WO2022117001A1

WO2022117001A1 - Intelligent obstacle avoidance method of mobile robot, and mobile robot

Info

Publication number: WO2022117001A1
Application number: PCT/CN2021/134820
Authority: WO
Inventors: 陈亚扣
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-12-01
Filing date: 2021-12-01
Publication date: 2022-06-09
Also published as: CN116490064A

Abstract

An intelligent obstacle avoidance method of a mobile robot, and the mobile robot. A depth information obtaining device is provided on the mobile robot in advance, and a working assembly is provided on the mobile robot. The obstacle avoidance method comprises: step 12, obtaining, by means of the depth information obtaining device, depth information of an area for working of the mobile robot, the depth information comprising depth information of a surface of said area and depth information of an obstacle, and the obstacle being located on the surface of said area in the forward direction of the mobile robot; step 14, determining a height value of the obstacle with respect to the surface of said area on the basis of the depth information; step 16, obtaining a real-time light intensity value of the mobile robot in the forward direction; and step 18, controlling, on the basis of the height value and the real-time light intensity value, the working assembly of the mobile robot to move. In this way, an obstacle avoidance failure because some low obstacles cannot be recognized can be avoided, and small animals traveling at night can be prevented from being accidentally injured.

Description

Mobile robot intelligent obstacle avoidance method and mobile robot

technical field

The invention relates to the technical field of robots, in particular to an intelligent obstacle avoidance method for a mobile robot and a mobile robot.

Background technique

With the rapid development of artificial intelligence technology, various robots appear in people's daily life, and gradually play more roles while facilitating people's daily life. Among them, mobile robots are the most common type of robots on the market. .

Traditional mobile robots generally use ultrasonic sensors, radar or laser transmitters to avoid obstacles, and such obstacle avoidance sensors generally indirectly measure the real-time distance of obstacles by measuring the flight time of the transmitted signal after encountering the obstacle. Real-time distance control mobile robot to perform obstacle avoidance action. However, in the prior art, mobile robots usually fail to recognize some low obstacles and fail to avoid obstacles.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide an intelligent obstacle avoidance method for a mobile robot and a mobile robot to solve the technical problem that the traditional mobile robot fails to avoid obstacles due to its inability to effectively identify low obstacles.

In order to achieve the above object and other objects, a first aspect of the present application provides an intelligent obstacle avoidance method for a mobile robot. In the case of a target object, determine the height value of the target object relative to the surface of the area to be worked; obtain parameters reflecting the lighting conditions of the mobile robot when working in the work area; based on the height value and the The parameters reflecting the lighting conditions when the mobile robot works control the walking and/or work of the mobile robot.

In one embodiment, acquiring a parameter reflecting the lighting situation when the mobile robot is working in the working area includes: acquiring a real-time light intensity value of the mobile robot.

In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the mobile robot to keep the current state and continue to walk and/or work; if the height value is less than the first preset height threshold, and when the real-time light intensity When the value is less than the preset light intensity threshold, the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working.

In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is less than a first preset height threshold, and when all the When the real-time light intensity value is greater than or equal to a preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot to maintain a working state; if the height value is less than the first preset height threshold , and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the mobile robot is controlled to stop working.

In one embodiment, the controlling the walking and/or working of the mobile robot based on the height value and the real-time light intensity value includes: if the height value is greater than or equal to a first preset height threshold, then The mobile robot is controlled to perform preset obstacle avoidance actions, and the mobile robot is controlled to work.

In one embodiment, acquiring parameters reflecting the lighting conditions when the mobile robot is working in the working area includes: acquiring the current working time, seasonal parameters, current location and weather conditions when the mobile robot is working; At least one of the current working time, seasonal parameters, current location and weather conditions determines the parameter reflecting the lighting conditions when the mobile robot is working in the working area.

An embodiment of the present invention also provides a mobile robot, the mobile robot walks and/or works in a to-be-worked area defined by a boundary, the mobile robot is provided with a robot body, and a working robot is provided on the robot body. An assembly, a depth information acquisition device, and a processor, the depth information acquisition device is configured to acquire depth information, the depth information includes depth information of the surface of the area to be worked and depth information of obstacles, the obstacles located in the the surface of the to-be-worked area where the mobile robot is located; the working assembly is configured to perform predetermined work; the processor is signal-connected to the working assembly and the depth information acquisition device, and is used to control the walking and/or the mobile robot or work; the processor is configured to, when a target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; and controlling the walking and/or working of the mobile robot based on the height value and the parameter reflecting the lighting situation when the mobile robot is working in the working area.

