Autonomous mobile device and obstacle avoidance detection method thereof

Abstract

The embodiment of the present application discloses an autonomous mobile device and an obstacle avoidance detection method thereof, wherein the autonomous mobile device includes a fuselage, an obstacle avoidance sensor, a ground detection sensor, and a controller. The obstacle avoidance sensor is disposed on the fuselage and includes an obstacle avoidance transmitter and an obstacle avoidance receiver disposed in pairs, wherein the obstacle avoidance transmitter is used to transmit a detection signal for detecting obstacles, and the obstacle avoidance receiver is used to receive the detection signal; the ground detection sensor is disposed at the bottom of the fuselage and is lower than the obstacle avoidance sensor, and includes a ground detection receiver, which is used to receive the detection signal; the controller is disposed on the fuselage and is electrically connected to both the obstacle avoidance sensor and the ground detection sensor, and is used to control the autonomous mobile device to perform obstacle avoidance movement based on the detection signals received by the obstacle avoidance receiver and the ground detection receiver. The present application realizes dual obstacle avoidance detection without increasing hardware costs, and can improve the accuracy of obstacle avoidance detection.

Description

Technical Field

[0001] The present application relates to the field of autonomous mobile device control, and in particular, to an autonomous mobile device and an obstacle avoidance detection method thereof. Background Art

[0002] In the related art, autonomous mobile devices such as sweepers usually use infrared pairs to detect obstacles. The infrared pairs include infrared transmitting tubes and infrared receiving tubes. The obstacle avoidance detection process is as follows: infrared signals are emitted by the infrared transmitting tube. When there is an obstacle in front of the sweeper, the obstacle reflects the infrared signal to the infrared receiving tube. The infrared receiving tube generates a corresponding detection signal based on the received infrared signal. The sweeper determines whether there is an obstacle in front based on the detection signal and performs obstacle avoidance movement in time, such as braking or changing direction, to avoid collision between the sweeper and the obstacle.

[0003] However, when obstacle avoidance detection is performed using a small number of infrared pairs of tubes, the detection range of the infrared signals emitted by a small number of infrared transmitting tubes is limited. When the detection signals generated are used to determine whether there is an obstacle ahead, there will be detection errors. Increasing the number of infrared pairs of tubes to improve detection accuracy will inevitably lead to an increase in the hardware cost of the entire machine due to the high cost of infrared pairs of tubes. Summary of the invention

[0004] The embodiment of the present application provides an autonomous mobile device and an obstacle avoidance detection method thereof, which realizes dual obstacle avoidance detection of the autonomous mobile device by controlling the obstacle avoidance sensor and the ground detection sensor without increasing the hardware cost of the whole machine, thereby improving the accuracy of the obstacle avoidance detection.

[0005] In a first aspect, an embodiment of the present application provides an autonomous mobile device, including:

[0006] body;

[0007] an obstacle avoidance sensor, disposed on the fuselage and comprising an obstacle avoidance transmitter and an obstacle avoidance receiver arranged in pairs, wherein the obstacle avoidance transmitter is used to transmit a detection signal for detecting obstacles, and the obstacle avoidance receiver is used to receive the detection signal;

[0008] a ground detection sensor, disposed at the bottom of the fuselage and lower than the obstacle avoidance sensor, comprising a ground detection receiver, the ground detection receiver being used to receive the detection signal; and

[0009] The controller is arranged on the fuselage and is electrically connected to the obstacle avoidance sensor and the ground detection sensor, and is used to control the autonomous mobile device to perform obstacle avoidance movement based on the detection signals received by the obstacle avoidance receiver and the ground detection receiver.

[0010] In a second aspect, an embodiment of the present application further provides an obstacle avoidance detection method, which is applied to an autonomous mobile device, wherein the autonomous mobile device includes an obstacle avoidance sensor and a ground detection sensor, wherein the obstacle avoidance sensor includes an obstacle avoidance transmitter and an obstacle avoidance receiver, wherein the ground detection sensor includes a ground detection receiver, and the obstacle avoidance detection method includes the following steps:

[0011] Controlling the obstacle avoidance transmitter to transmit a detection signal for detecting obstacles;

[0012] receiving a first feedback signal and a second feedback signal; wherein the first feedback signal is generated according to the detection signal received by the obstacle avoidance receiver; and the second feedback signal is generated according to the detection signal received by the ground detection receiver; and

[0013] The autonomous mobile device is controlled to perform obstacle avoidance movement according to the first feedback signal and the second feedback signal.

[0014] The embodiment of the present application provides an autonomous mobile device and an obstacle avoidance detection method thereof, wherein a detection signal is transmitted by an obstacle avoidance transmitter, and the detection signal reflected by the obstacle is received by both the obstacle avoidance receiver and the ground detection receiver, so that the obstacle avoidance receiver generates a first feedback signal correspondingly, and the ground detection receiver generates a second feedback signal correspondingly, and the controller determines whether there is an obstacle in front according to the first feedback signal and the second feedback signal, so that the obstacle avoidance receiver and the ground detection receiver perform double obstacle avoidance detection on the obstacle in front, thereby improving the accuracy of obstacle avoidance detection. In addition, the ground detection receiver originally used to receive the ground detection signal is used to receive the detection signal to generate the second feedback signal, that is, the ground detection sensor is used for obstacle avoidance detection. Since the ground detection sensor is a device originally included in the sweeper, there is no need to add additional devices, that is, without increasing the hardware cost of the sweeper, the accuracy of obstacle avoidance detection can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the structure of a sweeping machine in one embodiment of the present application;

[0017] Figure 2 for Figure 1 A schematic structural diagram of the sweeping machine in the illustrated embodiment from another perspective;

[0018] Figure 3 for Figure 1 The enlarged structural diagram of the middle A part;

[0019] Figure 4 for Figure 1 A schematic diagram of the front structure of the sweeping machine in the illustrated embodiment;

[0020] Figure 5 for Figure 1 A schematic diagram of the enlarged structure of the middle B part;

[0021] Figure 6 A flowchart of an obstacle avoidance detection method in an embodiment of the present application;

[0022] Figure 7 A flowchart of an obstacle avoidance detection method in another embodiment of the present application;

[0023] Figure 8 The figure is a flowchart of an obstacle avoidance detection method in another embodiment of the present application.

[0024] Explanation of the reference numerals: 100 - sweeper; 110 - body; 120 - walking mechanism; 121 - driving wheel; 122 - driven wheel; 130 - sensing system; 131 - ground detection sensor; 1311 - ground detection transmitter; 1312 - ground detection receiver; 131A - left ground detection sensor; 131B - right ground detection sensor; 132 - obstacle avoidance sensor; 1321 - forward obstacle avoidance sensor; 1322 - lateral obstacle avoidance sensor; 1323 - obstacle avoidance transmitter; 1324 - obstacle avoidance receiver; 133 - collision plate. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] See also Figure 1-2 In a first aspect, an embodiment of the present application provides an autonomous mobile device 100. For example, the autonomous mobile device 100 may be a patrol robot, a transport robot, a glass curtain wall robot, and the like. Figure 1-2 The autonomous mobile device 100 and the like shown are generally required to perform obstacle avoidance detection to prevent collision with obstacles and thus causing damage. The following description is made by taking the autonomous mobile device 100 as an example.

[0027] See also Figure 1-2 The sweeping machine 100 is used to clean the floor while moving. Specifically, the sweeping machine 100 includes a body 110 , a controller (not shown in the figure), a walking mechanism 120 and a sensing system 130 .

[0028] The fuselage 110 is used to provide a fixed base for other mechanisms such as a controller. Exemplarily, the fuselage 100 can be roughly set in a round pancake shape. The fuselage 110 includes a bottom, a top, and a peripheral side surface located between the bottom and the top.

[0029] The controller is disposed on the body 110 , and the controller can be specifically disposed inside the body 110 , so that the controller is protected by the body 110 .

[0030] See also Figure 1 , the walking mechanism 120 is arranged on the fuselage 110, and the walking mechanism 120 includes but is not limited to a driving motor (not shown in the figure), a driving wheel 121, and a driven wheel 122, etc. The controller is electrically connected to the driving motor, and the driving motor is in transmission connection with the driving wheel 121. The driving wheel 121 and the driven wheel 122 are arranged at the bottom of the fuselage 110, and the controller controls the driving motor to work, and the driving motor drives the driving wheel 121 to rotate, and the driven wheel 122 cooperates with the driving wheel 121 to drive the fuselage 110 to move. Exemplarily, the driven wheel 122 can be a universal wheel to drive the fuselage 110 to turn, thereby realizing functions such as obstacle avoidance and moving forward according to the planned route.

