CN111055284A - Method for robot to identify dangerous area, robot and storage medium - Google Patents
Method for robot to identify dangerous area, robot and storage medium Download PDFInfo
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- CN111055284A CN111055284A CN201911416821.2A CN201911416821A CN111055284A CN 111055284 A CN111055284 A CN 111055284A CN 201911416821 A CN201911416821 A CN 201911416821A CN 111055284 A CN111055284 A CN 111055284A
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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
- B25J9/1666—Avoiding collision or forbidden zones
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses a method for identifying a dangerous area by a robot, the robot and a storage medium, wherein the method comprises the following steps: receiving a wireless signal transmitted by a wireless tag; reading identification information carried by the wireless signal; distinguishing the area and the signal intensity according to the identification information; obtaining the distance between the dangerous area and the signal intensity change of the area; react according to distance. Through the mode, the wireless tag is deployed in the dangerous area, the robot is controlled to avoid the dangerous area during navigation, the environment is prevented from being transformed, the cost is saved, and the construction requirement of the place where the robot is applied is lowered.
Description
Technical Field
The present invention relates to the field of robot navigation, and in particular, to a method for a robot to identify a dangerous area, a robot, and a storage medium.
Background
The navigation is that the robot senses the surrounding environment and the self state through a sensor to realize the autonomous movement facing to the target in the indoor environment with the obstacle.
When the robot carries out autonomous location navigation in the room, need realize intelligence and keep away barrier or obstacle-avoiding function, because the limitation of sensor, the robot produces location drift or positioning error scheduling problem easily in specific area, under this condition, if there is step or automatic escalator in the surrounding environment, the robot takes place to fall or the risk of colliding when traveling these areas.
However, since the environment of the robot during self-navigation cannot be modified, and the existing robot cannot completely identify the dangerous area and intelligently avoid the dangerous area, a low-cost way with little modification to the environment needs to be found to solve the problem.
Disclosure of Invention
The invention mainly solves the technical problem of providing a method for identifying a dangerous area by a robot, the robot and a storage medium, wherein the dangerous area is controlled to be avoided by the robot during navigation by deploying a wireless tag in the dangerous area.
In order to solve the technical problem, one technical solution adopted by the present invention is to provide a method for identifying a dangerous area by a robot, the method including: receiving a wireless signal transmitted by a wireless tag; reading identification information carried by the wireless signal; identifying the dangerous area and the signal intensity according to the identification information; obtaining the distance between the dangerous area and the signal intensity change; react according to distance.
Before the step of receiving the wireless signal transmitted by the wireless tag, the method comprises the following steps: arranging at least one wireless tag in a danger area; the wireless tag transmits a wireless signal at regular time, and the wireless signal comprises the ID of the wireless tag.
Before the step of receiving the wireless signal transmitted by the wireless tag, the method further comprises the following steps: establishing a configuration file; the configuration file is used for recording the number of the dangerous area and the ID of the wireless tag in the dangerous area; wherein the number of the dangerous area corresponds to the ID of the wireless tag in the dangerous area; and reading the information in the configuration file and carrying out initialization operation.
Wherein, in the step of reading the identification information carried by the wireless signal, the method specifically comprises: and analyzing the received wireless signals, and reading the wireless tag ID, the signal strength and the time stamp included in each frame of wireless signals.
Wherein, in the step of distinguishing the area and the signal strength according to the identification information, the method specifically comprises the following steps: determining the number of the dangerous area where the current station is located according to the read wireless tag ID and storing the number; and if the read signal intensity is lower than the set threshold, deleting the corresponding wireless signal.
Wherein, in the step of distinguishing the danger area and the signal intensity according to the identification information, the method further comprises the following steps: judging whether the serial number of the dangerous area corresponding to the read wireless tag ID is the same as the serial number of the stored dangerous area; when the serial number of the dangerous area corresponding to the read wireless tag ID is different from the serial number of the stored dangerous area, counting to 1, and continuously receiving and analyzing the wireless signal; and when the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the stored dangerous area, adding the signal strength and the time stamp into the tag information list of the dangerous area where the wireless tag ID is located.
Wherein, after the step of continuously receiving and analyzing the wireless signal with the count of 1, the method further comprises the following steps: judging whether the serial number of the dangerous area corresponding to the read wireless tag ID is the same as the serial number of the dangerous area corresponding to the wireless tag ID read last time; when the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the dangerous area corresponding to the wireless tag ID read last time, the count is increased by 1, otherwise, the count is reset; and when the count is more than 2, switching the stored serial number of the dangerous area to the serial number of the dangerous area corresponding to the wireless tag ID read last time, storing the serial number of the corresponding dangerous area, reading the information of the corresponding dangerous area, performing initialization operation, and continuously receiving and processing the wireless signal.
