CN108784540A - A kind of sweeping robot automatic obstacle-avoiding moving device and mode of progression - Google Patents
A kind of sweeping robot automatic obstacle-avoiding moving device and mode of progression Download PDFInfo
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- CN108784540A CN108784540A CN201810705398.7A CN201810705398A CN108784540A CN 108784540 A CN108784540 A CN 108784540A CN 201810705398 A CN201810705398 A CN 201810705398A CN 108784540 A CN108784540 A CN 108784540A
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- sweeping robot
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- sweeping
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The present invention provides a kind of sweeping robot automatic obstacle-avoiding moving device and mode of progression, further include the steps that the step of carrying out limit for height detection using three kinds of distance measuring sensors, walk along barrier rims including GPU processor modules, depth camera head module, sonar contact apparatus module, infrared sensor module.The sweeping robot automatic obstacle-avoiding moving device of the present invention has the advantages that simple in structure and setting is reasonable, the sweeping robot automatic obstacle-avoiding mode of progression of the present invention has operand small, it is efficient, obstacle and hole accuracy of judgement, the advantages of being conducive to improve sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
Description
Technical field
The present invention relates to robot traveling control fields, and in particular to a kind of sweeping robot automatic obstacle-avoiding moving device and
Mode of progression.
Background technology
With the development of science and technology, artificial intelligence robot is increasingly used in all trades and professions, to substitute system
Labour.Robot needs the avoiding obstacles, currently used Obstacle Avoidance to include during traveling：Detection
Robot is at a distance from barrier, and when the distance detected is less than pre-determined distance, control robot stops movement.Especially sweep
Floor-washing robot can mitigate the housework burden of people as a kind of intelligent robot of automated cleaning.But family in home environment
The covered region of tool becomes the furniture such as the difficult point, such as bed, sofa that sweeping robot cleans and suffers from ground in the presence of height
Poor (hole), and this is highly with the whole height of current sweeper very close to during the panel of existing sweeper is general in addition
Between protrusion, cause in some cases sweeper drilling sofa under and block, or by raised support rise can not advance the phenomenon that
Occur, there is an urgent need to be improved.
Invention content
To solve the above problems, the present invention provides a kind of sweeping robot automatic obstacle-avoiding moving devices.The present invention's sweeps
Floor-washing robot automatic obstacle-avoiding moving device has the advantages that simple in structure and setting is reasonable, and sweeping robot of the invention is kept away automatically
Hindering mode of progression has operand small, efficient, obstacle and hole accuracy of judgement, is conducive to improve sweeping robot traveling efficiency
The advantages of with sweeping robot sweeping efficiency.
To realize the technical purpose, the technical scheme is that：A kind of sweeping robot automatic obstacle-avoiding moving device,
Including GPU processor modules, depth camera head module, sonar contact apparatus module；
The depth camera head module includes depth camera and its depth camera head drive circuit and depth camera letter
Number processing circuit, wherein depth camera signal processing circuit are electrically connected to the I/O mouths of the GPU processor modules；
The sonar contact apparatus module includes at sonar contact device and its sonar contact driving circuit and Sonar Signal
Circuit is managed, wherein Signal processing of sonar circuit is electrically connected to the I/O mouths of the GPU processor modules.
Further, on sweeping robot, the position of the depth camera is used respectively higher than the sonar detection device
In high-order and low level ranging.
Further, further include infrared sensor module,
Infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouths of the GPU processor modules, and two infrared sensors are set to and sweep the floor
Robot side.
A kind of sweeping robot automatic obstacle-avoiding mode of progression, includes the following steps：
S1：High-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
S2：High-order and low level obstacle in sweeping robot direction of advance is judged respectively, if barrier is not present in high-order and low level
Hinder, carry out step S3, if a high position, there are obstacle and low levels there is no carrying out step S4 if obstacle, if low level there are obstacle into
Row step S5；
S3：Sweeping robot maintains current route constant, and repeats the high-low-position obstacle inspection of step S1 and S2
Survey determination step；
S4：Sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and step S5 is carried out if influencing, if not influencing to carry out step S3；
S5：Sweeping robot obstacle edge is walked, and repeats the high-low-position obstacle detection judgement of step S1 and S2
Step.
Further, high-order ranging is carried out to environment in front of sweeping robot using depth camera in the step S1, sentenced
It whether there is obstacle in m centimetres of broken height position, meanwhile, low level survey is carried out to environment in front of sweeping robot using sonar detection device
Away from judging to whether there is obstacle, and n < m in n centimetres of low level；
In the step S2, the step S3 is carried out if obstacle is not present in high-order m centimetres and n centimetres of low level, if high
There are there is no obstacles then to carry out the step S4 in obstacle, n centimetres of low level in m centimetres of position, if there are obstacles in n centimetres of low level
Then carry out the step S5.
