CN114721378B - Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium - Google Patents
Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium Download PDFInfo
- Publication number
- CN114721378B CN114721378B CN202210287439.1A CN202210287439A CN114721378B CN 114721378 B CN114721378 B CN 114721378B CN 202210287439 A CN202210287439 A CN 202210287439A CN 114721378 B CN114721378 B CN 114721378B
- Authority
- CN
- China
- Prior art keywords
- robot
- area
- data
- current
- cleaned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000004140 cleaning Methods 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 57
- 238000004590 computer program Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a robot obstacle avoidance method, a robot obstacle avoidance device, a robot and a computer readable storage medium, wherein the method comprises the following steps: detecting current height data between the robot and a current area to be cleaned through a ground detection sensor; detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value; detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value; and under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the front collision lowest point of the body of the robot and the previous cleaning area, and controlling the robot to retract into the previous cleaning area. Therefore, when the current area to be cleaned is determined to be a dangerous area with a trapped risk, the robot can be controlled not to enter the dangerous area, so that the robot is prevented from being trapped, and the cleaning efficiency of the robot is improved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a robot obstacle avoidance method, apparatus, robot, and computer readable storage medium.
Background
In order to ensure the obstacle crossing capability of the robot, the set height of the ground detection sensor of the robot is usually a preset threshold value; when the ground detection sensor detects that the height between the robot and the ground exceeds a preset threshold, the backward movement is executed, and the falling is avoided. However, in the scene that the user actually uses the robot, a height difference exists between the floors of two rooms in a part of the user's home, the height difference is smaller than a preset threshold value of the ground detection sensor, the ground detection is insufficient, the robot can normally enter a low-floor room from a high-floor room to execute cleaning work, and after the cleaning of the machine entering the low-floor room is completed, the robot cannot normally exit from the low-floor room.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the application provides a robot obstacle avoidance method, a robot obstacle avoidance device, a robot and a computer readable storage medium.
In a first aspect, an embodiment of the present application provides a robot obstacle avoidance method, where the method includes:
Detecting current height data between the robot and a current area to be cleaned through a ground detection sensor;
Detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value;
Detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value, and judging whether the obstacle feedback data is increased or not;
and under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the last cleaning area is larger than the second height difference between the lowest front collision point of the robot body and the last cleaning area, and controlling the robot to retract to the last cleaning area.
In an embodiment, after the step of controlling the robot to retract the previous cleaning area, the method further includes:
marking the current area to be cleaned as a dangerous area;
And determining an obstacle avoidance cleaning path according to the dangerous area.
In one embodiment, the method further comprises:
And under the condition that the obstacle feedback data is unchanged, determining the current area to be cleaned as a safety area.
In an embodiment, the step of obtaining the preset height threshold includes:
and acquiring the preset height threshold according to the second height difference and a preset multiple.
In an embodiment, the step of obtaining the preset angle threshold includes:
acquiring the wheel distance between the front wheel and the driving wheel of the robot;
and determining the preset angle threshold according to the wheel distance and the preset height threshold.
In an embodiment, the step of detecting attitude angle data of the robot by a gyroscope includes:
And detecting attitude angle data of the robot in preset time through the gyroscope, wherein the preset time is determined according to the length and the speed of the robot body.
In one embodiment, the method further comprises:
Sending reminding information corresponding to the dangerous area to a client, so that the client generates a dangerous area release mark according to the reminding information and displays the dangerous area release mark;
And marking the dangerous area as a safe area according to a dangerous release instruction received from the client, controlling the robot to enter the safe area to execute cleaning work, wherein the dangerous release instruction is determined by the client according to user operation received by the dangerous area release mark.
In a second aspect, an embodiment of the present application provides a robot obstacle avoidance device, including:
the first detection module is used for detecting current height data between the robot and a current area to be cleaned through a ground detection sensor;
The second detection module is used for detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value;
the judging module is used for detecting obstacle feedback data through the wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value, and judging whether the obstacle feedback data is increased or not;
and the control module is used for determining that the first height difference between the current area to be cleaned and the last cleaning area is larger than the second height difference between the lowest front collision point of the robot body and the last cleaning area under the condition that the obstacle feedback data are increased, and controlling the robot to retract into the last cleaning area.