Wherein, in the step of adding the signal strength and the timestamp into the tag information list of the danger area, the method further comprises: judging whether the difference value between the timestamp and the current time exceeds the set time or not; when the difference value between the time stamp and the current time exceeds the set time, deleting the signal intensity and the time stamp, and continuously receiving and analyzing the wireless signal; and when the difference value between the time stamp and the current time does not exceed the set time, keeping the signal strength and the time stamp, and continuously receiving and analyzing the wireless signal.
Wherein, in the step of obtaining the distance to the dangerous area according to the signal intensity variation, the method specifically comprises the following steps: and calculating the average value of the signal intensity stored in the label information list in the set time, and estimating the distance to the dangerous area according to the average value.
Wherein, in the step of reacting according to the distance, the reaction specifically comprises deceleration, stopping and reverse departure.
In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot, including: the wireless signal receiver is used for receiving a wireless signal transmitted by the wireless tag; the calculating unit is coupled with the wireless signal receiver and used for calculating the distance to the dangerous area; the processor is coupled with the computing unit and used for executing corresponding reactions according to the distance; a memory for storing program data which, when executed, implement the steps in the method for identifying a hazardous area by a robot of any of the above.
In order to solve the above technical problem, another technical solution of the present invention is to provide a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program can implement the steps in the method for identifying a dangerous area by a robot according to any one of the above.
The invention has the beneficial effects that: according to the invention, the wireless tags which periodically transmit wireless signals are arranged in the dangerous area, so that the robot can obtain the distance from the dangerous area by detecting and receiving the wireless signals transmitted by the wireless tags, and corresponding reactions are carried out according to different distances to avoid the dangerous area. By the method and the equipment provided by the invention, the risks of falling or collision of the robot in a dangerous area and the like are reduced, the environment is prevented from being modified, the construction requirements of the place where the robot is applied are reduced, and the cost is saved.
Drawings
FIG. 1 is a schematic flow chart diagram of one embodiment of a method for identifying a hazardous area by a robot in accordance with the present invention;
FIG. 2 is a schematic flow chart diagram of one embodiment of step 13 of FIG. 1;
FIG. 3 is a schematic flow chart diagram of another embodiment of step 13 of FIG. 1;
FIG. 4 is a schematic diagram of the structure of one embodiment of the robot of the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present invention.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that the terms "comprises," "comprising," or any other variation thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
A method for identifying a dangerous area by a robot, a robot and a computer-readable storage medium according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that these examples are not intended to limit the scope of the present disclosure.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a method for identifying a dangerous area by a robot according to the present invention, including:
s11: and receiving a wireless signal transmitted by the wireless tag.
In the embodiment of the invention, the application environment of the robot is indoor scenes such as shopping malls, exhibition halls and the like.
In embodiments of the present invention, wireless tags need to be deployed in certain specific areas of the indoor environment before the robot can perform indoor autonomous navigation.
In particular, the specific areas refer to places such as steps or escalators, and are collectively referred to as "danger areas" herein since the robot has a risk of falling or colliding in the specific areas.
In an embodiment of the present invention, the number of deployed wireless tags is at least one.
Specifically, according to different application environments of an indoor scene, each dangerous area may be deployed with one or more tags, and the specific number of the wireless tags is determined by the number of the dangerous areas in the use environment, which is not specifically limited in the embodiment of the present invention.
In an embodiment of the present invention, the wireless tag may periodically transmit a wireless signal, and the receiver of the robot may detect and receive the wireless signal transmitted by the wireless tag.
Optionally, the wireless signal used by the wireless tag and the robot receiver comprises at least one of bluetooth, bluetooth ibeacon, zigbee and wifi.
Optionally, the wireless signal includes ID information or MAC information of the wireless tag.
Wherein the ID information or MAC information of the wireless tag is used to identify the identity of the wireless tag.
In an embodiment of the present invention, before the robot performs indoor autonomous navigation, a configuration file needs to be established in the memory of the robot.
Specifically, the configuration file records the numbers of all hazardous areas in the robot application environment and the ID information of all wireless tags within the hazardous area.
In the embodiment of the invention, when the robot starts the autonomous navigation program, the information in the configuration file needs to be read and initialization operation is carried out.
