CN113885500A - LDS and current-based state detection method and device - Google Patents
LDS and current-based state detection method and device Download PDFInfo
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Abstract
The status detection method based on LDS and current is characterized by comprising the following steps: continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot; firstly, detecting that the distance data is lower than a distance detection threshold, and then judging whether the current data exceeds a current judgment threshold so as to determine whether the robot collides; or firstly detecting that the current data is higher than a current detection threshold value, and then judging whether the distance data is lower than a distance judgment threshold value so as to determine whether the robot collides. According to the scheme, the distance data and the current data are monitored, whether the robot is suspected to collide is judged through the current detection threshold and the distance detection threshold, then the collision state of the robot is determined through the corresponding distance judgment threshold and the current judgment threshold, the collision can be accurately judged while the abnormity of the distance data and the current data is comprehensively detected, and the robot collision judgment efficiency is high.
Description
Technical Field
The application relates to the technical field of robot collision detection, in particular to a state detection method and device based on LDS and current, computer equipment and a memory.
Background
When an existing robot cleans the ground, due to the fact that the surrounding environment is complex, when the robot moves around, the robot often collides with surrounding obstacles, whether the robot collides with the surrounding environment needs to be detected, the existing scheme is that the distance between the robot and the obstacles is determined through a laser ranging mode to judge whether the robot collides with other objects in the environment, in the process, due to the fact that data of laser signals cannot guarantee absolute accuracy, false recognition is easy to cause, and when the distance between the robot and the surrounding obstacles is short, the false recognition is easy to cause; the other scheme is to track and monitor the rotation condition of the wheels of the robot, and judge whether the robot is abnormal or not by detecting whether the wheels of the robot stop or not, however, the reasons for stopping the wheels of the robot are many, not all are due to collision, and therefore misjudgment can be caused.
Disclosure of Invention
The embodiment of the application aims to provide a method for accurately detecting whether a robot collides with the surrounding environment so as to judge the state of the robot.
In order to solve the above technical problem, an embodiment of the present application provides a state detection method based on LDS and current, which adopts the following technical solutions:
a method for LDS and current based status detection, the method comprising:
continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot;
firstly, detecting that the distance data is lower than a distance detection threshold, and then judging whether the current data exceeds a current judgment threshold so as to determine whether the robot collides;
or firstly detecting that the current data is higher than a current detection threshold value, and then judging whether the distance data is lower than a distance judgment threshold value so as to determine whether the robot collides.
Further, the method for obtaining distance data specifically comprises obtaining a set of distance values by constant-frequency sampling in a time period, and averaging the set of distance values to obtain the distance data;
further, the distance data is obtained, specifically, the time period is updated in a sliding manner, so that the distance data is obtained and updated;
wherein the sliding update the periods is a periodic update period, and the time length of each period is the same as the time length of the previous period, the start time of each period being between the start and end times of the previous period.
Further, the distance data is obtained in a plurality of directions in which the LDS modules are arranged, and the minimum distance data is extracted.
Further, the current data acquisition method specifically includes acquiring a set of current values by means of fixed-frequency sampling in a period of time, and averaging the set of current values to acquire the current data.
Acquiring the current data, specifically, updating the time period in a sliding manner to acquire and update the current data;
wherein the sliding update the periods is a periodic update period, and the time length of each period is the same as the time length of the previous period, the start time of each period being between the start and end times of the previous period.
Further, the current data is obtained by detecting the current loaded on any group of wheel shafts of the robot.
Further, the current data is obtained through the maximum value of the currents loaded on at least two groups of wheel shafts of the robot.
Further, the detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed simultaneously.
Further, the detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed alternately.
Further, continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot in a conventional state;
entering a first detection state according to the distance data being lower than a distance detection threshold value until the distance data being higher than the distance detection threshold value, jumping out of the first detection state and returning to the conventional state, and judging whether the current data exceeds a current judgment threshold value in the first detection state; the first detection state is a state of whether the current data exceeds a current judgment threshold;
entering a second detection state according to the fact that the current data is higher than the current detection threshold value until the current data is lower than the current detection threshold value, jumping out of the second detection state and returning to the conventional state, and judging whether the distance data is lower than a distance judgment threshold value or not in the second detection state; the second detection state is a state of whether or not the distance data is lower than a distance judgment threshold.
Further, when the duration of the robot in the first state or the second state exceeds a time threshold, the robot jumps out and returns to the normal state.
