CN109968378A - Robot and its distance measuring method, storage device - Google Patents
Robot and its distance measuring method, storage device Download PDFInfo
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- CN109968378A CN109968378A CN201711468893.2A CN201711468893A CN109968378A CN 109968378 A CN109968378 A CN 109968378A CN 201711468893 A CN201711468893 A CN 201711468893A CN 109968378 A CN109968378 A CN 109968378A
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- processor
- range sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application discloses a kind of robots, the robot includes processor and the range sensor that connect with the processor, processor and range sensor are used for detecting distance sensor and the first object, second object, the distance between third body simultaneously generates the first detected value, second detected value, third detected value, processor is used for according to the first detected value, the first known distance value between first object and range sensor obtains deviant, processor is also used to according to the second detected value, the second known distance value between second object and range sensor obtains crossfire value, processor is also used to according to third detected value, deviant, crossfire value obtains the actual range output valve between range sensor and third body.Disclosed herein as well is a kind of distance measuring method of robot and storage devices.By the above-mentioned means, can make robot detect its between surrounding objects at a distance from when, testing result is more accurate.
Description
Technical field
This application involves robot fields, more particularly to a kind of robot and its distance measuring method, storage device.
Background technique
With the continuous development of computer technology and artificial intelligence technology is constantly progressive, and the application of robot is increasingly
Extensively, the intelligence of robot is also higher and higher.
Robot in order to judge itself the location of, it is often necessary to obtain the distance between itself and surrounding objects, therefore,
Robot is internally provided with range sensor.But general robot detect its between surrounding objects at a distance from when,
Testing result inaccuracy.
Summary of the invention
The application can make robot detect itself and ambient mainly solving the technical problems that provide a kind of robot
When the distance between body, testing result is more accurate.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of robot, the robot
The range sensor for including: processor and connecting with the processor, processor and range sensor are used for detecting distance sensor
The distance between first object simultaneously generates the first detected value, and between detecting distance sensor and the second object away from
From and generate the second detected value, processor be used for according to first between the first detected value, the first object and range sensor
Know that distance value obtains deviant, processor is also used to according to second between the second detected value, the second object and range sensor
Known distance value obtains crossfire value, processor and range sensor be also used between detecting distance sensor and third body away from
From and generate third detected value, processor is also used to obtain range sensor and the according to third detected value, deviant, crossfire value
Actual range output valve between three objects, wherein the first known distance is less than the second known distance.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of ranging of robot
Method, the distance measuring method include: between the processor of robot and range sensor detecting distance sensor and the first object
Distance simultaneously generates the first detected value and processor and the distance between range sensor detecting distance sensor and the second object
And the second detected value is generated, processor is according to the first known distance between the first detected value, the first object and range sensor
Value obtains deviant, and processor is obtained according to the second known distance value between the second detected value, the second object and range sensor
It takes crossfire value, processor and the distance between range sensor detecting distance sensor and third body and generates third detection
Value, processor obtain the actual range between range sensor and third body also according to third detected value, deviant, crossfire value
Output valve, wherein the first known distance is less than the second known distance.
In order to solve the above technical problems, another technical solution that the application uses is: providing a kind of storage device, store
Device is stored with computer program, and computer program can be performed to realize the above method.
The beneficial effect of the application is: be in contrast to the prior art, the application robot include processor and with this
The range sensor of processor connection, processor and range sensor between detecting distance sensor and the first object away from
From and generate the first detected value, and for the distance between detecting distance sensor and the second object and generate second detect
Value, processor are used to obtain offset according to the first known distance value between the first detected value, the first object and range sensor
Value, processor are also used to obtain string according to the second known distance value between the second detected value, the second object and range sensor
Value is disturbed, processor and range sensor are also used to the distance between detecting distance sensor and third body and generate third detection
Value, processor are also used to obtain the reality between range sensor and third body according to third detected value, deviant, crossfire value
Apart from output valve, wherein the first known distance is less than the second known distance.Due to processor can according to third detected value, partially
Therefore the actual range output valve that shifting value, crossfire value obtain between range sensor and third body can be such that robot is examining
When surveying the distance between itself and surrounding objects, testing result is more accurate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the application first embodiment robot；
Fig. 2 is the electrical block diagram of the application second embodiment robot；
Fig. 3 is the schematic diagram of the distance measuring method of the embodiment of the present application robot；
Fig. 4 is the schematic diagram of the embodiment of the present application storage device.