Further, the method for sweeping robot traveling limit for height detection includes the following steps：
T1：So that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2：Using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
It is less than sweeping robot height in the height that m centimetres then judges high-order obstacle, and carries out the step S5, otherwise carries out step
T3；
T3：Depth camera pixel coverage from T1 scans downwards, if being found in scanning process, depth is less than m centimetres of barrier
Hinder, then judge that the height of high-order obstacle is less than sweeping robot height, otherwise judges that the height of high-order obstacle is more than machine of sweeping the floor
People's height simultaneously carries out the step S3.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike, with 480*640 resolution ratio
Depth camera for, in the step T1, depth camera works in 480*640 static pixels picture catchings, sweeper
Device people apical margin pixel coverage shared by the m centimeters of front is 160-170 rows；Depth camera is from 160-170 in the step T3
Row pixel coverage scans downwards.
Further, the method that sweeping robot obstacle edge is walked in the step S5 includes the following steps：
E1：For sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging carries out step E2 until after single or two infrared sensors return to the distance signal less than L1 centimetres；Preferably, exist
Robot is in outside obstacle L1 cm ranges, can select to advance to right front or left front, with quickly so that single infrared biography
Sensor returns to the distance signal less than L2 centimetres, and L2 < L1.
E2：Sweeping robot rotation is controlled, is believed until single or two infrared sensors return to the distance less than L2 centimetres
After number, step E3 is carried out；Single wheel rotation under sweeping robot can be specifically driven, the rotation of entire sweeping robot is completed
Rotation is made.
E3：Sweeping robot automatic obstacle-avoiding traveling PID is adjusted so that two infrared sensors return to L2 centimetres of distance
After signal, control sweeping robot is walked forward, and constantly carries out step E2.The present invention uses the survey of two infrared sensors
Away from so that after robot is moved in obstacle L1 cm ranges, by PID closed loop control algorithms, sweeping robot posture is adjusted,
After the distance signal that two infrared sensors return to L2 centimetres, after judgement sweeping robot is parallel with obstacle, realization is swept
Floor-washing robot is walked along side.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike, further include what hole marked
Step：Sweeping robot traveling limit for height detects in the step S4, judges that high-order obstacle is above sweeping robot height and goes forward side by side
While row step S3, it is demarcated as hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.
The beneficial effects of the present invention are：
The sonar contact device of high-order depth camera and low level is respectively set in the sweeping robot of the present invention up and down,
A high position can be measured at a distance judge whether to carry out high-order detection after, then judge whether the low level of short distance allows to pass through, greatly
Reduce collision probability greatly, it is ensured that the accuracy at hole and obstacle detection, meanwhile, the present invention utilizes three kinds of distance measuring sensors,
It allows three to cooperate, so that high-order ranging, limit for height detection, low level ranging three is carried out successively according to sequential, substantially reduce
Operand, improves sweeping robot traveling efficiency and sweeping robot sweeping efficiency.
To sum up, sweeping robot automatic obstacle-avoiding moving device of the invention has the advantages that simple in structure and setting is reasonable,
The sweeping robot automatic obstacle-avoiding mode of progression of the present invention has operand small, and efficient, obstacle and hole accuracy of judgement have
The advantages of conducive to sweeping robot traveling efficiency and sweeping robot sweeping efficiency is improved.
Description of the drawings
Fig. 1 is the module map of sweeping robot automatic obstacle-avoiding moving device of the present invention；
Fig. 2 is position one of of two infrared sensors of the present invention on sweeping robot；
Fig. 3 is the two of position of two infrared sensors of the present invention on sweeping robot；
Fig. 4 is the flow chart of sweeping robot automatic obstacle-avoiding mode of progression of the present invention；
Fig. 5 is sweeping robot automatic obstacle-avoiding mode of progression position view of the present invention；
Fig. 6 is the method schematic diagram of limit for height detection of the present invention.
Specific implementation mode
Technical scheme of the present invention will be clearly and completely described below.
As shown in Figure 1, a kind of sweeping robot automatic obstacle-avoiding moving device, including GPU processor modules, depth camera
Module, sonar contact apparatus module；
The depth camera head module includes depth camera 3 and its depth camera head drive circuit and depth camera
Signal processing circuit, wherein depth camera signal processing circuit are electrically connected to the I/O mouths of the GPU processor modules；
The sonar contact apparatus module includes at sonar contact device and its sonar contact driving circuit and Sonar Signal
Circuit is managed, wherein Signal processing of sonar circuit is electrically connected to the I/O mouths of the GPU processor modules.