In order to solve the technical problem, the present application further provides a status detection device based on LDS and current, and the specific scheme is as follows:
LDS and current based state detection device, comprising:
the data acquisition module is used for continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot; the conventional state is a state that the robot normally walks and directly judges whether the robot generates collision or not;
and the detection module is used for judging whether the current data exceeds the current judgment threshold value or not according to the condition that the distance data is lower than the distance detection threshold value, or judging whether the distance data is lower than the distance judgment threshold value or not according to the condition that the current data is higher than the current detection threshold value so as to determine whether the robot collides.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the method comprises the steps of obtaining data on the distance between a robot and an obstacle and current data loaded on wheels, wherein the data on the distance reflects whether the robot is close to the obstacle or not, the current data reflects the rotation condition of the wheels of the robot, and when the wheels of the robot are locked and stop rotating, the magnitude of current loaded on the wheels is suddenly increased.
And simultaneously detecting the distance data and the current data, and setting corresponding distance detection threshold values and current detection threshold values to judge the correspondence. If the distance data is detected to be lower than the distance detection threshold value firstly, the robot is probably collided, when the distance data is lower than the distance detection threshold value, whether the current data exceeds the current judgment threshold value or not is detected, whether the robot is collided or not is judged through the current data, and when the current magnitude exceeds the current judgment threshold value, the robot is stopped under the condition that the distance between the robot and an obstacle is lower than a preset value. It is determined that the robot collides with the obstacle.
Similarly, if it is first detected that the current data is higher than the current detection threshold, in this case, it is detected whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided;
according to the scheme, the distance data and the current data are monitored, whether the robot is suspected to collide is judged through the current detection threshold and the distance detection threshold, then the collision state of the robot is determined through the corresponding distance judgment threshold and the current judgment threshold, whether the robot collides can be accurately judged while the abnormal conditions of the distance data and the current data are comprehensively detected, and the robot collision judgment efficiency is high.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow diagram of one embodiment of a LDS and current based condition detection method according to the present application;
FIG. 2 is a schematic block diagram of one embodiment of an LDS and current based condition detection apparatus according to the present application;
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flow diagram of one embodiment of a LDS and current based state detection method according to the present application is shown. The LDS and current-based state detection method comprises the following steps:
a method for LDS and current based status detection, the method comprising:
step S100: continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot;
step S200: firstly, detecting that the distance data is lower than a distance detection threshold, and then judging whether the current data exceeds a current judgment threshold so as to determine whether the robot collides;
step S300: or firstly detecting that the current data is higher than a current detection threshold value, and then judging whether the distance data is lower than a distance judgment threshold value so as to determine whether the robot collides.
The method comprises the steps of obtaining data on the distance between a robot and an obstacle and current data loaded on wheels, wherein the data on the distance reflects whether the robot is close to the obstacle or not, the current data reflects the rotation condition of the wheels of the robot, and when the wheels of the robot are locked and stop rotating, the magnitude of current loaded on the wheels is suddenly increased.
And simultaneously detecting the distance data and the current data, and setting corresponding distance detection threshold values and current detection threshold values to judge the correspondence. If the distance data is detected to be lower than the distance detection threshold value firstly, the robot is probably collided, when the distance data is lower than the distance detection threshold value, whether the current data exceeds the current judgment threshold value or not is detected, whether the robot is collided or not is judged through the current data, and when the current magnitude exceeds the current judgment threshold value, the robot is stopped under the condition that the distance between the robot and an obstacle is lower than a preset value. It is determined that the robot collides with the obstacle.
Similarly, if it is first detected that the current data is higher than the current detection threshold, in this case, it is detected whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided;
according to the scheme, the distance data and the current data are monitored, whether the robot is suspected to collide is judged through the current detection threshold and the distance detection threshold, then the collision state of the robot is determined through the corresponding distance judgment threshold and the current judgment threshold, whether the robot collides can be accurately judged while the abnormal conditions of the distance data and the current data are comprehensively detected, and the robot collision judgment efficiency is high.
Further, whether the current data exceeds the current judgment threshold is judged according to the fact that the distance data is lower than the distance detection threshold, and specifically, whether the current data is larger than 140mA is judged when the distance data is smaller than 3 cm.
