CN111631641B - Robot anti-falling detection method - Google Patents
Robot anti-falling detection method Download PDFInfo
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- CN111631641B CN111631641B CN202010457859.0A CN202010457859A CN111631641B CN 111631641 B CN111631641 B CN 111631641B CN 202010457859 A CN202010457859 A CN 202010457859A CN 111631641 B CN111631641 B CN 111631641B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/55—Specular reflectivity
- G01N2021/558—Measuring reflectivity and transmission
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Abstract
The invention discloses a robot anti-falling detection method, which comprises the following steps: s1: the robot walks, and a far infrared emitter and a near infrared emitter in the robot detect a detection surface; s2: the infrared receiver of the robot receives the reflected signals of the far infrared emitter and the near infrared emitter reflected by the detection surface, and the robot compares the magnitude relation of the intensity values E1 and E2 of the reflected signals; s3: when the robot detects that E1 is larger than the preset value Ea and E2 is smaller than 1/2 of E1, or when the robot detects that E1 is smaller than the preset value Ea and E2 is smaller than the preset value Eb, the robot judges that the robot meets the falling surface. The robot adopts multiple conditions to judge the detection result, and the detection capability of the robot to different conditions is improved.
Description
Technical Field
The invention relates to the technical field of autonomous mobile robots, in particular to a robot anti-falling detection method.
Background
With the development of technology and the pursuit of people for comfortable life, autonomous mobile robots increasingly enter the life of people, such as accompanying robots, sweeping robots and the like. When the robot walks autonomously, the most common damage of the robot is that the robot falls from a high place, so the autonomous mobile robot is provided with a falling-proof detection device. Most of the robots adopt infrared detection to perform anti-falling detection, the detection result of the infrared detection is easily influenced by the reflectivity of a detection surface, and when the robots encounter a detection surface with lower reflectivity, such as a black blanket or a floor, the robots can misjudge the detection surface as a falling surface, the detection is inaccurate and the subsequent action route of the robots is influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a robot anti-falling detection method, which can enable a robot to accurately detect whether a detection surface is a falling surface. The specific technical scheme of the invention is as follows:
a robot anti-falling detection method comprises the following steps: s1: the robot walks, and a far infrared emitter and a near infrared emitter in the robot detect a detection surface; s2: the infrared receiver of the robot receives the reflected signals of the far infrared emitter and the near infrared emitter reflected by the detection surface, and the robot compares the magnitude relation of the intensity values E1 and E2 of the reflected signals; s3: when the robot detects that E1 is larger than the preset value Ea and E2 is smaller than 1/2 of E1, or when the robot detects that E1 is smaller than the preset value Ea and E2 is smaller than the preset value Eb, the robot judges that the robot meets the falling surface. The robot detects the detection surface by adopting the double infrared transmitters, judges by utilizing the size change of the intensity of the double infrared reflection signal, can reduce the influence of the reflectivity of the detection surface and accurately detect whether the detection surface is a falling surface.
In one or more aspects of the invention, the preset value Ea is any value of E1 when the height between the far infrared emitter and the detection surface is greater than 10 cm.
In one or more aspects of the invention, the preset value Ea is a value of any E1 when the height between the far infrared emitter and the detection surface is greater than 10 cm; the preset value Eb is a value of any E2 when the height between the near infrared emitter and the detection surface is more than 10 cm. In life, the height of the step is about 10cm, so that the height of the cliff is set to be 10cm, the value of the preset value only needs to exceed the value of 10cm, the value range is flexible, the change can be carried out according to the actual value, and the strain capacity of the robot is improved.
In one or more aspects of the invention, before the robot walks, the robot obtains the value changes of E1 and E2 on at least two detection surfaces with different reflectivity according to the value changes of detection distances, wherein the detection distances are heights between the far infrared emitter and the near infrared emitter and the detection surfaces. The robot can compare two sets of data, improves and detects the accuracy.
In one or more aspects of the present invention, the robot obtains the value changes of E1 and E2 from the value changes of the detection distance on 4 detection surfaces with different reflectances. The robot acquires data from 4 detection surfaces with different reflectivity, and the detection results are more accurate corresponding to different detection surfaces in life.
In one or more aspects of the invention, at least one of the detection surfaces of different reflectivity is a black felt. The robot can identify the black blanket in work.
In one or more aspects of the present invention, the robot builds a data table according to the relationship between the numerical change of the detected distance and the numerical changes of E1 and E2.
In one or more aspects of the invention, the robot sets the preset values Ea and Eb in combination with the data of the data table. And setting conditions according to the data of the data table, optimizing judgment conditions and improving the judgment capability of the robot.
Drawings
FIG. 1 is a flow chart of the detection method of the present invention;
FIG. 2 is a table showing the relationship between the signal intensity and the detected height of the reflected signal of the white paper as the detection surface of the robot according to the present invention;
FIG. 3 is a data table showing the relationship between the signal intensity and the detected height of the reflected signal of gray paper as the detection surface of the robot according to the present invention;
FIG. 4 is a data table showing the relationship between the signal intensity and the detected height of the reflected signal of the robot with a black paper detection surface;
fig. 5 is a data table showing the relationship between the signal intensity and the detected height of the reflected signal of the black carpet as the detection surface of the robot according to the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a robot anti-falling detection method includes the following steps: s1: the robot walks, and a far infrared emitter and a near infrared emitter in the robot detect a detection surface; s2: the infrared receiver of the robot receives the reflected signals of the far infrared emitter and the near infrared emitter reflected by the detection surface, and the robot compares the magnitude relation of the intensity values E1 and E2 of the reflected signals; s3: when the robot detects that E1 is larger than the preset value Ea and E2 is smaller than 1/2 of E1, or when the robot detects that E1 is smaller than the preset value Ea and E2 is smaller than the preset value Eb, the robot judges that the robot meets the falling surface. The robot adopts multiple conditions to judge the detection result, and the detection capability of the robot to different conditions is improved.
As one embodiment, fig. 2 to 5 show that the detection method is used in a sweeper, the sweeper acquires the value changes of E1 and E2 on 4 detection surfaces with different reflectivities according to the value changes of detection distances, the detection distances are heights between the far infrared emitter and the near infrared emitter and the detection surfaces, the sweeper establishes a data table according to the relationship between the value changes of the detection distances and the value changes of E1 and E2, the distances in the data table are the detection distances and are in millimeters, and E1 and E2 are intensities of reflected signals. The white paper in FIG. 2 is an ideal detection surface, and has high reflectivity; the gray paper of FIG. 3 is a real normal detection surface, and the reflectivity is general; the black paper of fig. 4 is a real dark inspection surface, with low reflectivity; the black felt of fig. 5 is a walking surface with the lowest reflectivity. The four types of detection surfaces correspond to different detection surfaces in life, the detection surfaces possibly encountered by the robot are included, detection data are comprehensive, judgment capability of the robot is stronger, and detection results are more accurate. At least one of the detection surfaces of different reflectivity is a black carpet. The robot can identify the black blanket in work.
As one embodiment, it can be seen from the data of fig. 2 to 5 that E1 increases and then decreases as the distance between the far infrared emitter and the detection surface increases, and E2 decreases as the distance between the near infrared emitter and the detection surface increases. In life, the height of the step is about 10cm, so that the height of the cliff is set to be 10cm, the value of the preset value only needs to exceed the value of 10cm, the value range is flexible, the change can be carried out according to the actual value, and the strain capacity of the robot is improved. The preset value Ea is a value of any E1 when the height between the far infrared emitter and the detection surface is more than 10 cm; the preset value Eb is a value of any E2 when the height between the near infrared emitter and the detection surface is more than 10 cm. The robot combines the data of the data table to set the preset values Ea and Eb, the preset values can be set according to the values of 4 tables, such as when the value of E1 is more than 10, and E2 is less than 1/2 of E1; or when the value of E1 is less than 10 and the value of E2 is less than 3. If any one of the above conditions is satisfied, the falling is judged. Wherein the white surface with the maximum intensity of the reflected signal is taken as a reference, the detection distance is a test value of 10cm, E1 is 21, and E2 is 4. At this time, E2 decreased sharply, approaching 0, E1, still reached 21, and E1 > 2E2, satisfying the first condition, and could be judged as falling. When the robot encounters a black carpet, the values of E1 and E2 neither satisfy condition 1 nor condition 2, and the robot is not judged to fall. And setting conditions according to the data of the data table, optimizing judgment conditions and improving the judgment capability of the robot.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (5)
1. A robot anti-falling detection method is characterized in that before the robot walks, the robot obtains the value changes of E1 and E2 on at least two detection surfaces with different reflectivity according to the value changes of detection distances, wherein the detection distances are the heights between a far infrared emitter and a near infrared emitter and the detection surfaces, and the detection method comprises the following steps:
s1: the robot walks, and a far infrared emitter and a near infrared emitter in the robot detect a detection surface;
s2: the infrared receiver of the robot receives the reflected signals of the far infrared emitter and the near infrared emitter reflected by the detection surface, and the robot compares the magnitude relation of the intensity values E1 and E2 of the reflected signals;
s3: when the robot detects that E1 is larger than a preset value Ea and E2 is smaller than 1/2 of E1, or when the robot detects that E1 is smaller than the preset value Ea and E2 is smaller than a preset value Eb, the robot judges that a falling surface is met;
wherein, E1 will increase and then decrease with the distance between the far infrared emitter and the detection surface, E2 will decrease with the distance between the near infrared emitter and the detection surface; the preset value Ea is a value of any E1 when the height between the far infrared emitter and the detection surface is more than 10 cm; the preset value Eb is a value of any E2 when the height between the near infrared emitter and the detection surface is more than 10 cm.
2. The robot anti-fall detection method according to claim 1, wherein the robot acquires the numerical changes of E1 and E2 from the numerical changes of the detection distances on 4 detection surfaces with different reflectances.
3. A robot fall arrest detection method according to claim 1, characterised in that at least one of the detection faces of different reflectivity is a black carpet.
4. The robot anti-fall detection method according to claim 1, wherein the robot establishes a data table according to the relation between the numerical change of the detection distance and the numerical change of E1 and E2.
5. A robot anti-fall detection method according to claim 1 or 4, characterized in that the robot sets the preset values Ea and Eb in conjunction with data of a data table.
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| CN113681564A (en) * | 2021-09-06 | 2021-11-23 | 广州科语机器人有限公司 | Robot, distance measurement control method for robot, storage medium, and device |
| CN115211763B (en) * | 2022-07-14 | 2023-08-29 | 北京石头世纪科技股份有限公司 | Identification method and equipment for automatic cleaning equipment and storage medium |
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