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WO2019100403A1 - Procédé de détection de falaise et robot - Google Patents

Procédé de détection de falaise et robot Download PDF

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Publication number
WO2019100403A1
WO2019100403A1 PCT/CN2017/113202 CN2017113202W WO2019100403A1 WO 2019100403 A1 WO2019100403 A1 WO 2019100403A1 CN 2017113202 W CN2017113202 W CN 2017113202W WO 2019100403 A1 WO2019100403 A1 WO 2019100403A1
Authority
WO
WIPO (PCT)
Prior art keywords
cliff
detection
ground
detecting
determining
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.)
Ceased
Application number
PCT/CN2017/113202
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English (en)
Chinese (zh)
Inventor
郑勇
张立新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Water World Co Ltd
Original Assignee
Shenzhen Water World Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Water World Co Ltd filed Critical Shenzhen Water World Co Ltd
Priority to PCT/CN2017/113202 priority Critical patent/WO2019100403A1/fr
Publication of WO2019100403A1 publication Critical patent/WO2019100403A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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

Definitions

  • the present invention relates to the field of robots, and more particularly to a cliff detection method and a robot.
  • the current cliff detection methods for indoor service robots generally use infrared signals for detection.
  • infrared signals are sensitive to the color information of the ground.
  • the detection signal value of the black ground is significantly lower than the detection signal of the white ground at the same distance.
  • the robot cannot detect the ground state information such as the ground color and the ground material, it is impossible to dynamically set the limit conditions of the cliff detection based on the ground state information, which may cause misjudgment.
  • the indoor service robot will judge the result of the infrared signal, and judge the dark carpet as a cliff and refuse to continue service; for example, in the process of working in the home environment, When encountering some special circumstances, such as detecting the reflective performance of the ground is better, the cliff judgment may be inaccurate, and the indoor service robot may fall.
  • the main object of the present invention is to provide a cliff detecting method, which aims to solve the technical problem that the existing robot cannot dynamically set the limit condition of the cliff detection according to the ground state information, resulting in inaccurate judgment.
  • the present invention provides a cliff detection method, including:
  • the present invention also provides a robot, including:
  • a monitoring module configured to monitor state change information of the ground during the movement; ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • a setting module configured to set a limit condition of the cliff detection according to the state change information
  • a judging module configured to determine, according to the qualification condition and a preset rule corresponding to the qualification condition, whether the ground is a cliff.
  • the present invention monitors the state change information dynamics of the ground during the movement process by the robot, and then dynamically sets the limit conditions of the cliff detection according to the state change information of the ground, taking into account the interference factors affecting the cliff detection, Dynamically adjust the cliff judgment criteria suitable for the current ground conditions, and refine the qualification conditions of cliff detection under different ground conditions to improve the accuracy of the robot to judge the cliff and reduce misjudgment.
  • FIG. 1 is a schematic flow chart of a cliff detecting method according to an embodiment of the present invention
  • step 32 of still another embodiment of the present invention is a schematic flow chart of step 32 of still another embodiment of the present invention.
  • step 32 of still another embodiment of the present invention is a schematic flow chart of step 32 of still another embodiment of the present invention.
  • FIG. 6 is a schematic diagram showing an optimization process of a cliff detecting method according to still another embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a re-optimization process of a cliff detecting method according to still another embodiment of the present invention.
  • FIG. 8 is a schematic structural view of a robot according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a setting module according to another embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a determining module according to another embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a setting module according to still another embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a determining module according to still another embodiment of the present invention.
  • FIG. 13 is a schematic diagram showing an optimized structure of a robot according to still another embodiment of the present invention.
  • FIG. 14 is a schematic diagram showing a re-optimization structure of a robot according to still another embodiment of the present invention.
  • FIG. 15 is a schematic flow chart of a startup unit according to still another embodiment of the present invention.
  • 16 is a schematic flow chart of a startup unit according to still another embodiment of the present invention. ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • a cliff detecting method includes:
  • the state change information in this step includes: a change in the ground color, a change in the intensity of the ground reflected light, a change in the ground material, and the like that affect the detection of the infrared sensor cliff.
  • an indoor sweeping robot equipped with an infrared cliff sensor at the bottom of the fuselage head is taken as an example, and the robot monitors the state change information of the ground in real time during the moving process.
  • the infrared detection signal sent by the infrared cliff sensor of the embodiment is sensitive to the ground state change information such as the ground color.
  • the limit condition of the cliff detection is dynamically set according to different state change information of the ground to suit the current ground state. Infrared cliff detection standards.
  • the limiting condition of this embodiment is preset, for example, matching the qualification conditions corresponding to different colors by experiments in advance.