In one embodiment, a light intensity information acquisition device is configured on the mobile robot; the real-time light intensity value acquired by the light intensity information acquisition device is used as the reflection when the mobile robot is working in the work area. Parameters for lighting conditions.

In one embodiment, the light intensity information acquisition device includes the depth information acquisition device.

In one embodiment, the depth information acquisition device includes at least one of the following: a TOF camera, a binocular camera, or a structured light camera.

In one embodiment, the processor is configured to control the walking and/or work of the mobile robot based on the height value and the real-time light intensity value, including:

If the height value is 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, control the working components of the mobile robot to keep the current state and continue to work, and control the mobile robot The walking component keeps the current state and continues to walk;

If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the walking component of the mobile robot to keep the current state to continue walking, and control the movement The working components of the robot stop working.

In one embodiment, a contact sensor is configured on the mobile robot, the contact sensor is configured to detect the target object through direct collision, and the first preset height threshold is smaller than the height of the contact sensor .

In the mobile robot in the above-mentioned embodiment, when the target object is detected, the height value of the target object relative to the surface of the area to be worked is determined; the parameters reflecting the lighting conditions of the mobile robot when working in the work area are obtained; based on the height value And the parameters reflecting the light conditions when the mobile robot works, control the walking and/or work of the mobile robot. Through the above method, it is avoided that the mobile robot cannot accurately identify low obstacles on the surface of the area to be worked, and cannot adopt a safe walking strategy when identifying low obstacles. The working state of the mobile robot can be controlled when a low obstacle is identified at night, so as to avoid accidental injury to some small animals traveling at night, and effectively improve the intelligence of the mobile robot.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, the drawings of other embodiments can also be obtained according to these drawings without creative effort.

FIG. 1 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in the first embodiment of the application;

2 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a second embodiment of the present application;

3 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a third embodiment of the present application;

4 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fourth embodiment of the present application;

5 is a schematic flowchart of a method for intelligent obstacle avoidance of a mobile robot in a fifth embodiment of the present application;

6 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot according to an embodiment of the application;

7 is a schematic structural diagram of an intelligent obstacle avoidance device for a mobile robot in another embodiment of the present application;

8 is a schematic structural diagram of a mobile robot in an embodiment of the application;

9 is a schematic structural diagram of a lawn mowing robot in an embodiment of the application;

Fig. 10a is a left side view of the lawn mowing robot in an embodiment of the application;

10b is a top view of a lawn mowing robot in another embodiment of the present application;

FIG. 11 is a schematic diagram of an application scenario of the lawnmower robot in an embodiment of the application;

FIG. 12 is a schematic flowchart of an intelligent obstacle avoidance method for a mobile robot according to another embodiment of the present application.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Where "including", "having", and "comprising" are used as described herein, unless an explicit qualifying language is used, such as "only", "consisting of," etc., another component may also be added . Unless mentioned to the contrary, terms in the singular may include the plural and should not be construed as having a number of one.

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. 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 this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" or "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

Referring to FIG. 1 , in one embodiment of the present application, an intelligent obstacle avoidance method for a mobile robot is provided. A depth information acquisition device is pre-installed on the mobile robot and a working component is set on the mobile robot. Methods include:

Step 12, obtain the depth information of the area to be worked by the mobile robot through the depth information acquisition device, the depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located in the forward direction of the mobile robot. the surface of the area to be worked on.

Step 14, determining the height value of the obstacle relative to the surface of the area to be worked based on the depth information;

Step 16, obtaining the real-time light intensity value of the mobile robot in the forward direction;

Step 18: Control the motion of the working component of the mobile robot based on the height value and the real-time light intensity value.

Referring to FIG. 12 , in an embodiment of the present application, a method for intelligent obstacle avoidance of a mobile robot is provided, wherein a depth information acquisition device and a working component are set on the mobile robot, and the method includes:

Step 1201: when a target object (also referred to as an obstacle hereinafter) is detected, determine the height value of the target object relative to the surface of the area to be worked;

Step 1202: obtain parameters reflecting the lighting conditions of the mobile robot when working in the work area;

Step 1203: Control the walking and/or work of the mobile robot based on the height value and the parameter reflecting the lighting situation when the mobile robot is working. The target object can be a small animal such as a small hedgehog, a mouse or a snake, or a fallen leaf, a small leather ball, and the like.

