WO2022156260A1

WO2022156260A1 - Autonomous mobile device

Info

Publication number: WO2022156260A1
Application number: PCT/CN2021/120507
Authority: WO
Inventors: 孙佳佳; 耿文峰; 杨晓飞
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-01-25
Filing date: 2021-09-25
Publication date: 2022-07-28
Also published as: CN112882472A

Abstract

An autonomous mobile device, comprising: a device body (100) having a first collision sensing apparatus (101); the top of the body (100) is provided with a liftable boss (200), the boss being higher than the upper surface of the body (100) when in a raised state, a first ranging apparatus (201) being mounted on the boss (200), and the boss (200) also having a second collision sensing apparatus (202); and a control unit (300) configured to control the movement of the device and to use distance data for positioning and/or for constructing a map, and also configured to control the boss (200) to lower to a position where collision will not occur when in a specific position in which the boss (200) will collide but the body (100) will not collide, and then control the device to continue moving along the current set path. The work coverage area of the device can be increased, and the completeness of the constructed map can be increased.

Description

autonomous mobile device

【Technical field】

The present invention relates to the technical field of smart devices, in particular to an autonomous mobile device.

【Background technique】

With the rapid development of technology, various autonomous mobile devices are widely used in various environments to perform various tasks in place of humans.

To realize the autonomous movement of the device, it is usually necessary to locate and establish a map according to the distance relationship between the device and surrounding objects. In the prior art, many autonomous mobile devices use a Laser Distance Sensor (LDS for short) to perform triangulation. Since the LDS needs to measure the distance of objects in all directions around the device, the LDS is usually set on a rotating boss on the top surface of the device. In this way, the height of the equipment needs to be increased, which makes it impossible for the equipment to work in a low space. In turn, the working coverage area of autonomous mobile devices is reduced, and the integrity of the constructed map is reduced.

[Content of the invention]

The invention provides an autonomous mobile device, so as to improve the working coverage area of the device and improve the integrity of the constructed map.

According to a first aspect of the present invention, an autonomous mobile device is provided, the device comprising:

The main body of the device has a first collision sensing device for sensing whether the main body collides;

The top of the main body is provided with a raised and lowered boss, the boss is higher than the upper surface of the main body in a raised state, the boss is installed with a first distance measuring device, the first distance measuring device It is used to measure the distance data between the boss and the environmental objects around the device in the horizontal direction, the boss also has a second collision sensing device, and the second collision sensing device is used for sensing the convex Whether the platform collided;

a control unit, configured to control movement of the device, and to locate and/or construct a map using the distance data, and configured to control a specific location where the boss will collide and the body will not collide The boss is lowered to a position where collision will not occur, and then the device is controlled to continue to move along the current set path.

In a possible implementation, the control unit is further configured to:

After continuing to move the preset distance or preset time along the current set path, try to control the boss to rise to a raised state;

If the boss does not collide during the process of lifting to the raised state, keep the boss in the raised state, control the device to continue to move along the current set path, and continue to use the first detection The distance data measured from the device is located and/or a map is constructed.

In a possible implementation manner, the device body further has a second distance measuring device, which is used to measure the vertical distance from the device body to an environmental object above the device;

Correspondingly, the control unit is further configured to:

In response to the measured vertical distance being equal to or greater than a preset threshold, the boss is controlled to be raised to a raised state, the device is controlled to continue to move along the currently set path, and the first distance measurement is continued to be used The distance data measured by the device locates and/or constructs a map.

In a possible implementation manner, the control unit is further configured to:

In the process of raising the boss, in response to the boss colliding, controlling the boss to lower to a position where no collision occurs;

After the device continues to move for a preset time or a preset distance, try again to control the boss to rise to a raised state.

In a possible implementation manner, the specific location includes determining in the following manner:

During the movement of the device, in response to the bump colliding and the body not colliding, the current position of the device is recorded as the specific position.

In a possible implementation manner, the control unit is further configured to:

When the device passes the specific position again, the boss is controlled to be lowered to a position where collision will not occur, and then the device is controlled to continue to move along the current set path.

In a possible implementation manner, the controlling the boss to be lowered to a position where collision does not occur includes:

The boss is controlled to be lowered to a position not higher than the upper surface of the apparatus main body.

In a possible implementation manner, the controlling the boss to be lowered to a position where collision will not occur includes:

During the process of lowering the boss, the device is controlled to try to move at the same time until the boss no longer collides, and the boss is controlled to stop at the current position.

In a possible implementation manner, the first ranging device includes a laser ranging sensor LDS, which is arranged in the boss, and the boss is rotatable around its axis.