In a third aspect, an embodiment of the present application provides a robot, including a memory and a processor, where the memory is configured to store a computer program, and the computer program executes the robot obstacle avoidance method provided in the first aspect when the processor runs.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, which when run on a processor performs the robot obstacle avoidance method provided in the first aspect.
The robot obstacle avoidance method, the robot obstacle avoidance device, the robot and the computer readable storage medium provided by the application detect the current height data between the robot and the current area to be cleaned through the ground detection sensor; detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value; detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value; and under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the front collision lowest point of the body of the robot and the previous cleaning area, and controlling the robot to retract into the previous cleaning area. Therefore, the detection data of the sensor, the gyroscope and the wall detection sensor are decremented, and when the current area to be cleaned is determined to be a dangerous area with trapped risks, the robot can be controlled not to enter the dangerous area, so that the robot is prevented from being trapped, and the cleaning efficiency of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.
Fig. 1 is a schematic flow chart of a robot obstacle avoidance method according to an embodiment of the present application;
Fig. 2 is a schematic diagram showing a motion state of a robot according to an embodiment of the present application;
fig. 3 shows another schematic view of a motion state of a robot according to an embodiment of the present application;
Fig. 4 is another flow chart of the robot obstacle avoidance method according to the embodiment of the present application;
Fig. 5 is a schematic structural diagram of a robot obstacle avoidance device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
Example 1
The embodiment of the disclosure provides a robot obstacle avoidance method.
Specifically, referring to fig. 1, the robot obstacle avoidance method includes:
Step S101, detecting current height data between the robot and a current area to be cleaned through a ground detection sensor.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a motion state of the robot. As shown in fig. 2, the robot 20 includes a front wheel 201, a driving wheel 202, and a body 203, the robot 20 performs a cleaning operation on a first ground area 21, the robot 20 moves to a boundary between the first ground area 21 and a second ground area 22 during the cleaning process, a nose portion of the robot 20 enters the second ground area 22, and a majority of the body is also on the first ground area 21. It is added that the driving wheel 202 increases traction force by a power mechanism of the robot so that the robot can move forward, and the front wheel 201 is driven by the driving wheel 202 to move.
In an embodiment, the robot 20 is further provided with a ground detection sensor, a gyroscope, and a wall detection sensor, wherein the wall detection sensor is installed right in front of the robot 20, and detects the distance of the obstacle right in front of the robot in the horizontal X-axis circumferential direction from the machine. The wall detection sensor can be an infrared distance sensor, and also can be a high-cost ultrasonic sensor or a TOF laser distance measurement sensor.
The ground detection sensor is installed at the head of the robot 20, so that the height between the robot and the front ground area can be conveniently detected, and whether the front cleaning ground area of the robot 20 is raised or lowered can be conveniently judged. The ground detection sensor of the common consumer robot can be an infrared distance sensor, and an ultrasonic sensor or a TOF laser distance sensor can also be used. The first floor area 21 may be considered as the last cleaning area and the second floor area 22 as the current area to be cleaned. Due to the height difference between the first ground area 21 and the second ground area 22, the current height data between the robot and the current area to be cleaned and the current height data between the robot and the previous cleaning area are not the same, for example, the front collision lowest point of the robot is 15 cm away from the first ground area 21, and the distance between the first ground area 21 and the second ground area 22 is 20 cm away.
Step S102, detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value.
