Method, device and self-propelled equipment for identifying flexible obstacles

Abstract

The present application provides a method, device and self-propelled device for identifying flexible obstacles, which are used in self-propelled devices, wherein the self-propelled device includes an air outlet, and the identification method includes: detecting whether there is an obstacle in the walking direction; if there is an obstacle, the self-propelled device adjusts the orientation according to the position of the obstacle so that the air outlet faces the obstacle; the self-propelled device stops walking, outputs air flow to the obstacle and transmits a detection signal; receives multiple groups of reflection signals of the obstacle, and determines whether the multiple groups of reflection signals are the same; if the multiple groups of reflection signals are different, the obstacle is determined to be a flexible obstacle. By providing a method for identifying flexible obstacles, the present application enables the self-propelled device to avoid them as soon as possible, avoids soiling or damaging the curtains, and avoids the machine itself from being entangled and trapped, ensuring the smooth progress of the cleaning task, while improving the friendliness of the machine to the working environment and improving the user experience.

Description

Technical Field

[0001] The present application relates to the field of control, and in particular to a method and device for obstacle detection and a self-propelled device. Background Art

[0002] In a home environment, flexible obstacles such as floor-length curtains, bed sheets, and sofa cover hems are common. Existing self-propelled devices (such as sweeping robots and mopping robots) treat flexible obstacles the same as ordinary obstacles (usually rigid) during the execution of tasks, that is, they use sensing sensors to obtain the distance between the obstacle and the body to determine whether it needs to be avoided.

[0003] When the distance between the self-propelled device and a flexible obstacle is very small, the side of the self-propelled device can easily squeeze the flexible obstacle and cause it to deform, making it impossible to avoid it reliably, causing the self-propelled device to fall into the curtains and be wrapped and entangled by the curtains, or the self-propelled device can roll the curtains into the chassis, dirtying or even damaging the curtains, and also terminating the mission of the self-propelled device. Summary of the invention

[0004] The purpose of this application is to solve the above technical problems at least to a certain extent.

[0005] The present application provides a method for identifying flexible obstacles, which is used for a self-propelled device, wherein the self-propelled device includes an air outlet, and the identification method includes: detecting whether there is an obstacle in the walking direction; if there is an obstacle, the self-propelled device adjusts the orientation according to the position of the obstacle so that the air outlet faces the obstacle; the self-propelled device stops walking, outputs air flow to the obstacle and transmits a detection signal; receives multiple groups of reflection signals of the obstacle, and determines whether the multiple groups of reflection signals are the same; if the multiple groups of reflection signals are different, determines that the obstacle is a flexible obstacle.

[0006] Furthermore, the step of adjusting the orientation of the self-propelled device according to the position of the obstacle includes: the self-propelled device approaches the obstacle and turns so that the air outlet approaches and faces the obstacle; wherein the distance between the air outlet and the obstacle is not greater than half the width of the self-propelled device.

[0007] Furthermore, the step of determining that the obstacle is a flexible obstacle includes: when the difference between any two groups of reflected signals in the reflected signals is greater than a preset value, determining that the current obstacle is a flexible obstacle.

[0008] Furthermore, the method also includes: stopping blowing air toward the flexible obstacle and detecting the static position of the flexible obstacle; adjusting the distance between the self-propelled device and the flexible obstacle; and the self-propelled device walking along the edge of the static position.

[0009] Furthermore, the static position of the flexible obstacle is a virtual rectangular area, and the flexible obstacle is located inside the virtual rectangular area; the ratio of the minimum distance between the self-propelled device and the flexible obstacle to the short side of the virtual rectangular area is 1 / 4 to 1 / 2.

[0010] Furthermore, the method also includes: before the self-propelled device adjusts its position, determining whether the obstacle is a large-sized obstacle; if the obstacle is a large-sized obstacle, the self-propelled device adjusts its position according to the position of the large-sized obstacle.

[0011] Furthermore, the ratio of the width of the large-sized obstacle to the width of the self-propelled device is not less than 1.

[0012] On the other hand, the present application also provides a device for identifying flexible obstacles, the device comprising a detection module, a first judgment module, a walking module, a fan module and a second judgment module, the detection module being configured to emit a detection signal; the first judgment module being configured to judge whether there is an obstacle based on the reflection signal; the walking module being configured to implement a walking action; the fan module being configured to generate an air flow, the air flow being used to blow toward the obstacle; the second judgment module being configured to judge whether the obstacle is a flexible obstacle based on multiple groups of reflection signals of the obstacle.

[0013] On the other hand, the present application also provides a self-propelled device, which includes the device as described above.

[0014] Furthermore, the detection module is a laser radar.

