CN110834326A - Robot control method and device based on odor recognition and robot - Google Patents
Robot control method and device based on odor recognition and robot Download PDFInfo
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- CN110834326A CN110834326A CN201810941315.4A CN201810941315A CN110834326A CN 110834326 A CN110834326 A CN 110834326A CN 201810941315 A CN201810941315 A CN 201810941315A CN 110834326 A CN110834326 A CN 110834326A
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- 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
Abstract
The application relates to a robot control method, a device and a robot based on odor identification, wherein the method comprises the following steps: detecting the smell of the environment where the robot walking path is located; determining an odor attribute corresponding to the odor according to the odor; and controlling the robot to execute corresponding operation according to the odor attribute. According to the method and the device, the odor of the environment where the walking path of the robot is located is detected, the corresponding odor attribute is determined according to the odor, and if the invisible obstacle or potential hazard exists in the walking path is determined according to the odor attribute, the robot is controlled to alarm, shut down or adjust the walking path and other operations, so that accidents are avoided, and losses caused by the accidents are reduced.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a robot control method and device based on odor identification and a robot.
Background
With the continuous progress of the technology level, self-moving robots such as home robots, service robots, etc. are gradually widely used. At present, a self-moving robot usually walks along a planned path, however, the self-moving robot cannot identify hidden obstacles or potential hazards such as peculiar smell pollutants, harmful gases and the like in the planned path, so that the applicability of the self-moving robot is low.
Disclosure of Invention
In view of the above, it is necessary to provide a robot control method, an apparatus, and a robot based on odor recognition, which can recognize a "hidden obstacle" or a potential hazard in a planned path, in order to solve the technical problem that the robot cannot recognize the "hidden obstacle" or the potential hazard in the planned path at present.
A robot control method based on odor recognition comprises the following steps:
detecting the smell of the environment where the robot walking path is located;
determining an odor attribute corresponding to the odor according to the odor;
and controlling the robot to execute corresponding operation according to the odor attribute.
In one embodiment, the detecting the smell of the environment where the robot walking path is located comprises the following steps:
collecting gas concentration information of the environment where the robot walking path is located;
the determining the odor attribute corresponding to the odor according to the odor comprises the following steps:
and determining the odor attribute of the environment where the robot walking path is located according to the mapping relation between the gas concentration information and the odor attribute calibrated in advance.
In one embodiment, the robot is controlled to perform corresponding operations according to the odor attribute of the environment, including:
and if the dangerous gas exists in the environment according to the odor attribute of the environment, controlling the robot to stop walking and sending first alarm information, and timely informing a user to process.
In one embodiment, the robot is controlled to perform corresponding operations according to the odor attribute of the environment, including:
and if the existence of the stain to be cleaned in the walking path of the robot is determined according to the odor attribute of the environment, controlling the robot to start a cleaning mode so as to clean the stain.
In one embodiment, the robot is controlled to perform corresponding operations according to the odor attribute of the environment, including:
and if the robot walking path is determined to have the uncleanable foreign matters according to the odor attribute of the environment, controlling the robot to adjust the walking path to bypass the uncleanable foreign matters.
In one embodiment, after controlling the robot to adjust the walking path to bypass the uncleanable foreign object, the method further includes:
and controlling the robot to send out second alarm information so as to inform a user of cleaning the foreign matters.
A robot control apparatus based on scent recognition, comprising:
the detection module is used for detecting the smell of the environment where the robot walking path is located and determining the smell attribute corresponding to the smell according to the smell;
and the control module is used for controlling the robot to execute corresponding operation according to the odor attribute of the environment.
In one embodiment, the detection module comprises:
the odor sensor array is used for acquiring gas concentration information of the environment where the robot walking path is located;
and the sensing data processing unit is used for determining the odor attribute of the environment where the robot walking path is located according to the mapping relation between the gas concentration information and the odor attribute calibrated in advance.
In one embodiment, the odor sensor array includes a plurality of sensors that detect different odors.