Further, on sweeping robot, the position of the depth camera is used respectively higher than the sonar detection device
In high-order and low level ranging.The present invention utilizes the performance characteristics of depth camera and sonar detection device, respectively in machine of sweeping the floor
People carries out high-order and low level ranging up and down, and carries out data processing by GPU, and further fast accurate detects obstacle, complete
It advances at sweeping robot automatic obstacle-avoiding.
Further, further include infrared sensor module,
Infrared sensor module includes two infrared sensors 2 and its infrared driver circuit and infrared signal processing circuit,
Wherein infrared signal processing circuit is electrically connected to the I/O mouths of the GPU processor modules, and two infrared sensors are set to and sweep the floor
Robot side.The sweeping robot 1 of two kinds of shapes as shown in Figures 2 and 3,2 Relatively centralized of infrared sensor and horizontal direction
On be symmetrical set in sweeping robot side.
A kind of sweeping robot automatic obstacle-avoiding mode of progression, as shown in figure 4, including the following steps：
S1：High-order ranging is carried out to environment in front of sweeping robot using depth camera, utilizes sonar detection device pair
Environment carries out low level ranging in front of sweeping robot, completes non-collision scanning；
S2：High-order and low level obstacle in sweeping robot direction of advance is judged respectively, if barrier is not present in high-order and low level
Hinder, carry out step S3, if a high position, there are obstacle and low levels there is no carrying out step S4 if obstacle, if low level there are obstacle into
Row step S5；
S3：Sweeping robot maintains current route constant, and repeats the high-low-position obstacle inspection of step S1 and S2
Survey determination step；
S4：Sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences to sweep the floor
Robot advances, and step S5 is carried out if influencing, if not influencing to carry out step S3；
S5：Sweeping robot obstacle edge is walked, and repeats the high-low-position obstacle detection judgement of step S1 and S2
Step.That is, if there are obstacles for low level, directly judge that robot can not pass through, if low level can be needed if into
Row limit for height detects, and the present invention utilizes two distance measuring sensors of depth camera and sonar detection device, carries out high-low-position survey respectively
Away from, and two distance measuring sensors is made to cooperate, the judgement of obstacle or hole (detect and realize by limit for height) is completed, is further driven
Dynamic sweeping robot advances along barrier rims or to advancing inside hole.
Preferably, as shown in figure 4, carrying out height to environment in front of sweeping robot using depth camera in the step S1
Position ranging judges to whether there is obstacle in high-order m centimetres, meanwhile, using sonar detection device to environment in front of sweeping robot
Low level ranging is carried out, judges to whether there is obstacle in n centimetres of low level, and n < m, preferred m values are that 50, n values are 20；
In the step S2, the step S3 is carried out if obstacle is not present in high position 50cm and low level 20cm, if high-order
There are obstacle, in low level 20cm, there is no obstacles then to carry out the step S4 in 50cm, if in low level 20cm there are obstacle if into
The row step S5.Using this preferred embodiment, technology the above, advantage is, a high position can be remote
It measures after judging whether to carry out high-order detection, then judges whether the low level of short distance allows to pass through, it is general to greatly reduce collision
Rate, it is ensured that the accuracy at hole and obstacle detection, meanwhile, high-order ranging, limit for height detection, low level ranging three successively according to when
Sequence carries out, and greatly reduces operand, improves sweeping robot traveling efficiency.
Further, the method for sweeping robot traveling limit for height detection includes the following steps：
T1：So that depth camera is worked in the capture of standard static pixel screen, it is quiet in standard to calculate sweeping robot apical margin
Shared pixel coverage in state pixel screen；
T2：Using the depth information in pixel coverage in depth camera scanning step T1, if depth is small in pixel coverage
Then judge that the height of high-order obstacle is less than sweeping robot height in 50cm, and carry out the step S5, otherwise carries out step T3；
T3：Depth camera pixel coverage from T1 scans downwards, if being found in scanning process, depth is less than the barrier of 50cm
Hinder, then judge that the height of high-order obstacle is less than sweeping robot height, otherwise judges that the height of high-order obstacle is more than machine of sweeping the floor
People's height simultaneously carries out the step S3.That is, the present invention calculates 50cm in front of sweeping robot by comparison calculation
Locate, in the picture that depth camera captures, corresponding machine apical margin pixel coverage of sweeping the floor obtains each below this pixel coverage
The depth information of row pixel judges that front stops sweeping robot with the presence or absence of obstacle and advances forward.It should be noted that for
The depth camera of one 480*640 resolution ratio, standard static pixel refer to that it captures out the picture of 480*640 pixels always
Face.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike, as shown in figure 5, with 480*
For the depth camera of 640 resolution ratio, in the step T1, depth camera works in 480*640 static pixels pictures and catches
It catches, sweeping robot apical margin accounted for pixel coverage at the 50cm of front is 160-170 rows 4；Depth camera in the step T3
It is scanned downwards from 160-170 rows pixel coverage.Since the data volume for carrying out depth scan to each row pixel is big, therefore the present invention uses
The method that high-order and low level ranging combines reduces limit for height detection come when reducing the walking of sweeping robot obstacle edge as far as possible
Operand, to improve the speed of travel and efficiency.