[0031] The sensing system 130 is used to sense the environment around the sweeping machine 100 to provide a reference signal for the movement of the sweeping machine 100. The sensing system 130 is at least used for obstacle avoidance detection, and on this basis, it can also be further used for cliff detection, wherein obstacle avoidance detection can be understood as detecting whether there are obstacles in the front area in the forward direction of the sweeping machine 100, and cliff detection can be understood as detecting whether there are cliffs with a large height difference in the front area in the forward direction of the sweeping machine 100.

[0032] Please continue reading Figure 1-2 Corresponding to cliff detection, the sensing system 130 includes a plurality of ground detection sensors 131 electrically connected to the controller. The ground detection sensors 131 are arranged at the bottom of the fuselage 110. Figure 3The ground detection sensor 131 specifically includes a ground detection transmitter 1311 and a ground detection receiver 1312 arranged in pairs. The ground detection transmitter 1311 and the ground detection receiver 1312 are both electrically connected to the controller. Under the control of the controller, the ground detection transmitter 1311 is used to transmit a ground detection signal to the ground, and the ground detection receiver 1312 is used to receive the ground detection signal transmitted by the ground. When performing cliff detection, the controller controls the ground detection transmitter 1311 to first transmit a ground detection signal for detecting the cliff to the ground. Since the ground detection feedback signals corresponding to the ground detection signals transmitted by the normal ground and the cliff are different, if there is a cliff, the ground detection signal will be reflected by the cliff to the ground detection receiver 1312. After the ground detection receiver 1312 receives the reflected ground detection signal, it generates a corresponding ground detection feedback signal and transmits it to the controller. The controller determines the existence of a cliff based on the ground detection feedback signal and performs obstacle avoidance movement in time. The obstacle avoidance movement includes at least one of braking and deceleration and changing the moving direction.

[0033] For obstacle avoidance detection, see Figure 1 The perception system 130 includes an obstacle avoidance sensor 132 electrically connected to the controller. The obstacle avoidance sensor 132 may include at least one of a forward obstacle avoidance sensor 1321 and a lateral obstacle avoidance sensor 1322. The following description will be made by taking the obstacle avoidance sensor 132 as the forward obstacle avoidance sensor 1321 as an example.

[0034] See also Figure 1-2 The obstacle avoidance sensor 132 is disposed on the fuselage 110, and the obstacle avoidance sensor 132 can be disposed on the top or the side of the fuselage 110. Therefore, the obstacle avoidance sensor 132 is higher than the ground detection sensor, that is, the ground detection sensor 131 is lower than the obstacle avoidance sensor 132, so that the ground detection sensor 131 performs cliff detection toward the ground, and the obstacle avoidance sensor 132 performs obstacle avoidance detection toward the front.

[0035] See also Figure 4-5 The obstacle avoidance sensor 132 specifically includes an obstacle avoidance transmitter 1323 and an obstacle avoidance receiver 1324 arranged in pairs. The obstacle avoidance transmitter 1323 and the obstacle avoidance receiver 1324 are both electrically connected to the controller. The obstacle avoidance receiver 1324 is used to transmit a detection signal for detecting obstacles, and the obstacle avoidance receiver 1324 is used to receive the detection signal reflected by the obstacle. When performing obstacle avoidance detection, the controller controls the obstacle avoidance transmitter 1323 to transmit a detection signal for detecting obstacles. If there is an obstacle in front, the detection signal reflects the obstacle to the obstacle avoidance receiver 1324. After receiving the reflected detection signal, the obstacle avoidance receiver 1324 generates a corresponding first feedback signal and transmits it to the controller.

[0036] Typically, the controller determines whether there is an obstacle ahead according to the first feedback signal generated by the obstacle avoidance receiver 1324, and promptly controls the sweeper 100 to perform obstacle avoidance motion. However, this solution may have the following defects: Figure 5 When the obstacle avoidance sensors 132 (two are shown in the figure) perform obstacle avoidance detection, since the detection range of the detection signals emitted by a small number of obstacle avoidance transmitters 1323 is limited, there is a detection error in the first feedback signal generated to judge whether there is an obstacle ahead. Increasing the number of obstacle avoidance sensors 132 to improve the detection accuracy, especially when the obstacle avoidance sensors 132 are infrared pairs of tubes, will inevitably lead to an increase in the hardware cost of the entire sweeper 100 due to the high cost of the obstacle avoidance sensors 132. In order to solve the above problems, the embodiment of the present application improves the obstacle avoidance detection process of the autonomous mobile device 100.

[0037] Before describing the improved obstacle avoidance detection process in detail, it should be noted that the perception system 130 can also perform anti-collision detection, wherein, corresponding to the anti-collision detection, the perception system 130 includes at least one of a collision sensor (not shown in the figure) or a proximity sensor (not shown in the figure) electrically connected to the controller.

[0038] The collision sensor is used to detect whether the sweeping machine 100 collides with an obstacle during operation. Figure 1-2 The collision sensor may include a collision bar 133, a collision switch (not shown in the figure) and a spring (not shown in the figure). The collision bar 133 is located at the head of the body 110 and is movably connected to the body 110 through a spring. The collision switch is provided on the body 110, located at the rear side of the collision bar 133. The spring is located between the body 110 and the collision bar 133, and is used to reduce the shock of the collision bar 133. When the sweeping machine 100 collides with an obstacle, the collision bar 133 is displaced to a certain extent due to the collision pressure of the obstacle, and the collision switch is triggered. The collision switch transmits a trigger signal to the controller, so that the controller can control the sweeping machine 100 to perform obstacle avoidance movement.

[0039] The proximity sensor is generally arranged on the peripheral side of the body 110, and is used to detect the distance between the sweeping machine 100 and the obstacle when the distance between the sweeping machine 100 and the obstacle is small. During the movement of the sweeping machine 100, the proximity sensor continuously detects the distance between the sweeping machine 100 and the relatively close obstacle. When it is detected that the distance between the sweeping machine 100 and the obstacle is less than the preset distance, the controller controls the sweeping machine 100 to perform obstacle avoidance movement.

[0040] By comparison, it can be seen that the collision sensor will generate a corresponding detection signal only after the collision bar 133 collides with the obstacle; the proximity sensor will generate a corresponding detection signal only when it detects that the distance between the sweeper 100 and the obstacle is less than the preset distance; and during the obstacle avoidance detection process of the obstacle avoidance sensor 132, the sweeper 100 does not need to collide with the obstacle, and there is no specific requirement for the distance between the sweeper 100 and the obstacle. It only needs the obstacle avoidance receiver 1324 to generate a corresponding first feedback signal when receiving the detection signal, and the obstacle avoidance sensor 132 can usually detect obstacles at a farther distance than the proximity sensor. Therefore, the obstacle avoidance sensor 132 is different from both the collision sensor and the proximity sensor.

[0041] Specifically, the improved detection process of the embodiment of the present application is that: the controller controls the obstacle avoidance transmitter 1323 to transmit a detection signal, the obstacle avoidance receiver 1324 is used to receive the detection signal transmitted back by the obstacle, and the obstacle avoidance receiver 1324 generates a first feedback signal based on the received detection signal; in addition, the ground detection receiver 1312 is also used to receive the detection signal transmitted back by the obstacle, and the ground detection receiver 1312 generates a second feedback signal based on the received detection signal, and the controller is used to control the autonomous mobile device 100 to perform obstacle avoidance movement based on the detection signals received by the obstacle avoidance receiver 1324 and the ground detection receiver 1312, that is, when the controller receives the first feedback signal and the second feedback signal, it controls the autonomous mobile device 100 to perform obstacle avoidance movement.

[0042] Specifically, the first feedback signal generated by the obstacle avoidance receiver 1324 is an analog signal, while the signal that the controller can process is a digital signal. Therefore, it is necessary to convert the analog signal into a digital signal so that the controller can determine whether there is an obstacle ahead based on the first analog signal in the form of a digital signal. Therefore, the sweeper 100 can also exemplarily include an analog to digital converter (ADC) (not shown in the figure), the analog to digital converter is electrically connected to the obstacle avoidance receiver 1324 and the controller, and the analog to digital converter is used to convert the first feedback signal in the form of an analog signal into a first feedback signal in the form of a digital signal and send it to the controller, and the controller determines whether there is an obstacle ahead based on the first feedback signal in the form of a digital signal.

[0043] When performing obstacle avoidance detection, the obstacle avoidance receiver 1324 may receive ambient light or a detection signal reflected by a distant obstacle, and generate a first feedback signal, resulting in a detection error. For this reason, when the obstacle avoidance receiver 1324 receives the detection signal and generates the first feedback signal, it is set that only when the first feedback signal satisfies the first obstacle avoidance condition can it be determined that there is an obstacle ahead. Specifically, the first feedback signal is a pulse signal generated by the obstacle avoidance receiver 1324 corresponding to the received detection signal. The pulse signal (i.e., a high level) corresponds to a higher voltage value. Therefore, the first feedback signal satisfies the first obstacle avoidance condition specifically as follows: the voltage value of the pulse signal is greater than the first preset voltage value. Only when the voltage value of the pulse signal is greater than the first preset voltage value, it is determined that there is an obstacle ahead, thereby improving the accuracy of obstacle avoidance detection. This judgment process has long been disclosed in the relevant technology and will not be repeated here. It can be understood that in a scene where the ambient light is weak and has little impact on the detection process, such as at night or in a dark environment, it can be directly determined whether there is an obstacle ahead based on the first feedback signal.