In the present embodiment, the distance data is data between the robot and the obstacle detected by the LDS. Whether the distance data are lower than a preset distance detection threshold value or not is detected, so that the collision condition between the robot and the obstacle detected by means of LDS is judged, if the distance data are lower than the preset distance detection threshold value, the fact that the robot is close to the obstacle and is suspected to be blocked by the obstacle is judged, the current loaded on the robot is detected, the rotation condition of the wheels is judged through the current judgment threshold value, if the distance data are larger than the distance detection threshold value, the fact that the current loaded on the wheels is obviously increased means that the wheels of the sweeping robot are clamped, and if the distance data are smaller than the preset distance detection threshold value, the fact that the current loaded on the wheels is obviously increased means that the sweeping robot and the obstacle collide. According to the scheme, current detection and distance detection can be combined, under the condition that distance data are abnormal, the detection of the current judgment threshold value is started to determine whether the sweeping robot collides, so that the data generated by two detection means are continuously detected on the premise that the state of the sweeping robot is accurately determined by combining the two detection means. The method has high success rate of detecting the state of the robot.
Further, whether the current data exceeds the current judgment threshold is judged according to the fact that the distance data is lower than the distance detection threshold, and specifically, whether the distance data is smaller than 8cm is judged when the current data is larger than 170 mA.
In this embodiment, the current data refers to a current loaded on the sweeping robot, the current control motor drives the sweeping robot to rotate, when the sweeping robot is clamped, the motor cannot normally rotate, the current loaded on the motor is passively and significantly increased, whether the rotation of wheels of the sweeping robot is abnormal is determined by detecting the current data, if the current data exceeds a current detection threshold, the distance data is detected according to a distance judgment threshold, if the distance data is larger, the sweeping robot is in a clamped state rather than collision, and if the distance data is smaller than the distance judgment threshold, the robot is determined to have collision, and the success rate of detecting the robot state by using the scheme is high.
Further, the method for obtaining distance data specifically comprises obtaining a set of distance values by constant-frequency sampling in a time period, and averaging the set of distance values to obtain the distance data;
the method for acquiring the current data specifically includes acquiring a group of current values through fixed-frequency sampling in a period of time, and averaging the group of current values to acquire the current data.
Specifically, by means of fixed-frequency sampling and averaging, data jitter of current data and distance data is prevented, data accuracy is guaranteed, and false detection of collision caused by frequent back-and-forth bouncing of the distance data within and outside a range of a distance detection threshold value or back-and-forth bouncing of the current data within and outside the range of the current detection threshold value is prevented. Further, the distance data is obtained, specifically, the time period is updated in a sliding manner, so that the distance data is obtained and updated;
acquiring the current data, specifically, updating the time period in a sliding manner to acquire and update the current data;
wherein the sliding update the periods is a periodic update period, and the time length of each period is the same as the time length of the previous period, the start time of each period being between the start and end times of the previous period.
In one embodiment, the value in the last cycle after the sliding update period is not used, and the fixed-frequency sampling value and the average are performed again on the sliding period.
In another embodiment, the sliding distance of the time segment is adapted to the frequency of the fixed-frequency sampling, and the sliding distance is an integer multiple of the frequency, so that after the sliding update time segment, the value in the previous cycle is partially used and partially discarded, and on the basis, the fixed-frequency value of the data in the time segment is performed, so that the discarded value in the previous cycle can be replaced, and finally, the value obtained in the current cycle is averaged. The scheme can smoothly update the current data and the distance data in real time, and the accuracy of acquiring the distance data is high by continuously and periodically acquiring a plurality of signals and performing sliding update in real time to keep the real-time performance of the data.
Further, the distance data is obtained in a plurality of directions in which the LDS modules are arranged, and the minimum distance data is extracted.
Specifically, the robot may detect that distance data are abnormal in multiple directions, the minimum distance data are selected as a basis for judging whether the robot collides, and the scheme can detect collisions generated in all directions, so that collision detection efficiency is improved.
Further, the current data is obtained by detecting the current loaded on any group of wheel shafts of the robot.
Specifically, if the robot has only one set of driving wheels, the robot only needs to detect the current on the set of driving wheels as the judgment basis for current detection.
Further, the current data is obtained through the maximum value of the currents loaded on at least two groups of wheel shafts of the robot.
Specifically, if more than two groups of driving wheels are arranged on the robot, the current is loaded on each driving wheel or a wheel shaft of the driving wheel respectively, the current data with the largest numerical value is selected as the basis for judging the current, if the wheels of the robot are blocked, the current can be detected inevitably, and the detection precision of the blocked situation of the wheels and the wheels is high. In the specific implementation process, in the use state of the two-wheel drive, the current magnitude is 70mA to 80mA in the normal running process of each wheel, and the current magnitude is 120mA to 160mA after the wheels collide to influence the rotation of the wheels.