In a possible implementation manner, the first collision sensing device includes a buffer strike plate, which is provided on the side surface of the device main body, and collision sensors are distributed on the strike plate along the length direction of the strike plate.

In a possible implementation manner, the second collision sensing device includes a point cloud striker or a structure striker.

According to the embodiments provided by various aspects of the present invention, in the case where the boss will collide and the main body will not collide, the boss can be lowered to a position where the collision will not occur, and it is not necessary to stop moving or turning, and directly set along the The path continues to move into a space with a height higher than the body of the device and lower than the boss. This can effectively improve the working coverage area of the equipment.

Further, when continuing to walk in a space with a height higher than the main body of the device and lower than the boss, by trying to control the boss to rise again, the applicable scenarios of the first ranging device are increased, that is, more environments can be obtained. The distance data for the environmental objects in . By using more distance data, the control unit can build a more complete map, which can effectively improve the integrity of the map.

Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

【Description of drawings】

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features and aspects of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic structural diagram of a module of an autonomous mobile device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a device structure of an autonomous mobile device according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of an application scenario of an autonomous mobile device according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a module of an autonomous mobile device according to another embodiment of the present invention.

【Detailed ways】

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

It is to be understood that the terms "comprising" and "comprising" used in the description and claims of the present invention indicate the presence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It should also be understood that the terminology used in this specification of the present invention is for the purpose of describing particular embodiments only, and is not intended to limit the present invention. As used in the present specification and claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise. It will be further understood that, as used in the present specification and claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The "plurality" in the embodiments of the present invention refers to two or more. The descriptions of the first, second, etc. appearing in the embodiments of the present invention are only used for illustration and distinguishing the description objects, and have no order, nor do they represent a special limitation on the number of devices in the embodiments of the present invention, and do not constitute a description of the present invention. any limitations of the examples.

FIG. 1 is a schematic structural diagram of a module of an autonomous mobile device provided in an embodiment of the present invention. The autonomous mobile device may be a cleaning robot such as a sweeping robot, a mopping robot, or a sweeping and mopping robot, or any electronic device or intelligent device that can move or work automatically, such as an automatic lawn mower and a snow blower. Specifically, as shown in FIG. 1 , the device may include:

The device main body 100 has a first collision sensing device 101 for sensing whether the main body 100 collides.

The top of the main body 100 is provided with a liftable boss 200, the boss 200 is higher than the upper surface of the main body 100 in the raised state, the boss 200 is installed with the first distance measuring device 201, so The first distance measuring device 201 is used to measure the distance data between the boss 200 and the environmental objects around the device in the horizontal direction, the boss 200 also has a second collision sensing device 202, the first The second collision sensing device 202 is used for sensing whether the boss collides.

The control unit 300, configured to control the movement of the device, and to locate and/or construct a map using the distance data, is also configured to be configured to collide with the boss 200 and the main body 100 will not collide in a specific situation. position, control the boss 200 to lower to a position where collision will not occur, and then control the device to continue to move along the current set path.

FIG. 2 is a schematic diagram of a device structure of an autonomous mobile device according to an embodiment of the present invention. As shown in FIG. 2 , the device main body 100 may be a mobile platform with a driving wheel, and the driving motor of the driving wheel is electrically connected to the control unit 300 , and the control unit 300 can control the rotation of the driving wheel to make the device When moving, the moving direction of the device can be changed by controlling the speed difference of the driving wheels on both sides of the device. The device main body 100 can also be loaded with various functional components, such as various cleaning components such as roller brushes, side brushes, and vacuum cleaners. As shown in FIG. 2 , the device main body 100 has an approximately flat upper surface, and the boss 200 can at least have a raised state and a storage state. Generally, a distance measuring device can be installed in the boss 200 , in the raised state, the boss 200 is raised relative to the upper surface of the main body 100 of the device, and the first distance measuring device 201 can be exposed, so that the distance measuring device can work normally and measure the surrounding of the device. Distance data between ambient objects and the device. In the storage state, the boss 200 can be lowered to below the upper surface of the device body 100 , or lowered to a position where its top is flush with the upper surface of the device body 100 , or lowered to other specific positions , in the storage state, the first ranging device 201 cannot perform measurement normally, the control unit 300 can control the first ranging device 201 to stop working, or stop acquiring the measurement of the first ranging device 201 data. In this example, the first ranging device 201 can be a laser triangulation ranging device LDS, the LDS can be installed in the boss, and the light emitting end and the light receiving end of the LDS can be installed on the boss 200 On the side, the rotation of the boss 200 can drive the LDS to rotate 360° in the horizontal direction, so as to obtain the distance data from the environmental objects around the device to the boss, and the control unit 300 can perform positioning according to the distance data. and/or widget maps. Of course, in other embodiments of the present invention, the first ranging device 201 may also be other types of ranging sensors, which are not limited in this application. In addition, in the above embodiments, the shapes and sizes of the bosses 200 and the device main body 100 shown in the figures are all exemplary, which are not limited in the present invention.

