Obstacle detection method for snow removal robot

Abstract

The invention discloses an obstacle detection method for a snow sweeping robot. The obstacle detection method comprises the following steps: (1) a left ultrasonic transducer, an intermediate ultrasonic transducer and a right ultrasonic transducer are arranged on the snow sweeping robot, and information of the distance between the snow sweeping robot and an obstacle is detected through the ultrasonic transducers; and (2) detection signals are processed: a, aftershock interference signals of probes of the ultrasonic transducers are processed; and b, suddenly generated strong interference signals are processed. The obstacle detection method for the snow sweeping robot can effectively inhibit influences from interference signals generated by mechanical vibration of the transducers per se, can also identify quickly moving objects and avoid false alarms probably generated by single measurement, and is good in interference prevention and high in detection accuracy. Meanwhile, in the snow sweeping process in different environments, the actual wind direction and the snow softness degree probably cause difference of such parameters as the robot running speed. The threshold value and the measurement times can be flexibly set through field tests, the demands for the accuracy and the sensitiveness of obstacle detection in different environments can be met and the adaptability is excellent.

Description

technical field [0001] The invention relates to the technical field of snow removal robots, in particular to an obstacle detection method for a snow removal robot. Background technique [0002] In winter, heavy snowfall will cause thick snow accumulation on the roads, which will bring great inconvenience to municipal traffic. It is necessary to use snow removal robots to remove snow from the roads. [0003] However, the existing snow removal robots have a low degree of automation and cannot actively find obstacles during walking. Contents of the invention [0004] In view of this, the object of the present invention is to provide an obstacle detection method for a snow removal robot, so as to realize that the snow removal robot actively finds obstacles during walking, so as to help it realize active barriers. [0005] The snow removal robot obstacle detection method of the present invention comprises the following steps: [0006] 1) Set the left, middle and right ultraso...

AI Technical Summary

Problems solved by technology

[0002] In winter, heavy snowfall will cause thick snow to accumulate on the road, which will bring great inconvenience to municipal traffic. It is necessary to use snow removal robots to remove snow from the road

[0003] However, the existing snow removal robots have a low degree of automation and cannot actively find obstacles during walking.

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