Further, the detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed simultaneously.
The scheme can simultaneously detect the distance data and the current data in real time, and reduces the probability of missing collision detection.
Further, the detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed alternately.
The scheme can detect by taking the current detection threshold and the distance detection threshold as references in different time periods, and the reliability of the detection process is high.
Further, continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot in a conventional state;
entering a first detection state according to the distance data being lower than a distance detection threshold value until the distance data being higher than the distance detection threshold value, jumping out of the first detection state and returning to the conventional state, and judging whether the current data exceeds a current judgment threshold value in the first detection state; the first detection state is a state of whether the current data exceeds a current judgment threshold;
entering a second detection state according to the fact that the current data is higher than the current detection threshold value until the current data is lower than the current detection threshold value, jumping out of the second detection state and returning to the conventional state, and judging whether the distance data is lower than a distance judgment threshold value or not in the second detection state; the second detection state is a state of whether or not the distance data is lower than a distance judgment threshold.
When the robot enters the first detection state, the first detection state is maintained by continuously detecting the distance data and the distance data is always lower than the distance detection threshold, the current data is detected by the current judgment threshold, and when the distance data is greater than the distance detection threshold, the robot jumps out of the first detection state and stops detecting the current judgment threshold. And simultaneously resetting corresponding accumulated parameters (including accumulated values and count values), setting the state of the robot, detecting a distance detection threshold value and a current detection threshold value of the robot according to the fact that the robot is in a conventional state, detecting a current judgment threshold value of the robot according to the fact that the robot is in a first detection state, and similarly detecting the distance judgment threshold value of the robot in a second detection state.
Further, when the duration of the robot in the first state or the second state exceeds a time threshold, the robot jumps out and returns to the normal state.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Referring to fig. 2, in order to solve the above technical problem, an embodiment of the present application further provides a state detection device based on LDS and current, which adopts the following technical solutions:
LDS and current based state detection device, comprising:
the data acquisition module 100 is used for continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot; the conventional state is a state that the robot normally walks and directly judges whether the robot generates collision or not;
the detection module 200 is configured to determine whether the current data exceeds a current determination threshold according to whether the distance data is lower than the distance detection threshold, or determine whether the distance data is lower than the distance determination threshold according to whether the current data is higher than the current detection threshold, so as to determine whether the robot collides.
The method comprises the steps of obtaining data on the distance between a robot and an obstacle and current data loaded on wheels, wherein the data on the distance reflects whether the robot is close to the obstacle or not, the current data reflects the rotation condition of the wheels of the robot, and when the wheels of the robot are locked and stop rotating, the magnitude of current loaded on the wheels is suddenly increased.
And simultaneously detecting the distance data and the current data, and setting corresponding distance detection threshold values and current detection threshold values to judge the correspondence. If the distance data is detected to be lower than the distance detection threshold value firstly, the robot is probably collided, when the distance data is lower than the distance detection threshold value, whether the current data exceeds the current judgment threshold value or not is detected, whether the robot is collided or not is judged through the current data, and when the current magnitude exceeds the current judgment threshold value, the robot is stopped under the condition that the distance between the robot and an obstacle is lower than a preset value. It is determined that the robot collides with the obstacle.
Similarly, if it is first detected that the current data is higher than the current detection threshold, in this case, it is detected whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided;
according to the scheme, the distance data and the current data are monitored, whether the robot is suspected to collide is judged through the current detection threshold and the distance detection threshold, then the collision state of the robot is determined through the corresponding distance judgment threshold and the current judgment threshold, whether the robot collides can be accurately judged while the abnormal conditions of the distance data and the current data are comprehensively detected, and the robot collision judgment efficiency is high.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (12)
1. The status detection method based on LDS and current is characterized by comprising the following steps:
continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot;
firstly, detecting that the distance data is lower than a distance detection threshold, and then judging whether the current data exceeds a current judgment threshold so as to determine whether the robot collides;
or firstly detecting that the current data is higher than a current detection threshold value, and then judging whether the distance data is lower than a distance judgment threshold value so as to determine whether the robot collides.
2. The LDS and current-based state detection method as claimed in claim 1, wherein the distance data is obtained by obtaining a set of distance values by sampling at a fixed frequency in a period of time and averaging the set of distance values to obtain the distance data;
and/or the current data acquisition method, specifically, acquiring a group of current values by sampling at a fixed frequency in a period of time, and averaging the group of current values to acquire the current data.
3. The LDS and current based state detection method as claimed in claim 2, wherein the obtaining of the distance data, in particular the sliding updating of the time period, obtains and updates the distance data;
wherein the sliding update the periods is a periodic update period, and the time length of each period is the same as the time length of the previous period, the start time of each period being between the start and end times of the previous period.
4. The LDS and current based state detection method of claim 2, wherein the distance data is obtained, in particular, in a plurality of directions in which LDS modules are arranged, and the smallest distance data is extracted.
5. The LDS and current based state detection method of claim 2, wherein the obtaining of the current data, in particular the sliding updating of the time period, obtains and updates the current data;
wherein the sliding update the periods is a periodic update period, and the time length of each period is the same as the time length of the previous period, the start time of each period being between the start and end times of the previous period.
6. The LDS and current based state detection method of claim 5, wherein the current data is obtained by current detection loaded on any set of wheel shafts of the robot.
7. The LDS and current based state detection method of claim 5, wherein said current data is obtained from the maximum of the currents loaded on at least two sets of wheel shafts of the robot.
8. The LDS and current based state detection method of claim 1, wherein the detection of whether the distance data is below a distance detection threshold and the detection of whether the current data is above a current determination threshold are performed simultaneously.
9. The LDS and current based state detection method of claim 1, wherein the detection of whether the distance data is below a distance detection threshold and the detection of whether the current data is above a current determination threshold are interleaved.
10. The LDS and current based state detection method of claim 1, wherein distance data generated by the LDS and current data loaded on wheels of the robot are continuously acquired under normal conditions;
entering a first detection state according to the distance data being lower than a distance detection threshold value until the distance data being higher than the distance detection threshold value, jumping out of the first detection state and returning to the conventional state, and judging whether the current data exceeds a current judgment threshold value in the first detection state; the first detection state is a state of whether the current data exceeds a current judgment threshold;
entering a second detection state according to the fact that the current data is higher than the current detection threshold value until the current data is lower than the current detection threshold value, jumping out of the second detection state and returning to the conventional state, and judging whether the distance data is lower than a distance judgment threshold value or not in the second detection state; the second detection state is a state of whether or not the distance data is lower than a distance judgment threshold.
11. The LDS and current based state detection method of claim 10, wherein the robot jumps out and reverts to the normal state when the duration of the first state or the second state exceeds a time threshold.
12. Status detection device based on LDS and electric current, characterized by includes:
the data acquisition module is used for continuously acquiring distance data generated by the LDS and current data loaded on wheels of the robot; the conventional state is a state that the robot normally walks and directly judges whether the robot generates collision or not;
and the detection module is used for judging whether the current data exceeds the current judgment threshold value or not according to the condition that the distance data is lower than the distance detection threshold value, or judging whether the distance data is lower than the distance judgment threshold value or not according to the condition that the current data is higher than the current detection threshold value so as to determine whether the robot collides.
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| CN109739223A (en) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | Robot obstacle-avoiding control method, device and terminal device |
| CN110977972A (en) * | 2019-12-03 | 2020-04-10 | 珠海格力电器股份有限公司 | Multi-joint robot collision detection method, computer-readable storage medium and robot |
| CN111168665A (en) * | 2019-11-29 | 2020-05-19 | 江苏集萃智能制造技术研究所有限公司 | Robot and collision detection method and device thereof |
| CN111487964A (en) * | 2020-04-03 | 2020-08-04 | 北京理工大学 | Robot trolley and autonomous obstacle avoidance method and device thereof |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
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2021
- 2021-10-08 CN CN202111173229.1A patent/CN113885500A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739223A (en) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | Robot obstacle-avoiding control method, device and terminal device |
| CN111168665A (en) * | 2019-11-29 | 2020-05-19 | 江苏集萃智能制造技术研究所有限公司 | Robot and collision detection method and device thereof |
| CN110977972A (en) * | 2019-12-03 | 2020-04-10 | 珠海格力电器股份有限公司 | Multi-joint robot collision detection method, computer-readable storage medium and robot |
| CN111487964A (en) * | 2020-04-03 | 2020-08-04 | 北京理工大学 | Robot trolley and autonomous obstacle avoidance method and device thereof |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
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