Further, the method that sweeping robot obstacle edge is walked in the step S5 includes the following steps：
E1：For sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out obstacle
Ranging carries out step E2 until after single or two infrared sensors return to the distance signal less than L1 centimetres；
E2：Sweeping robot rotation is controlled, is believed until single or two infrared sensors return to the distance less than L2 centimetres
After number, step E3 is carried out；Single wheel rotation under sweeping robot can be specifically driven, the rotation of entire sweeping robot is completed
Rotation is made, and L2 < L1, and preferred L1 values are 10cm, and L2 values are 5cm.
E3：Sweeping robot automatic obstacle-avoiding traveling PID is adjusted so that two infrared sensors return to the distance letter of 5cm
After number, control sweeping robot is walked forward, and constantly carries out step E2.The present invention uses the ranging of two infrared sensors,
So that after robot is moved within the scope of obstacle 10cm, by PID closed loop control algorithms, sweeping robot posture is adjusted, until
After two infrared sensors return to the distance signal of 5cm, after judgement sweeping robot is parallel with obstacle, sweeping robot is realized
Along side walk.
As a kind of preferred embodiment of the present invention, it is based on the above, unlike, further include what hole marked
Step：Sweeping robot traveling limit for height detects in the step S4, judges that high-order obstacle is above sweeping robot height and goes forward side by side
While row step S3, it is demarcated as hole.
Further, sweeping robot is marked according to history hole, is advanced from trend hole.The present invention passes through the mark to hole
Note so that when next sweeping robot needs this position to be swept, without carrying out limit for height detection, high-low-position ranging etc. again,
Substantially increase the working efficiency of sweeping robot.
For those of ordinary skill in the art, without departing from the concept of the premise of the invention, it can also do
Go out several modifications and improvements, these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of sweeping robot automatic obstacle-avoiding moving device, which is characterized in that including GPU processor modules, depth camera
Module, sonar contact apparatus module；
The depth camera head module includes at depth camera and its depth camera head drive circuit and depth camera signal
Circuit is managed, wherein depth camera signal processing circuit is electrically connected to the I/O mouths of the GPU processor modules；
The sonar contact apparatus module includes sonar contact device and its sonar contact driving circuit and Signal processing of sonar electricity
Road, wherein Signal processing of sonar circuit are electrically connected to the I/O mouths of the GPU processor modules.
2. sweeping robot automatic obstacle-avoiding moving device according to claim 1, which is characterized in that in sweeping robot
On, the position of the depth camera is respectively used to high-order and low level ranging higher than the sonar detection device.
3. sweeping robot automatic obstacle-avoiding moving device according to claim 1, which is characterized in that further include infrared sensing
Device module,
Infrared sensor module includes two infrared sensors and its infrared driver circuit and infrared signal processing circuit, wherein
Infrared signal processing circuit is electrically connected to the I/O mouths of the GPU processor modules, and two infrared sensors are set to machine of sweeping the floor
People side.
4. a kind of sweeping robot automatic obstacle-avoiding mode of progression, which is characterized in that include the following steps：
S1：High-order ranging is carried out to environment in front of sweeping robot using depth camera, using sonar detection device to sweeping the floor
Environment carries out low level ranging in front of robot, completes non-collision scanning；
S2：High-order and low level obstacle in sweeping robot direction of advance is judged respectively, if obstacle is not present in high-order and low level
Step S3 is carried out, there are obstacle and low levels there is no step S4 is carried out if obstacle if a high position, if there are obstacles to be walked for low level
Rapid S5；
S3：Sweeping robot maintains current route constant, and the high-low-position obstacle detection for repeating step S1 and S2 is sentenced
Determine step；
S4：Sweeping robot carries out limit for height detection, judges whether high-order obstacle is higher than sweeping robot height, influences machine of sweeping the floor
People advances, and step S5 is carried out if influencing, if not influencing to carry out step S3；
S5：Sweeping robot obstacle edge is walked, and repeats the high-low-position obstacle detection determination step of step S1 and S2.