In an embodiment, under the condition that the current height data is greater than or equal to a preset height threshold, it is preliminarily determined that the height between the robot body and the ground exceeds the safety height at this time, whether the current area to be cleaned is a safety area needs to be continuously judged, specifically, the attitude angle data of the robot can be detected, and further judgment can be performed according to the attitude angle data. Referring to fig. 3, fig. 3 is a schematic view illustrating another motion state of the robot. In fig. 3, the robot 20 shown in fig. 2 continues to move forward, in fig. 3, the front wheel 201 of the robot 20 is located in the second ground area 22, the driving wheel 202 of the robot 20 is located in the first ground area 21, the body 203 of the robot 20 is in an inclined state, the gyroscope can detect attitude angle data of the robot 20, and whether the detected attitude angle data is greater than or equal to a preset angle threshold value is further determined. And under the condition that the detected attitude angle data is greater than or equal to a preset angle threshold value, the inclination of the robot is described, the step descending process occurs, and whether the robot can withdraw from the current area to be cleaned or not after entering the current area to be cleaned needs to be further judged. And under the condition that the detected attitude angle data is smaller than a preset angle threshold value, the robot is indicated to normally cross the obstacle, and the robot is not used for other processing and continues to enter the current area to be cleaned to execute cleaning work.
In another embodiment, when the current height data is greater than or equal to the preset height threshold, the current area to be cleaned is a safe area, the robot enters the current area to be cleaned, and the cleaning work is continuously executed.
Step S103, detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value, and judging whether the obstacle feedback data is increased or not.
In one embodiment, since the wall detection sensor is mounted on the head of the robot, in the motion state shown in fig. 2, when there is no obstacle such as a wall around the robot, the feedback data of the obstacle detected by the wall detection sensor is small, that is, there is no obstacle in the circumferential direction of the horizontal X axis by the robot, and at this time, the feedback data of the obstacle is very small approaching 0.
In the motion state shown in fig. 3, the head of the robot is very close to the ground, and the feedback data of the obstacle detected by the wall detection sensor is rapidly increased, that is, the ground is used as the obstacle in the circumferential direction of the horizontal X axis of the robot, so that the motion state of the robot can be further determined according to whether the feedback data of the obstacle detected by the wall detection sensor is increased.
Step S104, under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the last cleaning area is larger than the second height difference between the lowest front collision point of the robot body and the last cleaning area, and controlling the robot to retract into the last cleaning area.
For example, in the moving state in fig. 3, in the case where the obstacle feedback data increases, it is determined that the first height difference 20 cm between the second ground area 22 and the first ground area 21 is greater than the second height difference 15 cm between the body forward collision lowest point of the robot 20 and the first ground area 21, the robot 20 is controlled to retract into the first ground area 21 such that the robot 20 does not enter the second ground area 22, avoiding that the robot 20 cannot reenter the first ground area 21 from the second ground area 22.
Therefore, the robot can determine whether the robot is trapped or not to continue to clean forwards, and stop to clean forwards when the robot is trapped, mark the current area to be cleaned as a dangerous area, and reduce speed and turn around in advance during subsequent cleaning, so that the trapped risk is avoided, and the cleaning effect of the robot is improved.
In an embodiment, the robot obstacle avoidance method may further include the steps of:
marking the current area to be cleaned as a dangerous area;
And determining an obstacle avoidance cleaning path according to the dangerous area.
For example, in fig. 3, the current area to be cleaned is the second ground area 22, and then the second ground area 22 is taken as a dangerous area, and an obstacle avoidance cleaning path is established without entering the second ground area 22. And executing cleaning work according to the obstacle avoidance cleaning path.
In an embodiment, the robot obstacle avoidance method may further include the steps of:
And under the condition that the obstacle feedback data is unchanged, determining the current area to be cleaned as a safety area.
After determining that the current area to be cleaned is a safe area, the robot can enter the safe area to execute cleaning work without leaving the area to be cleaned.
Since the time for the robot to enter the current area to be cleaned from the boundary is shorter when the robot is at the boundary between the previous cleaning area and the current area to be cleaned, it is necessary to determine whether the current area to be cleaned is a dangerous area or not in a shorter time. The preset height threshold value and the preset angle threshold value need to be reasonably selected.
In an embodiment, the step of obtaining the preset height threshold includes:
and acquiring the preset height threshold according to the second height difference and a preset multiple.