[0015] This application provides a method for identifying flexible obstacles, so that self-propelled equipment can avoid them early, avoid soiling or damaging curtains, and prevent the machine itself from being entangled, ensuring the smooth progress of the cleaning task, while improving the machine's friendliness to the working environment and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of the method for identifying flexible obstacles in the present application.

[0017] Figures 2 to 6 It is a schematic diagram of a self-propelled device performing cleaning work. DETAILED DESCRIPTION

[0018] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.

[0019] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate quantity restrictions, but indicate that there is at least one. "Multiple" or "several" means two and more than two. Unless otherwise specified, similar words such as "front", "rear", "lower" and / or "upper" are only for ease of explanation and are not limited to one position or one spatial orientation. Similar words such as "include" or "include" mean that the elements or objects appearing in front of "include" or "include" include the elements or objects listed after "include" or "include" and their equivalents, and do not exclude other elements or objects. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. The singular forms "a", "said" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0020] The present application provides a method for identifying a flexible obstacle, which is used for a self-propelled device, such as a sweeping robot, a mopping robot, etc. The self-propelled device includes an air outlet, and an air flow can be guided out from the air outlet.

[0021] Please combine Figure 1 , the method comprising:

[0022] Step S10: Detect whether there is an obstacle in the walking direction.

[0023] Step S20: If there is an obstacle, the self-propelled device 100 adjusts its orientation according to the position of the obstacle so that the air outlet faces the obstacle.

[0024] Step S30: The self-propelled device stops moving, outputs air flow to the obstacle and transmits a detection signal.

[0025] Step S40: receiving multiple groups of reflected signals from obstacles, and determining whether the multiple groups of reflected signals are the same.

[0026] Step S50: If the multiple groups of reflected signals are different, it is determined that the obstacle is a flexible obstacle.

[0027] Combination Figure 2In step S10, a detection signal may be sent out by a laser radar, and based on the reflected signal, it is determined whether there is an obstacle in the walking direction. Preferably, to prevent interference caused by small obstacles such as table legs and chair legs, it is first determined whether the obstacle is a large obstacle, and the size of the obstacle can be determined by the reflected signal of the obstacle. Optionally, the ratio of the width of the large obstacle to the width of the self-propelled device 100 is not less than 1. Figure 2 For example, the width direction is perpendicular to the traveling direction of the self-propelled device 100.

[0028] Combination Figure 3 In step S20, the self-propelled device 100 turns to bring the air outlet close to the obstacle, and the distance between the air outlet and the obstacle is not greater than half the width of the self-propelled device 100, so as to prevent the air outlet of the self-propelled device 100 from being too far away and causing the air flow around the obstacle to fail, thereby failing to deform the flexible obstacle.

[0029] In step S30, when the air outlet is close to and facing the obstacle, the blowing is turned on and a detection signal is sent out at the same time. Optionally, in order to avoid the wind force being too small to blow the flexible obstacle, the wind force can be increased during the detection.

[0030] In step S40, multiple groups (two or more groups) of reflected signals of obstacles are received, and it is determined whether the multiple groups of reflected signals are the same. The multiple groups of reflected signals can be continuous groups or spaced groups. Optionally, the two groups of reflected signals are compared to determine whether the reflected signals are the same.

[0031] In step S50, when multiple groups of reflection signals change (any group of reflection signals has a difference with respect to other groups of reflection signals, and the difference can be used to characterize the degree of deformation of the flexible obstacle when it is blown by the wind), it means that the obstacle is moving, and thus it can be judged that the current obstacle is a flexible obstacle 200 that can move with the wind. Preferably, in order to prevent misjudgment caused by errors, a preset value can be set, and when the difference between any two groups of reflection signals is greater than the preset value, the current obstacle is judged to be a flexible obstacle 200. In this embodiment, the flexible obstacle is an obstacle that is easily deformed when the wind blows, such as a curtain, a bed sheet hem, and a sofa hem.

[0032] Please combine Figure 4 and Figure 5 Optionally, the method further includes stopping blowing air toward the flexible obstacle 200 after step S50 to obtain the static position of the flexible obstacle 200; adjusting the distance between the self-propelled device 100 and the flexible obstacle 200; and the self-propelled device 100 walking along the edge of the static position.

[0033] That is to say, after detecting the flexible obstacle 200, the self-propelled device 100 first determines the position of the flexible obstacle 200, and then performs edge cleaning. Optionally, the static position of the flexible obstacle 200 can be regarded as a virtual rectangular area A, the flexible obstacle 200 is located in the virtual rectangular area A, and the self-propelled device moves along the long side or short side of the virtual rectangular area A. The ratio of the minimum distance between the self-propelled device and the flexible obstacle 200 to the short side of the virtual rectangular area A is 1 / 4 to 1 / 2, so that the self-propelled device 100 maintains an appropriate distance from the flexible obstacle when walking ( Figure 4 ), clean the surrounding area of ​​the flexible obstacle as much as possible while avoiding contact with the flexible obstacle.