In an embodiment of the present invention, the boss 200 may be connected inside the device main body 100 through a lifting device provided therein, and the control unit 300 raises or lowers the boss 200 by controlling the lifting device. Wherein, the lifting device may be a hydraulic or pneumatic lifting device, or a mechanical transmission type lifting device, which is not limited in the present invention, and the implementer can choose any kind of lifting device according to the actual installation space and actual needs of the equipment, As long as the boss 200 can be raised and lowered, it is sufficient.

FIG. 3 is a schematic diagram of an application scenario of an autonomous mobile device provided in an embodiment of the present invention. As shown in FIG. 3, when the boss 200 is in the raised state, the height of the device is the sum h+d of the height h of the device main body 100 and the height d of the boss 200. For the height shown in the figure greater than h and less than h+d environmental obstacles (such as beds, sofas, coffee tables, etc. can form obstacles with a certain height bottom space), when the device moves to the edge of the obstacle, the boss 200 will collide, and the device The body 100 does not collide. In this example, when the device passes through the specific position where the boss will collide and the main body will not collide again, the control unit 300 pre-records the specific position, and in response to the device passing the specific position, the The control unit 300 controls the boss 200 to lower to a position where collision will not occur, and then controls the device to continue to move along the currently set path, so as to enter the lower part of the environmental obstacle and continue to move and perform work (such as cleaning, vacuuming, etc.). , mopping, etc.).

In this example, the specific location can be determined in the following manner:

Wherein, whether the boss 200 collides can be detected by the second collision sensing device 202 , and whether the device main body 100 collides can be detected by the first collision sensing device 101 .

In an embodiment of the present invention, the first collision sensing device 101 may include a buffer strike plate, which is arranged on the side of the device main body, and collision plates are distributed along the length direction of the strike plate on the strike plate. sensor. Wherein, the buffer strike plate may be slightly higher than the device main body 100 or flush with the device main body 100 , and a collision to the device main body 100 in the horizontal direction can be detected.

In an embodiment of the present invention, the second collision sensing device 202 may include a point cloud striker or a structure striker. Wherein, the point cloud collision plate may include N laser points, and each laser point has angle and distance information. It can be determined whether a collision is about to occur according to the angle and distance information of each laser point obtained, and a simulated collision can be generated. signal of. The structural striker can be an assembly of a buffer striker and a collision sensor, and the buffer striker can reserve the position of the LDS, which can detect the collision of the boss 200 without affecting the normal operation of the LDS.

In another embodiment of the present invention, when the device passes through the specific location for the first time, the specific location is not pre-recorded. It is also possible to directly reduce the height of the boss in response to a situation where the boss collides and the device main body does not collide, and then directly continues to move along the currently set path.

In an embodiment of the present invention, the control unit 300 may be further configured to:

In an embodiment of the present invention, the controlling the boss to be lowered to a position where collision will not occur may include: controlling the boss to be lowered to a position not higher than the upper surface of the device body. That is, when the device passes through the specific position, the control unit can directly lower the boss to a position below or flush with the upper surface of the main body of the device, that is, the boss will only have a raised state, There are two static states in the storage state. In the raised state, the first ranging device works normally, and in the retracted state, the first ranging device does not work or transmit data.

In another embodiment of the present invention, the controlling the boss to be lowered to a position where collision will not occur may further include:

During the process of lowering the boss, the device is controlled to try to move at the same time until the boss no longer collides, and the boss is controlled to stop at the current position. That is, the boss not only has two static states of a raised state and a stored state, but also has an intermediate state. In the intermediate state, the boss just does not collide with the environmental obstacles above. In some embodiments of the present disclosure, not only in the raised state, the first ranging device can work and transmit data normally, and in the intermediate state, the first ranging device can also continue to work After measuring the distance data and continuing to transmit the data, the control unit may continue to perform positioning and/or mapping according to the distance data.

Using the various implementations provided by the above embodiments, the boss can be lowered to a position where no collision occurs when the boss will collide but the main body will not collide. The set path continues to move into a space with a height higher than the body of the device and lower than the boss. It can effectively increase the working coverage area of the equipment. Specifically, corresponding to self-cleaning equipment such as sweepers, it can effectively increase the cleaning area, improve the cleaning coverage rate, and improve the user experience.

