CN109782750A - Automatic running device and its barrier-avoiding method - Google Patents
Automatic running device and its barrier-avoiding method Download PDFInfo
- Publication number
- CN109782750A CN109782750A CN201711123631.2A CN201711123631A CN109782750A CN 109782750 A CN109782750 A CN 109782750A CN 201711123631 A CN201711123631 A CN 201711123631A CN 109782750 A CN109782750 A CN 109782750A
- Authority
- CN
- China
- Prior art keywords
- signal
- barrier
- altitude range
- automatic running
- running device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
A kind of automatic running device and its barrier-avoiding method, the barrier-avoiding method include: the first signal for obtaining and being characterized in the first altitude range there are barrier；Obtain the second signal being characterized in the second altitude range there are barrier；Combine according to first signal and the second signal, issues avoidance instruction；It is instructed according to avoidance, changes the walking path of automatic running device.A kind of automatic running device includes: first detection module, the second detection module, processing module and control module.Wherein, first detection module and the second detection module are respectively used to obtain the signal being characterized within the scope of different height there are barrier.According to the obstacle signal of acquisition, processing module issues avoidance instruction；The walking path of control module control automatic running device.Above-mentioned automatic running device and its barrier-avoiding method can detect the barrier of different height, make automatic running device more intelligence to adapt to complicated working environment, while promoting its safety.
Description
Technical field
The present invention relates to garden craft fields, more particularly to automatic running device and its barrier-avoiding method.
Background technique
Intelligent grass-removing has automatically walk function, and can independently complete the work to cut the grass on a lawn, without artificial direct
It controls and operates, manual operation is greatly lowered, be that the places such as a kind of suitable family's garden, public lawn carry out turf-mown dimension
The tool of shield.
Usual intelligent grass-removing has single barrier avoiding function, one is being collided by grass trimmer and barrier, using touching
It hits sensor and realizes yielding.But the result of collision may be destroyed barrier (flowering shrubs, bushes etc.), and collision meeting for a long time
Exist to grass trimmer itself and injures.One is using barriers such as ultrasonic sensor detection trees, grass trimmer is close to barrier
When, the movement of evacuation or detour is made in advance, avoids colliding with barrier.But the intelligence for being equipped with ultrasonic sensor is mowed
Machine cannot avoid shorter barrier.
So intelligent grass-removing avoidance means are single at present, do not adapt to complicated mowing environment, for example, with flowering shrubs,
The complex environment of the vegetation such as trunk, bushes.
Summary of the invention
Based on this, it is necessary to for the single avoidance means of grass trimmer, provide a kind of barrier-avoiding method of automatic running device
And its automatic running device.
A kind of barrier-avoiding method of automatic running device, comprising: acquisition is characterized in the first altitude range that there are barriers
First signal；Obtain the second signal being characterized in the second altitude range there are barrier；Combine according to first signal and
The second signal issues avoidance instruction；It is instructed according to the avoidance, changes the walking path of automatic running device.
The barrier-avoiding method of above-mentioned automatic running device can detect the barrier within the scope of different height.It is met when working in
When to flowering shrubs, trunk, bushes etc. when complex environments, automatic running device executes avoiding action using the barrier-avoiding method, more
Intelligence promotes the safety of automatic running device to adapt to complicated working environment.
The acquisition is characterized in the first altitude range that there are the first signals of barrier in one of the embodiments,
Step specifically includes: emitting ultrasonic signal to surrounding enviroment；Receive reflection of the surrounding enviroment to the ultrasonic signal
Signal；According to the reflection signal, judge whether that there are barriers in the first altitude range.
It is described according to the reflection signal in one of the embodiments, judge whether exist in the first altitude range
The step of barrier specifically includes: there are the first preset parameter values of barrier in acquisition the first altitude range of characterization；When described
The first parameter value for reflecting signal is greater than in the first altitude range of the characterization there are when the first preset parameter value of barrier, sentences
Breaking in the first altitude range, there are barriers.
The first parameter value of the reflection signal is the intensity value of the reflection signal in one of the embodiments,.
The acquisition is characterized in the first altitude range that there are the first signals of barrier in one of the embodiments,
Step, specifically further include: the time difference that will emit ultrasonic wave moment and reception ultrasonic wave moment is converted into the second of the first signal
Parameter value；Second parameter value of first signal, for characterizing in the automatic running device and first altitude range
Barrier distance between the two.
It is further comprising the steps of in one of the embodiments: to obtain the second preset parameter value of the first signal；When described
When first signal parameter value is less than the second preset parameter value of first signal, avoidance instruction is issued.
The acquisition is characterized in the second altitude range that there are the second signals of barrier in one of the embodiments,
Step specifically includes: after the barrier collision in the automatic running device and second altitude range, acquisition is characterized in
There are the second signal parameter values of barrier in second altitude range.