Referring to fig. 3 again, if the second height difference is the height difference between the first ground area 21 and the lowest front collision point of the robot, and the second height difference is 15 cm, the preset height threshold is a product of 15 cm and a preset multiple, for example, the preset multiple may be 2, and the preset height threshold is 30 cm. That is, the difference in height between the first ground area and the second ground area needs to be equal to or less than the difference in height from the lowest front collision point of the robot body to the ground.
In an embodiment, the step of obtaining the preset angle threshold includes:
acquiring the wheel distance between the front wheel and the driving wheel of the robot;
and determining the preset angle threshold according to the wheel distance and the preset height threshold.
Specifically, the preset angle threshold may be determined according to the following equation 1:
equation 1: y=arctan (X/L);
wherein Y represents a preset angle threshold, L represents a wheel distance, and X represents a preset height threshold.
The time taken to enter the current area to be cleaned from the boundary is short, and the attitude angle data needs to be detected by the gyroscope in a short time. Specifically, in one embodiment, the step of detecting the attitude angle data of the robot through a gyroscope includes:
And detecting attitude angle data of the robot in preset time through the gyroscope, wherein the preset time is determined according to the length and the speed of the robot body.
Specifically, according to the length and the speed of the machine body, the time spent by the robot completely entering the current area to be cleaned from the previous cleaning area can be calculated, the preset time can be a value smaller than the consumed time, the attitude angle data can be depression angle data, for example, the preset time can be 0.5 seconds, and the attitude angle data of the robot is detected in 0.5 seconds through the gyroscope.
In one embodiment, the robot may communicate with a client, which may control and manage the cleaning operation of the robot. Specifically, in an embodiment, the robot obstacle avoidance method may further include the following steps:
Sending reminding information corresponding to the dangerous area to a client, so that the client generates a dangerous area release mark according to the reminding information and displays the dangerous area release mark;
And marking the dangerous area as a safe area according to a dangerous release instruction received from the client, controlling the robot to enter the safe area to execute cleaning work, wherein the dangerous release instruction is determined by the client according to user operation received by the dangerous area release mark.
Specifically, the robot and the client can realize a human-computer interaction process, and the client generates a dangerous area release mark according to the reminding information and displays the dangerous area release mark to prompt a trapped risk. The dangerous area release mark prompts a user to input selection operation, when the safe area is cleaned, the user can perform touch operation on the dangerous area release mark, the robot releases the dangerous area according to the touch operation on the dangerous area release mark by the user, the robot enters a cleaning area for releasing the dangerous area, and cleaning work is performed to avoid missing; if the user chooses not to release the dangerous area mark, the robot finishes the cleaning work and returns to charge.
The robot obstacle avoidance method is described below with reference to fig. 4.
Step S401, cleaning is started.
And step S402, starting a gyroscope, a wall detection sensor and a ground detection sensor to detect the ground condition in real time.
Step S403, determining whether the ground detection data date1 is smaller than the preset height threshold X.
In one embodiment, if the ground detection data date1 is smaller than the preset height threshold X, step S404 is performed, and if the ground detection data date1 is greater than or equal to the preset height threshold X, step S412 is performed. Note that, the ground detection data date1 is specifically current height data between the robot and the current area to be cleaned.
Step S404, preliminarily determining that the height between the robot body and the ground exceeds the safety height at this time.
Step S405, determining whether the depression angle date2 of the gyroscope is greater than a preset angle threshold Y.
In one embodiment, if the depression angle date2 of the gyroscope is greater than the preset angle threshold Y, step S407 is performed, and if the depression angle date2 of the gyroscope is less than or equal to the preset angle threshold Y, step S406 is performed. The gyro depression angle date2 is attitude angle data of the robot.
Step S406, determining that this is a normal obstacle-crossing situation.
Step S407, determining whether the wall detection sensor date3 is large.
In one embodiment, when the wall inspection sensor date3 becomes large, step S409 is performed. If the wall detection sensor date3 is not large, step S408 is performed. Note that, the wall detection sensor date3 is obstacle feedback data reflected by an obstacle detected by the wall detection sensor.