Correspondingly, the mobile robot is provided with a robot body, a working component arranged on the robot body, a depth information acquisition device and a processor, and the depth information acquisition device is configured to acquire depth information, and the depth information includes the surface of the area to be worked. Depth information and depth information of the target object, the target object is located on the surface of the to-be-worked area where the mobile robot is located; the work component is configured to perform predetermined work; the processor is connected to the work component and the depth information acquisition device with signals for controlling the walking of the mobile robot and/or work; the processor is configured to, when the target object is detected, determine the height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; obtain and reflect that the mobile robot is working in the work area The parameters of the lighting conditions; control the walking and/or work of the mobile robot based on the height value and the parameters reflecting the lighting conditions when the mobile robot is working.

As an example, the depth information acquisition device 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 the near-infrared light from emission to reception through a proprietary sensor The distance of the object is judged by the time of flight; the binocular camera uses the dual cameras to shoot the object, and then calculates the distance of the object through the triangle principle; the structured light camera uses the structured light to project specific light information on the surface of the object, which is collected by the camera, and based on the object caused by the Changes in the light signal to calculate the position and depth of the object and other information, and then restore the entire three-dimensional space.

As an example, in an embodiment of the present application, a binocular camera is used to obtain the depth information (height value) of the target object on the area to be worked relative to the surface of the area to be worked. The depth information can include the distance and angle of the target object on the area to be worked and the mobile robot, so that the mobile robot can obtain obstacles according to the distance and angle of multiple points of the object (such as obstacles or grass) on the area to be worked. The three-dimensional model of the object and the lawn is obtained, and then the height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area is obtained, and the obstacle can be located in or near the moving direction of the mobile robot. There can be multiple installation positions of the binocular camera, and the installation positions are related to the robot body and the walking speed of the robot. For example, the binocular camera can be set at the top of the mobile robot. For example, the distance between the installation position of the binocular camera and the surface of the working area of the mobile robot can be set to 15 cm-25 cm; and the central axis of the mirror surface of the binocular camera can be set to the mobile robot. There is an acute angle between the advancing directions of the mobile robot, and the binocular camera detects obliquely downward, so as to accurately detect the depth information of the low obstacle on the surface of the area to be worked in the advancing direction of the mobile robot and the depth information of the surface of the area to be worked, Avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawn mower robot. As for the technical principle of how to use the depth camera to obtain the depth information of the photographed object and construct a three-dimensional model of the photographed object, it is the common knowledge of those skilled in the art, and will not be repeated here.

As an example, the mobile robot may be an outdoor robot such as a lawn mowing robot, a fertilizer application robot, an irrigation robot, a snow removal robot, or a cleaning robot. At least one of an irrigation assembly, a snow removal assembly, or a cleaning assembly, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot. The mobile robot obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located. When the real-time light intensity value is When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.

In an embodiment of the present application, acquiring a parameter reflecting the lighting situation of the mobile robot when it is working in the work area includes: acquiring a real-time light intensity value of the mobile robot. The light intensity value can be obtained by a device for obtaining light intensity information configured on the mobile robot, for example, a light intensity sensor such as a photosensitive sensor. The light intensity value can also be obtained through the above-mentioned depth information obtaining device.

In another embodiment of the present application, acquiring parameters reflecting the lighting conditions when the mobile robot is working in the work area includes: acquiring the current working time, seasonal parameters and weather conditions when the mobile robot is working; And at least one of the weather conditions is input to the illumination determination model, so as to obtain parameters reflecting the illumination conditions when the mobile robot works in the work area. Further, the current position of the robot, such as the current latitude and longitude information, can also be obtained, and the information can be input into the lighting to determine certain parameters to obtain parameters reflecting the current lighting conditions. That is, the parameters reflecting the lighting conditions when the mobile robot works in the work area can be determined according to at least one of the current working time, seasonal parameters, current location and weather conditions. For example: in summer it is sunny at 5:30 in the northern hemisphere, when the light is daytime, so the robot can use the daytime walking and/or work strategy when it encounters an obstacle, while in winter it is cloudy at 5:30 in the northern hemisphere, when the light is at night, so the robot can A night-time walking and/or work strategy may be employed in the event of an obstacle. The working strategy of determining the daytime or night encountering an obstacle by time and season is the same as the working strategy of determining the daytime or night encountering an obstacle by using the real-time light intensity value. For details, please refer to the following embodiments.