[0044] Similarly, the second feedback signal generated by the ground detection receiver 1312 is an analog signal, so the second feedback signal in the form of an analog signal needs to be converted into a second feedback signal in the form of a digital signal through an analog-to-digital converter, so that the controller can determine whether there is an obstacle ahead according to the second feedback signal in the form of a digital signal. It can be understood that the first feedback signal and the second feedback signal can share an analog-to-digital converter for analog-to-digital conversion, or use different analog-to-digital converters for analog-to-digital conversion.

[0045] Similarly, the second feedback signal is a pulse signal generated by the ground detection receiver 1312 corresponding to the received detection signal. The pulse signal (i.e., high level) corresponds to a higher voltage value. Taking into account the influence of ambient light, the second feedback signal is set to meet the second obstacle avoidance condition before it can be determined that there is an obstacle ahead. Specifically, it can be: the voltage value of the pulse signal is greater than the second preset voltage value. The second preset voltage value can be set according to actual conditions and is not limited here. When the second feedback signal meets the second obstacle avoidance condition, it indicates that the signal strength of the detection signal received by the ground detection receiver 1312 is strong enough, and the detection signal with a strong enough signal strength is usually formed by the reflection of the obstacle ahead. Therefore, it can be judged based on this that there is an obstacle ahead. It can be understood that in a scene where the ambient light is weak and has little impact on the detection process, such as at night or in a dark environment, it can be directly judged whether there is an obstacle ahead based on the second feedback signal.

[0046] Therefore, in some embodiments of the present application, only when the first feedback signal satisfies the first obstacle avoidance condition and the second feedback signal satisfies the second obstacle avoidance condition, it is determined that there is an obstacle ahead. At this time, the controller controls the autonomous mobile device 100 to perform obstacle avoidance movement, that is, the controller is used to control the autonomous mobile device 100 to perform obstacle avoidance movement based on the first feedback signal satisfying the first obstacle avoidance condition and the second feedback signal satisfying the second obstacle avoidance condition.

[0047] Therefore, in the embodiment of the present application, the obstacle avoidance transmitter 1323 transmits the detection signal, and the obstacle avoidance receiver 1324 and the ground detection receiver 1312 both receive the detection signal reflected by the obstacle, so that the obstacle avoidance receiver 1324 generates a first feedback signal, and the ground detection receiver 1312 generates a second feedback signal. The controller determines whether there is an obstacle in front according to the first feedback signal and the second feedback signal. In this way, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 perform double obstacle avoidance detection on the obstacle in front, thereby improving the accuracy of obstacle avoidance detection. In addition, the ground detection receiver 1312 originally used to receive the ground detection signal is used to receive the detection signal to generate the second feedback signal, that is, the ground detection sensor 131 is used for obstacle avoidance detection. Since the ground detection sensor 131 is a device originally included in the sweeping machine 100, it is not necessary to add additional devices, that is, without increasing the hardware cost of the sweeping machine 100, the accuracy of obstacle avoidance detection can be improved.

[0048] Specifically, the obstacle avoidance transmitter 1323 may be an infrared transmitting tube, and the detection signal may be an infrared signal. The obstacle avoidance transmitter 1323 is controlled to transmit the detection signal, for example, the infrared signal transmitting tube is controlled to transmit the infrared signal. After the obstacle avoidance transmitter 1323 transmits the detection signal, if there is an obstacle in front of the sweeping machine 100, the obstacle will diffusely reflect the detection signal, and part of the reflected detection signal will return to the location of the sweeping machine 100.

[0049] Specifically, the obstacle avoidance sensor 132 is usually used to detect obstacles in front of or to the front side of the sweeper 100. Therefore, the emission direction of the detection signal can be horizontal, so that the detection signal has a longer transmission distance when it does not encounter an obstacle, and will not be reflected by the ground. It can be understood that the emission direction of the detection signal can also be tilted downward relative to the horizontal direction. At this time, the emission direction of the detection signal forms an angle with the horizontal direction in the vertical plane. Exemplarily, the angle can vary between 0 degrees and 45 degrees. When the angle is 0 degrees, the emission direction of the detection signal is horizontal. When the angle is 45 degrees, the emission direction of the detection signal is tilted 45 degrees downward relative to the horizontal direction. That is, the emission direction of the detection signal will not tilt downward more than 45 degrees to avoid interference with the ground detection signal emitted by the ground detection sensor 131.

[0050] Specifically, the obstacle avoidance receiver 1324 may be an infrared receiving tube. After the reflected detection signal part returns to the location of the sweeping machine 100, it can be detected by the obstacle avoidance receiver 1324. After receiving the detection signal, the obstacle avoidance receiver 1324 generates a first feedback signal according to the received detection signal.

[0051] Specifically, the main direction in which the obstacle avoidance receiver 1324 receives the detection signal may be parallel to and opposite to the transmission direction of the detection signal. For example, the main direction in which the obstacle avoidance receiver 1324 receives the detection signal may be the horizontal direction. It is understandable that the main direction in which the obstacle avoidance receiver 1324 receives the detection signal may also form an angle with the horizontal direction in the vertical plane. For example, the angle may vary between 0 degrees and 45 degrees.

[0052] Here, it should be noted that Figure 5 As shown, when there are multiple obstacle avoidance sensors 132, the obstacle avoidance transmitters 1323 and obstacle avoidance receivers 1324 are arranged adjacent to each other in pairs, for example, the infrared transmitting tubes and infrared receiving tubes are arranged adjacent to each other in pairs. Therefore, after the detection signal emitted by the obstacle avoidance transmitter 1323 is reflected, it has a greater probability of being received by the obstacle avoidance receiving tube arranged in pair with it, and relatively, it has a lower probability of being received by the obstacle avoidance receiving tube not arranged in pair with it.

[0053] Specifically, the ground detection transmitter 1311 may be an infrared transmitting tube, and the ground detection signal may be an infrared signal. The ground detection signal is emitted by controlling the ground detection transmitter 1311, for example, controlling the infrared signal transmitting tube to emit an infrared signal. After the ground detection transmitter 1311 emits the ground detection signal, it will be emitted by the ground and received by the ground detection receiver 1312. After receiving the reflected ground detection signal, the ground detection receiver 1312 generates a corresponding ground detection feedback signal. According to the ground detection feedback signal, it can be determined whether there is a cliff on the ground, thereby realizing cliff detection.

[0054] In some embodiments, the sweeping machine 100 may include a plurality of ground detection transmitters 1311 , and the plurality of ground detection transmitters 1311 may be arranged at the bottom of the machine body along the circumference of the sweeping machine to increase the detection range of the ground detection sensor 131 .

[0055] Furthermore, since the directions in which ground detection signals are transmitted by different ground detection transmitters 1311 are roughly the same, that is, vertically downward or inclined downward, multiple ground detection transmitters 1311 are controlled to work asynchronously to transmit ground detection signals, so as to avoid the problem of mutual interference of ground detection signals when multiple ground detection transmitters 1311 transmit ground detection signals at the same time. Therefore, multiple ground detection transmitters 1311 transmit ground detection signals asynchronously, which can improve the accuracy of cliff detection, and when the second feedback signal is triggered by the ground detection signal and the detection signal, the accuracy of obstacle avoidance detection can also be improved.

[0056] In other embodiments, multiple ground detection sensors 131 can be divided into multiple groups, the ground detection sensors 131 in the same group are connected in series, and the ground detection sensors 131 in different groups are connected in parallel. Multiple groups of ground detection transmitters 1311 asynchronously transmit ground detection signals for detecting cliffs.

[0057] In this embodiment, since the ground detection sensors 131 in the same group are connected in series, the ground detection transmitters 1311 in the same group can work synchronously, and by designing the distance between the ground detection transmitters 1311 belonging to the same group to be farther, the mutual interference when the ground detection transmitters 1311 in the same group transmit ground detection signals at the same time can be reduced. For example, in the first group of ground detection sensors 131, another group or multiple groups of ground detection sensors 131 are interspersed between the positions of two adjacent ground detection sensors 131, that is, the ground detection sensors 131 included in the multiple groups of ground detection sensors 131 are alternately arranged at the bottom of the fuselage 110 along the circumference of the fuselage 110, so that the distance between two adjacent ground detection sensors 131 in the same group of ground detection sensors 131 can be increased to avoid optical crosstalk.