It is further comprising the steps of in one of the embodiments: to obtain the preset parameter value of second signal；When described second
When signal parameter value is greater than the preset parameter value of the second signal, avoidance instruction is issued.
The minimum value of first altitude range is not more than second altitude range most in one of the embodiments,
Big value.
Minimum value by setting the first altitude range is not more than the maximum value of the second altitude range, then the first altitude range
And second is very close to each other between altitude range.So, the first altitude range and the second altitude range cover the height of barrier substantially
Degree.In the first altitude range of ultrasonic wave covering, the property detection barrier of ultrasonic wave is utilized.Can not be covered in ultrasonic wave
In two altitude ranges, barrier is detected by making contact.In this way, different height model can be detected using above-mentioned barrier-avoiding method
Interior barrier is enclosed, and then uses different avoidance means.
A kind of automatic running device, comprising: first detection module has barrier for obtaining to be characterized in the first altitude range
Hinder the first signal of object；The second detection module below the first detection module is characterized in the second height for obtaining
There are the second signals of barrier in range；
Processing module issues avoidance instruction for combining according to first signal and the second signal；
Control module controls the walking path of the automatic running device for instructing according to the avoidance.
Above-mentioned automatic running device can detect the barrier within the scope of different height.Flowering shrubs, tree are encountered when working in
When dry, bushes etc. when complex environments, automatic running device executes avoiding action, and more intelligence is to adapt to complicated building ring
Border, while promoting the safety of automatic running device.
The first detection module includes ultrasonic probe in one of the embodiments,；The ultrasonic probe, is used for
Transmitting and received ultrasonic signal；The ultrasonic probe is mounted in ultrasonic probe fixing seat, and the ultrasonic probe is solid
Reservation is set on the shell of automatic running device.
Second detection module includes magnetic patch and the Hall for incuding the magnetic patch in one of the embodiments,
Element；The Hall element, for detecting whether the magnetic patch is subjected to displacement；The Hall element is passed including at least two Halls
Sensor.
Detailed description of the invention
Fig. 1 is the barrier-avoiding method flow chart of automatic running device in an embodiment provided by the invention；
Fig. 2 is the barrier-avoiding method flow chart of automatic running device in a preferred embodiment provided by the invention；
Fig. 3 is the barrier-avoiding method flow chart of automatic running device in another preferred embodiment provided by the invention；
Fig. 4 is the obstacle avoidance system comprising modules schematic diagram of automatic running device in an embodiment provided by the invention；
Fig. 5 is the main view of automatic running device in an embodiment provided by the invention；
Fig. 6 is the left view of automatic running device in an embodiment provided by the invention；
Fig. 7 is the top view of automatic running device in an embodiment provided by the invention；
Fig. 8 is automatic running device avoiding obstacles by supersonic wave component diagram in an embodiment provided by the invention；
Fig. 9 is automatic running device and its operative scenario schematic diagram in an embodiment provided by the invention.
Wherein, label declaration is as follows:
100 driving wheels
200 driven wheels
300 casings
310 ultrasonic probe fixing seats
311 ultrasonic probes
320 cutting-height adjusting knobs
400 collection grass combs
510 first detection modules
520 second monitoring modulars
600 processing modules
700 control modules
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Figure 1, in one embodiment, a kind of barrier-avoiding method of automatic running device, comprising the following steps:
S110: the first signal being characterized in the first altitude range there are barrier is obtained；
The object for being defined as barrier can prevent the walking of automatic running device, need to change automatic running device
Walking path avoids barrier.
It is similar that automatic running device can be intelligent grass-removing, intelligent snowplough, intelligent floor-sweeping vehicle, intelligent ground washing vehicle etc.
Smart machine with automatically walk function.The embodiment of the present invention is by taking intelligent grass-removing as an example.
In one embodiment, Fig. 9 is referred to, intelligent grass-removing is equipped with ultrasonic probe, and ultrasonic probe is provided with
Emitter and reception device.Intelligent grass-removing is mowed on meadow, and ultrasonic transmission device is to grass trimmer direction of travel
Emit ultrasonic wave, ultrasonic wave is propagated in air, encounters barrier on the way and just reflected immediately, ultrasonic probe, ultrasonic receiver receives
Back wave.The back wave is defined as the first signal.Because ultrasonic wave directive property is strong, the distance propagated in the medium farther out, because
And ultrasonic wave can be used for the measurement of distance.
Ultrasonic probe is installed on the floating cover of grass trimmer, is had certain altitude apart from ground, be can be used for detecting height
Biggish barrier, such as trunk, chair.The regional scope of ultrasonic listening is the first height H1 range.As the first height H1
There are when barrier in range, using the characteristic of ultrasonic wave, reception device receives the reflected ultrasonic signal of barrier, warp
It crosses processing to calculate, in the position with barrier with certain distance, control intelligent grass-removing carries out avoiding action, and then avoids hindering
Hinder the collision of object and intelligent grass-removing.