Correspondingly, when encountering an obstacle, if the height value is 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, control the mobile robot to keep the current state and continue to walk and/or work, that is, , control the working component of the mobile robot to maintain the current state and continue to work, and control the walking component of the mobile robot to maintain the current state and continue to walk; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold When , the mobile robot is controlled to keep the current state to continue walking, and the mobile robot is controlled to stop working, that is, the walking component of the mobile robot is controlled to keep the current state and continues to walk, and the working component of the mobile robot is controlled to stop working. In the case of low light intensity, such as at night, there are usually small nocturnal animals such as hedgehogs. At this time, when these animals are detected, the machine is controlled to stop working to prevent the small animals from running around and causing the machine to accidentally injure the machine during walking. they.

In one embodiment, a touch sensor is configured on the mobile robot, and the touch sensor is configured to detect the target object through direct collision, wherein the first preset height threshold is less than the height of the touch sensor. As shown in Figures 10a and 10b, the touch sensor may be a shroud 306 on a lawn mower.

In a specific application scenario, when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to ignore the obstacle and keep the current working and walking state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to keep the current walking state.

Correspondingly, in another embodiment of the present application, when encountering an obstacle, if the height value is 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, control the The mobile robot performs a preset obstacle avoidance action, and controls the mobile robot to maintain a working state; if the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to execute the preset Set the obstacle avoidance action, and control the mobile robot to stop working.

In a specific application scenario, when the lawnmower detects an obstacle, it determines the height of the obstacle and the current lighting situation. When the height of the obstacle is lower than the height of the shield and it is daytime, the machine can be controlled to turn to avoid the obstacle while maintaining the working state; when the height of the obstacle is lower than the height of the shield and it is night, the machine can be controlled to avoid the obstacle. Steer to avoid the obstacle without stopping.

In an embodiment of the present application, when encountering an obstacle, if the height value of the obstacle is detected to be greater than or equal to a first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action, and the Describe the work of the mobile robot. That is, when the height of the obstacle is greater than the height of the shield, the lawn mower is controlled to avoid obstacles.

Referring to FIG. 2 , in an embodiment of the present application, the control of the motion of the working component 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, control the mobile robot to move forward and controlling the work component to perform work actions;

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, control the mobile robot to move forward and The work component is controlled to stop performing the work action.

As an example, the nighttime 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 forward direction is less than the preset light intensity threshold, and the height value of the obstacle on the surface of the area to be worked in the forward direction of the mobile robot relative to the surface of the area to be worked is greater than the second preset height When the threshold is smaller than the first preset height threshold, it is determined that a nighttime obstacle is detected, and the working components of the mobile robot are controlled to stop working to avoid damage to small nocturnal animals such as hedgehogs; the real-time light intensity value of the mobile robot in the forward direction It is greater than or equal to the preset light intensity threshold, indicating that the mobile robot is in the daytime working mode, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, control the mobile robot to move forward and control all The work component performs the work action. Since small nocturnal animals rarely appear during the day, the mobile robot is set to go straight and control the work component to perform the work action when detecting the obstacle with the height value within the nighttime obstacle avoidance range during the day. For example, when the mobile robot is a lawnmower and works during the day, even if the height value is detected to be greater than the second preset height threshold and less than the first preset height threshold, the lawnmower robot is still controlled to move forward and perform the mowing action When working at night, if it is detected that the height value is greater than the second preset height threshold and less than the first preset height threshold, the mowing robot is controlled to move forward and the mowing component of the mowing robot is controlled to stop mowing. Actions to improve the intelligence of the lawnmower robot while avoiding harm to the nocturnal animals when the lawnmower robot is mowing at night.

Further, please refer to FIG. 3, in an embodiment of the present application, the step of controlling the action of the working component 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, control the mobile robot to perform a preset obstacle avoidance action;

Step 186, if the height value is less than or equal to a second preset height threshold value, control the mobile robot to move forward and control the work component to perform a work action.