[0058] Specifically, the ground detection receiver 1312 may be an infrared receiving tube. After the reflected detection signal part returns to the location of the sweeping machine 100, it can be detected by the ground detection receiver 1312. After receiving the detection signal, the ground detection receiver 1312 generates a second feedback signal according to the received detection signal.

[0059] In some embodiments, the ground detection receiver 1312 and the ground detection transmitter 1311 are usually arranged in pairs to form a ground detection sensor 131 with complete functions. Of course, in other embodiments, the ground detection receiver 1312 can also be arranged separately to receive the detection signal emitted by the obstacle avoidance transmitter 1323.

[0060] Since the original function of the ground detection sensor 131 is to detect cliffs, the ground detection transmitter 1311 usually transmits ground detection signals in a vertical direction or in a direction tilted downward at an angle to the vertical direction. Correspondingly, in order to better receive the ground detection signal reflected by the ground, the main direction in which the ground detection receiver 1312 receives the ground detection signal is usually consistent with the transmission direction of the ground detection signal. Therefore, the main direction in which the ground detection receiver 1312 receives the ground detection signal is vertically downward or tilted downward. Therefore, the detection signal received by the ground detection receiver 1312 is most likely to be the detection signal reflected by the ground. Of course, the detection signal that is not reflected by the ground but is reflected multiple times by obstacles may also be received by the ground detection receiver 1312. In this way, the ground detection receiver 1312 originally used to receive the ground detection signal is used to receive the detection signal, and the original function of the ground detection receiver 1312 for receiving the ground detection signal is retained. That is, the ground detection sensor 131 can also perform obstacle avoidance detection on the basis of having the cliff detection function.

[0061] Here, it should be noted that when there are multiple ground detection sensors 131, the ground detection transmitters 1311 and ground detection receivers 1312 arranged in pairs are arranged adjacent to each other, for example, the infrared transmitting tubes and infrared receiving tubes arranged in pairs are arranged adjacent to each other. In this way, after the ground detection signal emitted by the ground detection transmitter 1311 is reflected by the ground, there is a greater probability that it will be received by the ground detection receiver 1312 arranged in pair with it, and relatively, there is a smaller probability that it will be received by the ground detection receiver 1312 not arranged in pair with it. In addition, relatively speaking, the ground detection receiver 1312 closer to the obstacle avoidance transmitter 1323 has a greater probability of receiving the detection signal. Therefore, in some embodiments, a ground detection sensor 131 is arranged on the left and right sides of the same obstacle avoidance sensor 132, so that the detection signal emitted by the same obstacle avoidance transmitter 1323 is received by the ground detection receivers 1312 on both sides, thereby improving the detection sensitivity.

[0062] For example, based on the obstacle avoidance sensor 132 being located on the peripheral side of the fuselage 110, further, please refer to Figure 4 The obstacle avoidance sensor 132 includes a forward obstacle avoidance sensor 1321 disposed on the front side of the head of the fuselage 110. The ground detection sensor 131 is provided with a plurality of (for example Figure 4 4 are shown in the figure), a plurality of ground detection sensors 131 are arranged at intervals at the bottom of the fuselage 110, and the plurality of ground detection sensors 110 include a left ground detection sensor 131A and a right ground detection sensor 131B respectively located at the front side of the bottom of the fuselage 110, Figure 4 From a viewing angle, the left ground sensor 131A is located on the left side of the forward obstacle avoidance sensor 1321, and the right ground sensor 131B is located on the right side of the forward obstacle avoidance sensor 1321. The left ground sensor 131A and the right ground sensor 131B are closer to the forward obstacle avoidance sensor 1321 than other ground sensors 131, and at least the left ground sensor 131A and the right ground sensor 131B are used to receive the detection signal emitted by the forward obstacle avoidance sensor 131.

[0063] In this embodiment, since the obstacle avoidance transmitter 1323 of the forward obstacle avoidance sensor 1321 transmits a detection signal forward, the detection signal reflected by the obstacle has a greater probability of being reflected near the forward obstacle avoidance sensor 1321. Therefore, the left ground detection sensor 131A and the right ground detection sensor 131B are arranged on the front side of the bottom of the fuselage 110 and adjacent to the forward obstacle avoidance sensor 1321, so that the left ground detection sensor 131A and the right ground detection sensor 131B can more easily receive the detection signal, and by receiving the detection signal through the left ground detection sensor 131A and the right ground detection sensor 131B, the number of ground detection receivers 131 is increased, and the probability of the ground detection sensor 131 receiving the detection signal can be multiplied. Therefore, the success rate and accuracy of the ground detection sensor 131 in obstacle detection can be improved.

[0064] Since the detection signal is also received by the ground detection receiver 1312 in the embodiment of the present application, the ground detection receiver 1312 can receive at least one of the ground detection signal and the detection signal, that is, the ground detection receiver 1312 can only receive the ground detection signal, or only receive the detection signal, or receive the ground detection signal and the detection signal at the same time.

[0065] When the ground detection receiver 1312 receives only the ground detection signal, the ground detection receiver 1312 generates a corresponding ground detection feedback signal, and performs cliff detection according to the ground detection feedback signal.

[0066] When the ground detection receiver 1312 only receives the detection signal, the ground detection sensor 131 generates a corresponding second feedback signal, and performs obstacle avoidance detection according to the second feedback signal in combination with the first feedback signal.

[0067] When the ground detection receiver 1312 receives the detection signal and the ground detection signal at the same time, the ground detection sensor 131 generates a corresponding second feedback signal, and performs obstacle avoidance detection according to the second feedback signal in combination with the first feedback signal.

[0068] It is understandable that the second feedback signal generated by the ground detection receiver 1312 according to the detection signal, and the second feedback signal generated according to the detection signal and the ground detection signal obviously have differences in pulse voltage values. Specifically, because when the ground detection receiver 1312 receives the detection signal and the ground detection signal at the same time, the intensity of the optical signal received by the ground detection receiver 1312 is stronger than the intensity of the optical signal when the detection signal is received alone, and therefore, the pulse voltage value corresponding to the second feedback signal is higher. Therefore, when judging whether the second feedback signal meets the second obstacle avoidance condition, different second obstacle avoidance conditions can be set for two different second feedback signals. Of course, the second obstacle avoidance condition can also be preset to a lower voltage value, so that whether the second feedback signal is generated only according to the detection signal or generated according to the detection signal and the ground detection signal at the same time, the second obstacle avoidance condition can be met.

[0069] In some embodiments, the obstacle avoidance transmitter 1323 and the ground detection transmitter 1311 transmit signals in the same detection cycle, so that the duration of the detection cycle can be shortened, the detection frequency can be increased, and the accuracy and timeliness of obstacle avoidance detection can be improved.

[0070] Exemplarily, in the same detection cycle, the obstacle avoidance transmitter 1323 is controlled to transmit a detection signal, and the ground detection transmitter 1311 is controlled to transmit a ground detection signal, and in the same detection cycle, the detection signal is received by the obstacle avoidance receiver 1324 to generate a first feedback signal, and the detection signal and the ground detection signal are received by the ground detection receiver 1312 to generate a second feedback signal, so as to complete the dual obstacle avoidance detection process of the obstacle in the same detection cycle. In addition, if the ground detection receiver 1312 receives the ground detection signal alone, it can generate a corresponding ground detection feedback signal to realize cliff detection. In this way, the frequency of obstacle avoidance detection is increased, thereby improving the accuracy and timeliness of obstacle avoidance detection.

[0071] In the related art, when there is only one controller, the obstacle avoidance sensor 132 and the ground detection sensor 131 are usually controlled to work in time-sharing mode to achieve time-sharing detection of obstacle avoidance detection and cliff detection. That is, the obstacle avoidance sensor 132 itself has an obstacle avoidance detection cycle for detecting obstacles, and the ground detection sensor 131 also has a cliff detection cycle for detecting cliffs. The obstacle avoidance detection cycle and the cliff detection cycle are performed alternately, so that the obstacle avoidance detection and the cliff detection need to be respectively realized through two detection cycles, resulting in a reduction in the detection frequency.

[0072] If two controllers are used to control the obstacle avoidance sensor 132 and the ground detection sensor 131 to respectively realize obstacle avoidance detection and cliff detection in the same detection cycle, the detection time can be shortened. However, if the two controllers are independent and do not communicate, one controller can only receive the first feedback signal, and the other controller can only receive the second feedback signal, and the above-mentioned dual obstacle avoidance detection cannot be realized. If the two controllers communicate with each other, the signal transmission and signal processing between the two controllers will inevitably take time, which will also reduce the detection efficiency.