  • the infrared radiation signal is sensitive to the color information of the ground, and the signal value of detecting the black ground is significantly lower than the signal value of the white ground of the same distance; when the ground state change information is detected to change from white to black, then the black color is selected.
  • the interference factors affecting the cliff detection are taken into account, and the cliff judgment criteria suitable for the current ground condition of the robot are dynamically adjusted to improve the accuracy of the judgment cliff and reduce misjudgment.
  • [0037] 83 determining whether the ground is a cliff according to the above-mentioned qualification condition and a preset rule corresponding to the above-described qualification condition.
  • the matching preset rule is correspondingly matched according to the qualification condition, so as to further improve the accuracy of the judgment cliff and reduce the false judgment.
  • the ground color change information is used as a limiting condition and the ground reflected light intensity change information is used as a qualification condition, and the preset rule for judging the cliff is different.
  • a method for detecting a cliff wherein the state change information includes a change in reflected light intensity, and the step 32 includes: ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • [0040] 820 Monitor an intensity difference between the reflected light intensity of the first detection ground and the preset standard reflected light intensity.
  • the ground reflected light intensity of the embodiment affects the infrared sensor to detect the cliff by detecting the amount of change of the infrared radiant energy.
  • the infrared detection signal with a large reflected light intensity is significantly larger than the reflected light intensity of the same distance. signal.
  • the intensity of the reflected light on the ground is related to the surface topography of the ground, the material and the distance between the ground and the detector.
  • the preset standard reflected light intensity is set according to the different materials of the flat surface state, and the reflected light passing through the first detecting ground
  • the error range of the intensity and the preset standard reflected light intensity can be used to obtain the ground material matching information, and the ground state change information is judged by further monitoring the intensity difference between the reflected light intensity of the first detecting ground and the preset standard reflected light intensity.
  • the infrared detection threshold corresponding to the reflected light intensity of the embodiment is determined by an experimentally determined level, and the error fluctuation in the same level range, such as the difference fluctuation of the small amplitude of the ground, does not need to be changed. Qualifications; When the difference crosses the level, the infrared detection threshold needs to be changed.
  • the determination error of detecting the cliff under different reflected light intensities is removed as much as possible by changing the infrared detection threshold.
  • the infrared detection cliff determines the presence or absence of a cliff by comparing the intensity of the feedback signal of the transmitted wave.
  • a cliff detecting method according to another embodiment of the present invention, the foregoing step 33 includes:
  • the first infrared detection signal is an infrared radiation energy signal sent by the infrared cliff sensor.
  • the first feedback signal refers to a radiation signal that the infrared radiation signal returns to the infrared cliff sensor after hitting the obstacle
  • the first detection threshold is determined by specifying the feedback signal intensity of the infrared radiation energy when there is no cliff under the ground reflected light intensity, and when the first feedback signal is smaller than the first detection threshold, it is determined as a cliff. When the first feedback signal is not less than the first detection threshold, the determination is safe.
  • the state change information includes a color change
  • step 32 includes:
  • the infrared detection thresholds on the cliff-free ground of different pure colors are matched in advance by experiments, so that the infrared cliff sensor dynamically sets the infrared detection threshold according to different ground colors when detecting the cliff, so as to eliminate infrared radiation energy of different colors. Error caused by different signal absorption rates.
  • the second detection threshold is determined by the intensity of the infrared radiation energy feedback signal when the ground is in a specified color, and there is no cliff.
  • the received feedback signal is smaller than the second infrared detection, it is determined to be a cliff.
  • the state change information includes a color change
  • the step 33 further includes:
  • the infrared cliff sensor detection principle of 334 to 337 in the present embodiment is different from the other embodiment of the present invention except that the infrared line detection threshold and the preset rule for determining the cliff method are different.
  • the absorption rate of the infrared radiation energy by the color is largely different, and the ground material and its shape ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • this embodiment further determines whether it is a cliff or not, and improves the accuracy by means of stepwise judgment.
  • the second feedback signal when the second feedback signal is smaller than the second detection threshold, it cannot be directly determined as a cliff.
  • a white long-haired carpet is set to a second detection threshold according to white, but the long-haired carpet is scattered to the infrared radiation. Color and absorption, leading to false judgments appearing on the cliff.
  • the second feedback signal is smaller than the second detection threshold, and the preset level is divided into the determined cliff level and the pending cliff level. For example, the feedback time is long, and the feedback signal energy is small, in order to determine the cliff level; the feedback time is short, and the feedback signal energy is small, and the cliff level is to be determined.
  • the method includes:
  • the auxiliary detection in this step includes detecting the physical height of the ground and the robot body, the surface material appearance and the like, and the auxiliary judgment means, so as to infer the reliability of the conclusion from multiple dimensions, and further improve the accuracy.