Step S408, determining the security area at this time.
Step S409, determining that the first height difference between the current ground area and the last ground area is greater than the second height difference between the lowest front collision point of the robot body and the last ground area, and marking the current ground area as a dangerous area.
In step S410, it is determined whether the client releases the dangerous area.
In one embodiment, if the client releases the dangerous area, step S412 is performed. If the client does not release the dangerous area, step S411 is executed.
Step S411, the present cleaning is ended.
Step S412, the cleaning operation is continued.
According to the robot obstacle avoidance method provided by the embodiment, the ground detection sensor is used for detecting the current height data between the robot and the current area to be cleaned; detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value; detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value; and under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the front collision lowest point of the body of the robot and the previous cleaning area, and controlling the robot to retract into the previous cleaning area. Therefore, the detection data of the sensor, the gyroscope and the wall detection sensor are decremented, and when the current area to be cleaned is determined to be a dangerous area with trapped risks, the robot can be controlled not to enter the dangerous area, so that the robot is prevented from being trapped, and the cleaning efficiency of the robot is improved.
Example 2
In addition, the embodiment of the disclosure provides a robot obstacle avoidance device.
Specifically, as shown in fig. 5, the robot obstacle avoidance apparatus 500 includes:
a first detection module 501, configured to detect current height data between the robot and a current area to be cleaned through a ground detection sensor;
A second detection module 502, configured to detect, by using a gyroscope, attitude angle data of the robot when the current height data is greater than or equal to a preset height threshold;
A judging module 503, configured to detect, by a wall detection sensor, obstacle feedback data if the attitude angle data is greater than or equal to a preset angle threshold, and judge whether the obstacle feedback data is increased;
And the control module 504 is configured to determine that, when the obstacle feedback data increases, a first height difference between the current area to be cleaned and a previous cleaning area is greater than a second height difference between a lowest front collision point of the robot body and the previous cleaning area, and control the robot to retract into the previous cleaning area.
In one embodiment, the robotic obstacle avoidance device 500 further includes:
the marking module is used for marking the current area to be cleaned as a dangerous area;
And the first determining module is used for determining an obstacle avoidance cleaning path according to the dangerous area.
In one embodiment, the robotic obstacle avoidance device 500 further includes:
And the second determining module is used for determining the current area to be cleaned as a safety area under the condition that the obstacle feedback data is unchanged.
In one embodiment, the robotic obstacle avoidance device 500 further includes:
The first acquisition module is used for acquiring the preset height threshold according to the second height difference and a preset multiple.
In one embodiment, the robotic obstacle avoidance device 500 further includes:
The second acquisition module is used for acquiring the wheel distance between the front wheel and the driving wheel of the robot;
and determining the preset angle threshold according to the wheel distance and the preset height threshold.
In an embodiment, the second detection module 502 is further configured to detect, by using the gyroscope, attitude angle data of the robot within a preset time, where the preset time is determined according to a length and a speed of a body of the robot.
In one embodiment, the robotic obstacle avoidance device 500 further includes:
The sending module is used for sending reminding information corresponding to the dangerous area to the client so that the client generates a dangerous area release mark according to the reminding information and displays the dangerous area release mark;
and the processing module is used for marking the dangerous area as a safe area according to a dangerous release instruction received from the client, controlling the robot to enter the safe area to execute cleaning work, and determining the dangerous release instruction according to the user operation received by the dangerous area release mark by the client.
The robot obstacle avoidance device provided in this embodiment may implement the robot obstacle avoidance method provided in embodiment 1, and in order to avoid repetition, a description thereof will be omitted.
According to the robot obstacle avoidance device provided by the implementation, the ground detection sensor is used for detecting the current height data between the robot and the current area to be cleaned; detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value; detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value; and under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the front collision lowest point of the body of the robot and the previous cleaning area, and controlling the robot to retract into the previous cleaning area. Therefore, the detection data of the sensor, the gyroscope and the wall detection sensor are decremented, and when the current area to be cleaned is determined to be a dangerous area with trapped risks, the robot can be controlled not to enter the dangerous area, so that the robot is prevented from being trapped, and the cleaning efficiency of the robot is improved.