In one embodiment, the control module further comprises an odor attribute determination unit and a control unit, wherein,
the odor attribute judging unit is used for determining whether dangerous gas exists in the environment according to the odor attribute of the environment;
the control unit is used for controlling the robot to stop walking and send out first alarm information if the dangerous gas exists in the environment, and informing a user of processing in time.
In one embodiment, the odor attribute determination unit is further configured to determine whether stains to be cleaned exist in the robot walking path according to the odor attribute of the environment, and the control unit is further configured to control the robot to start the cleaning mode to clean the stains if it is determined that the stains to be cleaned exist in the robot walking path.
In one embodiment, the odor attribute judging unit is further configured to determine whether an uncleanable foreign object exists in the robot walking path according to the odor attribute of the environment, and the control unit is further configured to control the robot to adjust the walking path to bypass the uncleanable foreign object and control the robot to send out a second alarm message to notify the user of cleaning the foreign object if it is determined that the uncleanable foreign object exists in the robot walking path.
A robot comprising a robot control device based on scent recognition as described above.
According to the robot control method and device based on the odor identification and the robot, the odor of the environment where the robot walking path is located is detected, the corresponding odor attribute is determined according to the odor, and if the invisible obstacle or potential hazard exists in the walking path is determined according to the odor attribute, the robot is controlled to carry out operations such as cleaning, alarming, stopping or walking path adjustment, so that accidents are avoided, and losses caused by the accidents are reduced.
Drawings
FIG. 1 is a diagram of an application environment of a robot control method based on scent recognition in one embodiment;
FIG. 2 is a schematic flow diagram of a robot control method based on scent recognition in one embodiment;
fig. 3A and 3B are schematic diagrams illustrating application of a robot control method based on odor recognition in one embodiment;
FIG. 4 is a block diagram of a robot controller based on odor recognition in one embodiment;
fig. 5 is a schematic diagram of the internal structure of the robot controller based on odor recognition in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot control method based on odor recognition provided by the present application can be applied to the application environment as shown in fig. 1, wherein the robot control device 100 based on odor recognition can be disposed on the robot 200, so that the odor of the environment where the walking path of the robot 200 is located can be detected by the control device 100, and the corresponding odor attribute can be determined according to the detected odor of the environment, thereby controlling the robot 200 to execute the corresponding operation. Such as controlling the robot 200 to stop, adjusting the walking direction, or alarming according to the difference of the odor attributes. The robot 200 may be, but not limited to, various household robots, service robots, such as a sweeping robot, a restaurant ordering robot, and the like.
In one embodiment, as shown in fig. 2, a robot control method based on odor recognition is provided, which may be applied to a robot control apparatus 100 based on odor recognition, and may include the following steps:
step S201, detecting the smell of the environment where the robot walking path is located.
Step S202, the odor attribute corresponding to the odor is determined according to the odor.
The odor refers to a certain odor emitted by an object or a gas, such as a certain fragrance, an odor or other special odor sensed by olfaction. The odor attribute can be understood as a specific odor of a specific substance, i.e. a source of emission to which the specific odor belongs, or simply as a correspondence between the odor and the substance emitting the odor. For example, when a certain floral scent is sensed by the sense of smell, it can be distinguished whether it is a rose scent or a jasmine scent, or other floral scents. In this embodiment, during the walking process of the robot, the control device arranged on the robot detects the odor of the environment where the walking path of the robot is located, so as to make a corresponding judgment on the environment where the walking path of the robot is located. For example, if the control device detects that a certain odor exists in the environment where the robot walking path is located, it can be determined that a certain substance emitting the odor exists in the environment where the walking path is located according to the odor, and then it is determined whether an invisible obstacle or a potential hazard exists in the walking path according to the substance.
And step S203, controlling the robot to execute corresponding operation according to the odor attribute.
In this embodiment, after the control device determines the corresponding odor attribute according to the detected odor, the robot is controlled to perform corresponding operations according to the odor attribute. Specifically, if the existence of the invisible obstacle or the potential hazard in the walking path is determined according to the odor attribute, the robot is controlled to carry out cleaning, alarming, stopping or walking path adjustment and the like.
