CN107092259A - The anti-fall method and device of robot - Google Patents
The anti-fall method and device of robot Download PDFInfo
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- CN107092259A CN107092259A CN201710430457.XA CN201710430457A CN107092259A CN 107092259 A CN107092259 A CN 107092259A CN 201710430457 A CN201710430457 A CN 201710430457A CN 107092259 A CN107092259 A CN 107092259A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004888 barrier function Effects 0.000 claims abstract description 75
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000002604 ultrasonography Methods 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 11
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a kind of anti-fall method of robot and device.Wherein, this method includes：Obtain the first distance between the robot and barrier of sensor detection；Judge whether the first distance meets first condition, wherein, first condition is used to indicate that robot is in the distance range assert and fallen；When the first distance meets first condition, send and cease and desist order to robot, wherein, cease and desist order for indicating robot stop motion；When the first distance is unsatisfactory for first condition, control machine people performs obstacle avoidance algorithm, wherein, obstacle avoidance algorithm is used for control machine people's avoiding barrier.The present invention solves the technical problem of robot braking distance length.
Description
Technical field
The present invention relates to robot field, in particular to the anti-fall method and device of a kind of robot.
Background technology
The environment that robot is faced is more complicated, for environment such as step, stair, pits, if without dropproof module,
Robot is easily fallen off, and the destruction for robot is huge.
Common ground robot such as most of sweeping robot is used as dropproof sensor using infrared sensor.It is infrared
Sensor has transmitting terminal and receiving terminal, passes through infrared transmitting and reception Time Calculation distance.It is infrared to measure when Land leveling
Distance be definite value.If the infrared distance measured is elongated suddenly, illustrates there is dell or step in front of wheelchair, send and fall
Fall alarm.
A state machine is safeguarded generally in the obstacle avoidance system of robot, for switching in different conditions.Balance vehicle device
Device people has an inertia forward, causes braking distance very big when transmission is ceased and desisted order.If examined in obstacle avoidance system
Survey dropproof, can cause to slow.
For it is above-mentioned the problem of, effective solution is not yet proposed at present.
The content of the invention
The embodiments of the invention provide a kind of anti-fall method of robot and device, with least solve robot brake away from
From long technical problem.
One side according to embodiments of the present invention there is provided a kind of anti-fall method of robot, including：Obtain sensing
The first distance between the robot and barrier of device detection；Judge whether the first distance meets first condition, wherein, first
Part is used to indicate that robot is in the distance range assert and fallen；When the first distance meets first condition, sent to robot
Cease and desist order, wherein, cease and desist order for indicating robot stop motion；When the first distance is unsatisfactory for first condition, control
Robot performs obstacle avoidance algorithm, wherein, obstacle avoidance algorithm is used for control machine people's avoiding barrier.
Further, after being ceased and desisted order to robot transmission, method also includes：Obtain the robot of sensor detection
Second distance between barrier；Judge whether second distance meets second condition, wherein, second condition is used to indicate machine
People is not on assert the distance range fallen；When second distance meets second condition, advance command is sent to robot, and
Perform obstacle avoidance algorithm；When second distance is unsatisfactory for second condition, robot is kept to be in halted state.
Further, second distance includes the first infrared distance, the second infrared distance and the first ultrasonic distance, wherein, the
One infrared distance arrives the distance between barrier for what the first sensor of robot was measured, and the second infrared distance is robot
What second sensor was measured arrives the distance between barrier, and the first ultrasound distance is arriving that the ultrasonic sensor of robot is measured
The distance between barrier, judges whether second distance meets second condition and include：Judge whether the first infrared distance is more than the
One pre-determined distance；Judge whether the second infrared distance is more than the first pre-determined distance；Judge whether the first ultrasound distance is more than second
Pre-determined distance, wherein, be less than or equal to the first pre-determined distance in the first infrared distance and the second infrared distance, and the first ultrasound away from
During from less than or equal to the second pre-determined distance, determine that second distance meets second condition, the first pre-determined distance and the second pre-determined distance
Value it is identical or different.
Further, the first distance includes the 3rd infrared distance, the 4th infrared distance and the second ultrasonic distance, wherein, the
Three infrared distances arrive the distance between barrier for what the first sensor of robot was measured, and the 4th infrared distance is robot
What second sensor was measured arrives the distance between barrier, and the second ultrasound distance is arriving that the ultrasonic sensor of robot is measured
The distance between barrier, judges whether the first distance meets first condition and include：Judge whether the 3rd infrared distance is more than the
One pre-determined distance；Judge whether the 4th infrared distance is more than the first pre-determined distance；Judge whether the second ultrasound distance is more than second
Pre-determined distance, wherein, be more than the first pre-determined distance in the 3rd infrared distance and/or the 4th infrared distance, and the second ultrasound away from
During from more than the second pre-determined distance, determine that the first distance meets first condition, the first pre-determined distance takes with the second pre-determined distance
Value is identical or different.
Further, when the first distance is unsatisfactory for first condition, method also includes：Continue to detect the first distance, and sentence
Whether disconnected first distance meets first condition.
Another aspect according to embodiments of the present invention, additionally provides a kind of fall-proofing device of robot, including：First obtains
Unit is taken, the first distance between robot and barrier for obtaining sensor detection；First judging unit, for judging
Whether the first distance meets first condition, wherein, first condition is used to indicate that robot is in the distance range assert and fallen；The
One transmitting element, for when the first distance meets first condition, sending and ceasing and desisting order to robot, wherein, use of ceasing and desisting order
In the stop motion of instruction robot；Control unit, for when the first distance is unsatisfactory for first condition, control machine people to perform and kept away
Hinder algorithm, wherein, obstacle avoidance algorithm is used for control machine people's avoiding barrier.
Further, device also includes：Second acquisition unit, for after being ceased and desisted order to robot transmission, obtaining
Second distance between the robot and barrier of sensor detection；Second judging unit, for judging whether second distance is full
Sufficient second condition, wherein, second condition is used to indicate that robot is not on assert the distance range fallen；Second sends single
Member, for when second distance meets second condition, sending advance command to robot, and perform obstacle avoidance algorithm；Holding unit,
For when second distance is unsatisfactory for second condition, keeping robot to be in halted state.
Further, second distance includes the first infrared distance, the second infrared distance and the first ultrasonic distance, wherein, the
One infrared distance arrives the distance between barrier for what the first sensor of robot was measured, and the second infrared distance is robot
What second sensor was measured arrives the distance between barrier, and the first ultrasound distance is arriving that the ultrasonic sensor of robot is measured
The distance between barrier, the second judging unit includes：First judge module, for judging whether the first infrared distance is more than the
One pre-determined distance；Second judge module, for judging whether the second infrared distance is more than the first pre-determined distance；3rd judges mould
Block, for judging whether the first ultrasound distance is more than the second pre-determined distance, wherein, in the first infrared distance and the second infrared distance
Less than or equal to the first pre-determined distance, and the first ultrasound determines that second distance is met apart from when being less than or equal to the second pre-determined distance
Second condition, the value of the first pre-determined distance and the second pre-determined distance is identical or different.
Further, the first distance includes the 3rd infrared distance, the 4th infrared distance and the second ultrasonic distance, wherein, the
Three infrared distances arrive the distance between barrier for what the first sensor of robot was measured, and the 4th infrared distance is robot
What second sensor was measured arrives the distance between barrier, and the second ultrasound distance is arriving that the ultrasonic sensor of robot is measured
The distance between barrier, the first judging unit includes：4th judge module, for judging whether the 3rd infrared distance is more than the
One pre-determined distance；5th judge module, for judging whether the 4th infrared distance is more than the first pre-determined distance；6th judges mould
Block, for judging whether the second ultrasound distance is more than the second pre-determined distance, wherein, it is infrared in the 3rd infrared distance and/or the 4th
When distance is more than the second pre-determined distance more than the first pre-determined distance, and the second ultrasound distance, the first distance satisfaction first is determined
Condition, the value of the first pre-determined distance and the second pre-determined distance is identical or different.
Further, device also includes：Then unit is examined, for when the first distance is unsatisfactory for first condition, continuing to detect
First distance, and judge whether the first distance meets first condition.
In embodiments of the present invention, the first distance detected using acquisition sensor；First is met in the first distance to sentence
During fixed condition, control balance car robot enters first state, when the first distance meets the second decision condition, controls balance car
Robot enters the mode of the second state, wherein, balance car robot, which enters, starts brake, balance car robot after first state
Normally travel after into the second state；After balance car robot enters the second state, into obstacle avoidance algorithm, pass through dropproof mould
Block is decoupled with obstacle avoidance system, has reached that shortening balance car robot detects the purpose of the operating lag after danger, so as to realize
The technique effect of the braking distance of balance car robot is shortened, and then solves the technology of robot braking distance length and is asked
Topic.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the anti-fall method of robot according to embodiments of the present invention；And
Fig. 2 is a kind of schematic diagram of the fall-proofing device of robot according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model that the present invention is protected
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included, for example, the process, method, system, product or the equipment that contain series of steps or unit are not necessarily limited to
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention there is provided a kind of embodiment of the method for the anti-fall method of robot, it is necessary to explanation
It is that can be performed the step of the flow of accompanying drawing is illustrated in the computer system of such as one group computer executable instructions,
And, although logical order is shown in flow charts, but in some cases, can be with different from order execution herein
Shown or described step.
Fig. 1 is a kind of flow chart of the anti-fall method of robot according to embodiments of the present invention, as shown in figure 1, the party
Method comprises the following steps：
Step S102, obtains the first distance between the robot and barrier of sensor detection.In the embodiment of the present invention
In, at least one sensor can be set in robot, and sensor is used to detect at the direct of travel pre-determined distance of robot
Barrier and robot distance.When barrier is not present at pre-determined distance, the distance that sensor is detected is with presetting
The distance on the ground at distance.Alternatively, at least one above-mentioned sensor can also be different types of sensor, different type
Sensor the first distance between robot and barrier can be detected by different detection mode, so as to prevent sensor
The situation of error detection occurs.
Step S104, judges whether the first distance meets first condition, wherein, first condition is used to indicate that robot is in
Assert the distance range fallen.According to the first distance detected, judge that robot, whether in the distance range fallen, such as may be used
To pre-set first condition, when the first distance meets first condition, judge that robot is in the distance range that falls, when the
When one distance is unsatisfactory for first condition, judge that robot is not in the distance range fallen.
Step S106, when the first distance meets first condition, sends to robot and ceases and desist order, wherein, cease and desist order
For indicating robot stop motion.In embodiments of the present invention, when judging that the first distance meets first condition, robot
In the distance range fallen, now send and cease and desist order to robot, robot stop motion is indicated, so as to avoid robot
Fall.
Step S108, when the first distance is unsatisfactory for first condition, control machine people performs obstacle avoidance algorithm, wherein, avoidance
Algorithm is used for control machine people's avoiding barrier.When judging that the first distance is unsatisfactory for first condition, robot is not in falling
The distance range fallen, then control machine people execution obstacle avoidance algorithm, enables robot to be avoided when advancing present on direct of travel
Barrier.
In embodiments of the present invention, the first distance detected using acquisition sensor；First is met in the first distance to sentence
During fixed condition, control balance car robot enters first state, when the first distance meets the second decision condition, controls balance car
Robot enters the mode of the second state, wherein, balance car robot, which enters, starts brake, balance car robot after first state
Normally travel after into the second state；After balance car robot enters the second state, into obstacle avoidance algorithm, pass through dropproof mould
Block is decoupled with obstacle avoidance system, has reached that shortening balance car robot detects the purpose of the operating lag after danger, so as to realize
The technique effect of the braking distance of balance car robot is shortened, and then solves the technology of robot braking distance length and is asked
Topic.
Alternatively, after being ceased and desisted order to robot transmission, method also includes：Obtain sensor detection robot with
Second distance between barrier；Judge whether second distance meets second condition, wherein, second condition is used to indicate robot
It is not on assert the distance range fallen；When second distance meets second condition, advance command is sent to robot, and hold
Row obstacle avoidance algorithm；When second distance is unsatisfactory for second condition, robot is kept to be in halted state.
It is used as a kind of optional embodiment of the present invention, after being ceased and desisted order to robot transmission, control machine people
After stopping, the autonomous recovery of robot can also be realized.It is alternatively possible to after being ceased and desisted order to robot transmission, after
The second distance of continuous detection robot and barrier, and judge whether second distance meets second condition, when second distance is met
During second condition, robot is not in the distance range fallen, at this point it is possible to advance command be sent to robot, so that machine
People recovers travel condition, while robot performs obstacle avoidance algorithm；When robot is unsatisfactory for second condition, robot, which is in, to be fallen
Distance range, now to keep robot to keep halted state, prevent robot from falling.
Alternatively, second distance includes the first infrared distance, the second infrared distance and the first ultrasonic distance, wherein, first
Infrared distance arrive the distance between barrier for what the first sensor of robot was measured, and the second infrared distance is the of robot
What two sensors were measured arrives the distance between barrier, and the first ultrasound distance arrives barrier for what the ultrasonic sensor of robot was measured
Hinder the distance between thing, judge whether second distance meets second condition and include：Judge whether the first infrared distance is more than first
Pre-determined distance；Judge whether the second infrared distance is more than the first pre-determined distance；Judge whether the first ultrasound distance is more than second pre-
If distance, wherein, it is less than or equal to the first pre-determined distance, and the first ultrasonic distance in the first infrared distance and the second infrared distance
During less than or equal to the second pre-determined distance, determine that second distance meets second condition, the first pre-determined distance and the second pre-determined distance
Value is identical or different.
As a kind of optional embodiment of the present invention, different types of sensor is provided with robot, alternatively,
Sensor can include infrared sensor and sonac, and infrared sensor can detect machine by way of infrared survey
People and the distance of barrier, sonac can detect the distance of robot and barrier by way of ultrasonic measurement.It is logical
The feelings prize generation for setting different types of sensor to prevent single sensor from occurring error detection is crossed, for example：Work as robot
Front advance for glass ground, because infrared sensor can not detect transparent glass, therefore with being detected according to infrared sensor
Distance Judgment go out robot and be in the distance range that falls, occur error detection.If examined by sonac simultaneously
Survey, then can prevent the generation of error detection.
Alternatively, infrared sensor can also include it is multiple, in a preferred embodiment, infrared sensor include a left side
Side infrared sensor and right side infrared sensor, wherein, left side infrared sensor is arranged on the left side of robot, for detection machine
With the distance of barrier on the left of device people, the first infrared distance is obtained, right side infrared sensor is provided with the right side of robot, is used for
The distance with barrier on the right side of robot is detected, the second infrared distance is obtained.Judge whether second distance meets second condition bag
Include：Judge whether the first infrared distance is more than the first pre-determined distance simultaneously, whether the second infrared distance is more than the first pre-determined distance,
And whether the first ultrasound distance that sonac is detected is more than the second pre-determined distance, when the first infrared distance is less than or equal to
First pre-determined distance, the second infrared distance is less than or equal to the first pre-determined distance, and the first ultrasound distance is pre- less than or equal to second
If apart from when, determine that second distance meets second condition, robot is not in the distance range fallen.
Alternatively, the first distance includes the 3rd infrared distance, the 4th infrared distance and the second ultrasonic distance, wherein, the 3rd
Infrared distance arrive the distance between barrier for what the first sensor of robot was measured, and the 4th infrared distance is the of robot
What two sensors were measured arrives the distance between barrier, and the second ultrasound distance arrives barrier for what the ultrasonic sensor of robot was measured
Hinder the distance between thing, judge whether the first distance meets first condition and include：Judge whether the 3rd infrared distance is more than first
Pre-determined distance；Judge whether the 4th infrared distance is more than the first pre-determined distance；Judge whether the second ultrasound distance is more than second pre-
If distance, wherein, it is more than the first pre-determined distance, and the second ultrasonic distance in the 3rd infrared distance and/or the 4th infrared distance
During more than the second pre-determined distance, determine that the first distance meets the value of first condition, the first pre-determined distance and the second pre-determined distance
It is identical or different.
In a preferred embodiment, being arranged on the infrared sensor on the left of robot can also detect that to obtain the 3rd red
Outer distance, is arranged on the infrared sensor on the right side of robot and can also detect and obtain the 4th infrared distance, and sonac can be with
Detection obtains the second ultrasonic distance.Judge whether the first distance meets first condition and include：Judge that the 3rd infrared distance is simultaneously
No to be more than the first pre-determined distance, whether the 4th infrared distance is more than the second pre-determined distance, and whether the second ultrasound distance is more than
Second pre-determined distance, when any one in the 3rd infrared distance and the 4th infrared distance or all greater than second it is default away from
From, and the second ultrasound distance is when being more than the second pre-determined distance, determines that the first distance meets first condition, robot, which is in, to be fallen
Distance range.
Alternatively, when the first distance is unsatisfactory for first condition, method also includes：Continue to detect the first distance, and judge
Whether the first distance meets first condition.
As a kind of optional embodiment of the present invention, when judging that the first distance is unsatisfactory for first condition, continue
Detect the first distance, and judge whether the first distance meets first condition, by repeating the first distance of detection, and judge first away from
From whether meeting first condition, it is to avoid the occurrence of error detection.
Embodiment 2
According to embodiments of the present invention, a kind of fall-proofing device of robot is additionally provided, Fig. 2 is according to embodiments of the present invention
A kind of robot anti-fall method schematic diagram, as shown in Fig. 2 the device includes：
First acquisition unit 210, the first distance between robot and barrier for obtaining sensor detection.At this
In inventive embodiments, at least one sensor can be set in robot, sensor is used for the direct of travel for detecting robot
The distance of barrier and robot at pre-determined distance.At pre-determined distance be not present barrier when, sensor detect away from
From for with a distance from the ground at pre-determined distance.Alternatively, at least one above-mentioned sensor can also be different types of sensing
Device, different types of sensor can detect the first distance between robot and barrier by different detection modes, from
And prevent the situation of sensor error detection from occurring.
First judging unit 220, for judging whether the first distance meets first condition, wherein, first condition is used to refer to
Show that robot is in the distance range assert and fallen.According to the first distance detected, judge whether robot is in what is fallen
Distance range, can such as pre-set first condition, when the first distance meets first condition, judge that robot is in what is fallen
Distance range, when the first distance is unsatisfactory for first condition, judges that robot is not in the distance range fallen.
First transmitting element 230, for when the first distance meets first condition, sending and ceasing and desisting order to robot, its
In, cease and desist order for indicating robot stop motion.In embodiments of the present invention, when judge first distance meet first
During part, robot is in the distance range fallen, now sends and ceases and desist order to robot, indicates robot stop motion, from
And avoid robot from falling.
Control unit 240, for when the first distance is unsatisfactory for first condition, control machine people performs obstacle avoidance algorithm, its
In, obstacle avoidance algorithm is used for control machine people's avoiding barrier.When judging that the first distance is unsatisfactory for first condition, robot is not
In the distance range fallen, then control machine people execution obstacle avoidance algorithm, enables robot to be avoided when advancing on direct of travel
The barrier of presence.
In embodiments of the present invention, decoupled by dropproof module and obstacle avoidance system, reached shortening balance car robot
The purpose of the operating lag after danger is detected, it is achieved thereby that shortening the technology effect of the braking distance of balance car robot
Really, and then the technical problem of robot braking distance length is solved.
Alternatively, device also includes：Second acquisition unit, for after being ceased and desisted order to robot transmission, obtaining and passing
Second distance between the robot and barrier of sensor detection；Second judging unit, for judging whether second distance meets
Second condition, wherein, second condition is used to indicate that robot is not on assert the distance range fallen；Second transmitting element,
For when second distance meets second condition, sending advance command to robot, and perform obstacle avoidance algorithm；Holding unit, is used
In when second distance is unsatisfactory for second condition, robot is kept to be in halted state.
It is used as a kind of optional embodiment of the present invention, after being ceased and desisted order to robot transmission, control machine people
After stopping, the autonomous recovery of robot can also be realized.It is alternatively possible to after being ceased and desisted order to robot transmission, after
The second distance of continuous detection robot and barrier, and judge whether second distance meets second condition, when second distance is met
During second condition, robot is not in the distance range fallen, at this point it is possible to advance command be sent to robot, so that machine
People recovers travel condition, while robot performs obstacle avoidance algorithm；When robot is unsatisfactory for second condition, robot, which is in, to be fallen
Distance range, now to keep robot to keep halted state, prevent robot from falling.
Alternatively, second distance includes the first infrared distance, the second infrared distance and the first ultrasonic distance, wherein, first
Infrared distance arrive the distance between barrier for what the first sensor of robot was measured, and the second infrared distance is the of robot
What two sensors were measured arrives the distance between barrier, and the first ultrasound distance arrives barrier for what the ultrasonic sensor of robot was measured
Hinder the distance between thing, the second judging unit includes：First judge module, for judging whether the first infrared distance is more than first
Pre-determined distance；Second judge module, for judging whether the second infrared distance is more than the first pre-determined distance；3rd judge module,
For judging whether the first ultrasound distance is more than the second pre-determined distance, wherein, it is infrared apart from small in the first infrared distance and second
In equal to the first pre-determined distance, and the first ultrasound distance is when being less than or equal to the second pre-determined distance, determines that second distance meets the
Two conditions, the value of the first pre-determined distance and the second pre-determined distance is identical or different.
As a kind of optional embodiment of the present invention, different types of sensor is provided with robot, alternatively,
Sensor can include infrared sensor and sonac, and infrared sensor can detect machine by way of infrared survey
People and the distance of barrier, sonac can detect the distance of robot and barrier by way of ultrasonic measurement.It is logical
The feelings prize generation for setting different types of sensor to prevent single sensor from occurring error detection is crossed, for example：Work as robot
Front advance for glass ground, because infrared sensor can not detect transparent glass, therefore with being detected according to infrared sensor
Distance Judgment go out robot and be in the distance range that falls, occur error detection.If examined by sonac simultaneously
Survey, then can prevent the generation of error detection.
Alternatively, infrared sensor can also include it is multiple, in a preferred embodiment, infrared sensor include a left side
Side infrared sensor and right side infrared sensor, wherein, left side infrared sensor is arranged on the left side of robot, for detection machine
With the distance of barrier on the left of device people, the first infrared distance is obtained, right side infrared sensor is provided with the right side of robot, is used for
The distance with barrier on the right side of robot is detected, the second infrared distance is obtained.Judge whether second distance meets second condition bag
Include：Judge whether the first infrared distance is more than the first pre-determined distance simultaneously, whether the second infrared distance is more than the first pre-determined distance,
And whether the first ultrasound distance that sonac is detected is more than the second pre-determined distance, when the first infrared distance is less than or equal to
First pre-determined distance, the second infrared distance is less than or equal to the first pre-determined distance, and the first ultrasound distance is pre- less than or equal to second
If apart from when, determine that second distance meets second condition, robot is not in the distance range fallen.
Alternatively, the first distance includes the 3rd infrared distance, the 4th infrared distance and the second ultrasonic distance, wherein, the 3rd
Infrared distance arrive the distance between barrier for what the first sensor of robot was measured, and the 4th infrared distance is the of robot
What two sensors were measured arrives the distance between barrier, and the second ultrasound distance arrives barrier for what the ultrasonic sensor of robot was measured
Hinder the distance between thing, the first judging unit includes：4th judge module, for judging whether the 3rd infrared distance is more than first
Pre-determined distance；5th judge module, for judging whether the 4th infrared distance is more than the first pre-determined distance；6th judge module,
For judging whether the second ultrasound distance is more than the second pre-determined distance, wherein, in the 3rd infrared distance and/or the 4th infrared distance
More than the first pre-determined distance, and the second ultrasound determines that the first distance meets first condition apart from when being more than the second pre-determined distance,
The value of first pre-determined distance and the second pre-determined distance is identical or different.
In a preferred embodiment, being arranged on the infrared sensor on the left of robot can also detect that to obtain the 3rd red
Outer distance, is arranged on the infrared sensor on the right side of robot and can also detect and obtain the 4th infrared distance, and sonac can be with
Detection obtains the second ultrasonic distance.Judge whether the first distance meets first condition and include：Judge that the 3rd infrared distance is simultaneously
No to be more than the first pre-determined distance, whether the 4th infrared distance is more than the second pre-determined distance, and whether the second ultrasound distance is more than
Second pre-determined distance, when any one in the 3rd infrared distance and the 4th infrared distance or all greater than second it is default away from
From, and the second ultrasound distance is when being more than the second pre-determined distance, determines that the first distance meets first condition, robot, which is in, to be fallen
Distance range.
Alternatively, device also includes：Inspection then unit, for when the first distance is unsatisfactory for first condition, continuing to detect the
One distance, and judge whether the first distance meets first condition.
As a kind of optional embodiment of the present invention, when judging that the first distance is unsatisfactory for first condition, continue
Detect the first distance, and judge whether the first distance meets first condition, by repeating the first distance of detection, and judge first away from
From whether meeting first condition, it is to avoid the occurrence of error detection.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as division of described unit, Ke Yiwei
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of unit or module by some interfaces
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can for personal computer, server or network equipment etc.) perform each embodiment methods described of the invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of anti-fall method of robot, it is characterised in that including：
Obtain the first distance between the robot and barrier of sensor detection；
Judge whether first distance meets first condition, wherein, the first condition is used to indicate that the robot is in
Assert the distance range fallen；
When first distance meets the first condition, send and cease and desist order to the robot, wherein, it is described to stop life
Make for indicating the robot stop motion；
When first distance is unsatisfactory for the first condition, the robot is controlled to perform obstacle avoidance algorithm, wherein, it is described to keep away
Barrier algorithm is used to control the robot avoiding barrier.
2. according to the method described in claim 1, it is characterised in that described after being ceased and desisted order to robot transmission
Method also includes：
Obtain the second distance between the robot and barrier of sensor detection；
Judge whether the second distance meets second condition, wherein, the second condition is used to indicate that the robot does not have
In the distance range assert and fallen；
When the second distance meets the second condition, advance command is sent to the robot, and perform the avoidance
Algorithm；
When the second distance is unsatisfactory for the second condition, the robot is kept to be in halted state.
3. method according to claim 2, it is characterised in that the second distance includes the first infrared distance, second red
Outer distance and the first ultrasonic distance, wherein, the first infrared distance for the first sensor of the robot measure to institute
The distance between barrier is stated, the second infrared distance arrives the barrier for what the second sensor of the robot was measured
The distance between, the first ultrasound distance is arrived between the barrier for what the ultrasonic sensor of the robot was measured
Distance, judges whether the second distance meets second condition and include：
Judge whether the described first infrared distance is more than the first pre-determined distance；
Judge whether the described second infrared distance is more than first pre-determined distance；
Judge whether the first ultrasound distance is more than the second pre-determined distance,
Wherein, it is less than or equal to first pre-determined distance, and institute in the described first infrared distance and the second infrared distance
When stating the first ultrasound distance less than or equal to second pre-determined distance, determine that the second distance meets the second condition, institute
The value for stating the first pre-determined distance and second pre-determined distance is identical or different.
4. according to the method described in claim 1, it is characterised in that first distance includes the 3rd infrared distance, the 4th red
Outer distance and the second ultrasonic distance, wherein, the 3rd infrared distance for the first sensor of the robot measure to institute
The distance between barrier is stated, the 4th infrared distance arrives the barrier for what the second sensor of the robot was measured
The distance between, the second ultrasound distance is arrived between the barrier for what the ultrasonic sensor of the robot was measured
Distance, judges whether first distance meets first condition and include：
Judge whether the 3rd infrared distance is more than the first pre-determined distance；
Judge whether the 4th infrared distance is more than first pre-determined distance；
Judge whether the second ultrasound distance is more than the second pre-determined distance,
Wherein, it is more than first pre-determined distance in the 3rd infrared distance and/or the 4th infrared distance, and it is described
When second ultrasound distance is more than second pre-determined distance, determine that first distance meets the first condition, described first
The value of pre-determined distance and second pre-determined distance is identical or different.
5. according to the method described in claim 1, it is characterised in that when first distance is unsatisfactory for the first condition,
Methods described also includes：
Continue to detect first distance, and judge whether first distance meets the first condition.
6. a kind of fall-proofing device of robot, it is characterised in that including：
First acquisition unit, the first distance between robot and barrier for obtaining sensor detection；
First judging unit, for judging whether first distance meets first condition, wherein, the first condition is used to refer to
Show that the robot is in the distance range assert and fallen；
First transmitting element, for when first distance meets the first condition, being sent to the robot and stopping life
Order, wherein, it is described to cease and desist order for indicating the robot stop motion；
Control unit, is calculated for when first distance is unsatisfactory for the first condition, controlling the robot to perform avoidance
Method, wherein, the obstacle avoidance algorithm is used to control the robot avoiding barrier.
7. device according to claim 6, it is characterised in that described device also includes：
Second acquisition unit, for after being ceased and desisted order to robot transmission, obtaining the machine of sensor detection
Second distance between people and barrier；
Second judging unit, for judging whether the second distance meets second condition, wherein, the second condition is used to refer to
Show that the robot is not on the distance range assert and fallen；
Second transmitting element, for when the second distance meets the second condition, life of advancing to be sent to the robot
Order, and perform the obstacle avoidance algorithm；
Holding unit, shape is stopped for when the second distance is unsatisfactory for the second condition, keeping the robot to be in
State.
8. device according to claim 7, it is characterised in that the second distance includes the first infrared distance, second red
Outer distance and the first ultrasonic distance, wherein, the first infrared distance for the first sensor of the robot measure to institute
The distance between barrier is stated, the second infrared distance arrives the barrier for what the second sensor of the robot was measured
The distance between, the first ultrasound distance is arrived between the barrier for what the ultrasonic sensor of the robot was measured
Distance, second judging unit includes：
First judge module, for judging whether the described first infrared distance is more than the first pre-determined distance；
Second judge module, for judging whether the described second infrared distance is more than first pre-determined distance；
3rd judge module, for judging whether the first ultrasound distance is more than the second pre-determined distance,
Wherein, it is less than or equal to first pre-determined distance, and institute in the described first infrared distance and the second infrared distance
When stating the first ultrasound distance less than or equal to second pre-determined distance, determine that the second distance meets the second condition, institute
The value for stating the first pre-determined distance and second pre-determined distance is identical or different.
9. device according to claim 6, it is characterised in that first distance includes the 3rd infrared distance, the 4th red
Outer distance and the second ultrasonic distance, wherein, the 3rd infrared distance for the first sensor of the robot measure to institute
The distance between barrier is stated, the 4th infrared distance arrives the barrier for what the second sensor of the robot was measured
The distance between, the second ultrasound distance is arrived between the barrier for what the ultrasonic sensor of the robot was measured
Distance, first judging unit includes：
4th judge module, for judging whether the 3rd infrared distance is more than the first pre-determined distance；
5th judge module, for judging whether the 4th infrared distance is more than first pre-determined distance；
6th judge module, for judging whether the second ultrasound distance is more than the second pre-determined distance,
Wherein, it is more than first pre-determined distance in the 3rd infrared distance and/or the 4th infrared distance, and it is described
When second ultrasound distance is more than second pre-determined distance, determine that first distance meets the first condition, described first
The value of pre-determined distance and second pre-determined distance is identical or different.
10. device according to claim 6, it is characterised in that described device also includes：
Then unit is examined, for when first distance is unsatisfactory for the first condition, continuing to detect first distance, and is sentenced
Whether disconnected first distance meets the first condition.
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| CN201710430457.XA CN107092259A (en) | 2017-06-08 | 2017-06-08 | The anti-fall method and device of robot |
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| CN201710430457.XA CN107092259A (en) | 2017-06-08 | 2017-06-08 | The anti-fall method and device of robot |
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| CN112975995A (en) * | 2019-12-17 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Service robot chassis anti-falling array device and anti-falling method |
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Application publication date: 20170825 |