[0034] When the self-propelled device walks to the position between the two curtains, the detection module detects that the distance between itself and the obstacle increases. At this time, the self-propelled device approaches the obstacle and determines whether it is a flexible obstacle. That is, the above method of identifying flexible obstacles is repeated. The obstacle detected for the first time is a non-flexible obstacle, and the obstacle detected for the second time is a flexible obstacle. Finally, the self-propelled device moves along Figure 5 and Figure 6 The vehicle follows the trajectory shown in the figure to avoid flexible obstacles.

[0035] It is generally believed that the outer dimensions of the curtains on both sides of the wall are roughly the same, so the size of the virtual rectangular area can be called to control the self-propelled device to bypass the flexible obstacle.

[0036] On the other hand, the present application also provides a device for identifying flexible obstacles, the device includes an inspection module, a first judgment module, a walking module, a fan module, and a second judgment module, the detection module is configured to emit a detection signal; the first judgment module is configured to judge whether there is an obstacle based on the reflection signal; the walking module is configured to implement a walking action; the fan module is configured to generate air flow (or generate wind); the second judgment module is configured to judge whether the obstacle is a flexible obstacle based on whether multiple groups of reflection signals of the obstacle are the same. Optionally, the detection module is a laser radar unit, and the detection signal corresponds to a laser radar signal.

[0037] On the other hand, the present application also provides a self-propelled device, such as a sweeping robot, a mopping robot, or the like, which can automatically walk and perform corresponding tasks.

[0038] This application provides a method for identifying flexible obstacles, so that self-propelled equipment can avoid them early, avoid soiling or damaging curtains, and prevent the machine itself from being entangled, ensuring the smooth progress of the cleaning task, while improving the machine's friendliness to the working environment and improving the user experience.

[0039] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as a preferred embodiment as above, it is not intended to limit the present application. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A method for identifying a flexible obstacle, for a self-propelled device, wherein the self-propelled device comprises an air outlet, characterized in that: Identification methods include: Detect whether there are obstacles in the walking direction; If there is an obstacle, the self-propelled device adjusts its position according to the position of the obstacle so that the air outlet faces the obstacle; The self-propelled device stops moving, outputs air flow to the obstacle and transmits a detection signal; Receive multiple groups of reflected signals from obstacles and determine whether the multiple groups of reflected signals are the same; If the multiple groups of reflected signals are different, it is determined that the obstacle is a flexible obstacle.

2. The method according to claim 1, characterized in that The step of adjusting the orientation of the self-propelled device according to the position of the obstacle comprises: The self-propelled device approaches the obstacle and turns so that the air outlet approaches and faces the obstacle; Wherein, the distance between the air outlet and the obstacle is no more than half of the width of the self-propelled device.

3. The method according to any one of claims 1 to 2, characterized in that The step of determining that the obstacle is a flexible obstacle comprises: When the difference between any two groups of reflected signals in the reflected signals is greater than a preset value, it is determined that the current obstacle is a flexible obstacle.

4. The method according to claim 3, characterized in that The method further comprises: Stop blowing air toward the flexible obstacle and detect the static position of the flexible obstacle; Adjust the distance between the self-propelled equipment and the flexible obstacle; The self-propelled device walks along the edge of the static position.

5. The method according to claim 1, characterized in that: The method further includes: before the self-propelled device adjusts its orientation, determining whether the obstacle is a large-sized obstacle; If the obstacle is a large-sized obstacle, the self-propelled device adjusts its orientation according to the position of the large-sized obstacle.

6. The method according to claim 5, characterized in that The ratio of the width of the large-sized obstacle to the width of the self-propelled device is not less than 1.

7. A device for identifying flexible obstacles, characterized in that: The device comprises: A detection module configured to transmit a detection signal; A first judgment module is configured to judge whether there is an obstacle based on the reflected signal; A walking module, configured to implement a walking action; A fan module, configured to generate an air flow, wherein the air flow is used to blow toward an obstacle; The second judgment module is configured to judge whether the obstacle is a flexible obstacle according to the multiple groups of reflection signals of the obstacle.

8. A self-propelled device, characterized in that: The self-propelled device comprises the apparatus as claimed in claim 7.

9. The self-propelled device according to claim 8, characterized in that: The detection module is a laser radar.

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