S120: the second signal being characterized in the second altitude range there are barrier is obtained；
In one embodiment, Fig. 9 is referred to, is existed within the scope of the second height H2 in the mowing environment of intelligent grass-removing
Barrier, such as bushes, flowering shrubs etc..For existing barrier within the scope of the second height H2, and these barriers are super
Except the altitude range of sonic probe detection, intelligent grass-removing is provided with magnetic patch, carries out with the Hall element for incuding magnetic patch
Obstacle detection.
Magnetic patch is fixed on the interior of shell of intelligent grass-removing.Hall element is distributed in the magnetic field range of magnetic patch, to logical
The magnetic strong and weak variation of detection is crossed to judge whether magnetic patch moves.The displacement signal of the magnetic patch is defined as second signal.
In short, certain deformation occurs because of collision for shell after intelligent grass-removing encounters the barrier in the second altitude range,
Magnetic patch follows the deformation of shell and certain displacement occurs relative to Hall sensor.Magnetic patch is since position changes and magnetic field
It changes, Hall sensor detects that magnetic patch is displaced, to detect that intelligent grass-removing has encountered barrier, and then controls intelligence
The turning of energy grass trimmer, retrogressing etc..
S200: combining according to the first signal and the second signal, issues avoidance instruction,
It is the first signal, intelligence that the ultrasonic signal reflected by the barrier in the first altitude range has been defined above
Barrier collision in grass trimmer and the second altitude range, the magnetic patch on intelligent grass-removing shell are subjected to displacement, the displacement
Signal is second signal.
Further, the maximum value for being not more than the second altitude range by setting the minimum value of the first altitude range, then the
It is very close to each other or even have lap between one altitude range and the second altitude range.So, in the working environment of grass trimmer,
The height of barrier covers the first altitude range and the second altitude range substantially.In the first altitude range of ultrasonic wave covering,
Using the property detection barrier of ultrasonic wave, the first signal is obtained, when having the position of certain distance with barrier, controls intelligence
It can grass trimmer progress avoiding action.It can not be covered in the second altitude range in ultrasonic wave, barrier is detected by making contact, is obtained
Second signal is taken, the turning of control intelligent grass-removing retreats.In this way, different height model can be detected using above-mentioned barrier-avoiding method
Interior barrier is enclosed, and then uses different avoidance means.
In short, combining according to the first signal and the second signal, in conjunction with two kinds of avoidance means, to detect within the scope of different height
Barrier, judge whether intelligent grass-removing encounters barrier.When work in encounter flowering shrubs, trunk, bushes when etc. complicated ring
When border, intelligent grass-removing executes avoiding action, to adapt to complicated working environment, while promoting the safety of intelligent grass-removing.
S300: instructing according to avoidance, changes the walking path of automatic running device.
Combine according to first signal and the second signal, intelligent grass-removing issues avoidance instruction, to control intelligence
The movement of energy grass trimmer.For example, there are the barrier within the scope of the first height H1, detections at a certain distance from intelligent grass-removing
To the transmitting signal of ultrasonic wave, the avoidance instruction of steering is issued, control intelligent grass-removing turns to.
Further, Fig. 2 is referred to, in a preferred embodiment, a kind of barrier-avoiding method of automatic running device, specifically
It is further comprising the steps of:
S111: ultrasonic signal is issued to surrounding enviroment；
S112: surrounding enviroment are received to the reflection signal of ultrasonic signal；
S113: according to reflection signal, judge whether that there are barriers in the first altitude range.
Further, in a preferred embodiment, judge whether the step of there are barriers in the first altitude range, have
Body includes:
There are the first preset parameter values of barrier in acquisition the first altitude range of characterization；
When the first parameter value of reflection signal is greater than in the first altitude range of characterization, there are the first parameter presets of barrier
When value, judge that there are barriers in the first altitude range.
Wherein, the first parameter value for reflecting signal is the intensity value for reflecting signal.
Further, in a preferred embodiment, the first letter being characterized in the first altitude range there are barrier is obtained
Number the step of, specifically further include:
S114: the second parameter of the first signal will be converted into the transmitting ultrasonic wave moment with the time difference for receiving the ultrasonic wave moment
Value, the second parameter value of the first signal, for characterizing the barrier in automatic running device and the first altitude range between the two
Distance.
Specifically, ultrasonic transmission device emits ultrasonic wave to a direction, and ultrasonic wave is propagated in air, encountered on the way
Barrier just returns immediately.Ultrasonic probe, ultrasonic receiver receives the ultrasonic wave being reflected back, and calculates reflected ultrasonic wave
Signal strength.The preset ultrasonic signal strength value being reflected back is obtained simultaneously, it is big when reflecting ultrasonic wave signal strength indication
When default ultrasonic signal strength value, judge that there are barriers in the first altitude range.