Example 3
The disclosed embodiments also provide a robot including a memory and a processor, the memory storing a computer program that, when executed by the processor, performs the robot obstacle avoidance method provided by embodiment 1.
The robot provided in this embodiment may implement the obstacle avoidance method provided in embodiment 1, and in order to avoid repetition, details are not repeated here.
Example 4
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the robot obstacle avoidance method provided in embodiment 1.
In the present embodiment, the computer readable storage medium may be a Read-Only Memory (ROM), a random access Memory (Random Access Memory RAM), a magnetic disk, an optical disk, or the like.
The computer readable storage medium provided in this embodiment may implement the obstacle avoidance method of the robot provided in embodiment 1, and in order to avoid repetition, a detailed description is omitted here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (10)
1. A robot obstacle avoidance method, the method comprising:
when the robot moves to the boundary of a first ground area and a second ground area in the cleaning process, the first ground area is regarded as a previous cleaning area, and the second ground area is regarded as a current area to be cleaned; detecting current height data between the robot and the current area to be cleaned through a ground detection sensor;
Detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value;
Detecting obstacle feedback data through a wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value, and judging whether the obstacle feedback data is increased or not;
And under the condition that the obstacle feedback data is increased, determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the lowest front collision point of the robot body and the previous cleaning area, and controlling the robot to retract to the previous cleaning area.
2. The method of claim 1, wherein after the step of controlling the robot to retract the last cleaning zone, the method further comprises:
marking the current area to be cleaned as a dangerous area;
And determining an obstacle avoidance cleaning path according to the dangerous area.
3. The method according to claim 1, wherein the method further comprises:
And under the condition that the obstacle feedback data is unchanged, determining the current area to be cleaned as a safety area.
4. The method according to claim 1, wherein the step of obtaining the preset height threshold value comprises:
and acquiring the preset height threshold according to the second height difference and a preset multiple.
5. The method according to claim 1, wherein the step of obtaining the preset angle threshold comprises:
acquiring the wheel distance between the front wheel and the driving wheel of the robot;
and determining the preset angle threshold according to the wheel distance and the preset height threshold.
6. The robot obstacle avoidance method of claim 1 wherein the step of detecting attitude angle data of the robot by a gyroscope comprises:
And detecting attitude angle data of the robot in preset time through the gyroscope, wherein the preset time is determined according to the length and the speed of the robot body.
7. The method according to claim 2, wherein the method further comprises:
Sending reminding information corresponding to the dangerous area to a client, so that the client generates a dangerous area release mark according to the reminding information and displays the dangerous area release mark;
And marking the dangerous area as a safe area according to a dangerous release instruction received from the client, controlling the robot to enter the safe area to execute cleaning work, wherein the dangerous release instruction is determined by the client according to user operation received by the dangerous area release mark.
8. A robotic obstacle avoidance device, the device comprising:
The first detection module is used for detecting current height data between the robot and the current area to be cleaned through a ground detection sensor when the robot moves to the boundary of the first ground area and the second ground area in the cleaning process, the first ground area is regarded as the previous cleaning area, the second ground area is regarded as the current area to be cleaned;
The second detection module is used for detecting attitude angle data of the robot through a gyroscope under the condition that the current height data is larger than or equal to a preset height threshold value;
the judging module is used for detecting obstacle feedback data through the wall detection sensor under the condition that the attitude angle data is larger than or equal to a preset angle threshold value, and judging whether the obstacle feedback data is increased or not;
And the control module is used for determining that the first height difference between the current area to be cleaned and the previous cleaning area is larger than the second height difference between the lowest front collision point of the robot body and the previous cleaning area under the condition that the obstacle feedback data are increased, and controlling the robot to retract into the previous cleaning area.
