inclination angle of 0.4 degrees.
Although the sensor is not linear, within a certain small range, approximate linearity calculation can be used to approximate the true value, so that the calibration accuracy in the calibration database is improved.
In still another embodiment of the present invention, the process of querying, by the controller, the calibration threshold corresponding to the attitude parameter further includes:
according to each angle value in the calibration database, rounding the inclined angle to obtain a rounded angle;
and taking the calibration value corresponding to the rounding angle as the calibration threshold value.
As a parallel implementation of the above scheme, when the tilt angle is different from the table in the calibration data base, the tilt angle may be rounded in addition to the scheme using the linear calculation described above.
And carrying out rounding treatment on the inclination angle according to each angle value in the calibration database, adopting a rounding mode of rounding, carrying out rounding treatment on the inclination angle, obtaining a rounding angle, and taking a calibration value corresponding to the rounding angle as the calibration threshold.
And (3) rounding the inclination angle to 1 degree by rounding the current inclination angle of 0.5 degrees, and acquiring a calibration value corresponding to the rounding angle as the calibration threshold value to judge the cliff.
It should be noted that, according to each angle value in the calibration database, the inclination angle is rounded, and when the angle interval of the angle values is 0.5 °, the rounded angle should be a multiple of 0.5.
The cliff detection efficiency is improved by directly adopting a rounding mode.
In another embodiment of the present invention, the process of determining whether the front can normally pass by the controller according to the calibration threshold and the measurement value specifically includes:
comparing the calibration threshold with the measured value;
when the calibration threshold is larger than the measured value, judging that the front cannot normally pass;
and when the calibration threshold is not greater than the measured value, judging that the front can normally pass.
When the embodiment is implemented, the controller respectively detects the attitude parameters and the measured values through the attitude sensor and the distance sensor;
inquiring a corresponding calibration threshold value in the calibration database according to the attitude parameter, for example, the current inclination angle is 0 degrees, and the inquired calibration threshold value is 110; the current inclination angle is 0 degrees, and the calibration threshold value obtained by inquiry is 90 degrees;
comparing the queried calibration threshold value with the measured value;
when the measured value is larger than the calibration threshold value, judging that the front part cannot normally pass, and triggering the cliff action;
when the measured value is not greater than the calibration threshold value, the front can be judged to normally pass, and the cliff action is not triggered;
when the current measured value is 100, and the inclination angle is 0 ℃, the measured value is larger than a calibration threshold value, and the fact that the front cannot normally pass is judged, so that the cliff action is triggered; when the current measured value is 100, and the inclination angle is 2 degrees, the measured value is not larger than the calibration threshold value, and the front can be judged to normally pass, so that the cliff action can not be triggered.
Cliff detection is carried out through attitude parameters and measured values, so that the error of cliff judgment according to a single measured value can be corrected, erroneous judgment is avoided, and the accuracy of route planning is improved.
In yet another embodiment provided by the invention, the distance sensor is an infrared pair tube sensor mounted at the edge of the intelligent cleaning apparatus;
the infrared geminate transistor sensor is used for detecting the vertical distance between the infrared geminate transistor sensor and the ground;
the attitude sensor is an inertial measurement unit.
When the embodiment is specifically implemented, the distance sensor is installed at the edge of the advancing direction of the intelligent cleaning equipment, so that measured values can be conveniently detected in time, cliff judgment can be carried out, the margin of the route planning of the intelligent cleaning equipment is improved, and collision is avoided.
The distance can be accurately detected by the infrared distance sensor.
The attitude sensor is an inertial measurement unit, namely, attitude parameters are detected through the IMU, so that the condition of the intelligent cleaning equipment can be accurately reflected, and the cliff detection accuracy is improved.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. The multi-sensor cliff detection device is characterized by comprising a distance sensor, an attitude sensor and a controller, wherein the distance sensor, the attitude sensor and the controller are arranged on intelligent cleaning equipment;
the gesture sensor is used for detecting gesture parameters of the intelligent cleaning equipment;
the distance sensor is used for detecting a measured value of the ground clearance of the intelligent cleaning equipment;
the controller queries a calibration threshold corresponding to the attitude parameter in a pre-established calibration database; and judging whether the front can normally pass or not according to the calibration threshold value and the measured value.
2. The multi-sensor cliff detection device of claim 1, wherein the attitude sensor comprises a gyroscope;
the gyroscope is used for detecting the inclination angle of the straight line where the body of the intelligent cleaning device is located and the moving direction as the gesture parameter.
3. The multi-sensor cliff detection device of claim 2, wherein the calibration database creation process comprises:
setting a preset angle interval in a preset angle range, and determining each angle value of the angle range;
tilting the intelligent cleaning equipment to each angle value of the angle range, and measuring a calibration value corresponding to each angle value when the intelligent cleaning equipment is at a preset cliff trigger height by adopting the distance sensor;
and correspondingly storing each angle value and the corresponding calibration value, and establishing the calibration database.
4. A multi-sensor cliff detection device as claimed in claim 3, wherein the calibration database creation process comprises:
repeatedly measuring the calibration value of each angle value in the calibration database for N times to obtain an average calibration value of each angle value, wherein N is more than 1;
and correspondingly storing each angle value and the corresponding average calibration value, and establishing the calibration database.
5. A multi-sensor cliff detection device as claimed in claim 3, wherein the cliff trigger height is determined in accordance with factory settings and structural parameters of the intelligent cleaning apparatus.
6. The multi-sensor cliff detection device of claim 5, wherein the distance sensor is a TOF distance sensor.
7. A cliff detection device as claimed in claim 3, wherein the process of the controller querying the calibration threshold corresponding to the attitude parameter comprises:
comparing whether each angle value in the calibration database is the same as the inclination angle;
when the angle value which is the same as the inclination angle is inquired in the calibration database, taking the calibration value corresponding to the angle value as the calibration threshold value;
when all angle values of the calibration database are different from the inclination angle, obtaining two angle values closest to the inclination angle and two corresponding calibration values, performing linear calculation in the range of the two obtained angle values, and determining a calibration threshold value corresponding to the inclination angle.
8. A cliff detection device as claimed in claim 3, wherein the process of the controller querying the calibration threshold corresponding to the attitude parameter further comprises:
according to each angle value in the calibration database, rounding the inclined angle to obtain a rounded angle;
and taking the calibration value corresponding to the rounding angle as the calibration threshold value.
9. The multi-sensor cliff detection device of claim 1, wherein the process of determining whether the front is normally accessible by the controller based on the calibration threshold and the measured value comprises:
comparing the calibration threshold with the measured value;
when the calibration threshold is larger than the measured value, judging that the front cannot normally pass;
and when the calibration threshold is not greater than the measured value, judging that the front can normally pass.
10. The multi-sensor cliff detection device of claim 1, wherein the distance sensor is an infrared pair-tube sensor mounted at an edge of the intelligent cleaning apparatus;
the infrared geminate transistor sensor is used for detecting the vertical distance between the infrared geminate transistor sensor and the ground;
the attitude sensor is an inertial measurement unit.
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|---|---|---|---|
| CN202211099769.4A CN117678933A (en) | 2022-09-09 | 2022-09-09 | Cliff detection device of multisensor |
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|---|---|---|---|
| CN202211099769.4A CN117678933A (en) | 2022-09-09 | 2022-09-09 | Cliff detection device of multisensor |
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