Further, start timing while ultrasonic wave emission time, ultrasonic probe, ultrasonic receiver, which receives, to be reflected back toward
The ultrasonic wave come just stops timing, the i.e. time difference at timer record transmitting ultrasonic wave moment and reception ultrasonic wave moment immediately
T.Time difference T is defined as the first signal parameter value of characterization intelligent walking equipment and barrier distance between the two.
Within the period at transmitting ultrasonic wave moment and reception ultrasonic wave moment, ultrasonic wave is in barrier and intelligent grass-removing
The two back moves.The aerial spread speed of sound wave is denoted as V, according to the time T of timer record, so that it may calculate
Distance S of the emitter away from barrier out, it may be assumed that S=V*T/2.
Refer to Fig. 2, in a preferred embodiment, a kind of barrier-avoiding method of automatic running device, specifically further include with
Lower step:
S211: the second preset parameter value of the first signal is obtained；
S212: when the second parameter value of first signal is less than the second preset parameter value of first signal, hair
Avoidance instructs out.
Specifically, the second preset parameter value of the first signal is set, it can be straight by the second preset parameter value of the first signal
It grafts into control program, is called directly when executing program.Another way is to receive external the first signal directly inputted
Second preset parameter value, and being further stored in memory calls the of the first signal in memory when executing program
Two preset parameter values.Second preset parameter value of the first signal can be time parameter, be also possible to distance parameter.
When the second parameter preset of the first signal is time parameter, the first signal parameter value T and preset time are joined
Number is compared, and when the first signal parameter value T is more than preset time, issues avoidance instruction.
When the second parameter preset of the first signal is distance parameter, since the aerial spread speed of ultrasonic wave is about
340m/s can convert time parameter for distance parameter.The obtained time parameter of first signal parameter value T and conversion is carried out
Compare, when the first signal parameter value T is more than preset time, issues avoidance instruction.
Intelligent grass-removing is equipped with ultrasonic probe, when having the position of certain distance with barrier, intelligent grass-removing
Avoiding action is carried out to barrier, avoids the collision with barrier, and then avoid collision the damage to barrier and intelligent grass-removing
It is bad.
Further, Fig. 3 is referred to, in another preferred embodiment, a kind of barrier-avoiding method of automatic running device, tool
Body is further comprising the steps of:
S121: the barrier collision in automatic running device and the second altitude range.
S122: the second signal parameter value being characterized in the second altitude range there are barrier is obtained.
Intelligent grass-removing encounters the barrier that flowering shrubs, bushes etc. are located in the second altitude range when mowing, these barriers
Object is hindered to exceed the search coverage of ultrasonic wave.The grass trimmer inevitably collision with the barrier in the second altitude range.
Using the deformation of magnetic patch and Hall element detection intelligent grass-removing casing, and then judge whether grass trimmer is touched
It hits.Magnetic patch is fixed on the shell of intelligent grass-removing, and Hall element is distributed in the magnetic field range of magnetic patch.
When intelligent grass-removing and barrier collide, deformation occurs for shell, magnetic patch follow the deformation of shell and relative to suddenly
Certain displacement occurs for your sensor, magnetic patch due to position changes and magnetic field changes, Hall element can detecte
Magnetic patch displacement.The displacement physical quantity that Hall element will test is transformed into electricity, and then controls intelligent grass-removing.Hall element is defeated
Electric quantity signal out is defined as second signal parameter value.
S221: the preset parameter value of second signal is obtained；
S222: when the second signal parameter value is greater than the preset parameter value of the second signal, avoidance instruction is issued.
Specifically, the preset parameter value of second signal is set, the preset parameter value of second signal can be implanted directly into control
Processing procedure sequence is called directly when executing program.Another way is the parameter preset for receiving the external second signal directly inputted
Value, and be further stored in memory, the preset parameter value of the second signal in memory is called when executing program.Second
Signal parameter value is electrical parameter.
Second signal parameter value is compared with the default electrical parameter of second signal, when second signal parameter value is greater than
When the default electrical parameter value of second signal, avoidance instruction is issued.
For the barrier except ultrasonic listening region, it is displaced using Hall element detection magnetic patch, is cut to detect
Careless machine has encountered barrier, then controls the avoiding actions such as grass trimmer turning, retrogressing, reduces the damage to barrier.
Ultrasonic probe, two kinds of Hall element sensings is used in combination in the barrier-avoiding method of automatic running device disclosed by the invention
Device can detect the barrier within the scope of different height.When work in encounter flowering shrubs, trunk, bushes when etc. complex environments when,
Automatic running device executes avoiding action using the barrier-avoiding method, and more intelligence is promoted simultaneously with adapting to complicated working environment
The safety of automatic running device.