According to the robot control method based on the odor identification, the odor of the environment where the robot walking path is located is detected, the corresponding odor attribute is determined according to the odor, and if the invisible obstacle or potential hazard exists in the walking path is determined according to the odor attribute, the robot is controlled to carry out operations such as cleaning, alarming, stopping or walking path adjustment, so that accidents are avoided, and losses caused by the accidents are reduced.
In one embodiment, the detection of the odor of the environment in which the robot walking path is located can be realized by collecting gas concentration information of the environment in which the robot walking path is located. Wherein, the odor comprises simple odor or complex odor, and the simple odor can be odor with a single gas, such as carbon monoxide, fire smoke, etc., which can be identified according to specific gas concentration; the complex odor is an odor with a plurality of gases, such as pet feces, beverage stains and the like, which needs to be distinguished from the gases to determine a specific odor.
In the embodiment, a functional mapping relation between the odor and the gas concentration is established in advance, and the corresponding odor attribute is given through the mapping relation. Therefore, the gas concentration information of the environment where the robot walking path is located is collected, and the odor attribute corresponding to the gas concentration is output by adopting pattern recognition, wherein the pattern recognition can be a neural network algorithm or a statistical method.
Specifically, when the gas concentration information of the environment where the robot walking path is located is acquired, the gas concentration information is determined to be from toxic or combustible smells such as carbon monoxide, fire smoke and the like, then the dangerous gas in the environment where the robot walking path is located can be judged, at the moment, the robot is controlled to stop walking and send first alarm information, and a user is informed to handle the dangerous gas in time, so that accidents are reduced, and losses caused by the accidents are avoided.
When the gas concentration information of the environment where the robot walking path is located is determined to be from the stain smell needing to be cleaned, such as beverages, such as fruit juice, coffee and the like, the robot is controlled to start a cleaning mode so as to clean the stain. In this embodiment, if the robot is a sweeping robot, since beverages such as fruit juice and coffee belong to stains which are difficult to clean, when such stains which are difficult to clean are detected, the sweeping robot can be controlled to increase the sweeping force or sweeping humidity, and the speed is appropriately slowed down, so that the stains are deeply cleaned, and are thoroughly swept.
When the gas concentration information of the environment where the robot walking path is located is collected, the odor of the uncleanable foreign matters such as pet excrement, banana peel and the like is determined, and in order to prevent the robot from rolling the foreign matters, the robot is controlled to adjust the walking path so as to bypass the uncleanable foreign matters, so that the trouble brought to a user is avoided. In addition, the robot can be controlled to send out second alarm information to inform a user of cleaning the foreign matter.
For example, as shown in fig. 3A and 3B, the odor of the uncleanable foreign object in the environment of the walking path planned in the working area of the robot can be detected, the odor emission range can be processed in an approximate circle, that is, the odor coverage area is a circle with the center of mass of the foreign object as the origin and the odor emission radius of R, when the robot enters the odor area in the process of traveling, the odor is determined to be originated from the uncleanable foreign object, the robot stops traveling and retreats for a certain safe distance, then the robot continues to travel for a certain time t after rotating left or right for about β degrees by taking the center position of the two driving wheel levers as the rotation center, and the distance d1 of moving after steering is calculated according to the robot running speed v and the time t, when the d1 meets the safe range corresponding to the common foreign object, the robot is controlled to steer to the original walking direction, and when the robot reaches the planned walking path, the original walking path is resumed to continue to travel, thereby achieving the purpose of bypassing the foreign object.
It should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
The application also provides a robot control device based on odor recognition, which is shown in figure 4 and comprises
The detecting module 401 is configured to detect an odor of an environment where the robot travels, and determine an odor attribute corresponding to the odor according to the odor.
And a control module 402, configured to control the robot to perform a corresponding operation according to the odor attribute of the environment.
In one embodiment, as shown in FIG. 5, the detection module 401 includes:
and the odor sensor array 4010 is used for acquiring gas concentration information of the environment where the robot walking path is located.