5. sweeping robot automatic obstacle-avoiding mode of progression according to claim 4, which is characterized in that
High-order ranging is carried out to environment in front of sweeping robot using depth camera in the step S1, judges high-order m centimetres
It is interior to whether there is obstacle, meanwhile, low level ranging is carried out to environment in front of sweeping robot using sonar detection device, judges low level
It whether there is obstacle, and n < m in n centimetres；
In the step S2, the step S3 is carried out if obstacle is not present in high-order m centimetres and n centimetres of low level, if m lis high-order
There are there is no obstacles then to carry out the step S4 in obstacle, n centimetres of low level in rice, if in n centimetres of low level there are obstacle if into
The row step S5.
6. sweeping robot automatic obstacle-avoiding mode of progression according to claim 4, which is characterized in that in the step S4,
The method of sweeping robot traveling limit for height detection includes the following steps：
T1：So that depth camera is worked in the capture of standard static pixel screen, calculates sweeping robot apical margin in standard static picture
Shared pixel coverage in plain picture；
T2：Using the depth information in pixel coverage in depth camera scanning step T1, if depth is less than m lis in pixel coverage
Rice then judges that the height of high-order obstacle is less than sweeping robot height, and carries out the step S5, otherwise carries out step T3；
T3：Depth camera pixel coverage from T1 scans downwards, if being found in scanning process, depth is less than m centimetres of obstacle,
Then judge that the height of high-order obstacle is less than sweeping robot height, it is high otherwise to judge that the height of high-order obstacle is more than sweeping robot
It spends and carries out the step S3.
7. sweeping robot automatic obstacle-avoiding mode of progression according to claim 6, which is characterized in that differentiated with 480*640
For the depth camera of rate, in the step T1, depth camera works in 480*640 static pixels picture catchings, sweeps the floor
Robot apical margin pixel coverage shared by the m centimeters of front is 160-170 rows；Depth camera is from 160- in the step T3
170 row pixel coverages scan downwards.
8. sweeping robot automatic obstacle-avoiding mode of progression according to claim 4, which is characterized in that swept in the step S5
The method of floor-washing robot obstacle edge walking includes the following steps：
E1：For sweeping robot forward in walking process, two infrared sensors of sweeping robot side carry out ranging to obstacle,
Until after single or two infrared sensors return to the distance signal less than L1 centimetres, step E2 is carried out；
E2：Sweeping robot rotation is controlled, until after single or two infrared sensors return to the distance signal less than L2 centimetres,
Carry out step E3, and L2 < L1；
E3：Sweeping robot automatic obstacle-avoiding traveling PID is adjusted so that two infrared sensors return to L2 centimetres of distance signal
Afterwards, control sweeping robot is walked forward, and constantly carries out step E2.
9. sweeping robot automatic obstacle-avoiding mode of progression according to claim 4, which is characterized in that further include hole label
The step of：Sweeping robot traveling limit for height detects in the step S4, judges that high-order obstacle is above sweeping robot height simultaneously
While carrying out step S3, it is demarcated as hole.
10. sweeping robot automatic obstacle-avoiding mode of progression according to claim 9, which is characterized in that sweeping robot root
It marks according to history hole, advances from trend hole.
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| CN109324626A (en) * | 2018-12-18 | 2019-02-12 | 中新智擎科技有限公司 | Robot and its short distance barrier-avoiding method, storage medium based on infrared distance measurement |
| WO2020125500A1 (en) * | 2018-12-17 | 2020-06-25 | 中国科学院深圳先进技术研究院 | Control method and apparatus for obstacle avoidance of robot, and terminal device |
| CN114098529A (en) * | 2021-11-26 | 2022-03-01 | 深圳乐生机器人智能科技有限公司 | Cleaning method for cleaning robot system, and storage medium |
| CN114521849A (en) * | 2020-11-20 | 2022-05-24 | 余姚舜宇智能光学技术有限公司 | TOF optical system for sweeping robot and sweeping robot |
| CN115251767A (en) * | 2022-07-27 | 2022-11-01 | 深圳乐生机器人智能科技有限公司 | Obstacle avoidance device and obstacle avoidance method of sweeping robot |
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Application publication date: 20181113 |