As an example, please continue to refer to FIG. 3 , the obstacle avoidance height threshold of the mobile robot can be set as the first preset height threshold. If the value is greater than or equal to the first preset height threshold, the mobile robot is controlled to perform a preset obstacle avoidance action. For example, when the mobile robot detects that the height of people, fences or trees on the surface of the area to be worked in the forward direction relative to the surface of the area to be worked is greater than or equal to a first preset height threshold, the mobile robot is controlled to execute Preset obstacle avoidance action. The first preset height threshold can be set to be less than or equal to the height value of the body of the mobile robot, so that the mobile robot can accurately identify obstacles with a height value lower than that of the body of the mobile robot, so as to achieve intelligent Obstacle avoidance, to avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles such as kittens, hedgehogs or puppies, so as to effectively improve the intelligence of mobile robots. It is also possible to set the mobile robot to control the mobile robot to move forward and control 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 less than or equal to the second preset height threshold. The work component performs work actions to prevent the mobile robot from taking leaves, metal poles or wooden poles and other very low objects with relatively small height values or hidden in the grass as obstacles that need to be avoided and performing preset avoidance. Obstructive action. For example, when the mobile robot is a lawn mowing robot, if it is detected that the height 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 less than or equal to the second preset height threshold, control the lawn mowing When the robot moves forward, it controls the mowing component to execute the preset mowing action, so as to prevent the mowing robot from taking leaves, metal poles or wooden poles and other very low objects with small height values or hidden in the grass as the need to avoid obstacles, resulting in missed mowing areas.

Further, please refer to FIG. 4 , in an embodiment of the present application, the described method for intelligent obstacle avoidance of a mobile robot includes:

Step 11, setting a light intensity information acquisition device on the mobile robot in advance;

Step 161: Acquire the real-time light intensity value of the mobile robot in the forward direction through the light intensity information acquisition 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 is obtained by setting a light intensity information acquisition device on the mobile robot in advance, for example, the waiting time of the mobile robot. The local light intensity value of the working area is used to judge whether it is daytime through the real-time light intensity value. When it is detected that the real-time light intensity value is less than the preset light intensity threshold, the mobile robot is controlled to work in the night work mode. When When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing a working action, so as to avoid damage to a nocturnal small animal such as a hedgehog.

Further, please refer to FIG. 5, in an embodiment of the present application, the step of acquiring the light intensity value of the mobile robot in the forward direction includes:

Step 162: Acquire the real-time light intensity value of the mobile robot in the forward direction through the depth information acquisition device.

As an example, please continue to refer to FIG. 5, since the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal, when the photoelectric sensor is triggered, the amplitude of the output current of the photoelectric sensor is within a certain light intensity Within the range, it increases with the increase of the intensity value of the received light. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work. in night work mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid damage to a nocturnal small animal such as a hedgehog. The clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device.

It should be understood that although the steps in the flowcharts of FIGS. 1-5 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, although at least a part of the steps in FIG. 1-FIG. 5 may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a stage.

Further, please refer to FIG. 6 , in an embodiment of the present application, an intelligent obstacle avoidance device 300 for a mobile robot is provided, including a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 can be arranged in the mobile robot. The fuselage is used to obtain the depth information of the to-be-worked area of the mobile robot, the depth information includes the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles are located in the to-be-worked area in the forward direction of the mobile robot Surface; the processor 303 can be arranged on the body of the mobile robot, the processor 303 is connected to the depth information acquisition device 302, and the processor 303 is configured as:

determining a height value of the obstacle relative to the surface of the area to be worked based on the depth information;

Obtain the real-time light intensity value of the mobile robot in the forward direction;

The motion of the working assembly of the mobile robot is controlled 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 lawn mower, a fertilization robot, an irrigation robot, a snow removal robot or a cleaning robot. Therefore, the working components of the mobile robot described in the embodiments of the present application may be a mower At least one of a grass component, a fertilization component, an irrigation component, a snow removal component, or a cleaning component, and the like. Since some small animals such as hedgehogs, mice or snakes will appear on the surface of the area where the mobile robot is to work at night, and these small animals are generally short, their height values may not reach the obstacle avoidance and recognition range of the mobile robot. The processor obtains the real-time light intensity value in the forward direction, and the real-time light intensity value may be the local light intensity value of the area to be worked or the ambient light intensity value of the environment where the mobile robot is located. When the real-time light intensity value is When it is less than the preset light intensity threshold, it means that the mobile robot is in the night work mode, and it is further judged whether the height value of the obstacle relative to the surface of the to-be-worked area is within the preset nighttime obstacle avoidance range; Obstacles, which can control the working components of the mobile robot to stop working to avoid damage to small nocturnal animals such as hedgehogs.