Among them, the odor sensor array 4010 includes a plurality of odor sensors 4011 for detecting different odors, which are used to recognize the different odors. In this embodiment, the odor sensor array 4010 is installed at the front end in the traveling direction of the robot, thereby constituting an electronic nose of the robot to collect gas concentration information of the environment where the robot traveling path is located.
The sensing data processing unit 4020 is configured to determine the odor attribute of the environment where the robot walking path is located according to the mapping relationship between the gas concentration information and the odor attribute calibrated in advance.
In the embodiment, a function mapping relation between a single odor sensor in the sensor array and the gas concentration is established in advance, such as monotone increasing or monotone decreasing, and an attribute value is given to a signal acquired by each odor sensor through the mapping relation.
Among them, the odor includes a simple odor or a complex odor, and the simple odor may be an odor having a certain single gas, such as carbon monoxide, fire smoke, etc. The complex odor is an odor with various gases, such as pet feces, beverage stains, flammable and toxic odor, and the like. Specifically, the odorous volatile gas contained in the pet excrement mainly comprises: hydrogen sulfide (H2S), ammonia (NH3), and the like; the volatile aroma contained in beverage stains mainly comes from: volatile gases such as esters, aldehydes, alcohol acids, alcohols, aldehydes, esters, phenols, nitrogen compounds, and the like; the flammable and toxic harmful gases mainly comprise: hydrogen (H2), carbon monoxide (CO), methane (CH4), ethane (C2H6), ethylene (C2H4), hydrogen sulfide (H2S), and the like.
Assuming that an odor sensor array N ═ m × N combined by N odor sensors, the obtained N-metadata a is as follows:
and each element aijAn attribute value representing a single odor sensor signal, which may be a scalar quantity, such as the color RGB (r, g, b); vectors are also possible, such as vector (x, y, z). For example aijRGB (255, 0, 0), representing red. Thereby establishing a special matrix A by the N metadata acquired by the odor sensor array. Through the matrix A, a specific mode of a certain complex smell at a certain concentration is output; and calibrating the sensor data in each specific mode, and outputting specific special odor, namely odor attribute by adopting mode identification, wherein the mode identification can be a neural network algorithm or a statistical method.
In one embodiment, the control module 402 comprises an odor attribute determination unit 4021 and a control unit 4022, wherein the odor attribute determination unit 4021 is configured to determine whether hazardous gas is present in the environment based on the odor attributes of the environment. The control unit 4022 is configured to control the robot to stop walking and send out first alarm information if it is determined that hazardous gas exists in the environment, and to notify a user of the first alarm information in time.
In one embodiment, the odor attribute determining unit 4021 is further configured to determine whether the stain to be cleaned exists in the robot walking path according to the odor attribute of the environment, and the control unit 4022 is further configured to control the robot to start the cleaning mode to clean the stain if it is determined that the stain to be cleaned exists in the robot walking path.
In one embodiment, the odor attribute determining unit 4021 is further configured to determine whether an uncleanable foreign object exists in a robot walking path according to the odor attribute of the environment, and the control unit 4022 is further configured to control the robot to adjust the walking path to bypass the uncleanable foreign object and control the robot to send a second alarm message to notify the user to clean the foreign object if it is determined that the uncleanable foreign object exists in the robot walking path.
For the specific definition of the robot control device based on odor recognition, reference may be made to the above definition of the robot control method based on odor recognition, which is not described herein again. The above-mentioned various modules in the robot control device based on odor recognition may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The present application also provides a robot, which can be but not limited to various household robots, service robots, such as a sweeping robot, a restaurant ordering robot, etc., and in this embodiment, the robot includes a robot control device based on odor recognition as described in fig. 4 or fig. 5. In addition, according to the type and function of the robot, the robot has corresponding functional modules, such as an odometer for calculating the walking distance of the robot, a gyroscope for controlling the rotation angle of the robot, a collision sensor for detecting collision, an ultrasonic sensor for avoiding obstacles, a wheel speed sensor for controlling the rotation speed of a motor, and executing components such as a driving wheel, a communication module, a cleaning mechanism, etc., which are different according to the type and function of the robot, and are not described in detail in this embodiment.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A robot control method based on odor recognition, the method comprising:
detecting the smell of the environment where the robot walking path is located;
determining an odor attribute corresponding to the odor according to the odor;
and controlling the robot to execute corresponding operation according to the odor attribute.