[0073] In the embodiment of the present application, only one controller is required to implement dual obstacle avoidance detection processes and cliff detection in the same detection cycle, thereby increasing the detection frequency, and further improving the accuracy and timeliness of the detection, allowing the sweeper 100 to perform obstacle avoidance movements faster, for example, timely braking and deceleration, timely turning, etc.

[0074] In other embodiments, the obstacle avoidance transmitter 1323 and the ground detection transmitter 1311 may also transmit signals in different detection cycles.

[0075] Exemplarily, in one detection cycle, the obstacle avoidance transmitter 1323 is controlled to transmit a detection signal, and the obstacle avoidance receiver 1324 and the ground detection receiver 1312 receive the detection signal to complete the dual obstacle avoidance detection process of the obstacle. In another detection cycle, the ground detection transmitter 1311 transmits a ground detection signal, and the ground detection signal is received by the ground detection receiver 1312 to complete the cliff detection process. In this way, the dual obstacle avoidance detection process and the cliff detection process are completed in different detection cycles without interfering with each other, which can improve the detection accuracy.

[0076] In some implementations, within the same detection cycle, the start time of the obstacle avoidance transmitter 1323 transmitting the detection signal is the same as the start time of the ground detection transmitter 1311 transmitting the ground detection signal, so as to more easily control the start time of the detection signal and the ground detection signal transmission. In other embodiments, the start time of the obstacle avoidance transmitter 1323 transmitting the detection signal is different from the start time of the ground detection transmitter 1311 transmitting the ground detection signal.

[0077] In some embodiments, within the same detection cycle, the obstacle avoidance transmitter 1323 continuously transmits the detection signal within the first time period, and the ground detection transmitter 1311 transmits the ground detection signal within the first time period, thereby shortening the transmission duration of the detection signal and the ground detection signal within the same detection cycle, shortening the duration of the detection cycle, and increasing the detection frequency.

[0078] In other embodiments, the obstacle avoidance transmitter 1323 continuously transmits the detection signal in a first time period, and the ground detection transmitter 1311 continuously transmits the ground detection signal in a second time period, and the first time period at least partially overlaps with the second time period or is completely staggered.

[0079] In some embodiments, the obstacle avoidance transmitter 1323 continuously transmits the detection signal in the first time period, and the ground detection transmitter 1311 continuously transmits the ground detection signal in the second time period, and the duration corresponding to the first time period is greater than the duration corresponding to the second time period. Since the detection signal needs to detect obstacles at a longer distance, and the distance between the ground detection sensor and the ground is closer, the duration of transmitting the detection signal is set to be greater than the duration of transmitting the ground detection signal, the detection duration of the detection signal is longer, and the signal strength is stronger, which is conducive to timely and accurate detection of distant obstacles.

[0080] In some implementations, the ground detection transmitter 1311 and the obstacle avoidance transmitter 1323 work simultaneously (synchronously). In other words, there is a specific period of time when the obstacle avoidance transmitter 1323 transmits the detection signal while controlling the ground detection transmitter 1311 to transmit the ground detection signal. In this way, the ground detection receiver 1312 can receive the detection signal and the ground detection signal at the same time, which can shorten the detection cycle, increase the detection frequency, and thus improve the accuracy and timeliness of obstacle avoidance detection.

[0081] In other embodiments, the ground detection transmitter 1311 and the obstacle avoidance transmitter 1323 work in time-sharing (asynchronous) mode. In other words, when the ground detection transmitter 1311 transmits a ground detection signal, the obstacle avoidance transmitter 1323 is turned off and does not transmit a detection signal. When the obstacle avoidance transmitter 1323 transmits a detection signal, the ground detection transmitter 1311 is turned off and does not transmit a ground detection signal. In this way, the ground detection receiver 1312 can only receive one of the ground detection signal and the detection signal at the same time. In this way, when the ground detection sensor 131 only receives the ground detection signal, a corresponding ground detection feedback signal can be generated to achieve cliff detection; when the ground detection sensor 131 only receives the detection signal, a corresponding second feedback signal can be generated, and obstacle avoidance detection can be achieved in combination with the first feedback signal. Cliff detection and obstacle avoidance detection do not affect each other, which can improve the accuracy of detection.

[0082] In some embodiments, in order to enable both the obstacle avoidance receiver 1324 and the ground detection receiver 1312 to receive the detection signal, in some embodiments, it can be configured that during the operation of the autonomous mobile device 100, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 are always in a working state so as to receive the detection signal reflected by the obstacle.

[0083] In other embodiments, during at least part of the time period when the obstacle avoidance transmitter 1323 transmits the detection signal, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 are in working state so as to receive the detection signal reflected by the obstacle. Specifically, it includes but is not limited to one of the following forms:

[0084] First, the tail period of the working period of the obstacle avoidance transmitter 1323 overlaps with the head period of the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324. For example, the last 1 / 4 period of the working period of the obstacle avoidance transmitter 1323 overlaps with the initial 1 / 4 period of the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324;

[0085] Second, the head period of the working period of the obstacle avoidance transmitter 1323 overlaps with the tail period of the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324. For example, the initial 1 / 4 period of the working period of the obstacle avoidance transmitter 1323 overlaps with the last 1 / 4 period of the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324;

[0086] Third, the working period of the obstacle avoidance transmitter 1323 completely covers the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324; that is, the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324 completely falls within the working period of the obstacle avoidance receiver 1324. Exemplarily, in a detection cycle of 8 ms, the obstacle avoidance transmitter 1323 starts working (transmitting detection signals) from the 2nd ms and lasts until the 8th ms, and the working period of the ground detection receiver 1312 and the obstacle avoidance receiver 1324 is within the 2nd ms to the 8th ms;

[0087] In some embodiments, the operating time periods of the obstacle avoidance receiver 1324 and the ground detection receiver 1312 can be controlled to partially overlap or completely overlap, that is, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 can receive the detection signal simultaneously (synchronously). In this way, the operating time period of the detection signal emitted by the obstacle avoidance transmitter 1323 can be shortened, the duration of the detection cycle can be shortened, and the number of obstacle avoidance detections can be increased within a unit time, that is, the detection frequency is increased, thereby improving the accuracy and timeliness of obstacle avoidance detection.

[0088] In other embodiments,. Under the premise of ensuring that both the obstacle avoidance receiver 1324 and the ground detection receiver 1312 can receive the detection signal, the working periods of the obstacle avoidance receiver 1324 and the ground detection receiver 1312 may not overlap at all, that is, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 receive the detection signal in time-sharing (asynchronous), so that the first feedback signal and the second feedback signal can be generated in time-sharing, and the same analog-to-digital converter can be used to perform time-sharing conversion on the first feedback signal and the second feedback signal, thereby reducing the number of analog-to-digital converters used and reducing hardware costs. In addition, the controller of the sweeping machine 100 can also process the first feedback signal and the second feedback signal in time-sharing, which can reduce the power consumption of the controller at the same time. In terms of sequence, the obstacle avoidance receiver 1324 can be controlled to work before the ground detection receiver 1312, or the ground detection receiver 1312 can be controlled to work before the obstacle avoidance receiver 1324. This embodiment does not limit this, and it is only necessary to ensure that both the ground detection receiver 1312 and the obstacle avoidance receiver 1324 can receive the detection signal.

[0089] See also Figure 6 Based on the above autonomous mobile device 100, the present application also provides an obstacle avoidance detection method, including the following steps S101-S103.

[0090] S101, controlling the obstacle avoidance transmitter 1323 to transmit a detection signal for detecting obstacles.

[0091] Specifically, the controller controls various electronic devices in accordance with the control time point and control duration specified by the preset application. In this embodiment, for the obstacle avoidance sensor 132, the preset application can be used to make the obstacle avoidance sensor 132 work in a detection cycle with a specific duration. During the detection cycle, the controller controls the obstacle avoidance transmitter 1323 to transmit a detection signal with a duration less than the detection cycle, so that the obstacle avoidance receiver 1324 periodically transmits the detection signal.

[0092] S102, receiving a first feedback signal and a second feedback signal; the first feedback signal is generated according to the detection signal received by the obstacle avoidance receiver 1324; the second feedback signal is generated according to the detection signal received by the ground detection receiver 1311.

[0093] In order to enable both the obstacle avoidance receiver 1324 and the ground detection receiver 1312 to receive the detection signal, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 can be controlled to work while the obstacle avoidance transmitter 1323 transmits the detection signal; or, during the operation of the automatic moving device 100, the obstacle avoidance receiver 1324 and the ground detection receiver 1312 can be controlled to be in a working state at all times.

[0094] S103: Control the autonomous mobile device 100 to perform obstacle avoidance movement according to the first feedback signal and the second feedback signal.