  • the pre-judgment range in this step includes: a judgment conclusion directly obtained according to the detection result of the auxiliary detection.
  • the surface of the second detecting ground is detected as a long-haired white wool carpet, which is 400 to 500 smaller than the standard flat white ground, and the smaller 400 to 500 is just long hair.
  • the above difference is considered to be within the pre-judgment range, not the cliff; otherwise, it is the cliff.
  • a cliff detecting method includes:
  • the physical height of the detection ground and the robot body is obtained by an auxiliary robot arm or an ultrasonic detector, and the embodiment is preferably one or more ultrasonic detectors disposed at the bottom of the robot body to obtain a height difference auxiliary detection signal.
  • the cliff detecting method of the second embodiment of the present invention, the step 3362, further includes: ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • the material detector disposed at the end of the auxiliary robot arm preferably acquires the surface material of the second detecting ground.
  • a robot according to an embodiment of the present invention includes:
  • the monitoring module 1 is configured to monitor state change information of the ground during the movement of the robot.
  • the state change information of the embodiment includes: a change in the color of the ground, a change in the intensity of the reflected light on the ground, a change in the ground material, and the like, which affect the detection of the infrared sensor cliff.
  • an indoor sweeping robot equipped with an infrared cliff sensor at the bottom of the fuselage head is taken as an example, and the robot monitors the state change information of the ground in real time during the moving process.
  • the setting module 2 is configured to set a qualification condition of the cliff detection according to the state change information.
  • the infrared detection signal sent by the infrared cliff sensor of the embodiment is sensitive to the ground state change information such as the ground color.
  • the limit condition of the cliff detection is dynamically set according to different state change information of the ground to suit the current ground state. Infrared cliff detection standards.
  • the limiting condition of this embodiment is preset, for example, matching the qualification conditions corresponding to different colors by experiments in advance.
  • the infrared radiation signal is sensitive to the color information of the ground, and the signal value of detecting the black ground is significantly lower than the signal value of the white ground of the same distance; when the ground state change information is detected to change from white to black, then the black color is selected.
  • the interference factors affecting the cliff detection are taken into account, and the cliff judgment criteria suitable for the current ground condition of the robot are dynamically adjusted to improve the accuracy of the judgment cliff and reduce misjudgment.
  • the determining module 3 is configured to determine whether the ground is a cliff according to the foregoing limiting condition and a preset rule corresponding to the qualifying condition.
  • the matching preset rule is correspondingly matched according to the qualified condition, so as to further improve the accuracy of the judgment cliff and reduce the false positive.
  • the ground color change information is used as a limiting condition and the ground reflected light intensity change information is used as a qualification condition, and the preset rule for judging the cliff is different.
  • the state change information includes a change in reflected light intensity
  • the setting module 2 includes:
  • the first monitoring unit 20 is configured to monitor an intensity difference between the reflected light intensity of the first detecting ground and the preset standard reflected light intensity.
  • the ground reflected light intensity of the embodiment may affect the infrared sensor to detect the cliff by detecting the amount of change of the infrared radiant energy.
  • the infrared detection signal with a large reflected light intensity is significantly larger than the reflected light intensity of the same distance. signal.
  • the reflected light intensity of the ground is related to the surface topography of the ground, the material, and the distance between the ground and the detector.
  • the preset standard reflected light intensity is set according to different materials of the flat surface state, and the reflection through the first detecting ground is The error range of the light intensity and the preset standard reflected light intensity can be used to obtain the ground material matching information, and the ground state change information is judged by further monitoring the intensity difference between the reflected light intensity of the first detecting ground and the preset standard reflected light intensity.
  • the first determining unit 21 is configured to determine, according to the intensity difference value, whether the foregoing limiting condition needs to be changed.
  • the infrared detection threshold corresponding to the reflected light intensity of the embodiment is determined by an experimentally determined level, and the error fluctuation in the same level range, such as the difference fluctuation of the small amplitude of the ground, does not need to be changed. Qualifications; When the difference crosses the level, the infrared detection threshold needs to be changed.
  • the calling unit 22 is configured to: if the determination is yes, invoke the first detection threshold corresponding to the reflected light intensity.
  • the infrared detection cliff determines whether there is a cliff by comparing the intensity of the feedback signal of the transmitted wave.
  • the determining module 3 includes:
  • the first sending unit 30 is configured to send the first infrared detection signal to the first detection ground.
  • the first infrared detection signal is an infrared radiation energy signal sent by the infrared cliff sensor.
  • the first receiving unit 31 is configured to receive the first feedback signal of the first infrared detection signal.
  • the first feedback signal refers to a radiation signal that the infrared radiation signal returns to the infrared cliff sensor after hitting the obstacle
  • the second determining unit 32 is configured to determine whether the first feedback signal is smaller than the first detection threshold.