As an example, since the photoelectric sensor in the depth information acquisition device is used to convert the received light signal into an electrical signal, when the photoelectric sensor is triggered, the amplitude of the output current of the photoelectric sensor is within a certain light intensity range, and with the receiving The intensity value of the light increases with the increase. Therefore, when the output current value of the photoelectric sensor of the depth information acquisition device can be set to be greater than or equal to the preset current threshold, it is determined that it is in the daytime; otherwise, the mobile robot is controlled to work in the nighttime working mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog. The clarity of the image acquired by the depth information acquisition device is related to the output current of the photoelectric sensor. Generally, within a certain range, the larger the output current of the photoelectric sensor, the clearer the image acquired by the depth information acquisition device. Therefore, the light intensity value of the light received by the depth information obtaining device can be indirectly determined according to the grayscale information of the image obtained by the depth information obtaining device. In this embodiment, the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the grayscale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so as to obtain the real-time light intensity value and depth information according to the real-time light intensity value. The height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot acquired by the device controls the movement of the working assembly of the mobile robot.

Further, please refer to FIG. 7 , in an embodiment of the present application, an intelligent obstacle avoidance device 400 for a mobile robot is provided, including a depth information acquisition device 302 , a processor 303 and a light intensity information acquisition device 304 . The depth information acquisition device 302 can be arranged on the body of the mobile robot, and is used to acquire the depth information of the to-be-worked area of the mobile robot, the depth information including the depth information of the surface of the to-be-worked area and the depth information of obstacles, the obstacles located at The surface of the area to be worked in the forward direction of the mobile robot; the light intensity information acquisition device 304 is used to obtain the real-time light intensity value of the mobile robot in the forward direction; the processor 303 and the depth information acquisition device 302 and the light intensity information acquisition Devices 304 are all connected and configured to:

Acquire the real-time light intensity value of the mobile robot in the advancing direction through the light intensity information acquisition device;

As an example, please continue to refer to Fig. 7, when the real-time light intensity value obtained by the light intensity information acquisition device can be set to be greater than or equal to the preset light intensity threshold, it is determined that it is in the daytime, otherwise, the mobile robot is controlled to work in the nighttime working mode. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.

Further, please refer to FIG. 8 , in an embodiment of the present application, a mobile robot 500 is provided, including a robot body 301 , a depth information acquisition device 302 and a processor 303 , and the depth information acquisition device 302 is disposed on the robot body 301 , which is used to obtain the depth information of the area to be worked by the mobile robot, the depth information including the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot; The processor 303 is arranged on the robot body 301, is connected to the depth information acquisition device 302, and is configured as:

Specifically, please continue to refer to FIG. 8 , the real-time light intensity value of the mobile robot in the forward direction can be determined directly based on the gray-scale information of the image of the depth information acquisition device and/or the output current of the photoelectric sensor, so that according to the real-time light intensity The height value of the obstacle on the surface of the to-be-worked area relative to the surface of the to-be-worked area in the forward direction of the mobile robot obtained by the value and depth information acquisition device controls the motion of the working component of the mobile robot. When a nocturnal obstacle such as a nocturnal hedgehog is detected, the mobile robot is controlled to move forward and the working component is controlled to stop performing the working action, so as to avoid injury to a nocturnal small animal such as a hedgehog.

As an example, please continue to refer to FIG. 8 , in an embodiment of the present application, the depth information acquiring apparatus 302 includes at least one of a TOF camera, a binocular camera, or a structured light camera.

Further, please refer to FIG. 9 , FIG. 10 a and FIG. 10 b , in an embodiment of the present application, a lawn mowing robot 600 is provided, including a robot body 301 , a depth information acquisition device 302 , a processor 303 , and light intensity information An acquisition device 304 and a mowing assembly 305 are provided on the robot body 301 for executing a preset mowing action; a depth information acquisition device 302 is provided on the robot body 301 for acquiring the depth of the area to be worked by the mobile robot The depth information includes the depth information of the surface of the area to be worked and the depth information of obstacles, and the obstacles are located on the surface of the area to be worked in the forward direction of the mobile robot; the light intensity information acquisition device 304 is arranged on the robot body 301 , used to obtain the real-time light intensity value of the mobile robot in the forward direction; the processor 303 is arranged on the robot body 301, and is connected to the mowing component 305, the depth information acquisition device 302 and the light intensity information acquisition device 304, and the processor 303 is configured as:

The action of the mowing assembly of the mobile robot is controlled based on the height value and the real-time light intensity value.