[0095] Specifically, the first feedback signal generated by the obstacle avoidance receiver 1324 (such as an infrared receiving tube) is an analog signal, while the signal that the controller can process is a digital signal. Therefore, it is necessary to convert the analog signal into a digital signal so that the controller can judge whether there is an obstacle ahead based on the first analog signal in the form of a digital signal. Therefore, the sweeper 100 can also exemplarily include an analog to digital converter (ADC), which is electrically connected to the obstacle avoidance receiver 1324 and the controller. The analog to digital converter is used to convert the first feedback signal in the form of an analog signal into a first feedback signal in the form of a digital signal and send it to the controller, and the controller judges whether there is an obstacle ahead based on the first feedback signal in the form of a digital signal.

[0096] Specifically, the first feedback signal is a pulse signal generated by the obstacle avoidance receiver 1324 corresponding to the received detection signal. The pulse signal corresponds to a higher voltage value. Therefore, the first feedback signal satisfies the first obstacle avoidance condition, which can be specifically: the voltage value of the pulse signal is greater than the first preset voltage value.

[0097] When performing obstacle avoidance detection, the obstacle avoidance receiver 1324 may receive ambient light or a detection signal reflected by a distant obstacle, and generate a first feedback signal, resulting in a detection error. For this reason, when the obstacle avoidance receiver 1324 receives the detection signal and generates a first feedback signal, only when the voltage value of the pulse signal is greater than the first preset voltage value, that is, when the first feedback signal satisfies the first obstacle avoidance condition, is it determined that there is an obstacle ahead, thereby improving the accuracy of obstacle avoidance detection. This judgment process has long been disclosed in the relevant technology and will not be repeated here.

[0098] Similarly, the second feedback signal generated by the ground detection receiver 1312 is an analog signal, so the second feedback signal in the form of an analog signal needs to be converted into a second feedback signal in the form of a digital signal through an analog-to-digital converter, so that the controller can determine whether there is an obstacle ahead according to the second feedback signal in the form of a digital signal. It can be understood that the first feedback signal and the second feedback signal can share an analog-to-digital converter for analog-to-digital conversion, or use different analog-to-digital converters for analog-to-digital conversion.

[0099] Similarly, the second feedback signal is a pulse signal generated by the ground detection receiver 1312 corresponding to the received detection signal. The pulse signal corresponds to a higher voltage value. Therefore, the second feedback signal satisfies the second obstacle avoidance condition, which can be specifically: the voltage value of the pulse signal is greater than the second preset voltage value. The second preset voltage value can be set according to actual conditions and is not limited here. When the second feedback signal satisfies the second obstacle avoidance condition, it indicates that the signal strength of the detection signal received by the ground detection receiver 1312 is strong enough, and the detection signal with a sufficiently strong signal strength is usually formed by the reflection of the obstacle in front. Therefore, it can be judged based on this that there is an obstacle in front.

[0100] The obstacle avoidance detection method provided in this embodiment controls the obstacle avoidance transmitter 1323 to transmit a detection signal, and controls the obstacle avoidance receiver 1324 and the ground detection receiver 1312 to receive the detection signal reflected by the obstacle, so that the obstacle avoidance receiver 1324 generates a first feedback signal and the ground detection receiver 1312 generates a second feedback signal. The controller determines whether there is an obstacle ahead according to the first feedback signal and the second feedback signal. In this way, double obstacle avoidance detection is performed on the obstacle ahead through the obstacle avoidance receiver 1324 and the ground detection receiver 1312, thereby improving the accuracy of the obstacle avoidance detection.

[0101] Furthermore, the ground detection receiver 1312 originally used to receive the ground detection signal is used to receive the detection signal to generate a second feedback signal, that is, the ground detection sensor 131 is used to perform obstacle avoidance detection. Since the ground detection sensor 131 is a device originally included in the sweeping machine 100, there is no need to add additional devices. That is, the accuracy of obstacle avoidance detection can be improved without increasing the hardware cost of the sweeping machine 100.

[0102] See also Figure 7 In some embodiments, the obstacle avoidance detection method further includes step S104.

[0103] Step S104, in the same or different detection cycle as the detection signal transmitted by the obstacle avoidance transmitter 1323, the ground detection transmitter 1311 is controlled to transmit a ground detection signal for detecting a cliff.

[0104] Exemplarily, in the same detection cycle, the obstacle avoidance transmitter 1323 is controlled to transmit a detection signal, and the ground detection transmitter 1311 is controlled to transmit a ground detection signal, and in the same detection cycle, the detection signal is received by the obstacle avoidance receiver 1324 to generate a first feedback signal, and the detection signal and the ground detection signal are received by the ground detection receiver 1312 to generate a second feedback signal, so as to complete the dual obstacle avoidance detection process of the obstacle in the same detection cycle. In addition, if the ground detection receiver 1312 receives the ground detection signal alone, it can generate a corresponding ground detection feedback signal to realize cliff detection. In this way, the frequency of obstacle avoidance detection is increased, thereby improving the accuracy and timeliness of obstacle avoidance detection.

[0105] Exemplarily, within the same detection cycle, the obstacle avoidance detection method further includes the following steps S201-S202.

[0106] S201, control the obstacle avoidance receiver 1324 to be continuously turned off in a first time period, and to continuously transmit a detection signal in a second time period, and the total duration corresponding to the first time period and the second time period is the duration of a detection cycle.

[0107] For example, the detection frequency can be set to 125 Hz, and a detection cycle is 8 ms. That is, in the 8 ms detection cycle, the first period can be 1 ms, the second period can be 7 ms, and the obstacle avoidance receiver 1324 is first turned off for 1 ms, and then continuously transmits the detection signal in the next 7 ms.

[0108] S202, control multiple ground detection transmitters 1311 to asynchronously transmit ground detection signals in the second time period, control the corresponding ground detection receivers 1312 to operate in the second time period to receive detection signals and ground detection signals, and control the obstacle avoidance receiver 1324 to operate in the second time period to receive detection signals.

[0109] Exemplarily, when three ground detection sensors 131 are set, within the above-mentioned 8ms detection cycle, the three ground detection sensors are controlled to work in sequence for 2ms (the three ground detection sensors occupy a total of 6ms), and the ground detection transmitter 1311 and the ground detection receiver 1312 of the same ground detection sensor 131 work within the 2ms, and within the 2ms, the ground detection transmitter 1311 can be further controlled to work in the 1ms within the 2ms, and the ground detection receiver 1312 continues to work for 2ms. In this way, on the one hand, the ground detection receiver 1312 can receive the ground detection signal and the detection signal in the 2ms, and on the other hand, since the ground detection transmitter 1311 works asynchronously, mutual interference of the ground detection signals can be avoided. In addition, the obstacle avoidance receiver 1324 is controlled to work within the 7th-8ms to receive the detection signal.

[0110] In some embodiments, in the above step S201 , the ground detection transmitter 1311 and the ground detection receiver 1312 start working synchronously, and after the ground detection transmitter 1311 is turned off, the corresponding ground detection receiver 1312 continues to work for a preset time period.

[0111] For example, within 2ms, the paired ground detection transmitter 1311 and the ground detection receiver 1312 start working synchronously, and the ground detection transmitter 1311 is turned off after working for the 1ms within the 2ms, and the corresponding ground detection receiver 1312 continues to work for a preset time length, such as 1ms, to receive the detection signal. Therefore, the ground detection receiver 1312 continues to work for 2ms.

[0112] In some embodiments, in the above step S201 , after a pair of ground detection transmitters 1311 and ground detection receivers 1312 are turned off, another pair of ground detection transmitters 1311 and ground detection receivers 1312 are controlled to start working.

[0113] For example, within the first 2ms, the ground detection transmitter 1311 and the ground detection receiver 1312 of the first ground detection sensor complete their work and turn off, and then, within the second 2ms, the ground detection transmitter 1311 and the ground detection receiver 1312 of another ground detection sensor 131 are controlled to start working, so that not only can the ground detection signals emitted by the ground detection transmitter 1311 be prevented from interfering with each other, but also the ground detection receiver 1312 can only receive the ground detection signal emitted by the ground detection transmitter 1311 set in pair with it, so as to avoid mutual interference between the ground detection receivers 1312.

[0114] In some embodiments, in the above step S201, the operating time of the ground detection transmitter 1311 is greater than or equal to 1 ms, and the operating time of the ground detection receiver 1312 and the obstacle avoidance receiver 1324 is greater than or equal to 2 ms.

[0115] By setting the operating time of the ground detection transmitter 1311 to be greater than or equal to 1ms, the ground detection receiver 1312 can receive the ground detection signal and generate a corresponding ground detection feedback signal. Alternatively, the ground detection receiver 1312 can generate a corresponding second feedback signal when receiving the ground detection signal and the detection signal at the same time. Both the ground detection feedback signal and the second feedback signal need to have a sufficiently large pulse width to be recognized by the analog-to-digital converter, and then perform analog-to-digital conversion, thereby ultimately achieving cliff detection and obstacle avoidance detection.

