CN114061424A - Collision positioning method of robot - Google Patents
Collision positioning method of robot Download PDFInfo
- Publication number
- CN114061424A CN114061424A CN202210046895.7A CN202210046895A CN114061424A CN 114061424 A CN114061424 A CN 114061424A CN 202210046895 A CN202210046895 A CN 202210046895A CN 114061424 A CN114061424 A CN 114061424A
- Authority
- CN
- China
- Prior art keywords
- collision
- robot
- shell
- pressure
- feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The application relates to a collision positioning method of a robot. The method comprises the following steps: the robot is provided with a main body part, a shell is arranged on the outer side of the main body part, and a plurality of press-contact ceramic sensors are arranged in the side edge of the shell; in the working process of the robot, a press-contact ceramic sensor acquires a signal of collision between a shell and an obstacle; the pressure-contact ceramic sensor collects a feedback signal, a controller in the robot receives the feedback signal and then processes the feedback signal, and the validity of an external trigger condition is judged; and under the condition that the external triggering condition is effective, calculating the time difference of the plurality of pressure contact type ceramic sensors for receiving the feedback signals, calculating the collision position of the shell and the barrier according to the time difference, and positioning the collision point of the shell. A plurality of pressure touch ceramic sensors can be installed in the shell in a concealed mode, and the appearance structure of the robot is more concise and attractive. Meanwhile, the positioning within a 360-degree full-angle range can be realized, a zero blind area is realized, the collected data is more accurate, and the positioning is more accurate.
Description
Technical Field
The application relates to the technical field of robots, in particular to a collision positioning method of a robot.
Background
In the related art, most sweeping robots are based on contact navigation of collision sensors, and work paths of the sweeping robots are converted after collision occurs. The collision type sweeping robot recognizes a road and avoids obstacles through collision, a protective layer is arranged on a shell of the collision type sweeping robot to protect the collision type sweeping robot, and the collision type sweeping robot can rotate a preset angle to sweep the road once colliding with an object, so that the obstacle is avoided. At present, most collision type floor sweeping robots adopt a pressing type spring switch mode to solve collision position recognition, so that routes are readjusted.
The method for identifying the collision position has the following technical defects:
1. this kind of mode of discernment needs on the basis of the main part casing of collision type robot of sweeping the floor, increases movable structure shell in addition, and this kind of collision type that has increased movable structure shell robot of sweeping the floor, and the structure is heavy and heavy with the certain displacement space of main part casing.
2. This kind of mode of discernment needs this kind of movable structure shell to support, and this kind of movable structure is direct to collide with the barrier, and the life-span of this kind of push type spring switch has directly been influenced to collision dynamics, number of times of collision.
3. The positioning accuracy of the identification mode is limited by the arrangement number of the press type spring switches, and the identification mode can only realize left and right local positioning. Because the collision type sweeping robot is limited by the structure, only the front baffle can be additionally provided with a movable structure shell, the rear end of the robot belongs to a complete blind area, and the collision type sweeping robot needs to rotate for many times and can position obstacles behind collision in the process of identification, so that the route can be re-planned. In addition, when the robot passes through a narrow space, a collision may occur, which is easily recognized as a collision with an obstacle, and an erroneous signal is emitted, resulting in an erroneous route planning.
Disclosure of Invention
In order to solve the problems in the related art, the application provides a collision positioning method of a robot, and the collision positioning method is characterized in that a plurality of press-touch ceramic sensors are arranged inside the side edge of a robot shell and used for acquiring feedback signals of collision between the robot and an obstacle, calculating collision points of the collision with the obstacle, positioning the obstacle and planning a route again. The collision positioning method can simplify the structure appearance, prolong the service life of the robot, reduce the maintenance cost and realize accurate positioning.
