Obstacle avoidance control method for self-moving equipment and self-moving equipment
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A control method and self-moving technology, which is applied in the field of intelligent robots, can solve the problems that self-moving devices cannot identify and avoid obstacles, and achieve the effect of obstacle avoidance control and improved accuracy
Active Publication Date: 2021-06-11
GUANGZHOU COAYU ROBOT CO LTD
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[0004] The non-contact or contact sensors of self-mobile devices in the prior art have blind zone restrictions on obstacles. For some obstacles or the location of obstacles, self-mobile devices may not be able to identify and avoid them obstacle control
Even when walking on uneven ground, self-mobile devices cannot perform corresponding adjustments in real time according to the terrain environment they are in contact with
Method used
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Embodiment 1
[0053] When the obstacle detection method is the current detection method, such as Figure 5 As shown,:
[0054] S01: Acquired from the mobile device to perform the current action at time T 0 The current value of the drive mechanism I 0 ;
[0055] S02: Acquired from the mobile device to perform the current action at time T 1 The current value of the drive mechanism I 1 ;
[0056] S03: Calculation I 0 with I 1 difference, if ∣I 0 -I 1 ∣≤I 0 , then the self-mobile device is in a normal state; if ∣I 0 -I 1 ∣>I 0 , the self-mobile device is in an abnormal state.
[0057] Such as Figure 7 As shown, when the self-mobile device 100 is performing the forward action in the A direction, there is an obstacle (boundary). Due to the obstacle encountered or the friction coefficient with the working surface is different, it will continue to output the same action before and after encountering the obstacle. There is a difference between the actual current value and the rated v...
Embodiment 2
[0060] When the obstacle detection method is the rotational speed detection method, such as Image 6 Shown:
[0061] When moving from different working environments of mobile equipment, based on the same principle of the current detection method, the output speed value of the wheel set of the driving mechanism is also different due to obstacles or friction coefficients with the working surface, so:
[0062] S21: Acquired from the mobile device to perform the current action at time T 0 The rotational speed value of the driving mechanism V 0 ;
[0063] S22: Acquired from the mobile device to perform the current action at time T 1 The rotational speed value of the driving mechanism V 1 ;
[0064] S23: Calculate V 0 with V 1 The difference, if ∣V 0 -V 1 ∣≥V 0 , then the self-mobile device is in a normal state; if ∣V 0 -V 1 ∣0 , the self-mobile device is in an abnormal state.
[0065] In the above two embodiments, the current detection method and the rotation speed det...
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Abstract
The present invention discloses an obstacle avoidance control method of self-mobile equipment. S1: Divide the walking path of self-mobile equipment into N actions, and preset the duration threshold value required by self-mobile equipment to complete each action; and, N> 1; S2: take any action as the current action movement from the mobile device; S3: judge whether the current action is in an abnormal state, if it is in an abnormal state, then perform step S4; if it is not in an abnormal state, then return to step S2; S4: detect that the current action continues Whether the time meets the time threshold of the corresponding action, if yes, execute step S5 from the mobile device; otherwise, return to step S2; S5: execute the next action, and return to step S2; S6: repeat steps S2 to S5 until the mobile device is completed Walk the path or stop working. The present invention also provides a self-moving device, which improves the accuracy of robot obstacle judgment based on the above obstacle avoidance control method, and realizes the obstacle avoidance control of the self-mobile device.
Description
technical field [0001] The invention belongs to the technical field of intelligent robots, and relates to an obstacle avoidance control method of a self-moving device and the self-moving device. Background technique [0002] Most of the existing self-moving devices are self-moving intelligent robots, which are widely used in families because of their automatic cleaning. However, self-mobile devices will inevitably collide with obstacles during the movement process, such as: walls, furniture, or other moving objects touched during the movement. In order to identify these obstacles, self-mobile devices usually set non-contact or touch sensors. [0003] Among them, non-contact sensors can use infrared rays or lasers to detect the distance to obstacles by actively sending out signals. A contact sensor, such as a bumper, will automatically stop or change the direction of movement when the self-propelled electronic device hits an obstacle through the bumper. [0004] The non-co...
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