Based on same thinking, the embodiment of the present invention also provides a kind of automatic running device.Fig. 4 is referred to, this is automatic
The obstacle avoidance system of walking arrangement specifically includes:
First detection module, for obtaining the first signal being characterized within the scope of the first height H1 there are barrier.
The second detection module below first detection module exists for obtaining to be characterized within the scope of the second height H2
The second signal of barrier.
Processing module issues avoidance instruction for combining according to the first signal and the second signal.
Control module controls the walking path of automatic running device for instructing according to avoidance.
Further, first detection module includes ultrasonic probe.Ultrasonic probe, ultrasonic wave is believed for transmitting and receiving
Number.Ultrasonic probe is mounted in ultrasonic probe fixing seat, and ultrasonic probe fixing seat is set to the shell of automatic running device
On top.Second detection module includes magnetic patch and the Hall element for incuding magnetic patch.Hall element, for detecting the magnetic
Whether block is subjected to displacement.Hall element includes at least two Hall sensors.
Specifically, automatic running device can be intelligent grass-removing, intelligent snowplough, intelligent floor-sweeping vehicle, intelligent ground washing vehicle
Etc. the similar smart machine with automatically walk function.The embodiment of the present invention is by taking intelligent grass-removing as an example.
Refer to Fig. 5, Fig. 6, intelligent grass-removing includes that driving wheel 100, driven wheel 200, casing 300, ultrasonic probe are solid
Reservation 310, cutting-height adjusting knob 320, collection grass comb 400, magnetic patch (being shown in figure), Hall element (being shown in figure)
Deng.Driving wheel 100, support grass trimmer fuselage, suffered by frictional ground force forward, provide driving force for the traveling of grass trimmer.
Driven wheel 200 supports grass trimmer fuselage and is subordinated to driving wheel 100 and walks with fuselage, and driven wheel 200 can be in predetermined angular range
Interior rotation.When intelligent grass-removing is advanced, grass is by 400 guiding of collection grass comb, the neat mowing area for entering intelligent grass-removing.Refer to figure
8, ultrasonic probe 311 is installed in ultrasonic probe fixing seat 310.
Fig. 5 is referred to, there are two ultrasonic probe fixing seats 310 for intelligent grass-removing setting, are respectively arranged on casing 300
The left and right sides, the transverse direction of ultrasonic probe is covered as 100%, and the identification distance of ultrasonic probe is 5-95mm.
Fig. 7 is referred to, show that the angular range of the central axes of ultrasonic wave axis and grass trimmer is by inventor's measuring and calculating
In 30 ° to 50 °, the hold-down support front end of ultrasonic probe and the horizontal distance range of casing front end are in 110mm to 130mm.
Ultrasonic probe has optimum fixation position, and the angle of the central axes of ultrasonic wave axis and grass trimmer is 38 °, so that ultrasonic energy
The barrier of grass trimmer side is enough detected, having horizontal direction is wider search coverage.The hold-down support of ultrasonic probe
The horizontal distance of front end and casing front end is 126.4mm.So that grass trimmer avoids existing blind zone problem.
The deformation using magnetic patch and Hall element detection intelligent grass-removing casing has been discussed in detail above, it is no longer superfluous herein
It states.
Above-mentioned automatic running device can detect the barrier within the scope of different height.Flowering shrubs, tree are encountered when working in
When dry, bushes etc. when complex environments, automatic running device executes avoiding action, and more intelligence is to adapt to complicated building ring
Border, while promoting the safety of automatic running device.
The concrete application scene of the embodiment of the present invention is introduced below with reference to Fig. 9:
Meadow has the barriers such as trunk, flowering shrubs, bushes, chair.The high of these barriers is differed, for example, flowering shrubs and
The height of bushes is lower than the height of grass trimmer, and the height of trunk and chair is higher than the height of grass trimmer.It is provided by the invention to cut
Careless machine obstacle avoidance system includes ultrasonic probe, magnetic patch and Hall element.
Ultrasonic probe is mounted on mower housing top.The probe quantity at least two of ultrasonic wave, so that ultrasonic wave is visited
The transverse direction of head is covered as 100%.Ultrasonic probe detects higher-height barrier, such as trunk, and ultrasonic probe is detected
Height is denoted as H1.When, there are when barrier, ultrasonic wave is reflected by barrier, and ultrasonic probe receives within the scope of the first height H1
By the reflected ultrasonic signal of barrier, is calculated by processing, obtain the distance between barrier and grass trimmer.Due to super
The aerial spread speed of sound wave is 340m/s, can also convert time parameter for distance parameter.Transfer preset parameter
Time parameter or distance parameter that processing obtains are compared, when processing obtains by value with preset time parameter or distance
When the parameter value obtained is more than preset parameter value, avoidance instruction is issued.Grass trimmer is instructed according to avoidance, changes walking path, such as
Turning etc..Therefore, it can be carried out in the position with barrier with certain distance, control intelligent grass-removing using ultrasonic probe
Avoiding action avoids the collision of barrier and intelligent grass-removing.