  • the first detection threshold is determined by specifying the feedback signal intensity of the infrared radiation energy when there is no cliff under the ground reflected light intensity, and when the first feedback signal is smaller than the first detection threshold, it is determined as a cliff. When the first feedback signal is not less than the first detection threshold, the determination is safe.
  • the first determining unit 33 is configured to determine that the first detecting ground is a cliff if the first feedback signal is smaller than the first detection threshold.
  • the state change information includes a color change, ⁇ 0 2019/100403 ⁇ (:17 ⁇ 2017/113202
  • the second monitoring unit 24 is configured to monitor the color of the second detection ground.
  • the third determining unit 25 is configured to determine whether there is a second detection threshold that matches the color.
  • the infrared detection thresholds on the cliff-free ground of different pure colors are matched in advance by experiments, so that the infrared cliff sensor dynamically sets the infrared detection threshold according to different ground colors when detecting the cliff, so as to eliminate infrared radiation energy of different colors. Error caused by different signal absorption rates.
  • the setting unit 26 is configured to, if present, set a second limiting condition that is smaller than the second detection threshold value for cliff detection.
  • the second detection threshold is determined by the intensity of the infrared radiation energy feedback signal when the ground is in the specified color, and there is no cliff.
  • the received feedback signal is smaller than the second infrared detection, it is determined as a cliff.
  • the state change information includes a color change
  • the determining module 3 further includes:
  • the second sending unit 34 is configured to send a second infrared detection signal to the second detection ground.
  • the second receiving unit 35 is configured to receive a second feedback signal of the second infrared detection signal.
  • the fourth determining unit 36 is configured to determine whether the second feedback signal is smaller than the second detection threshold.
  • the second determining unit 37 is configured to determine that the robot continues to move forward if the second feedback signal is not smaller than the second detection threshold.
  • the infrared cliff sensor detection principle in this embodiment is the same as that of another embodiment of the present invention, except that the infrared detection threshold and the preset rule for determining the cliff method are different.
  • the judging module 3 of the robot includes:
  • the fifth determining unit 360 is configured to determine, according to the second detection threshold that the second feedback signal is less than the second detection threshold, a preset level corresponding to the second feedback signal, where the preset level includes determining a cliff level and a pending cliff level.
  • the second feedback signal is smaller than the second detection threshold, and cannot be directly determined as a cliff, for example, a white long-haired carpet
  • the second detection threshold is set according to white, but the long-haired carpet is scattered to the infrared radiation. Color and absorption, leading to false judgments appearing on the cliff.
  • the second feedback signal is smaller than the second detection threshold, and the preset level is divided into the determined cliff level and the pending cliff level. For example, the feedback time is long, and the feedback signal energy is small, in order to determine the cliff level; the feedback time is short, and the feedback signal energy is small, and the cliff level is to be determined.
  • the third determining unit 361 is configured to determine that the second detecting ground is a cliff if the cliff level is determined.
  • the determining module 3 of the robot includes:
  • the starting unit 362 is configured to start the auxiliary detection if the cliff level is to be determined.
  • the auxiliary detection in this embodiment includes detecting the physical height of the ground and the robot body, and the auxiliary judgment means of the ground material shape, so as to infer the reliability of the conclusion from multiple dimensions, and further improve the accuracy.
  • the sixth determining unit 363 is configured to determine, according to the detection result of the auxiliary detection, whether the difference is within a predetermined range.
  • the pre-judgment range in this embodiment includes: a judgment conclusion directly obtained according to the detection result of the auxiliary detection.
  • the surface of the second detecting ground is detected as a long-haired white wool carpet, which is 400 to 500 smaller than the standard flat white ground, and the smaller 400 to 500 is just long hair.
  • the above difference is considered to be within the pre-judgment range, not the cliff; otherwise, it is the cliff.
  • the fourth determining unit 364 is configured to determine that the second detecting ground is a cliff if the difference is not within the pre-judgment range.
  • the starting unit 362 includes:
  • the first detecting subunit 3620 is configured to detect, by using an ultrasonic detector, a height difference between the ground currently located and the second detecting ground.
  • the physical height of the detection ground and the robot body is obtained by an auxiliary robot arm or an ultrasonic detector.
  • one or more ultrasonic detectors disposed at the bottom of the robot body preferably obtain a height difference auxiliary detection signal.
  • the starting unit 362 further includes:
  • the second detecting subunit 3621 is configured to detect a surface material condition of the second detecting ground by using a material detector.
  • the material detector disposed at the end of the auxiliary robot arm preferably acquires the surface material of the second detecting ground.
  • the robot dynamically sets the limit condition of the cliff detection by monitoring the state change information of the ground, and takes into account the interference factors affecting the cliff detection, and dynamically adjusts the cliff judgment standard suitable for the current ground condition of the robot.
  • the qualification conditions of cliff detection under different ground conditions are used to improve the accuracy of the robot to judge the cliff and reduce misjudgment.