Specifically, when the initialization operation is performed, the current area where the robot is located is set to be empty, the signal buffer strength record of the current area is emptied, and the current strongest signal strength of the wireless tag in the area is a minimum value.
Optionally, the minimum value is set to be within a range of-10000 to-1000 dbm.
In an embodiment of the present invention, during the process that the robot moves to approach the dangerous area, the receiver of the robot may detect the wireless signal transmitted by the wireless tag in the dangerous area and receive the wireless signal.
S12: the identification information carried by the wireless signal is read.
In the embodiment of the invention, after receiving the wireless signal transmitted by the wireless tag, the robot analyzes the received wireless signal and reads data contained in each frame of wireless signal.
Specifically, the robot reads information such as a wireless tag ID, signal strength, and time stamp included in each frame of data.
S13: and distinguishing the area and the signal intensity according to the identification information.
In the embodiment of the invention, the serial number of the dangerous area recorded in the configuration file of the robot corresponds to the ID of the wireless tag arranged in the dangerous area, and the robot determines the serial number of the dangerous area corresponding to the wireless tag by analyzing the ID of the wireless tag read by the wireless signal, so as to determine the dangerous area where the robot is currently located.
In the embodiment of the invention, the key technology of the robot for identifying the dangerous area is the accurate determination of the indoor distance, and the technology for determining the indoor distance based on the WiFi signal strength mainly realizes the position estimation by utilizing the principle that the WiFi signal is attenuated in a propagation path.
Specifically, in the process of navigation of the robot, the distance from a dangerous area and a wireless tag arranged in the dangerous area changes, and according to the physical characteristic that the indoor WiFi signal strength changes with the distance, the signal strength received by the receiver also changes with the distance.
In the embodiment of the invention, the farther the robot is away from a certain dangerous area, the weaker the intensity of the wireless signal transmitted by the wireless tag in the dangerous area is received by the receiver.
In the embodiment of the invention, the robot receives an ideal signal strength interval of-100 to-20 dbm, and in practical use, a certain deviation may exist, for example, the signal strength interval is smaller.
Since the accuracy of the signal strength ranging is related to the distance, the ranging is inaccurate as the distance is longer, and the obtained result has a large error with the actual distance, a signal strength threshold needs to be set, and whether the signal threshold of the read wireless signal is smaller than the set threshold is determined.
Specifically, if the signal strength of the read wireless signal is lower than a set threshold, the use value of the wireless signal is low, and the robot automatically deletes the wireless signal.
Specifically, if the signal strength of the read wireless signal is higher than a set threshold, the dangerous area is determined according to the identification information carried by the wireless signal, and the number of the dangerous area is stored.
Wherein the set threshold is related to at least one of a transmission power of the wireless tag used, an antenna sensitivity of the wireless tag, and an antenna sensitivity of the receiver.
Optionally, the signal strength is set to a threshold of-80 dbm.
In the embodiment of the invention, the robot enters a certain dangerous area and keeps moving after storing the serial number of the dangerous area, the receiver continuously receives the wireless signal and reads the ID of the wireless tag contained in the wireless signal, and judges whether the serial number of the dangerous area corresponding to the ID is the same as the currently stored dangerous area or not according to the ID of the wireless tag.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of step 13 in fig. 1, including:
s211: it is determined whether the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the stored dangerous area.
In this step, the robot receives and analyzes the wireless signal, and determines the correspondence between the wireless tag ID and the dangerous area number recorded in the configuration file.
Specifically, if the determination result is yes, S212 is performed; if the determination result is no, S213 is performed.
S212: and reserving the number of the currently saved dangerous area.
In this step, the robot retains the number of the dangerous area stored before, and continues to receive and analyze the wireless signal.
S213: the count is 1.
In this step, it is also necessary to determine whether the signal strength of the wireless signal is greater than the current strongest signal strength of the wireless tag in the dangerous area recorded at present.
Specifically, if the signal strength of the wireless signal is greater than the current strongest signal strength of the wireless tag in the currently recorded danger area, the count is 1, otherwise, S212 is performed, and the robot retains the number of the danger area saved before.
S214: and continuously receiving and analyzing the wireless signal, and judging whether the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the dangerous area corresponding to the wireless tag ID read last time.
In this step, the robot retains the number of the dangerous area stored before, and continues to receive and analyze the wireless signal.
Specifically, if the determination result is yes, that is, if the serial numbers of the dangerous regions read twice consecutively are the same but different from the serial number of the dangerous region stored before, S215 is performed; if the determination result is no, S217 is performed.