Grass trimmer bottom end is apart from ground 60mm, and when encountering barrier of the height less than 60mm, grass trimmer can smoothly lead to
It crosses.When barrier appears in greater than 60mm and is located within the scope of height H2, ultrasonic listening region can not be covered, this part barrier
Hinder object can be by being evaded using magnetic patch and Hall element.Magnetic patch is fixed on the shell of intelligent grass-removing.Hall element
It is distributed in the magnetic field range of magnetic patch, to judge whether magnetic patch moves by the magnetic strong and weak variation of detection.It is cut when intelligently
After careless machine encounters the barrier within the scope of the second height H2, certain deformation occurs because of collision for shell, and magnetic patch follows the shape of shell
Become and certain displacement occurs relative to Hall sensor, Hall sensor detects that magnetic patch is displaced, to detect that intelligence is cut
Careless machine has encountered barrier, and then controllable intelligent grass-removing evades barrier, such as retreats.
Barrier within the scope of automatic running device and its barrier-avoiding method detection different height provided by the invention.Work as work
When encountering flowering shrubs, trunk, bushes etc. when complex environments, automatic running device executes avoiding action, and more intelligence is to adapt to
Complicated working environment, while promoting the safety of automatic running device.
Only several embodiments of the present invention are expressed for embodiment described above, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (12)
1. a kind of barrier-avoiding method of automatic running device characterized by comprising
Obtain the first signal being characterized in the first altitude range there are barrier；
Obtain the second signal being characterized in the second altitude range there are barrier；
Combine according to first signal and the second signal, issues avoidance instruction；
It is instructed according to the avoidance, changes the walking path of automatic running device.
2. barrier-avoiding method according to claim 1, which is characterized in that the acquisition, which is characterized in the first altitude range, to be existed
It the step of first signal of barrier, specifically includes:
Emit ultrasonic signal to surrounding enviroment；
The surrounding enviroment are received to the reflection signal of the ultrasonic signal；
According to the reflection signal, judge whether that there are barriers in the first altitude range.
3. barrier-avoiding method according to claim 2, which is characterized in that it is described according to the reflection signal, judge whether
The step of there are barriers in first altitude range, specifically includes:
There are the first preset parameter values of barrier in acquisition the first altitude range of characterization；
When the first parameter value of the reflection signal is greater than in the first altitude range of the characterization, there are the first of barrier to be preset
When parameter value, judge that there are barriers in the first altitude range.
4. barrier-avoiding method according to claim 3, which is characterized in that the first parameter value of the reflection signal is described anti-
Penetrate the intensity value of signal.
5. barrier-avoiding method according to any one of claims 1 to 4, which is characterized in that the acquisition is characterized in the first height model
Interior the step of there are the first signals of barrier is enclosed, specifically further include:
The ultrasonic wave moment will be emitted and receive the time difference at ultrasonic wave moment and be converted into the second parameter value of the first signal, described the
Second parameter value of one signal, for characterize both barriers in the automatic running device and first altitude range it
Between distance.
6. barrier-avoiding method according to claim 5, which is characterized in that further comprising the steps of:
Obtain the second preset parameter value of the first signal；
When the second parameter value of first signal is less than the second preset parameter value of first signal, issues avoidance and refer to
It enables.
7. barrier-avoiding method according to claim 1, which is characterized in that the acquisition, which is characterized in the second altitude range, to be existed
It the step of second signal of barrier, specifically includes:
After the barrier collision in the automatic running device and second altitude range, it is high that acquisition is characterized in described second
There are the second signal parameter values of barrier in degree range.
8. barrier-avoiding method according to claim 7, which is characterized in that further comprising the steps of:
Obtain the preset parameter value of second signal；
When the second signal parameter value is greater than the preset parameter value of the second signal, avoidance instruction is issued.
9. barrier-avoiding method according to claim 1, which is characterized in that the minimum value of first altitude range is not more than institute
State the maximum value of the second altitude range.
10. a kind of automatic running device characterized by comprising
First detection module, for obtaining the first signal being characterized in the first altitude range there are barrier；
There is barrier for obtaining to be characterized in the second altitude range in the second detection module below the first detection module
Hinder the second signal of object；
Processing module issues avoidance instruction for combining according to first signal and the second signal；
Control module controls the walking path of the automatic running device for instructing according to the avoidance.
11. automatic running device according to claim 10, which is characterized in that the first detection module includes ultrasonic wave
Probe, the ultrasonic probe, for transmitting and receiving ultrasonic signal；
The ultrasonic probe is mounted in ultrasonic probe fixing seat, and the ultrasonic probe fixing seat is set set on automatically walk
On standby shell.