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  • 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)
  • Manipulator (AREA)

Abstract

Cette invention concerne un procédé de détection de falaise et un robot. Le procédé de détection de falaise comprend les étapes consistant à : surveiller des informations de changement d'état d'un sol sur lequel est situé le robot lors d'un processus de déplacement de robot (S1) ; définir une condition de limitation de détection de falaise en fonction des informations de changement d'état (S2) ; et déterminer et détecter si le sol est une falaise ou non en fonction de la condition de limitation et d'une règle prédéfinie correspondant à la condition de limitation (S3). Le procédé de détection de falaise tient compte des facteurs d'interférence affectant une détection de falaise pour réguler et commander de manière dynamique la norme de détermination de falaise appropriée pour l'état du sol actuel de façon à réduire les évaluations erronées. L'invention concerne en outre un robot.
PCT/CN2017/113202 2017-11-27 2017-11-27 Procédé de détection de falaise et robot Ceased WO2019100403A1 (fr)

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PCT/CN2017/113202 WO2019100403A1 (fr) 2017-11-27 2017-11-27 Procédé de détection de falaise et robot

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Application Number Priority Date Filing Date Title
PCT/CN2017/113202 WO2019100403A1 (fr) 2017-11-27 2017-11-27 Procédé de détection de falaise et robot

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WO2019100403A1 true WO2019100403A1 (fr) 2019-05-31

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070265740A1 (en) * 2006-05-09 2007-11-15 Industrial Technology Research Institute Obstacle and cliff avoiding system and method thereof
WO2016064093A1 (fr) * 2014-10-24 2016-04-28 Lg Electronics Inc. Robot nettoyeur et son procédé de commande
CN106142104A (zh) * 2015-04-10 2016-11-23 科沃斯机器人股份有限公司 自移动机器人及其控制方法
CN106264357A (zh) * 2016-08-30 2017-01-04 宁波菜鸟智能科技有限公司 扫地机器人的地毯判定方法及系统
CN106998985A (zh) * 2014-10-10 2017-08-01 美国iRobot 公司 移动机器人区域清洁
CN107229277A (zh) * 2017-05-31 2017-10-03 湖南海翼电子商务股份有限公司 一种悬崖检测电路及其扫地机器人
CN108020844A (zh) * 2017-11-27 2018-05-11 深圳市沃特沃德股份有限公司 悬崖检测方法与机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070265740A1 (en) * 2006-05-09 2007-11-15 Industrial Technology Research Institute Obstacle and cliff avoiding system and method thereof
CN106998985A (zh) * 2014-10-10 2017-08-01 美国iRobot 公司 移动机器人区域清洁
WO2016064093A1 (fr) * 2014-10-24 2016-04-28 Lg Electronics Inc. Robot nettoyeur et son procédé de commande
CN106142104A (zh) * 2015-04-10 2016-11-23 科沃斯机器人股份有限公司 自移动机器人及其控制方法
CN106264357A (zh) * 2016-08-30 2017-01-04 宁波菜鸟智能科技有限公司 扫地机器人的地毯判定方法及系统
CN107229277A (zh) * 2017-05-31 2017-10-03 湖南海翼电子商务股份有限公司 一种悬崖检测电路及其扫地机器人
CN108020844A (zh) * 2017-11-27 2018-05-11 深圳市沃特沃德股份有限公司 悬崖检测方法与机器人

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