The application provides a collision positioning method of a robot, which is applied to the robot and comprises the following steps: the robot is provided with a main body part, a shell is arranged on the outer side of the main body part, and a plurality of press-contact ceramic sensors are arranged in the side edge of the shell; in the working process of the robot, the press-contact type ceramic sensor collects a signal of collision between the shell and an obstacle; when collision occurs, the pressure-contact type ceramic sensor generates micro-motion displacement and synchronously generates a feedback signal, the pressure-contact type ceramic sensor collects the feedback signal, a controller in the robot receives the feedback signal and then processes the feedback signal, and the effectiveness of an external trigger condition is judged according to the feedback signal; and under the condition that the external triggering condition is effective, calculating the time difference of the plurality of pressure contact type ceramic sensors for receiving the feedback signals, calculating the collision position of the shell and the obstacle according to the time difference, and positioning the collision point of the shell.
According to the collision positioning method, the plurality of pressure-contact ceramic sensors can be mounted inside the shell in a hidden mode, and the appearance structure of the robot is simpler and more attractive. Simultaneously this kind of robot's pressure touch ceramic sensor can direct hidden installation in the inside of casing, need not increase other structures and realize the installation, and the robot can realize 360 degrees wide angle within ranges location, realizes zero blind area, reduces collision and rotatory number of times, shortens the time of response and reduces the damage that the collision brought. And due to the arrangement of the zero blind area, the acquired data is more accurate, and the positioning is more accurate.
Preferably, the pressure-contact ceramic sensor receives a feedback signal, the feedback signal passes through a secondary amplification filter circuit, then an original signal is amplified, and the amplified feedback signal is processed by a low-pass filter and then input to the controller. The feedback signals are amplified, filtered and the like, and interference signals are eliminated, so that the feedback signals are more accurate, and the calculation result is more accurate.
Preferably, the controller collects the feedback signal, compares the feedback signal with a set threshold value, judges whether the feedback signal is an effective pressure-touch signal, and calculates the trigger time Ti if the feedback signal is an effective pressure-touch signal.
Preferably, the robot is provided with 1 pressure touch ceramic sensor at 120 degrees interval and 3 pressure touch ceramic sensors in a ring shape, which are respectively defined as S1, S2 and S3.
Preferably, if the triggering sequence is S1, S2 and S3, the time of the S1 sensor is calculated to be T0, the time of the S2 sensor is T1, and the time of the S3 sensor is calculated to be T2; the distances among the S1, S2 and S3 sensors are all D0, the collision point of the collision of the shells is defined as the distance D1 from S1, the distance D2 from S2 and the distance D3 from S3;
wherein:
D1+D2=D0，D1-D2=(T1-T0)*V=Δt*V；
D1=(D0-(T1-T0)*V)/2；
D2=(D0+(T1-T0)*V)/2；
D3=(T2-T0)V+D1=(D0+(T1+2T2-3T0)*V)/2；
v is the sound velocity of the material, delta t is the time difference, and the distances D1, D2 and D3 are respectively calculated, so that the positioning is realized.
Preferably, the feedback signals of a plurality of the pressure contact type ceramic sensors respectively form 3 similar feedback signals with different feedback time on a time domain period.
Preferably, the robot has a workflow as follows:
step 2, scanning a plurality of pressure contact type ceramic sensors by a controller of the robot, and acquiring feedback signals synchronously generated during micro-motion displacement by the plurality of pressure contact type ceramic sensors;
step 4, the controller calculates the time point of the collision of the shell according to the feedback signal and positions the collision point of the collision of the shell;
step 5, outputting the position information of the collision point of the collision of the shell and feeding the position information back to a controller to adjust the driving route of the robot;
and 6, returning to the step 2, and continuing to position the collision point of the next round of collision of the shell.
Preferably, the time difference Δ t of the feedback signals received by the plurality of pressure-contact ceramic sensors is calculated through a single-sided time algorithm of ToF, and then the distance of the collision point of the shell collision is calculated through the sound velocity of the sound wave in the current material medium, so that the collision point of the shell collision is located according to the calculated distance.
Preferably, the signal source VG1 is an input end of feedback signals of the plurality of pressure-contact ceramic sensors, the feedback signals are input to a second-stage amplification filter circuit to amplify the feedback signals, the amplified feedback signals are input to a first-stage low-pass filter to process the feedback signals, the processed feedback signals are rectified and output by a circuit provided with a plurality of capacitors, a plurality of resistors and a plurality of diodes, and the rectified feedback signals are output through a female contact interface and then transmitted to the controller.
Preferably, the method includes the steps of capturing a synchronous feedback electric signal generated by micro-motion displacement of the pressure-contact type ceramic sensor by utilizing a positive piezoelectric effect of the pressure-contact type ceramic sensor, and judging effectiveness of an external trigger condition by amplifying and identifying signal characteristics of the synchronous feedback electric signal.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart of a collision location method for a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic circuit diagram of a signal amplification circuit of a collision location method of a robot according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a press-contact ceramic sensor arrangement of a collision location method of a robot according to an embodiment of the present disclosure;
fig. 4 is a signal waveform diagram illustrating a collision locating method of a robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In order to solve the above problems, in the collision location method of the robot, a plurality of pressure-contact ceramic sensors are arranged inside a side edge of a robot shell to collect feedback signals of collision between the robot and an obstacle, calculate a collision point of collision with the obstacle, locate the obstacle, and plan a route again. The collision positioning method can simplify the structure appearance, prolong the service life of the robot, reduce the maintenance cost and realize accurate positioning.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a collision location method for a robot according to an embodiment of the present disclosure; fig. 3 is a schematic structural diagram of a press-contact ceramic sensor arrangement of a collision location method for a robot according to an embodiment of the present application.
With reference to fig. 1 and 3, a collision positioning method for a robot is provided, which is applied to the robot and includes: the robot is provided with a main body part 1, a shell 11 is arranged on the outer side of the main body part 1, and a plurality of press-contact ceramic sensors are arranged in the side edge of the shell 11. In this embodiment, this kind of pressure touch ceramic sensor installs inside the casing with hiding, avoids this kind of pressure touch ceramic sensor direct and barrier to bump, reduces the damage that the collision brought for this kind of pressure touch ceramic sensor. In this embodiment, a sweeping robot is used for illustration, and the technical solution can also be applied to other types of robots.
With reference to fig. 1 and 3, during the operation of the robot, the pressure-contact ceramic sensor collects a signal that the housing 11 collides with an obstacle. When collision happens, due to the positive piezoelectric effect of the pressure contact type ceramic sensor, the pressure contact type ceramic sensor can generate synchronous feedback electric signals when micro displacement occurs. When collision happens, micro displacement can occur in the pressure contact type ceramic sensor, the pressure contact type ceramic sensor collects feedback signals generated synchronously during micro displacement, a controller in the robot receives the feedback signals and then processes the feedback signals, the signal characteristics of the feedback signals are collected, and the effectiveness of external trigger conditions is judged according to the signal characteristics of the feedback signals. Under the condition that external triggering conditions are effective, time differences of the plurality of pressure contact type ceramic sensors for receiving feedback signals are calculated, the collision position of the shell and the obstacle is calculated according to the time differences, the collision point of the shell is positioned, the position of the obstacle is further positioned, and therefore the moving route of the robot is planned again.
According to the collision positioning method, the plurality of pressure-contact ceramic sensors can be mounted inside the shell in a hidden mode, and the appearance structure of the robot is simpler and more attractive. Simultaneously this kind of robot's pressure touch ceramic sensor can direct hidden installation in the inside of casing, need not increase other structures and realize the installation, and the robot can realize 360 degrees wide angle within ranges location, realizes zero blind area, reduces collision and rotatory number of times, shortens the time of response and reduces the damage that the collision brought. And due to the arrangement of the zero blind area, the acquired data is more accurate, and the positioning is more accurate.
Preferably, the method includes the steps of capturing a synchronous feedback electric signal generated by micro-motion displacement of the pressure-contact type ceramic sensor by utilizing a positive piezoelectric effect of the pressure-contact type ceramic sensor, and judging effectiveness of an external trigger condition by amplifying and identifying signal characteristics of the synchronous feedback electric signal. In this embodiment, the amplitude of the feedback electrical signal is compared with a preset amplitude, and whether the feedback signal is an interference signal or an effective trigger signal is distinguished, that is, whether the housing collides with an obstacle is distinguished. And if the amplitude of the feedback electric signal is larger than the preset amplitude, judging that the feedback signal is an effective collision signal, otherwise, judging that the feedback signal is an interference signal.
In an optional embodiment, preferably, the time difference Δ t of the feedback signals received by the plurality of press-contact ceramic sensors is calculated through a single-sided time algorithm of ToF, the distance between the collision point of the shell collision and the press-contact ceramic sensor is calculated through the sound velocity of the sound wave in the current material medium, the collision point of the shell collision is located according to the calculated distance, and then the position of the obstacle is determined.
Fig. 2 is a schematic circuit diagram of a signal amplification circuit of a collision location method for a robot according to an embodiment of the present application.
In an alternative embodiment, referring to fig. 2, preferably, the pressure-contact ceramic sensor receives a feedback signal, and the feedback signal passes through a secondary amplification filter circuit and then amplifies an original signal, in this embodiment, the signal may be amplified 1000 to 2000 times. And processing the amplified feedback signal by a low-pass filter and inputting the processed feedback signal to a controller. The feedback signals are amplified, filtered and the like, and interference signals are eliminated, so that the feedback signals are more accurate, and the calculation result is more accurate.
Specifically, the signal source VG1 is an input end of feedback signals of the plurality of pressure-contact ceramic sensors, the feedback signals are input to a second-stage amplification filter circuit to amplify the feedback signals, the amplified feedback signals are input to a first-stage low-pass filter to process the feedback signals, the processed feedback signals are rectified by a circuit including a plurality of capacitors, a plurality of resistors and a plurality of diodes and then output through a female contact interface, and then the rectified feedback signals are transmitted to the controller. The signal amplification circuit is provided with a plurality of female contact interfaces for connection to the outside.
In an optional embodiment, preferably, the controller collects the feedback signal, compares the feedback signal with a set threshold, determines whether the feedback signal is an effective pressure-touch signal, and calculates the trigger time Ti if the feedback signal is determined to be an effective pressure-touch signal. In this embodiment, the set threshold may be an amplitude of the signal, the amplitude of the collected feedback signal is compared with the set amplitude, and when the amplitude of the feedback signal is greater than the set amplitude, the feedback signal is determined as an effective pressure-touch signal, otherwise, the feedback signal is determined as an interference signal.
In this embodiment, referring to fig. 3, the robot mounts 1 pressure-contact ceramic sensor at 120 ° intervals, and mounts 3 pressure-contact ceramic sensors in a ring shape, which are respectively defined as S1, S2, and S3. The installation mode realizes 360-degree full-range coverage and zero blind area, when the device collides with the barrier, the device can directly calculate the position of the barrier according to the feedback signals of the plurality of pressure-contact ceramic sensors, and the device can acquire accurate signal information without rotating for a plurality of times and colliding to calculate the position of the barrier. In other embodiments, the number of the pressure-contact ceramic sensors can be set according to actual needs, and the pressure-contact ceramic sensors can cover the whole range of 360 degrees. And if four, four pressure touch type ceramic sensors are arranged in four directions of the sweeping robot, and are respectively wrapped on the front, the rear, the left and the right sides of the sweeping robot, so that the sweeping robot is detected to touch the obstacle in real time.
Fig. 4 is a signal waveform diagram illustrating a collision positioning method for a robot according to an embodiment of the present application.
Specifically, referring to fig. 4, the feedback signals of a plurality of the pressure-contact ceramic sensors form 3 similar feedback signals with different feedback times respectively in a time domain period. The collision robot comprises a main body part, a shell, a plurality of pressure-contact ceramic sensors, a collision robot body and a positioning device, wherein one point on the shell of the main body part of the collision robot collides with an obstacle, the collision point is the collision point, the distances between the collision point and the pressure-contact ceramic sensors are different, the time for triggering the pressure-contact ceramic sensors is different, and as shown in pulse signals on figure 4, the position of the collision point is calculated according to the time difference of the triggering time, and then the obstacle is positioned.
Specifically, if the triggering sequence is S1, S2 and S3, the time of the S1 sensor is calculated to be T0, the time of the S2 sensor is T1, and the time of the S3 sensor is T2; the distances among the S1, S2 and S3 sensors are all D0, the collision point of the collision of the shells is defined as the distance D1 from S1, the distance D2 from S2 and the distance D3 from S3;
wherein:
D1+D2=D0，D1-D2=(T1-T0)*V=Δt*V；
D1=(D0-(T1-T0)*V)/2；
D2=(D0+(T1-T0)*V)/2；
D3=(T2-T0)V+D1=(D0+(T1+2T2-3T0)*V)/2；
v is the sound velocity of the material, the distances D1, D2 and D3 are respectively calculated, and the position of a collision point is calculated, namely the positioning of the obstacle is realized.
With reference to fig. 1, the robot has the following working flow:
And 2, scanning a plurality of pressure contact type ceramic sensors by a controller of the robot, and acquiring feedback signals of the shell by the plurality of pressure contact type ceramic sensors. And the controller of the robot judges the number of the sensors according to the scanning result and starts the sensors to work. The pressure-contact ceramic sensor is collided with the shell, micro-motion displacement is generated, feedback signals are synchronously generated, and the pressure-contact ceramic sensor collects the feedback signals.
And 3, polling the plurality of pressure-contact ceramic sensors by the controller, and reporting the acquired feedback signals to the controller by the pressure-contact ceramic sensors. The controller scans the pressure-contact ceramic sensors one by one, the pressure-contact ceramic sensors collect feedback signals synchronously generated when collision occurs, and the controller receives the feedback signals and judges whether the feedback signals are effective collision signals.
And 4, calculating the time point of the collision of the shell by the controller according to the feedback signal, and positioning the collision point of the collision of the shell. When the controller judges that the feedback signal is an effective collision signal, polling the plurality of pressure contact type ceramic sensors, acquiring the triggering time of the similar feedback signal in the time domain when the pressure contact type ceramic sensors collide, calculating the position of a collision point of the collision between the shell and the obstacle according to the triggering time difference, and further positioning the obstacle.
And 5, outputting the position information of the collision point of the collision of the shell and feeding the position information back to the controller to adjust the driving route of the robot. After the controller calculates the positioning information of the obstacle, the positioning information is fed back to the controller to adjust the driving route of the robot, so that the robot can avoid the obstacle and work again.
And 6, returning to the step 2, and continuing to position the collision point of the next round of collision of the shell.
Fig. 5 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 5, the electronic device 1000 includes a memory 1010 and a processor 1020.
The Processor 1020 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1010 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are needed by the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, among others. In some embodiments, memory 1010 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 1010 has stored thereon executable code that, when processed by the processor 1020, may cause the processor 1020 to perform some or all of the methods described above.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the applications disclosed herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A collision positioning method of a robot is applied to the robot, and is characterized by comprising the following steps:
the robot is provided with a main body part, a shell is arranged on the outer side of the main body part, and a plurality of press-contact ceramic sensors are arranged in the side edge of the shell; in the working process of the robot, the press-contact type ceramic sensor collects a signal of collision between the shell and an obstacle;
when collision occurs, the pressure-contact type ceramic sensor generates micro-motion displacement and synchronously generates a feedback signal, the pressure-contact type ceramic sensor collects the feedback signal, a controller in the robot receives the feedback signal and then processes the feedback signal, and the effectiveness of an external trigger condition is judged according to the feedback signal;
and under the condition that the external triggering condition is effective, calculating the time difference of the plurality of pressure contact type ceramic sensors for receiving the feedback signals, calculating the collision position of the shell and the obstacle according to the time difference, and positioning the collision point of the shell.
2. The collision localization method of a robot according to claim 1, characterized in that: the pressure-contact ceramic sensor receives a feedback signal, the feedback signal is amplified by a secondary amplification filter circuit, and the amplified feedback signal is processed by a low-pass filter and then input to a controller.
3. The collision localization method of a robot according to claim 2, characterized in that: the controller collects the feedback signal, compares the feedback signal with a set threshold value, judges whether the feedback signal is an effective pressure touch signal or not, and calculates the trigger time Ti if the feedback signal is judged to be an effective pressure touch signal.
4. The collision localization method of a robot according to claim 3, characterized in that: the robot is provided with 1 pressure touch type ceramic sensor at 120 degrees intervals, and 3 pressure touch type ceramic sensors are annularly arranged, which are respectively defined as S1, S2 and S3.
5. The collision localization method of a robot according to claim 4, characterized in that: if the triggering sequence is S1, S2 and S3, calculating the time of the S1 sensor to be T0, the time of the S2 sensor to be T1 and the time of the S3 sensor to be T2; the distances among the S1, S2 and S3 sensors are all D0, the collision point of the collision of the shells is defined as the distance D1 from S1, the distance D2 from S2 and the distance D3 from S3;
wherein:
D1+D2=D0，D1-D2=(T1-T0)*V=Δt*V；
D1=(D0-(T1-T0)*V)/2；
D2=(D0+(T1-T0)*V)/2；
D3=(T2-T0)V+D1=(D0+(T1+2T2-3T0)*V)/2；
v is the sound velocity of the material, delta t is the time difference, and the distances D1, D2 and D3 are respectively calculated, so that the positioning is realized.
6. The collision localization method of a robot according to claim 4, characterized in that: the feedback signals of the plurality of pressure contact type ceramic sensors respectively form 3 similar feedback signals with different feedback time on a time domain period.
7. The collision localization method of a robot according to claim 1, characterized in that: the robot has the following working procedures:
step 1, initializing a robot;
step 2, scanning a plurality of pressure contact type ceramic sensors by a controller of the robot, and collecting feedback signals synchronously generated when micro-motion displacement occurs by the plurality of pressure contact type ceramic sensors;
step 3, polling a plurality of pressure-contact ceramic sensors by the controller, and reporting the acquired feedback signals to the controller by the pressure-contact ceramic sensors;
step 4, the controller calculates the time point of the collision of the shell according to the feedback signal and positions the collision point of the collision of the shell;
step 5, outputting the position information of the collision point of the collision of the shell and feeding the position information back to a controller to adjust the driving route of the robot;
and 6, returning to the step 2, and continuing to position the collision point of the next round of collision of the shell.
8. The collision localization method of a robot according to claim 3, characterized in that: and calculating the time difference delta t of the feedback signals received by the plurality of pressure contact type ceramic sensors through a ToF unilateral time algorithm, calculating the distance of the collision point of the shell collision through the sound velocity of the sound wave in the current material medium, and positioning the collision point of the shell collision through the calculated distance.
9. The collision localization method of a robot according to claim 2, characterized in that: the signal source VG1 is an input end of feedback signals of the plurality of pressure-contact ceramic sensors, the feedback signals are input to a second-stage amplification filter circuit to amplify the feedback signals, the amplified feedback signals are input to a first-stage low-pass filter circuit to process the feedback signals, the processed feedback signals are rectified by a circuit comprising a plurality of capacitors, a plurality of resistors and a plurality of diodes and then output through a female contact interface and then transmitted to the controller.
10. The collision localization method of a robot according to claim 1, characterized in that: and capturing a synchronous feedback electric signal generated by micro-motion displacement of the pressure contact type ceramic sensor by utilizing the positive piezoelectric effect of the pressure contact type ceramic sensor, and judging the effectiveness of an external trigger condition by amplifying and identifying the signal characteristics of the synchronous feedback electric signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210046895.7A CN114061424A (en) | 2022-01-17 | 2022-01-17 | Collision positioning method of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210046895.7A CN114061424A (en) | 2022-01-17 | 2022-01-17 | Collision positioning method of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114061424A true CN114061424A (en) | 2022-02-18 |
Family
ID=80231170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210046895.7A Pending CN114061424A (en) | 2022-01-17 | 2022-01-17 | Collision positioning method of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114061424A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050015224A (en) * | 2003-08-05 | 2005-02-21 | 엘지전자 주식회사 | Method for determining dust amount in robot cleaner |
| US20050162119A1 (en) * | 2004-01-28 | 2005-07-28 | Landry Gregg W. | Debris sensor for cleaning apparatus |
| CN104188600A (en) * | 2014-09-16 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Collision detection method and device applied to robotic floor cleaner |
| CN105796002A (en) * | 2016-03-31 | 2016-07-27 | 北京小米移动软件有限公司 | Indoor cleaning method for cleaning robot, cleaning robot and mobile terminal |
| CN113907665A (en) * | 2021-10-26 | 2022-01-11 | 苏州灵动佳芯科技有限公司 | Self-moving equipment and collision position detection method |
-
2022
- 2022-01-17 CN CN202210046895.7A patent/CN114061424A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050015224A (en) * | 2003-08-05 | 2005-02-21 | 엘지전자 주식회사 | Method for determining dust amount in robot cleaner |
| US20050162119A1 (en) * | 2004-01-28 | 2005-07-28 | Landry Gregg W. | Debris sensor for cleaning apparatus |
| CN104188600A (en) * | 2014-09-16 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Collision detection method and device applied to robotic floor cleaner |
| CN105796002A (en) * | 2016-03-31 | 2016-07-27 | 北京小米移动软件有限公司 | Indoor cleaning method for cleaning robot, cleaning robot and mobile terminal |
| CN113907665A (en) * | 2021-10-26 | 2022-01-11 | 苏州灵动佳芯科技有限公司 | Self-moving equipment and collision position detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11733377B2 (en) | Time of flight and code signature detection for coded ultrasonic transmission | |
| US6289282B1 (en) | Method of determining the distance between and object and a device of varying location | |
| JP2020079781A (en) | Method and apparatus for determining relative pose, device and medium | |
| US9103908B2 (en) | Security monitoring system using beamforming acoustic imaging and method using the same | |
| US20060203615A1 (en) | Device and Method for Adaptive Ultrasound Sensing | |
| CN106043114A (en) | Techniques for transmitting an alert towards a target area | |
| JP2006524329A (en) | System, apparatus and method for estimating the position of an object | |
| US7049960B2 (en) | Method and system for locating objects | |
| JP5815318B2 (en) | Method and system for scene detection | |
| US20200033462A1 (en) | Threshold generation for coded ultrasonic sensing | |
| JP3035768B2 (en) | Vehicle contrast detector | |
| US20200300967A1 (en) | Sensor verification | |
| US20190135179A1 (en) | Vehicle and control method thereof | |
| KR101850486B1 (en) | System for tracking sound direction using intenlligent sounnd collection/analysis and method thereof | |
| Huang et al. | High-precision ultrasonic ranging system platform based on peak-detected self-interference technique | |
| CN114061424A (en) | Collision positioning method of robot | |
| US20220342061A1 (en) | Method and a device for classifying an object, in particular in the surroundings of a motor vehicle | |
| US11209541B1 (en) | Estimating a location of an object in close proximity to an ultrasonic transducer | |
| WO2023248341A1 (en) | Object detection device | |
| CN112240996A (en) | Method, control device and storage medium for direction recognition of ambient noise | |
| JP3179356B2 (en) | Aircraft flight position detector | |
| JP3167965B2 (en) | Aircraft noise identification device | |
| WO2022254610A1 (en) | Object detection device and object detection method | |
| CN111443699B (en) | Positioning drift detection method and device and robot | |
| US20240159889A1 (en) | Radar Detection Multipath Detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220218 |
|
| RJ01 | Rejection of invention patent application after publication |