2. The robot control method based on odor recognition according to claim 1, wherein the detecting the odor of the environment where the robot walking path is located comprises:
collecting gas concentration information of the environment where the robot walking path is located;
the determining, from the scent, a scent attribute corresponding to the scent includes:
and determining the odor attribute of the environment where the robot walking path is located according to the mapping relation between the gas concentration information and the odor attribute calibrated in advance.
3. The odor recognition based robot control method of claim 1 or 2, wherein the controlling the robot to perform corresponding operations according to the odor attributes of the environment comprises:
and if the dangerous gas exists in the environment according to the odor attribute of the environment, controlling the robot to stop walking and sending first alarm information, and timely informing a user of processing.
4. The odor recognition based robot control method of claim 1 or 2, wherein the controlling the robot to perform corresponding operations according to the odor attributes of the environment comprises:
and if the existence of the stain to be cleaned in the robot walking path is determined according to the odor attribute of the environment, controlling the robot to start a cleaning mode so as to clean the stain.
5. The odor recognition based robot control method of claim 1 or 2, wherein the controlling the robot to perform corresponding operations according to the odor attributes of the environment comprises:
and if the robot walking path is determined to have the uncleanable foreign matter according to the odor attribute of the environment, controlling the robot to adjust the walking path to bypass the uncleanable foreign matter.
6. The odor recognition based robot control method of claim 5, wherein after controlling the robot to adjust a walking path to bypass the uncleanable foreign object, further comprising:
and controlling the robot to send out second alarm information so as to inform a user of cleaning the foreign matters.
7. A robot control apparatus based on odor recognition, comprising:
the detection module is used for detecting the smell of the environment where the robot walking path is located and determining the smell attribute corresponding to the smell according to the smell;
and the control module is used for controlling the robot to execute corresponding operation according to the odor attribute of the environment.
8. The robot controller based on scent recognition of claim 7, wherein the detection module comprises:
the odor sensor array is used for acquiring gas concentration information of the environment where the robot walking path is located;
and the sensing data processing unit is used for determining the odor attribute of the environment where the robot walking path is located according to the mapping relation between the gas concentration information and the odor attribute calibrated in advance.
9. The odor recognition based robotic control device of claim 8, wherein the odor sensor array comprises a plurality of sensors that detect different odors.
10. The robot controller based on scent recognition according to any one of claims 7 to 9, wherein the control module further comprises a scent attribute judging unit and a control unit,
the odor attribute judging unit is used for determining whether dangerous gas exists in the environment according to the odor attribute of the environment;
and the control unit is used for controlling the robot to stop walking and send first alarm information if the dangerous gas exists in the environment, and informing a user of processing in time.
11. The robot control device based on odor recognition as claimed in claim 10, wherein the odor attribute determination unit is further configured to determine whether a stain to be cleaned exists in the robot walking path according to the odor attribute of the environment, and the control unit is further configured to control the robot to start a cleaning mode to clean the stain if it is determined that the stain to be cleaned exists in the robot walking path.
12. The robot control apparatus based on odor recognition as claimed in claim 11, wherein the odor attribute determination unit is further configured to determine whether there is an uncleanable foreign object in the robot walking path according to the odor attribute of the environment, and the control unit is further configured to control the robot to adjust the walking path to bypass the uncleanable foreign object and to control the robot to issue a second alarm message to notify a user of cleaning the foreign object if it is determined that there is an uncleanable foreign object in the robot walking path.
13. A robot characterized by comprising the odor recognition-based robot control apparatus as claimed in any one of claims 7 to 12.
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Application publication date: 20200225 |