12. automatic running device according to claim 10, which is characterized in that second detection module include magnetic patch,
With the Hall element for incuding the magnetic patch, the Hall element, for detecting whether the magnetic patch is subjected to displacement, it is described suddenly
Your element includes at least two Hall sensors.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711123631.2A CN109782750A (en) | 2017-11-14 | 2017-11-14 | Automatic running device and its barrier-avoiding method |
| US16/613,816 US11614744B2 (en) | 2017-11-14 | 2018-11-14 | Self-moving apparatus and method for controlling same |
| DE202018006349.5U DE202018006349U1 (en) | 2017-11-14 | 2018-11-14 | Self-moving system |
| PCT/CN2018/115436 WO2019096166A1 (en) | 2017-11-14 | 2018-11-14 | Self-moving device and control method therefor |
| EP18879507.4A EP3605142A4 (en) | 2017-11-14 | 2018-11-14 | Self-moving device and control method therefor |
| CN201890000519.1U CN212278869U (en) | 2017-11-14 | 2018-11-14 | From mobile device and intelligent lawn mower |
| US18/115,747 US20230205224A1 (en) | 2017-11-14 | 2023-02-28 | Self-moving apparatus and method for controlling same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711123631.2A CN109782750A (en) | 2017-11-14 | 2017-11-14 | Automatic running device and its barrier-avoiding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109782750A true CN109782750A (en) | 2019-05-21 |
Family
ID=66493502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711123631.2A Pending CN109782750A (en) | 2017-11-14 | 2017-11-14 | Automatic running device and its barrier-avoiding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109782750A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110679274A (en) * | 2019-11-04 | 2020-01-14 | 黄可 | Management system of municipal lawn maintenance equipment |
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112293031A (en) * | 2019-07-25 | 2021-02-02 | 南京德朔实业有限公司 | Rear-walking type self-pushing working machine |
| CN116058158A (en) * | 2021-11-01 | 2023-05-05 | 苏州宝时得电动工具有限公司 | Automatic mower |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101135911A (en) * | 2007-09-21 | 2008-03-05 | 浙江大学 | An Intelligent Control System for Mowing Robot |
| CN102360086A (en) * | 2011-09-30 | 2012-02-22 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| CN202305838U (en) * | 2011-09-30 | 2012-07-04 | 上海合时智能科技有限公司 | Barrier collision detecting system for household service robot |
| JP2013124986A (en) * | 2011-12-15 | 2013-06-24 | Panasonic Corp | Obstacle detector for vehicle |
| CN103325215A (en) * | 2013-07-10 | 2013-09-25 | 贵州大学 | Device for preventing blind person from being stumbled |
| JP2014013551A (en) * | 2012-07-05 | 2014-01-23 | Sharp Corp | Self-propelled apparatus |
| CN203647665U (en) * | 2014-01-07 | 2014-06-18 | 于宇航 | Blind guiding instrument allowing adjustable measurement of heights of obstacles |
| CN104007765A (en) * | 2014-06-16 | 2014-08-27 | 成都北斗群星智能科技有限公司 | Sweeping robot obstacle avoiding and positioning system and method |
| CN204374771U (en) * | 2015-01-14 | 2015-06-03 | 上海物景智能科技有限公司 | Realize device and the sweeping robot of the modeling of sweeping robot map boundary line |
| CN105473402A (en) * | 2013-08-26 | 2016-04-06 | 丰田自动车株式会社 | In-vehicle control device |
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| CN105539655A (en) * | 2015-12-07 | 2016-05-04 | 小米科技有限责任公司 | Prompting method and device |
| CN205286872U (en) * | 2015-12-17 | 2016-06-08 | 上海康龙宝康复器材科技有限公司 | Blind person keeps away barrier glasses |
| CN105746094A (en) * | 2016-04-05 | 2016-07-13 | 常州格力博有限公司 | Omnibearing crash sensor device and lawn mower |
| CN205431101U (en) * | 2015-12-22 | 2016-08-10 | 苏州宝时得电动工具有限公司 | External force detection device and install this external force detection device's intelligent lawn mower |
| KR20170049718A (en) * | 2015-10-27 | 2017-05-11 | 현대오트론 주식회사 | Apparatus and method for sensing obstacles |
| WO2017101882A1 (en) * | 2015-12-17 | 2017-06-22 | 苏州宝时得电动工具有限公司 | Auto-movement robot system |
| CN106909149A (en) * | 2017-03-14 | 2017-06-30 | 深圳蓝因机器人科技有限公司 | A kind of method and device of depth camera avoidance |
| CN107041718A (en) * | 2016-02-05 | 2017-08-15 | 北京小米移动软件有限公司 | Cleaning robot and control method thereof |