[0116] If the working time of the ground detection transmitter 1311 is less than 1ms, the transmission time of the ground detection signal is too short. On the one hand, it may not be received by the ground detection receiver 1312; on the other hand, even if it is received by the ground detection receiver 1312, the pulse width of the generated ground detection feedback signal and the second feedback signal is too narrow, resulting in the inability of the analog-to-digital converter to recognize and perform analog-to-digital conversion, and thus it is impossible to achieve cliff detection and obstacle avoidance detection, which ultimately leads to reduced detection accuracy.

[0117] The working time of the ground detection receiver 1312 and the obstacle avoidance receiver 1324 is greater than or equal to 2ms, so that the ground detection receiver 1312 and the obstacle avoidance receiver 1324 have sufficient time to receive signals, thereby avoiding the reduction of detection accuracy due to the failure to receive ground detection signals and detection signals.

[0118] In the related art, when there is only one controller, the obstacle avoidance sensor 132 and the ground detection sensor 131 are usually controlled to work in time-sharing mode to achieve time-sharing detection of obstacle avoidance detection and cliff detection. That is, the obstacle avoidance sensor 132 itself has an obstacle avoidance detection cycle for detecting obstacles, and the ground detection sensor 131 also has a cliff detection cycle for detecting cliffs. The obstacle avoidance detection cycle and the cliff detection cycle are performed alternately, so that the obstacle avoidance detection and the cliff detection need to be respectively realized through two detection cycles, resulting in a reduction in the detection frequency.

[0119] If two controllers are used to control the obstacle avoidance sensor 132 and the ground detection sensor 131 to respectively realize obstacle avoidance detection and cliff detection in the same detection cycle, the detection time can be shortened. However, if the two controllers are independent and do not communicate, one controller can only receive the first feedback signal, and the other controller can only receive the second feedback signal, and the above-mentioned dual obstacle avoidance detection cannot be realized. If the two controllers communicate with each other, the signal transmission and signal processing between the two controllers will inevitably take time, which will also reduce the detection efficiency.

[0120] In the embodiment of the present application, only one controller is required to implement dual obstacle avoidance detection processes and cliff detection in the same detection cycle, thereby increasing the detection frequency, and further improving the accuracy and timeliness of the detection, allowing the sweeper 100 to perform obstacle avoidance movements faster, for example, timely braking and deceleration, timely turning, etc.

[0121] In other embodiments, the obstacle avoidance transmitter 1323 and the ground detection transmitter 1311 may also transmit signals in different detection cycles.

[0122] Exemplarily, in one detection cycle, the obstacle avoidance transmitter 1323 is controlled to transmit a detection signal, and the obstacle avoidance receiver 1324 and the ground detection receiver 1312 receive the detection signal to complete the dual obstacle avoidance detection process of the obstacle. In another detection cycle, the ground detection transmitter 1311 transmits a ground detection signal, and the ground detection signal is received by the ground detection receiver 1312 to complete the cliff detection process. In this way, the dual obstacle avoidance detection process and the cliff detection process are completed in different detection cycles without interfering with each other, which can improve the detection accuracy.

[0123] According to the above content, the ground detection receiver 1312 generates a ground detection feedback signal when only the ground detection signal is received. In some embodiments, the obstacle avoidance detection method further includes step: S301.

[0124] S301, judging whether there is a cliff according to a ground detection feedback signal and a preset anti-fall threshold.

[0125] Specifically, the ground detection feedback signal is a pulse signal (high level). When the pulse voltage value of the ground detection feedback signal is less than the anti-drop threshold, it is determined that a cliff is detected.

[0126] In addition, it should be noted that when the obstacle avoidance sensor 132 and the ground detection sensor 131 are both infrared pair tubes, when the infrared receiving tube receives the detection signal and the ground detection signal, it will inevitably receive ambient light. Therefore, whether it is the ground detection feedback signal, the first feedback signal, or the second feedback signal, they all contain the low level generated by the ambient light trigger. Since the ambient light is the light received by the infrared receiver by indoor lighting, outdoor direct sunlight, and multiple reflections of outdoor sunlight, the light intensity is generally weak, so it is reflected as a low level in the ground detection feedback signal, the first feedback signal, and the second feedback signal. The low level can be, for example, 0.1V. Since the detection signal and the ground detection signal have a strong light intensity, they are reflected as pulse signals in the ground detection feedback signal, the first feedback signal, and the second feedback signal. The pulse signal is also a high level. In the judgment process of cliff detection and obstacle avoidance detection, the influence of the low level should be eliminated to obtain the sensing value after eliminating the influence of the low level. The calculation formula of the sensing value is as follows:

[0127] Sensing value = high level - low level;

[0128] Among them, in the first feedback signal, the high level is triggered by the detection signal and the ambient light; in the second feedback signal, the high level is triggered by the detection signal and the ambient light, or by the ground detection signal, the detection signal and the ambient light; in the ground detection feedback signal, the high level is triggered by the ground detection signal and the ambient light; in the ground detection feedback signal, the first feedback signal and the second feedback signal, the low level is generated by the environment.

[0129] For example, in the process of determining cliff detection:

[0130] When the ground detection signal emitted by the ground detection transmitter 1311 is reflected by the ground, the ground detection receiver 1312 is close to the ground, so the signal strength of the ground detection signal reflected by the ground is strong, and the voltage value corresponding to the pulse signal in the ground detection feedback signal generated by the ground detection receiver 1312 is also large, for example, 3V. Since the high level 3V actually includes the low level generated by the ambient light trigger, it is necessary to eliminate the influence of the ambient light, and obtain the sensing value by subtracting the low level from the high level in the ground detection feedback signal, that is, sensing value = high level - low level = 3V - 0.1V = 2.9V.

[0131] When the ground detection signal emitted by the ground detection transmitter 1311 is reflected by the cliff, since the surface of the cliff reflecting the ground detection signal is far away from the ground detection receiver 1312, the signal strength of the ground detection signal reflected by the cliff surface is weak, and the voltage value corresponding to the high level in the ground detection feedback signal generated by the ground detection receiver 1312 is also small, for example, 0.2V. The high level 0.2V also includes the low level generated by the ambient light trigger, so it is necessary to eliminate the influence of the ambient light, and obtain the sensing value by subtracting the low level from the high level in the ground detection feedback signal, that is, sensing value = high level - low level = 0.2V - 0.1V = 0.1V.

[0132] Therefore, after the preset anti-drop threshold is set to 0.2V, only when there is a cliff, the sensing value of the ground detection feedback signal, for example 0.1V, will be less than the anti-drop threshold, for example 0.2V, and the cliff will be detected at this time.

[0133] See also Figure 8 Based on the above cliff detection process, in one embodiment of the present application, when the second feedback signal is generated based on the detection signal and the ground detection signal, step S103: controlling the autonomous mobile device 100 to perform obstacle avoidance movement according to the first feedback signal and the second feedback signal includes:

[0134] Step S1031: When the first feedback signal satisfies the first obstacle avoidance condition and within the same detection cycle, when the difference between the high level and the low level in the second feedback signal is less than the anti-fall threshold, it is determined that there is an obstacle ahead, and the autonomous mobile device 100 is controlled to perform at least one of braking or steering actions; wherein the anti-fall threshold is a judgment threshold when the autonomous mobile device 100 performs cliff detection.

[0135] That is, the aforementioned second feedback signal satisfies the second obstacle avoidance condition, specifically including: the difference between the high level and the low level in the second feedback signal is less than the anti-drop threshold, and the anti-drop threshold is the judgment threshold when the autonomous mobile device 100 performs cliff detection. Therefore, in this embodiment, the anti-drop threshold can be used to judge whether there is a cliff as well as whether there is an obstacle ahead; the specific principle is:

[0136] Since the second feedback signal is jointly generated based on the detection signal and the ground detection signal, that is, the obstacle avoidance receiver 1324 and the ground detection transmitter 1311 emit light at the same time, at this time, the light intensity received by the ground detection receiver 1312 is very large, but since the ground detection receiver 1312 is usually a phototransistor, the phototransistor is in a saturated state when receiving a light signal with a very large light intensity (for example, the light signal includes both the detection signal and the ground detection signal). Therefore, the maximum high level in the generated second feedback signal can only reach 3V (for example only, the maximum high level value of the second feedback signal generated when different types of phototransistors are saturated may be different); at this time, since the obstacle avoidance receiver 1324 and the ground detection transmitter 1311 emit light at the same time, the intensity of the ambient light is The low level triggered by the ambient light is about 2.8-2.9V, for example, 2.9V. At this time, the sensing value = high level - low level = 3V-2.9V = 0.1V. The sensing value 0.1V is less than the anti-fall threshold value 0.2V. At this time, the sweeper 100 will detect the cliff based on this judgment, but in fact, the judgment process and the judgment result are all realized by the obstacle feedback detection signal. Therefore, it is equivalent to directly applying the judgment process of cliff detection to the judgment process of obstacle avoidance detection, that is, the judgment threshold of cliff detection and the judgment threshold of obstacle avoidance detection are unified. Therefore, it is only necessary to preset the anti-fall threshold to determine whether there is a cliff or an obstacle. For the second feedback signal, no other judgment conditions need to be set. The anti-fall threshold is already preset in the sweeper 100 for cliff detection. Therefore, this embodiment can also avoid modifying the control program of the sweeper 100, making the judgment process of obstacle avoidance detection simpler and easier to use.

