CN106871788A - Robot barrier thing height determination methods - Google Patents
Robot barrier thing height determination methods Download PDFInfo
- Publication number
- CN106871788A CN106871788A CN201510914334.4A CN201510914334A CN106871788A CN 106871788 A CN106871788 A CN 106871788A CN 201510914334 A CN201510914334 A CN 201510914334A CN 106871788 A CN106871788 A CN 106871788A
- Authority
- CN
- China
- Prior art keywords
- robot
- word laser
- height
- reflective condition
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot barrier thing height determination methods, comprising step 1：The word laser of the first height of scanning machine people gear one；Step 2：The reflective condition of the word laser of detection robot the first height gear one；Step 3：If the reflective condition of the word laser of robot the first height gear one is to there is a barrier, the reflective condition register set of the word laser of robot the first height gear one；Step 4：If the reflective condition of the word laser of robot the first height gear one is clear, the reflective condition register of the word laser of robot the first height gear one resets.By to the word laser reflective condition of the first height gear one, the word laser reflective condition of the second height gear one, the word laser reflective condition of third height gear one, the word laser reflective condition of the 4th height gear one detection determine robot leg should lifting height, so as to across obstacle advance.
Description
Technical field
The present invention relates to a kind of determination methods, particularly a kind of robot barrier thing height determination methods.
Background technology
Robot will be moved in outdoor environment, inevitably be come into contacts with barrier.For not being barrier very high, robot can be across past, and robot can directly across going；For barrier very high, robot cannot be across past, and robot just cannot directly across going, and otherwise barrier can break robot, prevent robot from moving to destination by set objective.At present, robot only moves preceding object thing carries out whetheing there is detection to it, when having barrier in front of find, just by the left or moving right come cut-through thing.
The method of this cut-through thing relatively ossifys, if robot by it is appropriate raise leg if can be basic just to be detoured without any necessity with across obstacle.Insignificant detouring only can reduce the gait of march of robot, or even makes destination unreachable.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of robot barrier thing height determination methods, the robot barrier thing height determination methods can allow robot to judge the height of preceding object thing, to determine the height that leg is raised, robot is set smoothly to advance with across obstacle.
In order to realize foregoing invention purpose, robot barrier thing height determination methods of the present invention, comprising step 1：Robot voice picks up sensor collected sound signal；Step 2：Analog-digital converter is processed robot voice pickup sensor collected sound signal, converts analog signals into data signal；Step 3：Processor presses Dividing in frequency domain and extracts audio digital signals；Step 4：The frequency-region signal of the same frequency extracted to step 3 carries out Digital Discrete treatment；Step 5：The frequency-region signal of the owner's same frequency stored before contrast；Step 6：If the result of step 5 is identical, it is judged to the voice signal of robot owner, is performed, if the result of step 5 is to differ, be judged to the voice signal of non-robot owner, refusal is performed.
By the detection to the word laser reflective condition of the first height gear one, judge whether the corresponding height of the word laser of the first height gear one has barrier；By the detection to the word laser reflective condition of the second height gear one, judge whether the corresponding height of the word laser of the second height gear one has barrier；By the detection to the word laser reflective condition of third height gear one, judge whether the corresponding height of the word laser of third height gear one has barrier；By the detection to the word laser reflective condition of the 4th height gear one, judge whether the corresponding height of the word laser of the 4th height gear one has barrier.By to the word laser reflective condition of the first height gear one, the word laser reflective condition of the second height gear one, the word laser reflective condition of third height gear one, the word laser reflective condition of the 4th height gear one detection determine robot leg should lifting height, so as to across obstacle advance.
Specific embodiment
Robot barrier thing height determination methods of the present invention, comprising step 1：The word laser of the first height of scanning machine people gear one；Step 2：The reflective condition of the word laser of detection robot the first height gear one；Step 3：If the reflective condition of the word laser of robot the first height gear one is to there is a barrier, the reflective condition register set of the word laser of robot the first height gear one；Step 4：If the reflective condition of the word laser of robot the first height gear one is clear, the reflective condition register of the word laser of robot the first height gear one resets；Containing step 5：The word laser of the second height of scanning machine people gear one；Step 6：The reflective condition of the word laser of detection robot the second height gear one；Step 7：If the reflective condition of the word laser of robot the second height gear one is to there is a barrier, the reflective condition register set of the word laser of robot the second height gear one；Step 8：If the reflective condition of the word laser of robot the second height gear one is clear, the reflective condition register of the word laser of robot the second height gear one resets；Containing step 9：The word laser of scanning machine people's third height gear one；Step 10：The reflective condition of the word laser of detection robot third height gear one；Step 11：If the reflective condition of the word laser of robot third height gear one is to there is a barrier, the reflective condition register set of the word laser of robot third height gear one；Step 12：If the reflective condition of the word laser of robot third height gear one is clear, the reflective condition register of the word laser of robot third height gear one resets；Containing step 13：The word laser of the 4th height gear of scanning machine people one；Step 14：The reflective condition of the word laser of the 4th height gear of detection robot one；Step 15：If the reflective condition of the word laser of the 4th height gear of robot one is have barrier, the reflective condition register set of the word laser of the 4th height gear of robot one；Step 16：If the reflective condition of the word laser of the 4th height gear of robot one is clear, the reflective condition register of the word laser of the 4th height gear of robot one resets；Step 17：By to the word laser reflective condition of the first height gear one, the word laser reflective condition of the second height gear one, the word laser reflective condition of third height gear one, the word laser reflective condition of the 4th height gear one detection determine robot leg should lifting height, so as to across obstacle advance.
The word laser reflective condition of first height gear one, the word laser reflective condition of the second height gear one, the word laser reflective condition of third height gear one, the word laser reflective condition register pair of the 4th height gear one answer different obstacle heights, robot leg rising height is determined with reset state by the set of the not same word laser reflective condition register of judgement, so that robot across obstacle advances.
Claims (1)
1. robot barrier thing height determination methods, it is characterised in that：Comprising step 1：The word laser of the first height of scanning machine people gear one；Step 2：The reflective condition of the word laser of detection robot the first height gear one；Step 3：If the reflective condition of the word laser of robot the first height gear one is to there is a barrier, the reflective condition register set of the word laser of robot the first height gear one；Step 4：If the reflective condition of the word laser of robot the first height gear one is clear, the reflective condition register of the word laser of robot the first height gear one resets；Containing step 5：The word laser of the second height of scanning machine people gear one；Step 6：The reflective condition of the word laser of detection robot the second height gear one；Step 7：If the reflective condition of the word laser of robot the second height gear one is to there is a barrier, the reflective condition register set of the word laser of robot the second height gear one；Step 8：If the reflective condition of the word laser of robot the second height gear one is clear, the reflective condition register of the word laser of robot the second height gear one resets；Containing step 9：The word laser of scanning machine people's third height gear one；Step 10：The reflective condition of the word laser of detection robot third height gear one；Step 11：If the reflective condition of the word laser of robot third height gear one is to there is a barrier, the reflective condition register set of the word laser of robot third height gear one；Step 12：If the reflective condition of the word laser of robot third height gear one is clear, the reflective condition register of the word laser of robot third height gear one resets；Containing step 13：The word laser of the 4th height gear of scanning machine people one；Step 14：The reflective condition of the word laser of the 4th height gear of detection robot one；Step 15：If the reflective condition of the word laser of the 4th height gear of robot one is have barrier, the reflective condition register set of the word laser of the 4th height gear of robot one；Step 16：If the reflective condition of the word laser of the 4th height gear of robot one is clear, the reflective condition register of the word laser of the 4th height gear of robot one resets；Step 17：By to the word laser reflective condition of the first height gear one, the word laser reflective condition of the second height gear one, the word laser reflective condition of third height gear one, the word laser reflective condition of the 4th height gear one detection determine robot leg should lifting height, so as to across obstacle advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510914334.4A CN106871788A (en) | 2015-12-13 | 2015-12-13 | Robot barrier thing height determination methods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510914334.4A CN106871788A (en) | 2015-12-13 | 2015-12-13 | Robot barrier thing height determination methods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106871788A true CN106871788A (en) | 2017-06-20 |
Family
ID=59237136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510914334.4A Pending CN106871788A (en) | 2015-12-13 | 2015-12-13 | Robot barrier thing height determination methods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106871788A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
-
2015
- 2015-12-13 CN CN201510914334.4A patent/CN106871788A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2007005437A3 (en) | Out-of-band change detection | |
| WO2013162994A3 (en) | Systems and methods for audio signal processing | |
| EP3089128A3 (en) | Dynamic volume adjustment | |
| WO2014002067A3 (en) | Method of processing optical coherence tomography images | |
| WO2008082793A3 (en) | A method and noise suppression circuit incorporating a plurality of noise suppression techniques | |
| WO2007096706A3 (en) | System and method for interaction with a subject based on detection of mental states | |
| WO2009050906A1 (en) | Object detection system | |
| WO2014011436A4 (en) | Capacitive body proximity sensor system | |
| CA2573166A1 (en) | Bare earth digital elevation model extraction for three-dimensional registration from topographical points | |
| CN106871788A (en) | Robot barrier thing height determination methods | |
| CN108197571B (en) | Mask shielding detection method and electronic equipment | |
| WO2008125663A3 (en) | A feature adapted beamlet transform apparatus and associated methodology of detecting curvilenear objects of an image | |
| CA3011080A1 (en) | Signal trimming and false positive reduction of post-segmentation swallowing accelerometry data | |
| EP2296272A3 (en) | Method for detecting and filtering a random noise signal | |
| CN102663384A (en) | Curve identification method based on Bezier control point searching and apparatus thereof | |
| CN105069420A (en) | Automatic container lockhole identifying-positioning method and system | |
| CN110633652A (en) | Unexpected situation determination method and device and electronic equipment | |
| CN105070287B (en) | The method and apparatus of speech terminals detection under a kind of adaptive noisy environment | |
| CN108946565B (en) | Anti-falling safety mechanism of lifting platform | |
| JP2006140654A5 (en) | ||
| JP4760655B2 (en) | Human body detection device | |
| CN111062283A (en) | Nursing method of nursing robot | |
| WO2009051234A1 (en) | Color filter, method for producing the same, and solid-state imaging device | |
| WO2007127648A3 (en) | Selectively implementable digital signal processing circuit for an implantable medical device | |
| EP4206834A4 (en) | Signal processing circuit and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170620 |
|
| WD01 | Invention patent application deemed withdrawn after publication |