Specific embodiment
It is understandable to enable the above objects, features, and advantages of the application to become apparent, with reference to the accompanying drawing, to the application
Specific embodiment be described in detail.It is understood that specific embodiment described herein is only used for explaining this Shen
Please, rather than the restriction to the application.It also should be noted that illustrating only for ease of description, in attached drawing and the application
Relevant part rather than entire infrastructure.Based on the embodiment in the application, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall in the protection scope of this application.
Term " first ", " second " in the application etc. be for distinguishing different objects, rather than it is specific suitable for describing
Sequence.In addition, term " includes " and " having " and their any deformations, it is intended that cover and non-exclusive include.Such as comprising
The process, method, system, product or equipment of a series of steps or units are not limited to listed step or unit, and
It is optionally further comprising the step of not listing or unit, or optionally further comprising for these process, methods, product or equipment
Intrinsic other step or units.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the application first embodiment robot.
Robot 10 includes processor 11 and the range sensor 12 connecting with processor 11.
Range sensor 12 includes laser infrared transmitter 13 and laser infrared receiver 14, and laser infrared transmitter 13 is used
In transmitting laser infrared light, laser infrared receiver 14 is for receiving the laser infrared light that surrounding objects are reflected back.
Optionally, the range of the three-dimensional dimension of range sensor 12 can be respectively 4.0~5.0mm, 2.0~3.0mm,
0.5~1.5mm.Optionally, the three-dimensional dimension of range sensor 12 can be the package dimension of range sensor.
In the present embodiment, the three-dimensional dimension of range sensor 12 can be respectively as follows: 4.4mm, 2.4mm, 1.0mm.At it
In its embodiment, the size of range sensor 12 can be other values, and the embodiment of the present application is not construed as limiting this.
Optionally, processor 11 can control laser infrared transmitter 13 with predeterminated frequency transmitting laser infrared light.Example
Such as, processor 11 can control laser infrared transmitter 13 with the frequency transmitting laser infrared light of 1Hz~10Hz.Optionally,
Processor 11 can control laser infrared transmitter 13 and emit laser infrared light with the frequency of 1Hz, 5Hz or 10Hz.Ying Li
Solution, above-mentioned frequency refers to the number of the transmitting of laser infrared transmitter 13 laser infrared line in the unit time, for example, laser infrared
Transmitter 13 can be 5 laser infrareds of transmitting per second of laser infrared transmitter 13 with the frequency transmitting laser infrared light of 5Hz
Light.
In other embodiments, the movement speed of the available robot 10 of processor 11, according to the movement of robot 10
Speed controls laser infrared transmitter 13 with corresponding frequency and emits laser infrared light.For example, robot 10 may include adding
Velocity sensor (not shown), acceleration transducer are used to detect the acceleration of robot 10, and processor 11 is used for from acceleration
The middle movement speed for obtaining robot 10.Processor 11 can also obtain the movement speed of robot 10 and the corresponding relationship of frequency
Table, for example, robot 10 further includes the memory (not shown) connecting with processor 11, the reading machine from memory of processor 11
The movement speed of device people 10 and the mapping table of frequency, processor 11 is according to the mapping table of movement speed and frequency and obtains
The movement speed taken finds corresponding frequency, and controls laser infrared transmitter 13 and emit laser infrared light with the frequency.Example
Such as, processor 11 can control laser infrared transmitter 13 when the movement speed for getting robot 10 is larger with biggish
Frequency emits laser infrared light；Conversely, processor 11 can control sharp when the movement speed for getting robot 10 is smaller
Light infrared transmitter 13 emits laser infrared light with lesser frequency.
Optionally, the range of the wavelength of laser infrared light is 935~945nm.For example, the wavelength of laser infrared light can
Think 935nm, 940nm or 945nm.In the present embodiment, the wavelength of laser infrared light is 940nm.In the present embodiment,
Light using laser infrared light as detecting distance can make the 12 detecting distance sensor of range sensor of robot 10
The distance between 12 and its barrier in 1.5 meters or other surrounding objects.
Optionally, surrounding objects can be wall, desk, animal or plant etc..