If the height of the obstacle on the surface of the area to be worked in the forward direction of the mobile robot relative to the surface of the area to be worked is greater than or equal to the second preset height threshold and less than or equal to the first preset height threshold, when all When the real-time light intensity value is greater than or equal to the preset light intensity threshold, control the robot body to move forward and control the mowing component to perform a preset mowing action, and when the real-time light intensity value is less than the preset light intensity When the strong threshold is reached, the robot body is controlled to move forward and the mowing component is controlled to stop executing the mowing action.

As an example, please refer to FIG. 11 , the depth information of the surface of the area to be worked and the depth information of obstacles in the forward direction of the lawnmower robot are obtained by using the depth information obtaining device 302 provided on the lawnmower robot, and the obstacles are located in the mobile robot. The surface of the area to be worked in the forward direction; for example, the binocular camera 3021 can be used to obtain the depth information of the obstacles on the surface of the area to be worked in the forward direction of the mobile robot, and the depth information can include the distance between the object on the area to be worked by the mobile robot and the mobile robot and angle, so that the mobile robot can obtain the three-dimensional model of obstacles and lawn according to the distance and angle of multiple points of objects (such as obstacles or grass) on the area to be worked, and then obtain the moving robot in the forward direction. The height value Hmax of the obstacles on the surface of the working area relative to the surface of the area to be worked. Install the binocular camera 3021 on the top of the fuselage of the mowing robot, and the distance between the installation position of the binocular camera 3021 and the surface of the working area of the mobile robot can be set to be 15cm-25cm; and the center of the mirror surface of the binocular camera 3021 can be set There is an acute angle between the axis and the advancing direction of the mobile robot, and the binocular camera 3021 detects obliquely downward, so as to accurately detect the depth information of the surface of the area to be worked in the advancing direction of the mobile robot and the waiting area in the advancing direction of the mobile robot. Depth information for obstacles on the surface of the work area. The processor 303 acquires the real-time light intensity value of the mobile robot in the forward direction, and controls the movement 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 the first preset height threshold, the processor 303 controls the lawnmower robot to perform a preset obstacle avoidance action, such as moving backward, moving forward at a corner, or revolving around a preset trajectory to stay away from the obstacle 800 , the first preset height threshold can be set as the lower limit value of the nursery or the upper limit value of the hedgehog, and is less than or equal to the height value of the fuselage of the lawn mowing robot, so that the lawn mowing robot can accurately identify the height value Obstacles with a lower height value than the lawnmower robot to achieve intelligent obstacle avoidance, avoid the failure of obstacle avoidance due to the inability to effectively identify low obstacles, and effectively improve the intelligence of the lawnmower robot . Because some small animals such as hedgehogs, mice or snakes will appear on the surface of the working area of the lawn mowing robot at night, and these small animals are generally short, their height values cannot reach the obstacle avoidance and recognition range of the lawn mowing robot. When the real-time light intensity value obtained by the processor of the grass robot is less than the preset light intensity threshold, it means that the lawn mower is working in the night work mode, and it is further determined whether the maximum value of the obstacle height difference is within the preset nighttime obstacle avoidance value. range interval, the nighttime obstacle avoidance range interval is greater than or equal to the second preset height threshold and less than or equal to the first preset height threshold, if so, it is determined that a nighttime obstacle is detected; if the real-time light intensity value is greater than or equal to the When the preset light intensity threshold is mentioned, it means that the lawn mower is working in the daytime working mode. Since the probability of nighttime small animals appearing on the surface of the working area of the lawn mower robot during the day is very small, when the height value is greater than or equal to the second preset height When the threshold is less than or equal to the first preset height threshold, it is determined that a low inanimate obstacle located in the lawn is detected, and the mowing robot is controlled to move forward and perform a preset mowing action to control the mowing robot to cross the low threshold. It completes the preset mowing action while short and inanimate obstacles, which effectively improves the intelligence of the mowing robot and avoids the mowing robot from harming small animals at night when mowing the grass at night.

Further, please continue to refer to FIG. 9 , FIG. 10 a , FIG. 10 b and FIG. 11 , in an 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 component 305 is controlled to perform a preset mowing action.