9. A robot comprising a memory and a processor, the memory storing a computer program which, when run by the processor, performs the robot obstacle avoidance method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the robot obstacle avoidance method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210287439.1A CN114721378B (en) | 2022-03-22 | 2022-03-22 | Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210287439.1A CN114721378B (en) | 2022-03-22 | 2022-03-22 | Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114721378A CN114721378A (en) | 2022-07-08 |
| CN114721378B true CN114721378B (en) | 2024-09-24 |
Family
ID=82240521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210287439.1A Active CN114721378B (en) | 2022-03-22 | 2022-03-22 | Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114721378B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105899112A (en) * | 2014-01-10 | 2016-08-24 | 艾罗伯特公司 | Autonomous mobile robot |
| CN112641383A (en) * | 2020-12-17 | 2021-04-13 | 珠海市一微半导体有限公司 | Robot card-off control method based on slope structure, chip and cleaning robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016081373A (en) * | 2014-10-20 | 2016-05-16 | シャープ株式会社 | Autonomous type electric device with floor face detection sensor, and sensitivity adjustment method of floor face detection sensor |
| CN207384215U (en) * | 2017-03-29 | 2018-05-22 | 艾罗伯特公司 | Sweeping robot |
| CN113961005A (en) * | 2018-10-22 | 2022-01-21 | 科沃斯机器人股份有限公司 | Travel control method, surface cleaning robot, and storage medium |
| CN112690710B (en) * | 2020-12-29 | 2021-10-26 | 深圳市云视机器人有限公司 | Obstacle trafficability judging method, obstacle trafficability judging device, computer device, and storage medium |
-
2022
- 2022-03-22 CN CN202210287439.1A patent/CN114721378B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105899112A (en) * | 2014-01-10 | 2016-08-24 | 艾罗伯特公司 | Autonomous mobile robot |
| CN112641383A (en) * | 2020-12-17 | 2021-04-13 | 珠海市一微半导体有限公司 | Robot card-off control method based on slope structure, chip and cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114721378A (en) | 2022-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1975755A2 (en) | Autonomous driving apparatus and executing program thereof | |
| JP2009545457A (en) | Monitoring method and apparatus using camera for preventing collision of machine | |
| EP2506106A1 (en) | Autonomous moving object and control method | |
| CN112526984B (en) | Robot obstacle avoidance method and device and robot | |
| CN112008722B (en) | Control method and control device for construction robot and robot | |
| CN112987725A (en) | Obstacle-based avoidance method, chip and cleaning robot | |
| CN114721378B (en) | Robot obstacle avoidance method, robot obstacle avoidance device, robot and computer readable storage medium | |
| CN112698643A (en) | Method and system for docking charging device by robot, robot and computer storage medium | |
| CN113524190B (en) | Robot foot end collision stability control method and device and foot type robot | |
| EP4389364A1 (en) | Robot control method, robot, control terminal, and control system | |
| CN110303499B (en) | Mechanical arm homing method and device | |
| CN110328664A (en) | Collision checking method and device | |
| CN116369775A (en) | Cleaning method, window cleaning robot and storage medium | |
| CN109375634A (en) | Avoidance obstacle method and chip and intelligent robot when robot time seat | |
| CN111700553B (en) | Obstacle avoidance method, device, robot and storage medium | |
| CN110618674B (en) | Obstacle avoidance method and device for movable equipment, movable equipment and storage medium | |
| CN110597255B (en) | Method for establishing safety zone by using seat avoidance signal | |
| CN115185286B (en) | Autonomous obstacle-detouring planning method for mobile robot and task scheduling system thereof | |
| EP4390313A1 (en) | Navigation method and self-propelled apparatus | |
| JP7517340B2 (en) | Information processing device, information processing method, and program | |
| CN114625132A (en) | Robot avoidance method and system | |
| WO2024207592A1 (en) | Obstacle detection and control method for underwater robot, and underwater robot and medium | |
| CN114847810B (en) | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser | |
| JP7586457B2 (en) | Mobile body and control device thereof, control method and control program, mobile manipulator and system | |
| CN110647047A (en) | Control method and device for equipment in smart home operating system and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |