CN114571490A - Robot system, control method for robot system, and storage medium - Google Patents
Robot system, control method for robot system, and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention relates to the technical field of robots, and provides a robot system, a control method of the robot system and a storage medium, which are used for improving the intelligent degree of a mobile robot. The robot system comprises a mobile robot and a robot base station; the mobile robot and/or the robot base station are/is provided with a target sensor, and the target sensor is used for detecting limbs in a preset detection area range; the controller of the mobile robot and/or the controller of the robot base station are/is in communication connection with the target sensor; the controller of the mobile robot or the controller of the robot base station is used for judging a limb command according to the target detection information; and the controller of the mobile robot controls the mobile robot to execute actions according to the limb commands.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot system, a method for controlling the robot system, and a storage medium.
Background
With the development of technology and the increase in demand for human resource liberation, the demand for household appliances of various functions has also increased, and among them, the control of household appliances such as cleaning robots is also one of the demands. At present, most of the existing cleaning robot control methods realize control over the cleaning robot through mechanical keys or touch keys.
The control mode through mechanical button or touch button needs the user to bend down or squat down to find the corresponding mechanical button or touch button position and then press the button, can not embody the intelligent degree of cleaning machines people, gives the user a not good experience.
In order to solve the above problems, in the application document of the disclosure of Cleaning robot and method for control of robot cleaner, which is published in DE102018200726a1, a technical solution for detecting a gesture in a preset detection area by a distance sensor mounted on the upper surface of a mobile robot and further controlling the mobile robot is disclosed. However, according to the technical scheme, only the distance sensor is installed on the mobile robot, when the mobile robot is controlled through one end of the robot base station, the mobile robot cannot be controlled through detecting gestures by the distance sensor, and a user needs to bend down or squat to find a corresponding mechanical key or touch key position and then press the key, so that the intelligent degree of the cleaning robot cannot be embodied, and the problem that the intelligent degree of the mobile robot is low exists.
Disclosure of Invention
The invention provides a robot system, a control method of the robot system and a storage medium, which are used for improving the intelligent degree of a mobile robot.
A first aspect of the present invention provides a control system of a robot system, the robot system including a mobile robot and a robot base station; wherein, the first and the second end of the pipe are connected with each other,
the mobile robot and/or the robot base station are/is provided with a target sensor, and the target sensor is used for detecting limbs in a preset detection area range;
the controller of the mobile robot and/or the controller of the robot base station are/is in communication connection with the target sensor;
the controller of the mobile robot or the controller of the robot base station is used for judging a limb command according to the target detection information;
and the controller of the mobile robot controls the mobile robot to execute actions according to the limb commands.
In a possible embodiment, when the number of the target sensors is one, the target sensors are installed at the mobile robot or the robot base station;
when the number of the target sensors is two, the mobile robot and the robot base station are provided with the target sensors;
the controller of the mobile robot is in communication connection with the target sensor on the mobile robot, and the controller of the robot base station is in communication connection with the target sensor on the robot base station.
In one possible embodiment, the target sensor is a thermal radiation induction sensor.
A second aspect of the present invention provides a control method of a robot system, including:
detecting limbs in a preset detection area range through at least one target sensor to obtain target detection information;
and judging a limb command according to the target detection information through the controller of the mobile robot and/or the controller of the robot base station, and controlling the mobile robot to execute actions according to the limb command through the controller of the mobile robot.
In a possible embodiment, the detecting the limb within the preset detection area by the at least one target sensor to obtain the target detection information includes:
detecting whether limbs exist in a preset detection area range through at least one target sensor to obtain initial detection information;
judging whether the initial detection information is repeated detection information or not to obtain a target judgment result, wherein the repeated detection information is used for indicating that the mobile robot and the robot base station detect limbs;
and detecting the limb state in a preset time period based on the target judgment result to obtain target detection information, wherein the target detection information comprises the direction and the frequency of the limb swinging and the duration of a detection signal.
In a possible embodiment, the detecting whether there is a limb in a preset detection area range by at least one target sensor to obtain initial detection information includes:
the method comprises the steps of obtaining detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data and obtaining information of the thermal radiation induction sensor, wherein the first detection data are voltage values or current values;
judging whether the first detection data meet a first preset condition, wherein the first preset condition is used for indicating whether voltage change or current change exists;
and if the first detection data meet a first preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
In a possible embodiment, the detecting whether there is a limb in a preset detection area range by at least one target sensor to obtain initial detection information includes:
the method comprises the steps of obtaining detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data and second detection data, and obtaining information of the thermal radiation induction sensor, wherein the first detection data are voltage values or current values, and the second detection data are induction temperature values;
judging whether the first detection data meet a first preset condition and whether the second detection data meet a second preset condition, wherein the first preset condition is used for indicating that voltage change or current change exists, and the second preset condition is used for indicating that the second detection data are within an induction temperature threshold range;
and if the first detection data accord with a first preset condition and the second detection data accord with a second preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
In a possible implementation manner, the determining whether the initial detection information is duplicate detection information to obtain a target determination result, where the duplicate detection information is used to indicate that both the mobile robot and the robot base station detect a limb, includes:
judging whether the information of the thermal radiation induction sensor in the initial detection information is target mark information or not, wherein the target mark information comprises mark information of the thermal radiation induction sensor on the mobile robot and mark information of the thermal radiation induction sensor on the robot base station;
and if the information of the thermal radiation induction sensor in the initial detection information is not target mark information, judging that the initial detection information is not repeated detection information to obtain a target judgment result, wherein the repeated detection information is used for indicating that the mobile robot and the robot base station detect limbs.
In a possible implementation manner, the detecting the state of the limb within a preset time period based on the target determination result to obtain target detection information, where the target detection information includes the direction and the number of times of the limb swinging and the duration of the detection signal, and includes:
acquiring level change information in a preset time period based on the target judgment result;
if the level change information is a continuous high level or a continuous low level, determining that the limb state is motionless within a continuous time to obtain first state information;
if the level change information has high and low level combination change, judging that the limb state swings back and forth, and acquiring the times of the high and low level combination change to obtain second state information;
and determining the first state information and the second state information as target detection information.
In a possible embodiment, before the detecting the limb within the preset detection area by the at least one target sensor to obtain the target detection information, the method further includes:
acquiring a detection angle of a target sensor and a vertical height of a limb from the target sensor;
and setting a preset detection area range according to the detection angle and the vertical height.
A third aspect of the present invention provides a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to execute the above-described control method of a robot system.
In the technical scheme provided by the invention, the robot system comprises a mobile robot and a robot base station; the mobile robot and/or the robot base station are/is provided with a target sensor, and the target sensor is used for detecting limbs in a preset detection area range; the controller of the mobile robot and/or the controller of the robot base station are in communication connection with the target sensor; the controller of the mobile robot and/or the controller of the robot base station are used for judging the limb command according to the target detection information; the controller of the mobile robot controls the mobile robot to execute actions according to the limb commands, the execution actions of the mobile robot can be controlled at one end of the robot base station through limb detection, information interaction and simultaneous control between the mobile robot and the robot base station are realized, a user can find a key to control the mobile robot without bending down or squatting down, the good experience sensitivity of the user on the mobile robot is enhanced, the intelligent characteristic of the cleaning robot is embodied, and the intelligent degree of the mobile robot is improved.
Drawings
FIG. 1 is a schematic diagram of a robot system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a control method of a robot system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of another embodiment of a control method of a robot system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of a side view of a preset detection area range in an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a top view of a predetermined detection area range according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of an application scenario of thermal radiation sensing sensor detection in an embodiment of the present invention;
fig. 7 is a schematic diagram of an embodiment of the detection principle of the thermal radiation induction sensor in the embodiment of the invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1000 | |
1200 | |
| 1100 | |
1300 | Target sensor |
Detailed Description
The embodiment of the invention provides a robot system, a control method of the robot system and a storage medium, which are used for improving the intelligent degree of a mobile robot.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is understood that the present invention can be applied to a smart device, and the smart device can be a mobile robot by way of example and not limitation, and the mobile robot is exemplified in the present application. The mobile robot can be any one of a sweeping robot, a sweeping and mopping integrated robot, a floor cleaning robot or a floor washing robot and the like. The navigation type of the sweeping robot applied by the invention is not limited, and the sweeping robot can be a pure inertial navigation sweeping machine or other sweeping machines adopting navigation equipment. By way of example, and not limitation, the present invention is described in terms of a sweeping robot among mobile robots.
For convenience of understanding, a detailed flow of an embodiment of the present invention is described below, please refer to fig. 1, fig. 1 is a schematic structural diagram of a robot system according to an embodiment of the present invention, and the robot system 1000 includes a mobile robot 1100 and a robot base station 1200; the mobile robot 1100 and/or the robot base station 1200 are/is provided with a target sensor 1300, and the target sensor 1300 is used for detecting limbs in a preset detection area range; the controller of mobile robot 1100 and/or the controller of robot base station 1200 are in communication with target sensor 1300; the controller of the mobile robot 1100 or the controller of the robot base station 1200 is configured to determine a limb command according to the target detection information; the controller of the mobile robot 1100 controls the mobile robot 1100 to perform an action according to the limb command.
Further, when the number of the target sensors 1300 is one, the target sensors 1300 are installed in the mobile robot 1100 or the robot base station 1200;
when the number of the target sensors 1300 is two, the target sensors 1300 are disposed on the mobile robot 1100 and the robot base station 1200;
the controller of mobile robot 1100 is communicatively coupled to target sensor 1300 on mobile robot 1100, and the controller of robot base station 1200 is communicatively coupled to target sensor 1300 on robot base station 1200.
Further, the target sensor 1300 is a thermal radiation induction sensor.
The target sensor 1300 is a sensor for detecting a limb within a predetermined detection area, such as a thermal radiation sensor, a Kinect sensor, a passive infrared sensor, a laser radar, and the like, and is not limited herein.
The number of the target sensors 1300 may be one or more than one, that is, at least one target sensor 1300 is installed on the mobile robot 1100, or at least one target sensor 1300 is installed on the robot base station 1200, or both the mobile robot 1100 and the robot base station 1200 are installed with the target sensors 1300. For the practical applicability and low cost of the robot system, the number of the at least one target sensor 1300 is one or two, and the at least one target sensor 1300 may be disposed on either the sweeping robot (mobile robot 1100) or the robot base station 1200, or one target sensor 1300 may be disposed on each of the sweeping robot (mobile robot 1100) and the robot base station 1200. As an example and not by way of limitation, in the embodiment, the number of the target sensors 1300 of the robot system is two, that is, one target sensor 1300 is respectively disposed on the sweeping robot (mobile robot 1100) and the robot base station 1200, and the sweeping robot (mobile robot 1100) or the robot base station 1200 is controlled by limbs, so that direct information interaction between the sweeping robot (mobile robot 1100) and the robot base station 1200 is realized, and common control is realized.
The induction temperature range of the thermal radiation induction sensor is-10-60 ℃, the detection distance can be up to within 5 meters, and the detection angle is 0-80 degrees, wherein the detection distance and the detection angle can be adjusted to be small, and the detection is more sensitive when the detection angle is generally smaller, so that the thermal radiation induction sensor in the embodiment selects the thermal radiation induction sensor with the detection angle corresponding to the sensitivity requirement.
The induction end of the thermal radiation induction sensor is placed towards the upper part, the detection distance of the thermal radiation induction sensor is set in the height range of a person at the sensor debugging stage, and the detection angle is adjusted to the normal induction range of the person.
The target sensor 1300 on the mobile robot 1100 may be communicatively connected to the controller of the mobile robot 1100, and may also be communicatively connected to the controller of the robot base station 1200; the target sensor 1300 on the robot base station 1200 may be communicatively coupled to the controller of the mobile robot 1100, and may also be communicatively coupled to the controller of the robot base station 1200. When the target sensor 1300 on the mobile robot 1100 is in communication connection with the controller of the mobile robot 1100, determining a limb command according to the target detection information by the controller of the mobile robot 1100, and controlling the mobile robot 1100 to execute an action according to the limb command; when the target sensor 1300 on the mobile robot 1100 is in communication connection with the controller of the robot base station 1200, the controller of the robot base station 1200 determines a limb command according to the target detection information, sends the limb command to the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command through the controller of the mobile robot 1100; when the target sensor 1300 on the robot base station 1200 is in communication connection with the controller of the mobile robot 1100, the controller of the robot base station 1200 sends an instruction to the controller of the mobile robot 1100, determines a limb command according to the target detection information through the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command; when the target sensor 1300 on the robot base station 1200 is in communication connection with the controller of the robot base station 1200, the controller of the robot base station 1200 determines a limb command according to the target detection information, sends the limb command to the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command through the controller of the mobile robot 1100.
Further, the mobile robot 1100 and the robot base station 1200 have a first communication unit and a second communication unit, respectively, and the first communication unit is communicatively connected to the second communication unit.
The mobile robot 1100 and the robot base station 1200 communicate with each other through the first communication unit and the second communication unit, and information interaction between the two is realized. Further, the first communication unit may be provided in the controller of the mobile robot 1100, the first communication unit may be provided outside the controller of the mobile robot 1100, the second communication unit may be provided in the controller of the robot base station 1200, and the second communication unit may be provided outside the controller of the robot base station 1200.
Specifically, when only the robot base station 1200 is provided with the target sensor 1300, the controller of the robot base station 1200 determines a limb command according to the target detection information, and sends the limb command to the first communication unit through the second communication unit, and after the mobile robot 1100 receives the limb command through the first communication unit, the controller of the mobile robot 1100 controls the mobile robot 1100 to execute an action according to the limb command; when the mobile robot 1100 and the robot base station 1200 are both provided with the target sensors 1300 and the target sensors 1300 on the robot base station 1200 detect limbs within a preset detection area range, the controller of the robot base station 1200 judges a limb command according to the target detection information and sends the limb command to the first communication unit through the second communication unit, and after the mobile robot 1100 receives the limb command through the first communication unit, the controller of the mobile robot 1100 controls the mobile robot 1100 to execute actions according to the limb command.
In the embodiment of the invention, the robot system comprises a mobile robot and a robot base station; the mobile robot and/or the robot base station are/is provided with a target sensor, and the target sensor is used for detecting limbs in a preset detection area range; the controller of the mobile robot and/or the controller of the robot base station are in communication connection with the target sensor; the controller of the mobile robot and/or the controller of the robot base station are used for judging the limb command according to the target detection information; the controller of the mobile robot controls the mobile robot to execute actions according to the limb commands, the execution actions of the mobile robot can be controlled at one end of the robot base station through limb detection, information interaction and simultaneous control between the mobile robot and the robot base station are realized, a user can find a key to control the mobile robot without bending down or squatting down, the good feeling of the user on the experience of the mobile robot is enhanced, the intelligent characteristic of the cleaning robot is embodied, and the intelligent degree of the mobile robot is improved.
Referring to fig. 2, fig. 2 is a schematic diagram of a control method of a robot system according to an embodiment of the present invention, where the control method of the robot system according to the embodiment of the present invention includes:
by way of example and not limitation, the embodiment of the present invention is described with a robot system as an execution subject of a control method of the robot system, a target sensor 1300 is provided on a mobile robot 1100 (sweeping robot) of the robot system 1000, and a target sensor 1300 is provided on a robot base station 1200.
S201, detecting the limbs in a preset detection area range through at least one target sensor to obtain target detection information.
The limb is a limb that is convenient for a user to move (without bending down or squatting down), such as a hand and a foot, and is not limited herein.
The robot system 1000 detects limbs within a preset detection area through at least one object sensor 1300 to obtain object detection information, where the object detection information includes state information (posture information) of the limbs. Specifically, the robot system 1000 detects a limb within a preset detection area through at least one target sensor 1300 to obtain initial detection information, where the initial detection information is used to indicate detected target sensor information and limb information detected by the target sensor 1300 (the mobile robot 1100 and/or the target sensor 1300 on the robot base station 1200), and the limb information may be state information (posture information) of the limb; judging whether the initial detection information is information of limb repeated detection, wherein the information of limb repeated detection is used for indicating that both the mobile robot 1100 and the robot base station 1200 carry out limb detection; if so, feeding back to the user through a preset prompting form, wherein the preset prompting form can be displayed by an alarm or a display screen or voice prompt, so that the user can perform the limb action again and detect the limb action again; if not, the body information detected by the mobile robot 1100 or the robot base station 1200 is determined as the target detection information.
Optionally, the target sensor 1300 may be a thermal radiation sensing sensor, a Kinect sensor, a passive infrared sensor, a laser radar, or the like. For example, the robot system 1000 obtains target detection information by detecting a limb within a preset detection area through at least one passive infrared sensor, or the robot system 1000 obtains target detection information by detecting a limb within a preset detection area through at least one Kinect sensor.
S202, judging a limb command according to the target detection information through a controller of the mobile robot and/or a controller of the robot base station, and controlling the mobile robot to execute actions according to the limb command through the controller of the mobile robot.
Limb commands include, but are not limited to, shut down, recharge, clean along a wall, and clean area, among others.
When the target sensor 1300 on the mobile robot 1100 is in communication connection with the controller of the mobile robot 1100, determining a limb command according to the target detection information through the controller of the mobile robot 1100, and controlling the mobile robot 1100 to execute an action according to the limb command; when the target sensor 1300 on the mobile robot 1100 is in communication connection with the controller of the robot base station 1200, the controller of the robot base station 1200 determines a limb command according to the target detection information, sends the limb command to the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command through the controller of the mobile robot 1100; when the target sensor 1300 on the robot base station 1200 is in communication connection with the controller of the mobile robot 1100, the controller of the robot base station 1200 sends an instruction to the controller of the mobile robot 1100, determines a limb command according to the target detection information through the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command; when the target sensor 1300 on the robot base station 1200 is in communication connection with the controller of the robot base station 1200, the controller of the robot base station 1200 determines a limb command according to the target detection information, sends the limb command to the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command through the controller of the mobile robot 1100.
In the embodiment of the invention, the limbs in the range of a preset detection area are detected by at least one target sensor to obtain target detection information; the limb command is judged according to the target detection information through the controller of the mobile robot and/or the controller of the robot base station, the mobile robot is controlled to execute the action through the controller of the mobile robot according to the limb command, the execution action of the mobile robot can be controlled at one end of the robot base station through limb detection, information interaction and simultaneous control between the mobile robot and the robot base station are achieved, a user can find the key to control the mobile robot without bending down or squatting down, the experience and the sensibility of the user to the mobile robot are enhanced, the intelligent characteristic of the cleaning robot is embodied, and the intelligent degree of the mobile robot is improved.
Referring to fig. 3, another embodiment of the method for controlling a robot system according to the embodiment of the present invention includes:
by way of example and not limitation, the embodiment of the present invention is described with a robot system as an execution subject of a control method of the robot system, in the embodiment of the present invention, the limb is a palm, the target detection information is a gesture (posture (state) of the palm), a target sensor 1300 is provided on a mobile robot 1100 (sweeping robot) of the robot system, the target sensor 1300 is provided on a robot base station 1200, and the target sensor 1300 is a thermal radiation induction sensor.
S301, detecting whether limbs exist in a preset detection area range through at least one target sensor to obtain initial detection information.
Specifically, the robot system 1000 detects whether a limb exists in a preset detection area range through at least one target sensor 1300, and obtains a detection angle of the target sensor 1300 and a vertical height of the limb from the target sensor 1300 before obtaining initial detection information; and setting a preset detection area range according to the detection angle and the vertical height.
Because the induction end of the thermal radiation induction sensor is placed towards the right upper side, and the detection distance of the thermal radiation induction sensor is set within the height range of a person in the sensor debugging stage, and the detection angle is adjusted within the normal induction range of the person, for example, the detection angle of the thermal radiation induction sensor can be set within 10-45 degrees, the detection height can be set within 0.5-2 meters according to the height of the person, the detection range is related to the detection angle of the thermal radiation induction sensor and the vertical height of the hand from the thermal radiation induction sensor, the smaller the detection angle of the thermal radiation induction sensor is, the smaller the detection range is, the lower the vertical height of the hand from the thermal radiation induction sensor is, the smaller the detection range is, therefore, under the condition that the detection angle of the thermal radiation induction sensor is certain, the higher the hand is from the thermal radiation induction sensor, the larger the gesture swing amplitude is required, as shown in fig. 4 and fig. 5, fig. 4 is a side view showing a range of a predetermined detection region, that is, a detection angle of the thermal radiation induction sensor and a side view showing a palm rest, as can be seen from fig. 4, the detection range is related to the detection angle of the thermal radiation induction sensor and a vertical height of a hand from the thermal radiation induction sensor, and fig. 5 is a top view showing the range of the predetermined detection region, and if the palm is within the range of the predetermined detection region, the palm can be detected.
Thus, the robot system 1000 may determine the distance between the target sensor 1300 and the limb by acquiring the detection angle of the target sensor 1300 and the vertical height of the limb from the target sensor 1300; and setting a preset detection area range according to the detection angle and the vertical height.
The detection area range is preset according to the detection angle and the vertical height, so that the precision of the detection range is improved, and the accuracy of initial detection information is improved.
Specifically, the robot system 1000 obtains detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data, and obtains information of the thermal radiation induction sensor, where the first detection data is a voltage value or a current value; judging whether the first detection data meet a first preset condition, wherein the first preset condition is used for indicating whether voltage change or current change exists; and if the first detection data accord with a first preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
The thermal radiation induction sensor is a sensor which has low power consumption (the power consumption of the sensor is in uA level, and the minimum consumption of the battery power is ensured) and can sense a certain angle and a specific sensing distance.
As shown in fig. 6 and 7, fig. 6 shows an application scenario of detection by the thermal radiation induction sensor, fig. 7 shows a detection principle of the thermal radiation induction sensor, and data is output after data processing of dynamic and application presentation, temperature application and calibration data is performed on the detected data, so as to obtain detected data, and since the thermal radiation induction sensor can detect whether a person is in a detection range, when the person is in the detection range, voltage/current changes; when the detection object is not in the detection range, no voltage/current changes, and meanwhile, the generated voltage value/current value is different along with the different distance between the detection object and the thermal radiation induction sensor, and the closer the person is to the thermal radiation induction sensor, the larger the induced voltage/current value is, so that the robot system 1000 can obtain first detection data by obtaining detection data of at least one thermal radiation induction sensor in a preset detection area range, and obtain information of the thermal radiation induction sensor; judging whether the first detection data meet a first preset condition, wherein the first preset condition is used for indicating whether voltage change or current change exists; if so, determining the information of the thermal radiation induction sensor as initial detection information, otherwise, judging that no palm (limb) exists in the range of the preset detection area, or prompting the user through an early warning device or voice so that the user carries out palm operation again and whether the palm (limb) exists in the range of the preset detection area is detected again.
The initial detection information is obtained through the detection of at least one thermal radiation induction sensor, and the effect that the palm in the preset detection area range can be accurately detected with low power consumption is achieved.
Optionally, the robot system 1000 obtains detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data and second detection data, and obtains information of the thermal radiation induction sensor, where the first detection data is a voltage value or a current value, and the second detection data is an induction temperature value; judging whether the first detection data meet a first preset condition and whether the second detection data meet a second preset condition, wherein the first preset condition is used for indicating that voltage change or current change exists, and the second preset condition is used for indicating that the first detection data are within an induction temperature threshold range; and if the first detection data accord with a first preset condition and the second detection data accord with a second preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
In order to avoid false triggering caused by sensing other external heat sources by the robot system 1000 (the sweeping robot (the mobile robot 1100) and/or the robot base station 1200), the sweeping robot (the mobile robot 1100) accurately receives a gesture command (a limb command) corresponding to a palm of a user, and on the basis of judging whether a voltage value or a current value has a voltage change or a current change, whether an induction temperature value is within an induction temperature threshold range is also judged, wherein the induction temperature threshold range can be set to be 35-38 ℃. If any one of the following conditions exists, determining that no palm (limb) exists in the preset detection area range, or prompting the user through an early warning device or voice, so that the user performs palm operation again, and re-detecting whether the palm (limb) exists in the preset detection area range: firstly, the first detection data do not accord with a first preset condition, or the second detection data do not accord with a second preset condition; the first detection data does not accord with the first preset condition, and the second detection data does not accord with the second preset condition.
S302, judging whether the initial detection information is repeated detection information or not to obtain a target judgment result, wherein the repeated detection information is used for indicating that the mobile robot and the robot base station detect limbs.
Specifically, the robot system 1000 determines whether or not the thermal radiation induction sensor information in the initial detection information is target mark information, where the target mark information includes mark information of a thermal radiation induction sensor on the mobile robot and mark information of a thermal radiation induction sensor on a robot base station; if the thermal radiation induction sensor information in the initial detection information is not the target mark information, the initial detection information is judged not to be the repeated detection information, and a target judgment result is obtained, wherein the repeated detection information is used for indicating that the mobile robot 1100 and the robot base station 1200 detect the limbs.
The robot system 1000 analyzes whether the palm (limb) is detected by both the floor-sweeping robot (the mobile robot 1100) and the robot base station 1200, whether the palm (limb) is detected by the floor-sweeping robot only, and whether the palm (limb) is detected by the robot base station 1200 only, by judging whether the thermal radiation induction sensor information in the initial detection information is the target mark information. If the thermal radiation induction sensor information in the initial detection information is target mark information, it indicates that the floor sweeping robot (mobile robot 1100) and the robot base station 1200 both detect a palm (limb), and feeds back corresponding information (e.g., gesture repetition) to the user in a preset prompting form, where the preset prompting form may be an alarm or display screen display or voice prompt, so that the user performs a limb action again and detects the limb action again; if the thermal radiation induction sensor information in the initial detection information is not the target mark information, it indicates that the robot (mobile robot 1100) or the robot base station 1200 both detects the palm (limb), if the initial detection information is the mark information of the thermal radiation induction sensor on the mobile robot, the obtained target judgment result indicates that the robot (mobile robot 1100) detects the palm (limb), and if the initial detection information is the mark information of the thermal radiation induction sensor on the robot base station, the obtained target judgment result indicates that the robot base station 1200 detects the palm (limb).
The mobile robot or the robot base station can be accurately controlled through gestures by judging the detection conditions of the mobile robot and the robot base station, and the mobile robot and the robot base station can be jointly controlled through information interaction between the mobile robot and the robot base station.
And S303, detecting the limb state in a preset time period based on the target judgment result to obtain target detection information, wherein the target detection information comprises the direction and the frequency of limb swinging and the duration of a detection signal.
Specifically, the robot system 1000 obtains level change information within a preset time period based on the target determination result; if the level change information is a continuous high level or a continuous low level, determining that the limb state is motionless within a continuous time to obtain first state information; if the level change information has high and low level combination change, judging that the limb state swings back and forth, and acquiring the times of the high and low level combination change to obtain second state information; the first state information and the second state information are determined as target detection information.
The preset time interval can be set according to actual requirements.
The working principle of the thermal radiation induction sensor is as follows: the infrared induction measurement wavelength range of the thermal radiation induction sensor is 5-20um, the radiation peak value of a person is 9.8um, the infrared induction measurement wavelength range is processed by an internal data processor of the thermal radiation induction sensor in the induction range of the thermal radiation induction sensor, the induction value of the thermal radiation induction sensor is 0 when the human body is not in the induction range of the sensor, and the human body is a determination value which is not 0 in the induction range of the sensor, so that the purpose of detection is achieved. When the palm is not detected by the heat radiation sensitive sensor on the mobile robot 1100 (or the heat radiation sensitive sensor on the robot base station 1200), the robot system 1000 determines a low level, and when the palm is detected by the heat radiation sensitive sensor on the mobile robot 1100 (or the heat radiation sensitive sensor on the robot base station 1200), the robot system 1000 determines a high level, and thus, a gesture, that is, target detection information, can be determined by a combination of the high and low levels.
For example, the duration is 5S, and the first state information may be a duration of holding the upper side of the target sensor 1300 of the robot base station 1200 or the limb parallel translation robot 1100 for a target duration, that is, 5S for holding the upper side of the heat radiation induction sensor of the palm parallel sweeping robot (translation robot 1100) or the heat radiation induction sensor of the robot base station 1200 for a target duration; the second status information may be the position above the target sensor 1300 of the limb parallel-moving robot 1100 or the robot base station 1200, the limb is horizontally swung back and forth for a preset number of times, that is, the position above the heat radiation sensor of the palm parallel-sweeping robot (the mobile robot 1100) or the heat radiation sensor of the robot base station 1200 is the position above the heat radiation sensor of the palm parallel-sweeping robot (the mobile robot 1100) or the heat radiation sensor of the robot base station 1200, the palm is horizontally swung back and forth once, the position above the heat radiation sensor of the palm parallel-sweeping robot (the mobile robot 1100) or the heat radiation sensor of the robot base station 1200 is the position above the palm parallel-sweeping robot (the mobile robot 1100) or the heat radiation sensor of the robot base station 1200, and the palm is horizontally swung back and forth three times.
And S304, judging a limb command according to the target detection information through a controller of the mobile robot and/or a controller of the robot base station, and controlling the mobile robot to execute the action according to the limb command through the controller of the mobile robot.
Presetting a gesture command (limb command) corresponding to target detection information, for example, keeping the gesture command (limb command) corresponding to 5S above a heat radiation induction sensor of a palm parallel sweeping robot (mobile robot 1100) or a heat radiation induction sensor of a robot base station 1200 to be off continuously; a gesture command (limb command) corresponding to one-time swinging of the palm back and forth horizontally is returned to the robot base station 1200 for recharging by the sweeping robot (the mobile robot 1100) above a heat radiation induction sensor of the palm parallel sweeping robot (the mobile robot 1100) or a heat radiation induction sensor of the robot base station 1200; a gesture command (limb command) corresponding to swinging the palm back and forth horizontally twice is used for executing a wall-following cleaning mode for the sweeping robot (the mobile robot 1100) above a heat radiation induction sensor of the palm parallel sweeping robot (the mobile robot 1100) or a heat radiation induction sensor of the robot base station 1200; a gesture command (limb command) corresponding to three times of swinging the palm horizontally back and forth above a heat radiation induction sensor of the palm parallel sweeping robot (mobile robot 1100) or a heat radiation induction sensor of the robot base station 1200 is used for executing an area sweeping mode for the sweeping robot (mobile robot 1100). Different gesture commands correspond to different execution units, for example, the execution unit corresponding to the gesture command for shutdown is a driving component, and the execution unit corresponding to the gesture command for the area cleaning mode is a cleaning component.
When the thermal radiation induction sensor on the mobile robot 1100 is in communication connection with the controller of the mobile robot 1100, determining a limb command according to the target detection information through the controller of the mobile robot 1100, and controlling the mobile robot 1100 to execute an action according to the limb command; when the thermal radiation induction sensor on the mobile robot 1100 is in communication connection with the controller of the robot base station 1200, the controller of the robot base station 1200 determines a limb command according to the target detection information, sends the limb command to the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command through the controller of the mobile robot 1100; when the thermal radiation induction sensor on the robot base station 1200 is in communication connection with the controller of the mobile robot 1100, the controller of the robot base station 1200 sends an instruction to the controller of the mobile robot 1100, determines a limb command according to the target detection information through the controller of the mobile robot 1100, and controls the mobile robot 1100 to execute an action according to the limb command; when the thermal radiation induction sensor on the robot base station 1200 is in communication connection with the controller of the robot base station 1200, a limb command is determined by the controller of the robot base station 1200 according to the target detection information, the limb command is sent to the controller of the mobile robot 1100, and the mobile robot 1100 is controlled by the controller of the mobile robot 1100 to perform an action according to the limb command.
In the embodiment of the invention, the execution action of the mobile robot can be controlled by detecting limbs at one end of the robot base station, the information interaction and the simultaneous control between the mobile robot and the robot base station are realized, a user can find keys to control the mobile robot without bending down or squatting down, the experience and the sensibility of the user on the mobile robot are enhanced, the intelligent characteristic of the cleaning robot is embodied, the intelligent degree of the mobile robot is improved, the initial detection information can be obtained by detecting at least one heat radiation induction sensor, the effect of detecting palms in a preset detection area range with low power consumption and high accuracy is realized, the false triggering caused by the induction of other external heat sources by a robot system (the mobile robot and/or the robot base station) can be avoided, and the mobile robot can accurately receive the limb commands corresponding to the limbs of the user, the common control of the mobile robot and the robot base station is realized.
The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium, and which may also be a volatile computer-readable storage medium, having stored therein a computer program, which, when run on a computer, causes the computer to perform the steps of the control method of the robot system.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several computer programs to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. A robotic system, characterized in that the robotic system comprises a mobile robot and a robot base station; wherein the content of the first and second substances,
the mobile robot and/or the robot base station are/is provided with a target sensor, and the target sensor is used for detecting limbs in a preset detection area range;
the controller of the mobile robot and/or the controller of the robot base station are/is in communication connection with the target sensor;
the controller of the mobile robot or the controller of the robot base station is used for judging a limb command according to the target detection information;
and the controller of the mobile robot controls the mobile robot to execute actions according to the limb commands.
2. The robot system according to claim 1, wherein when the number of the target sensors is one, the target sensors are installed at the mobile robot or the robot base station;
when the number of the target sensors is two, the mobile robot and the robot base station are provided with the target sensors;
the controller of the mobile robot is in communication connection with the target sensor on the mobile robot, and the controller of the robot base station is in communication connection with the target sensor on the robot base station.
3. The robotic system as claimed in claim 1, wherein the target sensor is a thermal radiation induction sensor.
4. A control method of a robot system, characterized in that the robot system is a robot system according to any one of claims 1-3, the control method of a robot system comprising:
detecting limbs in a preset detection area range through at least one target sensor to obtain target detection information;
and judging a limb command according to the target detection information through the controller of the mobile robot and/or the controller of the robot base station, and controlling the mobile robot to execute actions according to the limb command through the controller of the mobile robot.
5. The method for controlling a robot system according to claim 4, wherein the detecting the limbs within the preset detection area by the at least one target sensor to obtain the target detection information comprises:
detecting whether limbs exist in a preset detection area range through at least one target sensor to obtain initial detection information;
judging whether the initial detection information is repeated detection information or not to obtain a target judgment result, wherein the repeated detection information is used for indicating that the mobile robot and the robot base station detect limbs;
and detecting the limb state in a preset time period based on the target judgment result to obtain target detection information, wherein the target detection information comprises the direction and the frequency of the limb swinging and the duration of a detection signal.
6. The method for controlling a robot system according to claim 5, wherein the detecting whether a limb exists within a preset detection area by the at least one target sensor to obtain initial detection information comprises:
acquiring detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data and acquiring thermal radiation induction sensor information, wherein the first detection data is a voltage value or a current value;
judging whether the first detection data meet a first preset condition, wherein the first preset condition is used for indicating whether voltage change or current change exists;
and if the first detection data meet a first preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
7. The method for controlling a robot system according to claim 5, wherein the detecting whether a limb is present within a preset detection area by the at least one target sensor to obtain initial detection information comprises:
acquiring detection data of at least one thermal radiation induction sensor in a preset detection area range to obtain first detection data and second detection data, and acquiring information of the thermal radiation induction sensor, wherein the first detection data is a voltage value or a current value, and the second detection data is an induction temperature value;
judging whether the first detection data meet a first preset condition and whether the second detection data meet a second preset condition, wherein the first preset condition is used for indicating that voltage change or current change exists, and the second preset condition is used for indicating that the second detection data are within an induction temperature threshold range;
and if the first detection data accord with a first preset condition and the second detection data accord with a second preset condition, determining the information of the thermal radiation induction sensor as initial detection information.
8. The method according to claim 6 or 7, wherein the determining whether the initial detection information is duplicate detection information for indicating that the mobile robot and the robot base station both detect a limb to obtain a target determination result includes:
judging whether the information of the thermal radiation induction sensor in the initial detection information is target mark information or not, wherein the target mark information comprises mark information of the thermal radiation induction sensor on the mobile robot and mark information of the thermal radiation induction sensor on the robot base station;
and if the information of the thermal radiation induction sensor in the initial detection information is not target mark information, judging that the initial detection information is not repeated detection information to obtain a target judgment result, wherein the repeated detection information is used for indicating that the mobile robot and the robot base station detect limbs.
9. The method of claim 5, wherein the detecting a state of the limb within a preset time period based on the target determination result to obtain target detection information, wherein the target detection information includes a direction and a number of times the limb is swung and a duration of a detection signal, and comprises:
acquiring level change information in a preset time period based on the target judgment result;
if the level change information is a continuous high level or a continuous low level, determining that the limb state is motionless within a duration time to obtain first state information;
if the level change information has high and low level combination change, judging that the limb state swings back and forth, and acquiring the times of the high and low level combination change to obtain second state information;
and determining the first state information and the second state information as target detection information.
10. The method of claim 4, wherein before the detecting the limbs within the preset detection area by the at least one object sensor to obtain the object detection information, the method further comprises:
acquiring a detection angle of a target sensor and a vertical height of a limb from the target sensor;
and setting a preset detection area range according to the detection angle and the vertical height.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a robotic system according to any one of claims 4-10.
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