Described in brought forward, processor 11 and range sensor 12 between detecting distance sensor 12 and the first object away from
From and generate the first detected value, and for the distance between detecting distance sensor 12 and the second object and generate second detect
Value.
For example, being t1, laser infrared receiver at the time point that laser infrared transmitter 13 emits a laser infrared light
When the time point for the laser infrared light that 14 the first objects of reception are reflected back is t2, between range sensor 12 and the first object
Distance be (t2-t1) × c ÷ 2, wherein c be the light velocity.Similarly, the method detecting distance sensor 12 and the second object can be used
The distance between body.
Optionally, processor 11 is used for according to first between the first detected value, the first object and range sensor 12
Know that distance value obtains deviant.For example, processor 11 can be using the difference of the first detected value and the first known distance value as partially
Shifting value.
Optionally, processor 11 is also used to according to second between the second detected value, the second object and range sensor 12
Known distance value obtains crossfire value.For example, processor 11 can using the difference of the second detected value and the second known distance value as
Crossfire value.Wherein, the first known distance value is less than the second known distance value.
Optionally, processor 11 and range sensor 12 be also used between detecting distance sensor 12 and third body away from
From and generate third detected value, processor 11 is also used to obtain range sensor 12 according to third detected value, deviant, crossfire value
Actual range output valve between third body.
It should be understood that in the present embodiment, the first detected value, the second detected value, third detected value are that range sensor 12 is straight
The detected value of output is connect, and actual range output valve is after being corrected according to deviant and crossfire value to third detected value
Value.
Optionally, the reflectivity of the first object can be greater than the reflectivity of the second object.Optionally, the reflection of the first object
Rate may range from 80%~95%, and the reflectivity of the second object may range from 15%~20%.For example, the first object
Reflectivity can be the reflectivity of 80%, 88% perhaps the 95% the second objects can be 15%, 17% or 20%.
In the present embodiment, the reflectivity of the first object is 88%, and the reflectivity of the second object is 17%.
By setting bigger than the emissivity of the second object and above-mentioned specific first object for the reflectivity of the first object
The reflectance value of the reflectance value of body and the second object can make the subsequent crossfire value got and deviant more accurate.
In the present embodiment, the first object can be the white object that reflectivity is 88%；Second object can be reflection
The grey object that rate is 17%.Optionally, white object can be the card of white, and the size of white card is greater than 210mm
×297mm；Grey object can be the card of grey, and the size of the card of grey is greater than 300mm × 300mm.In other implementations
In example, the first object can also be the plank or wall of white；Second object can be with the plank or wall of grey, the application
This is not construed as limiting.
It should be understood that the first object is the object that the front of range sensor 12 of robot 10 is artificially arranged in, with
The distance of range sensor 12 be survey in advance it is measured, be placed on from range sensor 12 be the first known distance position.Second
Object is also the object that the front of range sensor 12 of robot 10 is arranged in, and is also at a distance from range sensor 12
Survey in advance it is measured, be placed on from range sensor 12 be the second known distance position.
Optionally, the first known distance may range from 5~15cm, the second known distance may range from 40~
80cm.For example, the first known distance can be 5cm, 10cm perhaps the second known distance of 15cm can be 40cm, 60cm or
80cm.In the present embodiment, the first known distance is 10cm, and the second known distance is 60cm.
Above-mentioned surrounding objects can be the first object, the second object or third body.Third body can be machine
Any object that the front of the range sensor 12 of people 10 encounters.
In the present embodiment, deviant can be the deviation of the detection of the distance as caused by build-up tolerance or error.
In other embodiments, in order to avoid impurity enters in range sensor 12, eyeglass etc. can be set outside range sensor 12
Transparency, to prevent dust from entering range sensor 112, and deviant can be since what laser infrared transmitter 13 issued swashs
The deviation that light infrared light is detected through distance caused by the refraction of transparency.
In the present embodiment, crossfire value can be as caused by the crosstalk between the signal transmission line in robot 10
The deviation of distance detection.Since range sensor 12 is small in size, the spacing between signal transmssion line be must be provided with smaller, be led
It causes to be easy to happen crosstalk between signal transmssion line.
Optionally, the deviant and crossfire value that processor 11 can will acquire are stored to the storage connecting with processor 11
In device.
Robot 10 can between the surrounding objects that detecting distance sensor 12 and current front encounter in real time away from
From.When detecting, it processor 11 and the distance between 12 detecting distance sensor 12 of range sensor and third body and generates
Third detected value, processor 11 read deviant and crossfire value from memory, and according to third detected value, deviant, crosstalk
Value obtains the actual range output valve between range sensor 12 and third body.For example, processor 11 can according to deviant,
Crossfire value is corrected third detected value, specifically, third detected value can be subtracted deviant and crosstalk by processor 11
Finger obtains actual range output valve.
Referring to Fig. 2, Fig. 2 is the electrical block diagram of the application second embodiment robot.
In the present embodiment, robot 10 includes processor 11 and the range sensor 12 connecting with processor 11.
Range sensor 12 includes laser infrared transmitter 13 and laser infrared receiver 14, and laser infrared transmitter 13 is used
In transmitting laser infrared light, laser infrared receiver 14 is for receiving the laser infrared light that surrounding objects are reflected back.
Optionally, range sensor 12 further includes detection circuit 121, detection circuit 121 and laser infrared transmitter 13 and
Laser infrared receiver 14 connects, and detection circuit 121 is also connect with processor 11, and processor 11 and detection circuit 121 are used for root
Emit the time point of laser infrared light according to laser infrared transmitter 13 and laser infrared receiver 14 receives surrounding objects reflection
The time point of the laser infrared light returned obtains the distance between range sensor 12 and surrounding objects.
In the present embodiment, processor 11 controls the transmitting laser infrared light of laser infrared transmitter 13, and control swashs
Light infrared remote receiver 14 receives the laser infrared light that the first object is reflected back, and detection circuit 121 according to laser infrared for sending out
Emitter 13 emits the time point of laser infrared light and laser infrared receiver 14 receives the laser infrared that the first object is reflected back
The time point of light obtains the distance between range sensor 12 and the first object and generates the first detected value.Similarly, it detects
Circuit 121 can also obtain the distance between range sensor 12 and the second object and generate the second detected value.
Optionally, the size of range sensor 12, the wavelength of laser infrared light, the first object and the second object can be with
Identical as in first embodiment, details are not described herein again.
It optionally, can be by the first detected value, second after detection circuit 121 gets the first detected value, the second detected value
Detected value is sent to processor 11.
After getting the first detected value, the second detected value, processor 11 is used for according to the first detected value, the processor 11
The first known distance value between one object and range sensor 12 obtains deviant.Processor 11 is also used to according to the second detection
The second known distance value between value, the second object and range sensor 12 obtains crossfire value.
Optionally, the first known distance, the second known distance, deviant and crossfire value can be with the phases in first embodiment
Together, details are not described herein again.
Optionally, the deviant and crossfire value that processor 11 can will acquire are stored to the storage connecting with processor 11
It, can be from storage when so that processor 11 is at a distance from acquisition range sensor 12 is between third body in device (not shown)
Deviant and crossfire value are read in device.
Processor 11 is also used to control laser infrared transmitter 13 and emits laser infrared light, and control laser infrared connects
It receives device 14 and receives the laser infrared light that third body is reflected back, detection circuit 121 is used to be sent out according to laser infrared transmitter 13
The time point and laser infrared receiver 14 for penetrating laser infrared light receive the laser infrared light that is reflected back of the first object when
Between point, obtain the distance between range sensor 12 and third body and simultaneously generate third detected value, and third detected value is sent
To processor 11.
After receiving third detected value, processor 11 is also used to according to third detected value, deviant, crosstalk processor 11
Value obtains the actual range output valve between range sensor 12 and third body.
Optionally, third body can be the third body in first embodiment.
Optionally, detection circuit 121 include detection chip 1211, first resistor R1, second resistance R2,3rd resistor R3,
4th resistance R4, the 5th resistance R5, first capacitor C1 and the second capacitor C2.
In the present embodiment, laser infrared transmitter 13 and laser infrared receiver 14 can integrate in detection chip 1211
On.
It should be understood that Fig. 2 is the electrical block diagram of the application second embodiment robot, the laser infrared hair in Fig. 2
The position of emitter 13 and laser infrared receiver 14 is not its really location, in the present embodiment, laser infrared hair
Emitter 13 and laser infrared receiver 14 are integrated in detection chip 1211.
Optionally, detection chip 1211 may include GPIO pin, SHUT pin, GND pin, SDA pin, SCL pin
And VCC pin.
GPIO pin connects the first end of first resistor R1, and the second end of first resistor R1 connects first voltage.By upper
Connection type is stated, the range sensor 12 that detection chip 1211 can be made to will test is at a distance from surrounding objects every default week
Phase is sent to processor 11.Optionally, the range sensor 12 that detection chip 1211 will test is every at a distance from surrounding objects
Processor was sent to every 1 second.
SHUT pin connects second voltage, and SHUT pin is also connected with the first end of second resistance R2, and the of second resistance R2
Two ends ground connection.By above-mentioned connection type, range sensor 12 that detection chip 1211 can be made to detect in preset duration
When the distance between surrounding objects are constant, control laser infrared transmitter 13 no longer emits laser infrared light, or control
Laser infrared transmitter 13 emits laser infrared light with lower frequency.
GND is grounding pin.
SDA pin and SCL pin are connect with processor 11, and SDA pin is also connected with the second end of 3rd resistor R3, third
The first end of resistance R3 connects tertiary voltage U3.Optionally, tertiary voltage U3 is also connected with the first end of the 4th resistance R4, the 4th electricity
Hinder the first end of the second end connection first capacitor C1 of R4, the of the second end ground connection of first capacitor C1 and the 4th resistance R4
Two ends connect the first end of the second capacitor C2, the second end ground connection of the second capacitor C2.SCL pin connects the second of the 5th resistance R5
The first end at end, the 5th resistance R5 connects tertiary voltage U3.By above-mentioned connection type, what detection circuit 121 can will test
The distance between range sensor 12 and surrounding objects are sent to processor 11 by SDA pin, SCL pin.
VCC pin connects the 4th voltage U4, and optionally, the size of the 4th voltage U4 can be with the 4th resistance R4 second end
Voltage swing is identical.By above-mentioned connection type, the 4th voltage U4 can provide voltage to detection chip 1211.
The following are the methods that processor 11 obtains the first detected value, the second detected value or third detected value: laser infrared
Transmitter 13 emits laser infrared light, and laser infrared receiver 14 receives the laser infrared light that surrounding objects are reflected back, inspection
Survey time point and the reception of laser infrared receiver 14 that chip 1211 emits laser infrared light according to laser infrared transmitter 13
The time point for the laser infrared light that surrounding objects are reflected back obtains the first detected value, the second detected value or third detected value,
The first detected value, the second detected value or the third detected value that detection chip 1211 can will test are sent to predetermined period
Processor 11, processor 11 receive the first detected value, the second detected value or third detected value to obtain the first detected value, the
Two detected values or third detected value.Optionally, processor 11 can be obtained in a predetermined period multiple first detected values,
Second detected value perhaps third detected value processor 11 according to multiple first detected values, the second detected value or third detected value
The average value of the average value of the first detected value, the average value of the second detected value or third detected value is obtained, and then obtains distance
The average distance value of sensor 12 and the first object, the second object or third body in a predetermined period.
Referring to Fig. 3, Fig. 3 is the schematic diagram of the distance measuring method of the embodiment of the present application robot.
In the present embodiment, the distance measuring method of robot may include:
Step S11: the processor and the distance between range sensor detecting distance sensor and the first object of robot
And it generates the first detected value and processor and the distance between range sensor detecting distance sensor and the second object and produces
Raw second detected value.
Step S12: processor is according to the first known distance value between the first detected value, the first object and range sensor
Obtain deviant.
Optionally, first known distance may range from 5~15cm.
Step S13: processor is according to the second known distance value between the second detected value, the second object and range sensor
Obtain crossfire value.
Optionally, second known distance may range from 40~80cm.
Step S14: processor and the distance between range sensor detecting distance sensor and third body simultaneously generate the
Three detected values, processor obtain the reality between range sensor and third body also according to third detected value, deviant, crossfire value
Border is apart from output valve.
Optionally, the processor in the above method, range sensor, the first object, the second object, third body, first
Known distance, the second known distance, deviant and crossfire value can be identical as in first embodiment, no longer superfluous herein
It states.
Referring to Fig. 4, Fig. 4 is the schematic diagram of the embodiment of the present application storage device.
Storage device 20 is stored with computer program, which can be performed to realize above-mentioned robot
Distance measuring method.
Optionally, storage device 20 can for USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic disk, CD or server etc. are various to can store journey
The medium of sequence code.
It is in contrast to the prior art, the application robot includes processor and the Distance-sensing that connect with the processor
Device, processor and range sensor are for the distance between detecting distance sensor and the first object and generate the first detected value,
And for the distance between detecting distance sensor and the second object and the second detected value is generated, processor is used for according to first
The first known distance value between detected value, the first object and range sensor obtains deviant, and processor is also used to according to the
The second known distance value between two detected values, the second object and range sensor obtains crossfire value, processor and Distance-sensing
Device is also used to the distance between detecting distance sensor and third body and generates third detected value, and processor is also used to according to
Three detected values, deviant, crossfire value obtain the actual range output valve between range sensor and third body, wherein first
Known distance is less than the second known distance.Since processor can obtain distance and pass according to third detected value, deviant, crossfire value
Therefore actual range output valve between sensor and third body can make testing result more accurate.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of robot, which is characterized in that
The robot includes processor and the range sensor that is connected to the processor,
The processor and the range sensor are for detecting the distance between the range sensor and the first object and producing
Raw first detected value, and for detecting the distance between the range sensor and the second object and generating the second detected value,
The processor is used for according to first between first detected value, first object and the range sensor
Know that distance value obtains deviant,
The processor is also used to according to second between second detected value, second object and the range sensor
Known distance value obtains crossfire value,
The processor and the range sensor are also used to detect the distance between the range sensor and third body simultaneously
Third detected value is generated, the processor is also used to obtain institute according to the third detected value, the deviant, the crossfire value
The actual range output valve between range sensor and the third body is stated,
Wherein, first known distance is less than second known distance.
2. robot according to claim 2, which is characterized in that the range of first known distance is 5~15cm, institute
The range for stating the second known distance is 40~80cm.
3. robot according to claim 2, which is characterized in that the reflectivity of first object is 80%~95%,
The reflectivity of second object is 15%~20%.
4. robot according to claim 1, which is characterized in that the range sensor include laser infrared transmitter and
Laser infrared receiver, for emitting laser infrared light, the laser infrared receiver is used for the laser infrared transmitter
Receiving the laser infrared light that is reflected back of surrounding objects, the range of the wavelength of the laser infrared light is 935~
945nm。
5. robot according to claim 1, which is characterized in that the range of the three-dimensional dimension of the range sensor is distinguished
For 4.0~5.0mm, 2.0~3.0mm, 0.5~1.5mm.
6. robot according to claim 4, which is characterized in that the range sensor further includes detection circuit, described
Detection circuit is connect with the laser infrared transmitter and the laser infrared receiver, the detection circuit also with the processing
Device connection, the processor and the detection circuit are used to emit the laser infrared light according to the laser infrared transmitter
Time point and the laser infrared receiver receive time point of the laser infrared light that the surrounding objects are reflected back
Obtain the distance between the range sensor and the surrounding objects.
7. robot according to claim 6, which is characterized in that the detection circuit includes detection chip, the laser
Infrared transmitter and the laser infrared receiver are integrated in the detection chip.
8. a kind of distance measuring method of robot, which is characterized in that the distance measuring method includes:
The processor and range sensor of the robot detect the distance between the range sensor and the first object and produce
Raw first detected value and the processor and the range sensor detect between the range sensor and the second object
Distance simultaneously generates the second detected value；
The processor according to known to first between first detected value, first object and the range sensor away from
Deviant is obtained from value；
The processor according to known to second between second detected value, second object and the range sensor away from
Crossfire value is obtained from value；
The processor and the range sensor detect the distance between the range sensor and third body and generation the
Three detected values, the processor obtain the Distance-sensing also according to the third detected value, the deviant, the crossfire value
Actual range output valve between device and the third body；
Wherein, first known distance is less than second known distance.
9. distance measuring method according to claim 8, which is characterized in that the range of first known distance is 5~15cm,
The range of second known distance is 40~80cm.
10. a kind of storage device, which is characterized in that the storage device is stored with computer program, the computer program energy
It is enough performed to realize method described in claim 8 or 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111044046A (en) * | 2019-12-09 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Method and device for testing positioning accuracy of robot |
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