| CN107305380A (en) * | 2016-04-20 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic obstacle-avoiding method and apparatus |
| CN207650647U (en) * | 2017-11-14 | 2018-07-24 | 宝时得科技（中国）有限公司 | Automatic running device |
-
2017
- 2017-11-14 CN CN201711123631.2A patent/CN109782750A/en active Pending
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101135911A (en) * | 2007-09-21 | 2008-03-05 | 浙江大学 | An Intelligent Control System for Mowing Robot |
| CN102360086A (en) * | 2011-09-30 | 2012-02-22 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| CN202305838U (en) * | 2011-09-30 | 2012-07-04 | 上海合时智能科技有限公司 | Barrier collision detecting system for household service robot |
| JP2013124986A (en) * | 2011-12-15 | 2013-06-24 | Panasonic Corp | Obstacle detector for vehicle |
| JP2014013551A (en) * | 2012-07-05 | 2014-01-23 | Sharp Corp | Self-propelled apparatus |
| CN103325215A (en) * | 2013-07-10 | 2013-09-25 | 贵州大学 | Device for preventing blind person from being stumbled |
| CN105473402A (en) * | 2013-08-26 | 2016-04-06 | 丰田自动车株式会社 | In-vehicle control device |
| CN203647665U (en) * | 2014-01-07 | 2014-06-18 | 于宇航 | Blind guiding instrument allowing adjustable measurement of heights of obstacles |
| CN104007765A (en) * | 2014-06-16 | 2014-08-27 | 成都北斗群星智能科技有限公司 | Sweeping robot obstacle avoiding and positioning system and method |
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| CN204374771U (en) * | 2015-01-14 | 2015-06-03 | 上海物景智能科技有限公司 | Realize device and the sweeping robot of the modeling of sweeping robot map boundary line |
| KR20170049718A (en) * | 2015-10-27 | 2017-05-11 | 현대오트론 주식회사 | Apparatus and method for sensing obstacles |
| CN105539655A (en) * | 2015-12-07 | 2016-05-04 | 小米科技有限责任公司 | Prompting method and device |
| CN205286872U (en) * | 2015-12-17 | 2016-06-08 | 上海康龙宝康复器材科技有限公司 | Blind person keeps away barrier glasses |
| WO2017101882A1 (en) * | 2015-12-17 | 2017-06-22 | 苏州宝时得电动工具有限公司 | Auto-movement robot system |
| CN205431101U (en) * | 2015-12-22 | 2016-08-10 | 苏州宝时得电动工具有限公司 | External force detection device and install this external force detection device's intelligent lawn mower |
| CN107041718A (en) * | 2016-02-05 | 2017-08-15 | 北京小米移动软件有限公司 | Cleaning robot and control method thereof |
| CN105746094A (en) * | 2016-04-05 | 2016-07-13 | 常州格力博有限公司 | Omnibearing crash sensor device and lawn mower |
| CN107305380A (en) * | 2016-04-20 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic obstacle-avoiding method and apparatus |
| CN106909149A (en) * | 2017-03-14 | 2017-06-30 | 深圳蓝因机器人科技有限公司 | A kind of method and device of depth camera avoidance |
| CN207650647U (en) * | 2017-11-14 | 2018-07-24 | 宝时得科技（中国）有限公司 | Automatic running device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223348A (en) * | 2019-06-28 | 2021-01-15 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112293031A (en) * | 2019-07-25 | 2021-02-02 | 南京德朔实业有限公司 | Rear-walking type self-pushing working machine |
| CN112293031B (en) * | 2019-07-25 | 2022-07-05 | 南京泉峰科技有限公司 | Rear-walking type self-pushing working machine |
| CN110679274A (en) * | 2019-11-04 | 2020-01-14 | 黄可 | Management system of municipal lawn maintenance equipment |
| CN116058158A (en) * | 2021-11-01 | 2023-05-05 | 苏州宝时得电动工具有限公司 | Automatic mower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11194342B2 (en) | Lawn care robot | |
| CN109782750A (en) | Automatic running device and its barrier-avoiding method | |
| CN207650647U (en) | Automatic running device | |
| CN116027337A (en) | Intelligent mower, self-moving equipment and obstacle recognition method thereof | |
| CN109426264A (en) | From mobile device and its control method of movement routine | |
| CN108323310B (en) | Mowing robot | |
| CN109426267A (en) | From mobile device | |
| WO2021139685A1 (en) | Automatic operation system | |
| CN109426265A (en) | From mobile device | |
| US12066831B2 (en) | Self-moving device, obstacle detection method thereof, and obstacle detection module | |
| CN109426268A (en) | From mobile device | |
| CN215813854U (en) | Automatic walking equipment | |
| CN118338776A (en) | Intelligent mower | |
| EP3143469B1 (en) | Automatic sensitivity adjustment in object detection system | |
| CN113970918A (en) | Automatic walking equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |