CN107145152B - Method and device for preventing mutual interference of multiple sensors and robot - Google Patents
Method and device for preventing mutual interference of multiple sensors and robot Download PDFInfo
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- CN107145152B CN107145152B CN201710505690.XA CN201710505690A CN107145152B CN 107145152 B CN107145152 B CN 107145152B CN 201710505690 A CN201710505690 A CN 201710505690A CN 107145152 B CN107145152 B CN 107145152B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The embodiment of the invention provides a method, a device and a robot for preventing mutual interference of multiple sensors, wherein the method is applied to a first robot and comprises the following steps: receiving position information of a second robot; when the position information of the second robot is in a preset detection range of the first robot, obtaining a second sensor of the second robot, which is the same as the first sensor of the first robot in type, according to the stored sensor list of the first robot and the stored sensor list of the second robot; and masking first sensor data of the first robot when the first sensor and the second sensor interfere with each other. By the method, the device and the robot, the mutual interference of the same type of sensors on a plurality of robots in the same area can be prevented.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a method and a device for preventing mutual interference of multiple sensors and a robot.
Background
With the rapid development of modern science and technology, the application range of the intelligent robot is more and more extensive, and the figure of the intelligent robot can be seen in both home and public places such as markets, banks and the like.
The robot is generally provided with an obstacle detection function so as to be capable of automatically avoiding obstacles when moving or automatically avoiding obstacles when people approach. In order to detect obstacles in multiple directions, a plurality of sensors of the same or different types are mounted on the robot, for example: ultrasonic, laser, etc.
However, when multiple robots are located together, these sensors on the robots may interfere with each other, affecting the function of detecting obstacles.
Disclosure of Invention
In summary, embodiments of the present invention provide a method, an apparatus, and a robot for preventing multiple sensors from interfering with each other, so as to prevent multiple robots in the same area from interfering with each other with the same type of sensors.
In a first aspect, an embodiment of the present invention provides a method for preventing multiple sensors from interfering with each other, where the method is applied to a first robot, and includes: receiving position information of a second robot; when the position information of the second robot is in a preset detection range of the first robot, obtaining a second sensor of the second robot, which is the same as the first sensor of the first robot in type, according to the stored sensor list of the first robot and the stored sensor list of the second robot; and masking first sensor data of the first robot when the first sensor and the second sensor interfere with each other.
Further, the receiving the position information of the second robot includes: the first robot receives the position information of the second robot in a short-distance wireless communication mode; or the first robot receives the position information of the second robot in a remote wireless cloud data sharing mode.
Further, the receiving the position information of the second robot includes: judging whether the short-distance wireless communication function of the first robot is normal or not; if the position information of the second robot is normal, receiving the position information of the second robot in the short-distance wireless communication mode; and if the robot is abnormal, receiving the position information of the second robot in a remote wireless cloud data sharing mode.
Further, the sensor list of the robot includes: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification.
Further, the sensor list of the first robot and the sensor list of the second robot are stored in a storage module of the first robot.
Further, the sensor list of the first robot and the sensor list of the second robot are obtained in a short-distance wireless communication mode or in a long-distance wireless cloud data sharing mode.
Further, when the position information of the second robot is within the preset detection range of the first robot, obtaining a second sensor of the second robot of the same type as the first sensor of the first robot according to the stored sensor list of the first robot and the stored sensor list of the second robot includes: and searching the sensor list of the first robot and the sensor list of the second robot to obtain a second sensor identifier of the second robot, wherein the type of the second sensor identifier is the same as that of the first sensor identifier of the first robot.
Further, the masking the first sensor data of the first robot when the first sensor and the second sensor interfere with each other includes: acquiring installation position information, an interference angle and an interference length of a first sensor corresponding to the first sensor identifier from a sensor list of the first robot; acquiring installation position information, an interference angle and an interference length of a second sensor corresponding to the second sensor identifier from a sensor list of the second robot; obtaining a distance between the first sensor and the second sensor and an angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; judging whether the first sensor and the second sensor interfere with each other or not according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor; if yes, shielding the first sensor data of the first robot.
Further, the determining whether the first sensor and the second sensor interfere with each other according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor includes: judging whether the second sensor is in the interference length range of the first sensor or not according to the distance between the first sensor and the second sensor; if so, judging whether the second sensor is in the interference angle range of the first sensor or not according to the angle of the second sensor relative to the first sensor; if yes, shielding the first sensor data of the first robot.
Further, the shielding the first sensor data of the first robot comprises: masking the first sensor data of the first robot by software means; or, the first sensor of the first robot is turned off in a hardware manner.
Further, after the shielding of the first sensor data of the first robot, the method further includes: receiving the position information of the second robot periodically or at preset time; and when the position information of the second robot is not in a preset detection range of the first robot, recovering the first sensor data of the first robot.
Further, after the shielding of the first sensor data of the first robot, the method further includes: receiving the position information of the second robot periodically or at preset time; when the position information of the second robot is within a preset detection range of the first robot, obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; judging whether the second sensor is in the interference length range of the first sensor or not according to the distance between the first sensor and the second sensor; if not, recovering the first sensor data of the first robot; if so, judging whether the second sensor is in the interference angle range of the first sensor or not according to the angle of the second sensor relative to the first sensor; if not, recovering the first sensor data of the first robot; if yes, shielding the first sensor data of the first robot.
In a second aspect, an embodiment of the present invention provides an apparatus for preventing mutual interference of multiple sensors, which is applied to a first robot, and includes: the system comprises a communication module, an interference control module and a storage module, wherein the communication module is used for receiving the position information of the second robot; a storage module for storing a sensor list of the first robot and a sensor list of the second robot; the interference control module is used for obtaining a second sensor of the second robot with the same type as the first sensor of the first robot according to the sensor list of the first robot and the sensor list of the second robot stored by the storage module when the position information of the second robot is within the preset detection range of the first robot; and when the first sensor and the second sensor interfere with each other, masking first sensor data of the first robot.
Further, the communication module is specifically configured to: receiving the position information of the second robot in a short-distance wireless communication mode; or receiving the position information of the second robot in a remote wireless cloud data sharing mode.
Further, the communication module is specifically configured to: judging whether the short-distance wireless communication function of the first robot is normal or not; if the position information of the second robot is normal, receiving the position information of the second robot in the short-distance wireless communication mode; and if the robot is abnormal, receiving the position information of the second robot in a remote wireless cloud data sharing mode.
Further, the sensor list of the robot includes: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification.
Further, the sensor list of the first robot and the sensor list of the second robot are obtained by the communication module through a short-distance wireless communication mode, or obtained by the communication module through a long-distance wireless cloud data sharing mode.
Further, the interference control module is specifically configured to: searching the sensor list of the first robot and the sensor list of the second robot stored in a storage module to obtain a second sensor identifier of the second robot, wherein the type of the second sensor identifier of the second robot is the same as that of the first sensor identifier of the first robot; acquiring installation position information, an interference angle and an interference length of a first sensor corresponding to the first sensor identifier from a sensor list of the first robot; acquiring installation position information, an interference angle and an interference length of a second sensor corresponding to the second sensor identifier from a sensor list of the second robot; obtaining a distance between the first sensor and the second sensor and an angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; judging whether the first sensor and the second sensor interfere with each other or not according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor; if yes, shielding the first sensor data of the first robot.
Further, the interference control module is configured to shield the first sensor data of the first robot, and includes: masking the first sensor data of the first robot by software means; or, the first sensor of the first robot is turned off in a hardware manner.
In a third aspect, embodiments of the present invention provide a robot. The robot comprises a device which is arranged on the robot and prevents the mutual interference of a plurality of sensors; the device for preventing the mutual interference of the multiple sensors is realized by adopting the technical scheme provided by the embodiment.
By the method, the device and the robot for preventing the mutual interference of the sensors of multiple machines, provided by the embodiment of the invention, when two or more robots are arranged in the same area, the distance and the relative angle of the sensors of the same type on different robots can be further positioned by detecting the distance between the robots, and under the condition that the two or more sensors of the same type on different robots interfere with each other, the data of the sensors on the local robot is shielded, so that the problem of the mutual interference of the sensors of the same type on different robots is prevented. Meanwhile, when the robot is provided with a plurality of types of sensors, under the above conditions, the sensors of different types can be closed at different times, so that the effective working time of the sensors of different types is kept to the maximum extent, and the function of the robot for detecting the obstacle cannot be influenced by closing one sensor.
Drawings
While the drawings needed to describe the invention or prior art arrangements in a more complete description of the embodiments or prior art are briefly described below, it should be apparent that the drawings described below are illustrative of some embodiments of the invention and that other drawings may be derived therefrom by those skilled in the art without the benefit of the inventive faculty.
FIG. 1 is a schematic flow chart illustrating a method for preventing multiple sensors from interfering with each other according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a sensor list of a robot according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of another method for preventing multiple sensors from interfering with each other according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating a method for receiving position information of a second robot according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a method for determining whether to mask first sensor data of a first robot according to an interference control algorithm according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a method for determining whether to recover first sensor data of a first robot according to an interference control algorithm according to an embodiment of the present invention.
Fig. 7 is a schematic view of a structure of an apparatus for preventing multiple sensors from interfering with each other according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely illustrative of some, but not all, of the embodiments of the invention, and that the preferred embodiments of the invention are shown in the drawings. This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present disclosure is set forth in order to provide a more thorough understanding thereof. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Example one
The embodiment of the invention provides a method for preventing mutual interference of multiple sensors, which is used for solving the problem that the same type of sensors on different robots mutually interfere when a plurality of robots work cooperatively or a plurality of robots work in the same area at the same time. In this embodiment, the local robot is a first robot, the robot that may interfere with its sensor with each other is a second robot, and the number of the second robots is one or more.
Referring to fig. 1, a schematic flow chart of a method for preventing multiple sensors from interfering with each other according to an embodiment of the present invention is shown.
Step S101: the first robot receives position information of the second robot.
Step S102: when the position information of the second robot is in a preset detection range of the first robot, obtaining a second sensor of the second robot, which is the same as the first sensor of the first robot in type, according to the stored sensor list of the first robot and the stored sensor list of the second robot; and
the sensor list of the first robot or the sensor list of the second robot, as shown in fig. 2, includes the following key information: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification. From the sensor list of the robot, one or more pieces of sensor information installed on each robot can be obtained, including the number of sensors, the types of the sensors, the installation position information of the sensors, the interference angle and the interference length of the sensors. The type of the sensor can be judged according to the identifier of the sensor, and the sensors with the same identifier indicate that the types of the sensors are the same. In the embodiment of the invention, the sensors with the same type can interfere with each other, and the sensors with different types do not have the problem of mutual interference.
Step S103: the first sensor data of the first robot is masked when the first sensor and the second sensor interfere with each other.
According to the method for preventing the mutual interference of the sensors of the multiple machines, when two or more than two robots are in the same area, the sensors of the same type on different robots can be further positioned through the distance detection between the robots, and when the two or more than two sensors of the same type on different robots interfere with each other, the data of the sensors on the local robots are shielded, so that the problem that the sensors of the same type on different robots interfere with each other is solved. Meanwhile, when the robot is provided with a plurality of types of sensors, under the above conditions, the sensors of different types can be closed at different times, so that the effective working time of the sensors of different types is kept to the maximum extent, and the function of the robot for detecting the obstacle cannot be influenced by closing one sensor.
Example two
The second embodiment of the invention provides a method for preventing mutual interference of multiple sensors, which is used for solving the problem that the same type of sensors on different robots mutually interfere when a plurality of robots work cooperatively or a plurality of robots work in the same area simultaneously. In this embodiment, the local robot is a first robot, the robot that may interfere with its sensor with each other is a second robot, and the number of the second robots is one or more.
Step S1001: position information of the second robot is received.
In the embodiment of the present invention, the first robot receives the position information of the second robot through a short-distance wireless communication mode, for example: in wireless communication modes such as WiFi, Bluetooth, Zigbee and 433, the robots in the same area broadcast own position information every 1 second, and receive signals, so that the number of the robots around can be known; or, receiving the position information of the second robot in a remote wireless cloud data sharing manner, for example: the cloud server automatically sends the position information of the second robot to the first robot, or the first robot goes to the cloud server to obtain the position information.
In another embodiment of the invention, the first robot supports the two communication modes to acquire the position information of the second robot, double protection can be performed, when one communication mode fails, the other communication mode is taken into effect instead, and the method and the system can be applied to more application scenes. As will be described in detail below in connection with fig. 4.
Step S1002: determine whether the position information of the second robot is within a preset detection range of the first robot? If yes, go to step S1003; if not, the process is ended.
In the embodiment of the present invention, the first robot may preset a preliminary detection range, for example: within 20 meters, the possibility of interference outside the detection range is considered to be small; in the detection range, it is necessary to further determine whether the same type of sensors on different robots interfere with each other according to the type, interference angle, and interference length of the sensors.
Step S1003: and searching the sensor list of the first robot and the sensor list of the second robot to obtain a second sensor identifier of the second robot which is the same as the first sensor identifier of the first robot in type.
In an embodiment of the present invention, the sensor list of the first robot or the sensor list of the second robot, as shown in fig. 2, includes but is not limited to the following key information: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification. From the sensor list of the robot, one or more pieces of sensor information installed on each robot can be obtained, including the number of sensors, the types of the sensors, the installation position information of the sensors, the interference angle and the interference length of the sensors. The type of the sensor can be judged according to the identifier of the sensor, and the sensors with the same identifier indicate that the types of the sensors are the same. In the embodiment of the invention, the sensors with the same type can interfere with each other, and the sensors with different types do not have the problem of mutual interference. In addition, the sensor list provided in the embodiment of the present invention is only one form of storing the above-mentioned key information of the sensor, and is not limited to this storage form.
The list of sensors of the first robot and the list of sensors of the second robot are stored in a memory module of the first robot.
The sensor list of the first robot and the sensor list of the second robot are obtained by short-distance wireless communication, for example: wireless communication modes such as WiFi, Bluetooth, Zigbee and 433; or, the data is obtained in a remote wireless cloud data sharing manner, for example: the cloud server automatically issues the sensor list of the first robot and the sensor list of the second robot to the first robot, or the first robot goes to a cloud server to obtain the sensor list; or, the data is transmitted by directly connecting robots through a storage medium, such as a U-disk, an optical disk, a mobile hard disk, and the like, and the robots are shared through wired or wireless connection, for example, after a certain robot is responsible for establishing a map, data such as a sensor list and the map of the robot can be shared to other robots through wired or wireless transmission. For example: each robot of the same map regional operation can broadcast and send own position coordinates, orientation, sensor list and other key information on the map at a certain frequency through cloud data sharing or short-distance communication mode among the robots, and can receive other robots' position coordinates, orientation, sensor list and other key information through cloud or short-distance communication.
Step S1004: and acquiring the installation position information, the interference angle and the interference length of the first sensor corresponding to the first sensor identification from the sensor list of the first robot.
Step S1005: and acquiring the installation position information, the interference angle and the interference length of the second sensor corresponding to the second sensor identification from the sensor list of the second robot.
Step S1006: and obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor.
In general, the distance and the angle between two robots cannot accurately reflect the distance and the angle between two sensors, and the distance between two sensors and the angle between two sensors need to be calculated according to the position information of two robots and the position information of the sensors.
Step S1007: is it determined whether the first sensor and the second sensor interfere with each other based on the distance between the first sensor and the second sensor, the angle of the second sensor with respect to the first sensor, and the interference angle and the interference length of the first sensor? If yes, go to step S1008; if not, the process is ended.
If the two conditions of the interference angle and the interference length are both satisfied, the two sensors are considered to interfere with each other; if one condition is not met, the two sensors are considered not to interfere with each other. As will be described in detail below in connection with fig. 5.
Step S1008: masking first sensor data of a first robot
In the embodiment of the invention, the first robot can shield the first sensor data of the first robot in a software mode; or, the first sensor of the first robot is turned off in a hardware manner.
It is anticipated that, in the embodiment of the present invention, there may be a plurality of second robots entering the detection range of the first robot, and whether there is a mutual interference between the sensors is determined one by the above method. In addition, there may be two or more types of sensors that interfere with each other between the first robot and the second robot, and the above method is also used to determine whether there is interference between other types of sensors one by one.
By the method for preventing the mutual interference of the sensors of the multiple machines, when two or more than two robots are in the same area, the distance and the relative angle of the sensors of the same type on different robots can be further positioned by detecting the distance between the robots, and under the condition that the two or more than two sensors of the same type on different robots interfere with each other, the data of the sensors on the local robots are shielded, so that the problem of mutual interference of the sensors of the same type on different robots is solved. Meanwhile, when the robot is provided with a plurality of types of sensors, under the above conditions, the sensors of different types can be closed at different times, so that the effective working time of the sensors of different types is kept to the maximum extent, and the function of the robot for detecting the obstacle cannot be influenced by closing one sensor.
Referring to fig. 4, a flowchart of a method for receiving position information of a second robot according to an embodiment of the present invention is shown, that is, various embodiments of step S1001 in fig. 2 are described in detail. When the first robot supports the short-distance wireless communication mode and the long-distance wireless cloud data sharing mode, the priority of the short-distance wireless communication mode is higher than that of the long-distance wireless cloud data sharing mode. When the short-distance wireless communication mode fails, a long-distance wireless cloud data sharing mode is adopted.
Step S2001: is the first robot's short-range wireless communication function judged to be normal? If yes, go to step S2002; if not, go to step S2003.
Step S2002: and receiving the position information of the second robot in a short-distance wireless communication mode.
Step S2003: and receiving the position information of the second robot in a remote wireless cloud data sharing mode.
Referring to fig. 5, a flowchart of a method for determining whether to mask first sensor data of a first robot according to an interference control algorithm according to an embodiment of the present invention is shown, which is described in detail in step S1007 in fig. 2.
Step S3001: is the second sensor within the interference length of the first sensor determined from the distance between the first sensor and the second sensor? If yes, go to step S3002; if not, the process is ended.
Step S3002: is the second sensor determined to be within the interference angle range of the first sensor based on the angle of the second sensor relative to the first sensor? If yes, go to step S3003; if not, the process is ended.
Step S3003: the first sensor data of the first robot is masked.
Fig. 6 is a flowchart illustrating a method for determining whether to recover the first sensor data of the first robot through the interference control algorithm according to an embodiment of the present invention, that is, various embodiments of whether to recover the first sensor data of the first robot after step S1008 in fig. 2 are described in detail. In the embodiment of the invention, when the second robot is out of the mutual interference range, the shielded sensor data can be recovered.
Step S4001: and receiving the position information of the second robot periodically or at preset time.
Step S4002: determine whether the position information of the second robot is within a preset detection range of the first robot? If yes, executing step S4003; if not, go to step S4007.
Step S4003: and obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor.
Step S4004: is the second sensor within the interference length of the first sensor determined from the distance between the first sensor and the second sensor? If yes, go to step S4005; if not, go to step S4007.
Step S4005: is the second sensor determined to be within the interference angle range of the first sensor based on the angle of the second sensor relative to the first sensor? If yes, go to step S4006; if not, go to step S4007.
Step S4006: the first sensor data of the first robot is masked.
Step S4007: first sensor data of the first robot is recovered.
The shielding or recovering of the first sensor data of the first robot can be realized in two ways, namely software or hardware, and is not described herein again.
EXAMPLE III
The third embodiment of the invention provides a device for preventing mutual interference of multiple sensors, which is used for solving the problem that the same type of sensors on different robots mutually interfere when a plurality of robots work cooperatively or a plurality of robots work in the same area simultaneously. In this embodiment, the local robot is a first robot, the robot that may interfere with its sensor with each other is a second robot, and the number of the second robots is one or more.
As shown in fig. 7, a third embodiment of the present invention provides an apparatus for preventing multiple sensors from interfering with each other, where the apparatus is applied to a first robot, and the apparatus includes: a communication module 901, an interference control module 902 and a storage module 903.
And a communication module 901, configured to receive position information of the second robot.
In the embodiment of the present invention, the communication module 901 receives the position information of the second robot through a short-distance wireless communication mode; or receiving the position information of the second robot in a remote wireless cloud data sharing mode.
Preferably, in another embodiment of the present invention, the communication module 901 first determines whether the short-range wireless communication function of the first robot is normal; if the position information is normal, the position information of the second robot is received in a short-distance wireless communication mode; and if not, receiving the position information of the second robot in a remote wireless cloud data sharing mode.
A storage module 902 for storing a list of sensors of the first robot and a list of sensors of the second robot.
In an embodiment of the present invention, the sensor list of the first robot or the sensor list of the second robot, as shown in fig. 2, includes but is not limited to the following key information: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification. From the sensor list of the robot, one or more pieces of sensor information installed on each robot can be obtained, including the number of sensors, the types of the sensors, the installation position information of the sensors, the interference angle and the interference length of the sensors. The type of the sensor can be judged according to the identifier of the sensor, and the sensors with the same identifier indicate that the types of the sensors are the same. In the embodiment of the invention, the sensors with the same type can interfere with each other, and the sensors with different types do not have the problem of mutual interference. In addition, the sensor list provided in the embodiment of the present invention is only one form of storing the above-mentioned key information of the sensor, and is not limited to this storage form.
The sensor list of the first robot and the sensor list of the second robot are obtained by the communication module 901 through short-range wireless communication, for example: wireless communication modes such as WiFi, Bluetooth, Zigbee and 433; or, the data is obtained in a remote wireless cloud data sharing manner, for example: the cloud server automatically issues the sensor list of the first robot and the sensor list of the second robot to the first robot, or the first robot goes to the cloud server to obtain the sensor list; or, the data is transmitted by directly connecting robots through a storage medium, such as a U-disk, an optical disk, a mobile hard disk, and the like, and the robots are shared through wired or wireless connection, for example, after a certain robot is responsible for establishing a map, data such as a sensor list and the map of the robot can be shared to other robots through wired or wireless transmission. For example: each robot of the same map regional operation can broadcast and send own position coordinates, orientation, sensor list and other key information on the map at a certain frequency through cloud data sharing or short-distance communication mode among the robots, and can receive other robots' position coordinates, orientation, sensor list and other key information through cloud or short-distance communication.
The interference control module 903 is configured to, when the position information of the second robot is within a detection range preset by the first robot, obtain a second sensor of the second robot, which is of the same type as the first sensor of the first robot, according to the sensor list of the first robot and the sensor list of the second robot stored in the storage module; and masking the first sensor data of the first robot when the first sensor and the second sensor interfere with each other.
In the embodiment of the present invention, the interference control module 902 is specifically configured to search the sensor list of the first robot and the sensor list of the second robot stored in the storage module 902, and obtain a second sensor identifier of the second robot, which is the same as the first sensor identifier of the first robot in type; acquiring installation position information, an interference angle and an interference length of a first sensor corresponding to a first sensor identifier from a sensor list of a first robot; acquiring installation position information, an interference angle and an interference length of a second sensor corresponding to a second sensor identifier from a sensor list of a second robot; obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; judging whether the first sensor and the second sensor interfere with each other or not according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor; if yes, the first sensor data of the first robot is shielded.
The interference control module 902 may mask the first sensor data of the first robot in a software manner; or the first sensor of the first robot is turned off in a hardware mode.
In the embodiment of the invention, when the second robot is out of the mutual interference range, the shielded first sensor data is recovered. Thus, the communication module 901 is also used for: and receiving the position information of the second robot periodically or at preset time.
The interference control module 903 is further configured to: determine whether the position information of the second robot is within a preset detection range of the first robot? If not, recovering the first sensor data of the first robot; if yes, the following steps are executed. And obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor. Is the second sensor within the interference length of the first sensor determined from the distance between the first sensor and the second sensor? If not, recovering the first sensor data of the first robot; if yes, the following steps are executed. Is the second sensor determined to be within the interference angle range of the first sensor based on the angle of the second sensor relative to the first sensor? If not, recovering the first sensor data of the first robot; if yes, the first sensor data of the first robot is continuously shielded.
By the method, the device and the robot for preventing the mutual interference of the sensors of multiple machines, provided by the embodiment of the invention, when two or more robots are arranged in the same area, the distance and the relative angle of the sensors of the same type on different robots can be further positioned by detecting the distance between the robots, and under the condition that the two or more sensors of the same type on different robots interfere with each other, the data of the sensors on the local robot is shielded, so that the problem of the mutual interference of the sensors of the same type on different robots is prevented. Meanwhile, when the robot is provided with a plurality of types of sensors, under the above conditions, the sensors of different types can be closed at different times, so that the effective working time of the sensors of different types is kept to the maximum extent, and the function of the robot for detecting the obstacle cannot be influenced by closing one sensor.
Example four
The embodiment five of the invention provides a robot, which comprises a device which is arranged on the robot and is used for preventing mutual interference of a plurality of sensors; the device for preventing the mutual interference of the multiple sensors adopts the device for preventing the mutual interference of the multiple sensors in the third embodiment. The robot provided by the embodiment of the method can prevent the mutual interference of the same type of sensors on a plurality of robots in the same area.
In the above embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing detailed description, or equivalent changes may be made in some of the features of the embodiments. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
Claims (20)
1. A method for preventing mutual interference of multiple sensors is applied to a first robot, and is characterized by comprising the following steps:
receiving position information of a second robot;
when the position information of the second robot is in a preset detection range of the first robot, obtaining a second sensor of the second robot, which is the same as the first sensor of the first robot in type, according to the stored sensor list of the first robot and the stored sensor list of the second robot; and
when the first sensor and the second sensor interfere with each other, first sensor data of the first robot is masked.
2. The method of claim 1, wherein the receiving location information for the second robot comprises:
the first robot receives the position information of the second robot in a short-distance wireless communication mode; alternatively, the first and second electrodes may be,
and the first robot receives the position information of the second robot in a remote wireless cloud data sharing mode.
3. The method of claim 1, wherein the receiving location information for the second robot comprises:
judging whether the function of the short-distance wireless communication mode of the first robot is normal or not; if the position information of the second robot is normal, receiving the position information of the second robot in the short-distance wireless communication mode; and if the robot is abnormal, receiving the position information of the second robot in a remote wireless cloud data sharing mode.
4. The method of claim 1, wherein the list of sensors of the robot comprises: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification.
5. The method of claim 1, wherein the list of sensors of the first robot and the list of sensors of the second robot are stored in a memory module of the first robot.
6. The method of claim 1, wherein the list of sensors of the first robot and the list of sensors of the second robot are obtained by short-range wireless communication or by long-range wireless cloud data sharing.
7. The method of claim 4, wherein the obtaining of the second sensor of the second robot of the same type as the first sensor of the first robot from the stored sensor list of the first robot and the sensor list of the second robot when the position information of the second robot is within the preset detection range of the first robot comprises:
and searching the sensor list of the first robot and the sensor list of the second robot to obtain a second sensor identifier of the second robot, wherein the type of the second sensor identifier is the same as that of the first sensor identifier of the first robot.
8. The method of claim 7, wherein the masking the first sensor data of the first robot when the first sensor and the second sensor interfere with each other comprises:
acquiring installation position information, an interference angle and an interference length of a first sensor corresponding to the first sensor identifier from a sensor list of the first robot;
acquiring installation position information, an interference angle and an interference length of a second sensor corresponding to the second sensor identifier from a sensor list of the second robot;
obtaining a distance between the first sensor and the second sensor and an angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; and
judging whether the first sensor and the second sensor interfere with each other or not according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor; if yes, shielding the first sensor data of the first robot.
9. The method of claim 8, wherein said determining whether the first sensor and the second sensor will interfere with each other based on the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor comprises:
judging whether the second sensor is in the interference length range of the first sensor or not according to the distance between the first sensor and the second sensor; if so,
judging whether the second sensor is in the interference angle range of the first sensor or not according to the angle of the second sensor relative to the first sensor; if so,
the first sensor data of the first robot is masked.
10. The method of claim 1, wherein the masking the first sensor data of the first robot comprises:
shielding first sensor data of the first robot in a software mode; alternatively, the first and second electrodes may be,
turning off the first sensor of the first robot in a hardware manner.
11. The method of claim 1, further comprising, after masking the first sensor data of the first robot:
receiving the position information of the second robot periodically or at preset time; and when the position information of the second robot is not in the preset detection range of the first robot, recovering the first sensor data of the first robot.
12. The method of claim 8, further comprising, after masking the first sensor data of the first robot:
receiving the position information of the second robot periodically or at preset time; when the position information of the second robot is within a preset detection range of the first robot, obtaining the distance between the first sensor and the second sensor and the angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor;
judging whether the second sensor is in the interference length range of the first sensor or not according to the distance between the first sensor and the second sensor; if not, recovering the first sensor data of the first robot; if so,
judging whether the second sensor is in the interference angle range of the first sensor or not according to the angle of the second sensor relative to the first sensor; if not, recovering the first sensor data of the first robot; if so,
the first sensor data of the first robot is masked.
13. A device for preventing mutual interference of multiple sensors is applied to a first robot, and is characterized by comprising: a communication module, an interference control module and a storage module, wherein,
the communication module is used for receiving the position information of the second robot;
a storage module for storing a sensor list of the first robot and a sensor list of the second robot; and
the interference control module is used for obtaining a second sensor of the second robot with the same type as the first sensor of the first robot according to the sensor list of the first robot and the sensor list of the second robot stored by the storage module when the position information of the second robot is within the preset detection range of the first robot; and when the first sensor and the second sensor interfere with each other, masking first sensor data of the first robot.
14. The apparatus of claim 13, wherein the communication module is specifically configured to: receiving the position information of the second robot in a short-distance wireless communication mode; or receiving the position information of the second robot in a remote wireless cloud data sharing mode.
15. The apparatus of claim 13, wherein the communication module is specifically configured to: judging whether the short-distance wireless communication function of the first robot is normal or not; if the position information of the second robot is normal, receiving the position information of the second robot in the short-distance wireless communication mode; and if the robot is abnormal, receiving the position information of the second robot in a remote wireless cloud data sharing mode.
16. The apparatus of claim 13, wherein the list of sensors of the robot comprises: the robot comprises a robot identification, one or more sensor identifications, installation position information corresponding to each sensor identification, and an interference angle and an interference length corresponding to each sensor identification.
17. The apparatus of claim 13, wherein the sensor list of the first robot and the sensor list of the second robot are obtained by the communication module through short-range wireless communication, or are obtained by the communication module through long-range wireless cloud data sharing.
18. The apparatus of claim 13, wherein the interference control module is specifically configured to:
searching the sensor list of the first robot and the sensor list of the second robot stored in a storage module to obtain a second sensor identifier of the second robot, wherein the type of the second sensor identifier of the second robot is the same as that of the first sensor identifier of the first robot;
acquiring installation position information, an interference angle and an interference length of a first sensor corresponding to the first sensor identifier from a sensor list of the first robot;
acquiring installation position information, an interference angle and an interference length of a second sensor corresponding to the second sensor identifier from a sensor list of the second robot;
obtaining a distance between the first sensor and the second sensor and an angle of the second sensor relative to the first sensor according to the position information of the first robot and the second robot and the installation position information of the first sensor and the second sensor; and
judging whether the first sensor and the second sensor interfere with each other or not according to the distance between the first sensor and the second sensor, the angle of the second sensor relative to the first sensor, and the interference angle and the interference length of the first sensor; if yes, shielding the first sensor data of the first robot.
19. The apparatus of claim 13, wherein the interference control module is configured to mask the first sensor data of the first robot, comprising:
masking the first sensor data of the first robot by software means; or, the first sensor of the first robot is turned off in a hardware manner.
20. A robot, comprising:
the device is arranged on the robot and used for preventing the mutual interference of the sensors of the multiple machines;
the device for preventing the mutual interference of the multiple sensors adopts the device for preventing the mutual interference of the multiple sensors as claimed in any one of the claims 13 to 19.
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