As an example, please continue to refer to FIG. 9 , FIG. 10a and FIG. 10b , if the height value is less than the second preset height threshold, it is determined that the obstacle on the surface of the area to be worked in the forward direction of the lawnmower robot 600 is a very low obstacle, such as One or more of fallen leaves, metal poles or waste paper boxes, etc., to control the lawnmower robot 600 to move forward and execute the preset lawnmowing action, so as to avoid the obstacle avoidance action of the lawnmower robot caused by extremely low obstacles on the lawn. This avoids the occurrence of missed mowing areas.

The above-mentioned mobile robot intelligent obstacle avoidance device or each module in the mobile robot can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

An intelligent obstacle avoidance method for a mobile robot, characterized in that the mobile robot walks and/or works in a to-be-worked area defined by a boundary, the method comprising:

In the case of detecting the target object, determine the height value of the target object relative to the surface of the area to be worked;

acquiring parameters reflecting the lighting conditions of the mobile robot when working in the work area;

The walking and/or working of the mobile robot is controlled based on the height value and the parameter reflecting the lighting conditions when the mobile robot is working.
The method for intelligent obstacle avoidance of a mobile robot according to claim 1, wherein obtaining parameters reflecting the lighting conditions of the mobile robot when working in the work area comprises:

Obtain the real-time light intensity value of the mobile robot.
The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:

If the height value is less than the 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, control the mobile robot to keep the current state and continue to walk and/or work;

If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to keep the current state to continue walking, and control the mobile robot to stop working .
The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:

If the height value is 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, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot keep working;

If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the mobile robot to perform a preset obstacle avoidance action, and control the mobile robot stop working.
The intelligent obstacle avoidance method for a mobile robot according to claim 2, wherein the controlling the walking and/or work of the mobile robot based on the height value and the real-time light intensity value comprises:

If the height value is greater than or equal to the first preset height threshold value, the mobile robot is controlled to perform a preset obstacle avoidance action, and the mobile robot is controlled to work.
The method for intelligent obstacle avoidance of a mobile robot according to claim 1, wherein obtaining parameters reflecting the lighting conditions of the mobile robot when working in the work area comprises:

Obtain the current working time, seasonal parameters, current location and weather conditions when the mobile robot is working;

The parameter reflecting the lighting situation when the mobile robot is working in the working area is determined according to at least one of the current working time, seasonal parameters, current location and weather conditions.
A mobile robot, characterized in that the mobile robot walks and/or works in a to-be-worked area defined by a boundary, and the mobile robot is provided with a robot body, a working assembly disposed on the robot body, and a walking assembly , a depth information acquisition device and a processor,

The depth information acquisition device is configured to acquire depth information, the depth information includes depth information on the surface of the to-be-worked area and depth information of a target object, the target object is located on the surface of the to-be-worked area where the mobile robot is located;

the work component, configured to perform predetermined work;

The processor is signal-connected with the working assembly, the walking assembly and the depth information acquiring device, and is used to control the walking and/or work of the mobile robot;

The processor is configured to, when a target object is detected, determine a height value of the target object relative to the surface of the area to be worked according to the depth information obtained by the depth information obtaining device; obtain a height value that reflects the mobile robot Parameters of lighting conditions when working in the working area; controlling the walking and/or working of the mobile robot based on the height value and the parameters reflecting the lighting conditions when the mobile robot is working.
The mobile robot according to claim 7, wherein a light intensity information acquisition device is configured on the mobile robot; the real-time light intensity value acquired by the light intensity information acquisition device is used as the reflection of the mobile robot Parameters for lighting conditions when working in the working area.
The mobile robot according to claim 8, wherein the light intensity information acquisition device includes the depth information acquisition device.
The mobile robot according to claim 8, wherein the depth information acquisition device comprises at least one of the following: a TOF camera, a binocular camera or a structured light camera.
The mobile robot according to claim 7, wherein the processor is configured to control the walking and/or work of the mobile robot based on the height value and the real-time light intensity value, comprising:

If the height value is 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, control the working components of the mobile robot to keep the current state and continue to work, and control the mobile robot The walking component keeps the current state and continues to walk;

If the height value is less than the first preset height threshold, and when the real-time light intensity value is less than the preset light intensity threshold, control the walking component of the mobile robot to keep the current state to continue walking, and control the movement The working components of the robot stop working.
The mobile robot according to claim 11, wherein a contact sensor is configured on the mobile robot, and the contact sensor is configured to detect the target object by means of direct collision, and the first preset height threshold is less than the height of the touch sensor.