[0137] Of course, in other embodiments, when judging whether there is an obstacle, other voltage thresholds different from the anti-drop threshold may be preset, so that the process of judging whether there is an obstacle ahead according to the second feedback signal is different from the judgment process of whether the ground detection feedback signal is less than the anti-drop threshold. At this time, it is necessary to distinguish whether the ground detection receiver 1312 receives the ground detection signal or the detection signal, so as to select different voltage thresholds in the judgment process.

[0138] Exemplarily, the detection signal and the ground detection signal can be encoded in different forms. For example, after encoding, the detection signal and the ground detection signal can have at least one of different frequencies and amplitudes, so that when the controller receives a second feedback signal corresponding to the detection signal, it is determined that the second feedback signal is triggered by the detection signal, and the corresponding voltage threshold is selected to make an obstacle avoidance detection judgment; and when the controller receives a ground detection feedback signal corresponding to the ground detection, it is determined that the ground detection feedback signal is triggered by the ground detection signal, and the corresponding anti-fall threshold is selected to make a cliff detection judgment.

[0139] Exemplarily, the ground detection transmitter 1311 and the obstacle avoidance receiver 1324 can also be controlled to transmit the ground detection signal and the detection signal in a time-sharing manner. When only the ground detection transmitter 1311 is controlled to transmit the ground detection signal, the signal received by the ground detection receiver 1312 must be the ground detection signal and a corresponding ground detection feedback signal is generated. The controller can select the corresponding anti-fall threshold to make a cliff detection judgment. Similarly, when only the obstacle avoidance transmitter 1323 is controlled to transmit the detection signal, the signal received by the ground detection receiver 1312 must be the detection signal, and the controller can select the corresponding voltage threshold to make an obstacle avoidance detection judgment.

[0140] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0141] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An autonomous mobile device, characterized in that: The autonomous mobile device comprises: body; an obstacle avoidance sensor, disposed on the fuselage and comprising an obstacle avoidance transmitter and an obstacle avoidance receiver arranged in pairs, wherein the obstacle avoidance transmitter is used to transmit a detection signal for detecting obstacles, and the obstacle avoidance receiver is used to receive the detection signal; a ground detection sensor, disposed at the bottom of the fuselage and lower than the obstacle avoidance sensor, comprising a ground detection receiver, the ground detection receiver being used to receive the detection signal; and The controller is arranged on the fuselage and is electrically connected to the obstacle avoidance sensor and the ground detection sensor, and is used to control the autonomous mobile device to perform obstacle avoidance movement based on the detection signals received by the obstacle avoidance receiver and the ground detection receiver.

2. The autonomous mobile device according to claim 1, characterized in that The ground detection sensor also includes: A ground detection transmitter, which is arranged in pairs with the ground detection receiver and is electrically connected to the controller, and is used to transmit a ground detection signal for detecting a cliff, and the ground detection receiver is also used to receive the ground detection signal; The obstacle avoidance transmitter and the ground detection transmitter transmit signals in the same or different detection cycles.

3. The autonomous mobile device according to claim 2, characterized in that The obstacle avoidance transmitter and the ground detection transmitter transmit signals in the same detection cycle, and the starting time of the obstacle avoidance transmitter transmitting the detection signal is the same as or different from the starting time of the ground detection transmitter transmitting the ground detection signal.

4. The autonomous mobile device according to claim 2, characterized in that: The obstacle avoidance transmitter and the ground detection transmitter transmit signals in the same detection cycle, the obstacle avoidance transmitter continuously transmits the detection signal in a first time period, and the ground detection transmitter transmits the ground detection signal in the first time period; or, The obstacle avoidance transmitter and the ground detection transmitter transmit signals in the same detection cycle. The obstacle avoidance transmitter continuously transmits the detection signal in a first time period, and the ground detection transmitter continuously transmits the ground detection signal in a second time period. The first time period and the second time period at least partially overlap or are completely staggered.

5. The autonomous mobile device according to any one of claims 2 to 4, characterized in that: The obstacle avoidance transmitter continuously transmits the detection signal in a first time period, and the ground detection transmitter continuously transmits the ground detection signal in a second time period, and the duration corresponding to the first time period is greater than the duration corresponding to the second time period.

6. The autonomous mobile device according to claim 2, characterized in that: There are multiple ground detection transmitters; wherein the multiple ground detection transmitters transmit the ground detection signals asynchronously; or, the multiple ground detection transmitters are divided into multiple groups, and the multiple groups of ground detection transmitters transmit the ground detection signals asynchronously.

7. The autonomous mobile device according to claim 1, characterized in that: The obstacle avoidance sensor is located on the peripheral side of the fuselage.

8. The autonomous mobile device according to claim 7, characterized in that: The obstacle avoidance sensor includes a forward obstacle avoidance sensor disposed on the front side of the head of the fuselage; There are multiple ground detection sensors, and the multiple ground detection sensors are arranged at intervals at the bottom of the fuselage. The multiple ground detection sensors include a left ground detection sensor and a right ground detection sensor respectively located on the front side of the bottom of the fuselage. The left ground detection sensor and the right ground detection sensor are closer to the forward obstacle avoidance sensor than other ground detection sensors. At least the left ground detection sensor and the right ground detection sensor are used to receive the detection signal emitted by the forward obstacle avoidance sensor.

9. The autonomous mobile device according to claim 1, characterized in that: During the operation of the autonomous mobile device, the obstacle avoidance receiver and the ground detection receiver are always in operation; or, During at least a portion of the time period when the obstacle avoidance transmitter transmits the detection signal, the obstacle avoidance receiver and the ground detection receiver are in working state.

10. The autonomous mobile device according to any one of claims 1 to 9, characterized in that: The controller is used to control the autonomous mobile device to perform obstacle avoidance movement based on the first feedback signal satisfying the first obstacle avoidance condition and the second feedback signal satisfying the second obstacle avoidance condition, wherein the first feedback signal is generated based on the detection signal received by the obstacle avoidance receiver, and the second feedback signal is generated based on the detection signal received by the ground detection receiver, and the obstacle avoidance movement includes at least one of a braking action or a steering action.

11. The autonomous mobile device according to claim 10, characterized in that: The second feedback signal satisfies a second obstacle avoidance condition, including: The difference between the high level and the low level in the second feedback signal is smaller than the anti-fall threshold, and the anti-fall threshold is a judgment threshold when the autonomous mobile device performs cliff detection.

12. An obstacle avoidance detection method, characterized in that: Applied to an autonomous mobile device, the autonomous mobile device comprises an obstacle avoidance sensor and a ground detection sensor, the obstacle avoidance sensor comprises an obstacle avoidance transmitter and an obstacle avoidance receiver, the ground detection sensor comprises a ground detection receiver, and the obstacle avoidance detection method comprises the following steps: Controlling the obstacle avoidance transmitter to transmit a detection signal for detecting obstacles; receiving a first feedback signal and a second feedback signal; wherein the first feedback signal is generated according to the detection signal received by the obstacle avoidance receiver; and the second feedback signal is generated according to the detection signal received by the ground detection receiver; and The autonomous mobile device is controlled to perform obstacle avoidance movement according to the first feedback signal and the second feedback signal.

13. The obstacle avoidance detection method according to claim 12, characterized in that: The ground detection sensor further includes a ground detection transmitter, and the obstacle avoidance detection method further includes: In the same or different detection cycle as the detection cycle in which the obstacle avoidance transmitter transmits the detection signal, the ground detection transmitter is controlled to transmit a ground detection signal for detecting a cliff.

14. The obstacle avoidance detection method according to claim 12 or 13, characterized in that: The controlling the autonomous mobile device to perform obstacle avoidance motion according to the first feedback signal and the second feedback signal includes: When the first feedback signal satisfies the first obstacle avoidance condition and, within the same detection cycle, the difference between the high level and the low level in the second feedback signal is less than the anti-fall threshold, it is determined that there is an obstacle ahead, and the autonomous mobile device is controlled to perform at least one of a braking action or a steering action; The anti-fall threshold is a judgment threshold when the autonomous mobile device performs cliff detection.

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