FIG. 4 is a schematic structural diagram of a module of an autonomous mobile device according to another embodiment of the present invention. In another embodiment of the present invention, the device main body 100 may further have a second distance measuring device 102 for measuring the vertical distance from the device main body 100 to an environmental object above the device;

Correspondingly, the control unit 300 may be further configured as:

In response to the measured vertical distance being equal to or greater than a preset threshold, the boss 200 is controlled to be raised to a raised state, the device is controlled to continue to move along the currently set path, and the first measurement is continued to be used. The distance data measured from the device 101 is located and/or a map is constructed.

Wherein, the second distance measuring device 102 can be any type of distance sensor, and can be arranged on the upper surface of the device body 100 or at other positions, as long as the vertical distance from the object above to the device body 100 can be measured. distance.

In yet another embodiment of the present invention, the control unit 300 may also be configured as:

In the process of raising the boss 200, in response to the boss 200 colliding, controlling the boss 200 to lower to a position where the collision will not occur;

After the device continues to move for a preset time or a preset distance, try again to control the boss 200 to rise to a raised state.

In another embodiment of the present application, the control unit 300 may also be configured as:

Using the implementations provided by the above embodiments, when continuing to walk in a space whose height is higher than the main body of the device and lower than the boss, the first distance measuring device can be applied by trying to control the boss to rise again. As the scene increases, the distance data of more environmental objects in the environment can be obtained. By using more distance data, the control unit can build a more complete map, which can effectively improve the integrity of the map.

The control unit 300 described in the above embodiments may be, for example, but not limited to, a CPU, a GPU, an MCU, a processing chip implemented based on FPGA or CPLD, or a single-chip microcomputer.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

Various embodiments of the present invention have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

An autonomous mobile device, characterized in that the device comprises:

The main body of the device has a first collision sensing device for sensing whether the main body collides;

The top of the main body is provided with a raised and lowered boss, the boss is higher than the upper surface of the main body in a raised state, the boss is installed with a first distance measuring device, the first distance measuring device It is used to measure the distance data between the boss and the environmental objects around the device in the horizontal direction, the boss also has a second collision sensing device, and the second collision sensing device is used for sensing the convex Whether the platform collided;

a control unit, configured to control movement of the device, and to locate and/or construct a map using the distance data, and configured to control a specific location where the boss will collide and the body will not collide The boss is lowered to a position where collision will not occur, and then the device is controlled to continue to move along the current set path.
The apparatus of claim 1, wherein the control unit is further configured to:

After continuing to move the preset distance or preset time along the current set path, try to control the boss to rise to a raised state;

If the boss does not collide in the process of being raised to the raised state, keep the boss in the raised state, control the device to continue to move along the current set path, and continue to use the first detection The distance data measured from the device is located and/or a map is constructed.
The device of claim 1, wherein the device body further has a second ranging device for measuring the vertical distance from the device body to an environmental object above the device;

Correspondingly, the control unit is further configured to:

In response to the measured vertical distance being equal to or greater than a preset threshold, the boss is controlled to be raised to a raised state, the device is controlled to continue to move along the currently set path, and the first distance measurement is continued to be used The distance data measured by the device locates and/or constructs a map.
The apparatus of claim 2, wherein the control unit is further configured to:

In the process of raising the boss, in response to the boss colliding, controlling the boss to lower to a position where no collision occurs;

After the device continues to move for a preset time or a preset distance, try again to control the boss to rise to a raised state.
The device of claim 1, wherein the specific location comprises determining in the following manner:

During the movement of the device, in response to the bump colliding and the body not colliding, the current position of the device is recorded as the specific position.
The apparatus of claim 5, wherein the control unit is further configured to:

When the device passes the specific position again, the boss is controlled to be lowered to a position where collision will not occur, and then the device is controlled to continue to move along the current set path.
The device according to any one of claims 1, 4, and 6, wherein the controlling the boss to lower to a position where collision does not occur comprises:

The boss is controlled to be lowered to a position not higher than the upper surface of the apparatus main body.
The device according to any one of claims 1, 4, and 6, wherein the controlling the boss to lower to a position where collision does not occur comprises:

During the process of lowering the boss, the device is controlled to try to move at the same time until the boss no longer collides, and the boss is controlled to stop at the current position.
The apparatus of claim 1, wherein the first distance measuring device comprises a laser distance measuring sensor LDS, which is arranged in the boss, and the boss is rotatable about its axis.
The device according to claim 1, wherein the first collision sensing device comprises a buffer striker, which is arranged on the side of the main body of the device, and is distributed on the striker along the length direction of the striker. There are crash sensors.
The apparatus of claim 1, wherein the second collision sensing device comprises a point cloud striker or a structure striker.