S215: count is increased by 1.
In this step, the previous count is incremented by 1. The robot continues to receive and analyze the wireless signal, and S214 is repeated.
S216: and when the count is more than 2, switching the stored number of the dangerous area to the number of the dangerous area corresponding to the wireless tag ID read last time, and storing the number of the corresponding dangerous area.
In this step, when the count is greater than 2, that is, the serial numbers of the dangerous areas corresponding to the wireless tag IDs read by the robot at least three times consecutively are all different from the serial numbers of the dangerous areas stored before, and the serial numbers of the dangerous areas corresponding to the wireless tag IDs read by the robot three times consecutively are all the same, the dangerous areas where the robot is located are switched.
S217: and clearing the count.
In this step, the previous count is cleared, and the robot retains the number of the dangerous area stored previously.
Specifically, when a dangerous area is switched, the robot reads the serial number of the switched dangerous area in the configuration file and the strongest signal strength of the tag in the dangerous area, clears the signal strength cache, and performs initialization operation.
Wherein, the signal strength buffer refers to the ID, the timestamp and the signal strength of the wireless tag in the danger area which is stored before and received by the robot in the latest period of time in the memory buffer.
Further, the robot continues to receive and analyze the wireless signals and process the information contained in the wireless signals.
Referring to fig. 3, fig. 3 is a schematic flow chart of another embodiment of step 13 in fig. 1, including:
s311: it is determined whether the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the stored dangerous area.
In this step, the robot receives and analyzes the wireless signal, and determines the correspondence between the wireless tag ID and the dangerous area number recorded in the configuration file.
Specifically, if the determination result is yes, S312 is performed; if the determination result is negative, S315 is performed.
S312: the signal strength and the timestamp are added to the list of tag information.
In this step, the signal strength and the time stamp of the read wireless signal are added to the tag information list of the currently stored dangerous area, and the signal strength and the time stamp of the wireless signal of the latest frame of the corresponding tag in the tag information list are updated.
S313: and judging whether the difference value between the timestamp and the current time exceeds the set time.
In this step, the difference between the timestamp and the current time is the time length obtained by subtracting the timestamp from the current time.
Specifically, if the determination result is yes, S315 is performed; if the determination result is no, S314 is performed.
Optionally, the set time is 0.5-2 seconds.
S314: the signal strength and time stamp are deleted.
In this step, the signal strength and the timestamp, whose difference from the current time exceeds the set time, in the tag information list are deleted.
S315: and continuing to receive and analyze the wireless signal.
In this step, the wireless signal updated within the set time, the signal intensity and the time stamp included therein are retained, and the robot continues to receive and analyze the wireless signal, and determines the correspondence between the wireless tag ID and the dangerous area number recorded in the configuration file.
S14: and obtaining the distance between the dangerous area and the corresponding area according to the signal intensity change of the corresponding area.
In the embodiment of the invention, the data of the receiving time before the set time in the tag information list is deleted, the average value of all signal intensities in the signal intensity cache in the current danger area stored in the tag information list in the latest set time is calculated, the distance is estimated according to the calculated average signal intensity, the result is output, the wireless signals are continuously received and analyzed, and the information contained in the wireless signals is processed.
Specifically, the output result includes the number of the dangerous area, the distance of the robot from the dangerous area, and the time.
Alternatively, the maximum value and/or the minimum value may be removed in the step of calculating the average value of all the signal strengths.
Alternatively, in the step of estimating the distance according to the calculated average signal intensity, the corresponding relationship between the estimated signal intensity and the distance may be obtained in advance through a test, and the specific value of the average signal intensity may be substituted into a formula to obtain the distance between the robot and the dangerous area.
S15: react according to distance.
In an embodiment of the invention, the robot reacts according to the calculated distance to the hazardous area.
Specifically, depending on the distance, for example, when the distance from the dangerous area is greater than a set threshold, the robot operates normally; when the distance between the robot and the dangerous area is smaller than a set threshold value, the robot can adopt different reactions such as deceleration, stop and reverse departure to avoid the dangerous area; when the distance from the dangerous area is equal to a set threshold, the robot may perform any one of the above-described actions as needed.
In other embodiments of the present invention, the corresponding reaction can be directly made according to the difference of the signal intensity. For example, when the received signal strength is greater than a set threshold, the robot may take different reactions such as deceleration, stop, and reverse exit to avoid the dangerous area; when the received signal intensity is smaller than a set threshold value, the robot normally operates; when the received signal strength is equal to the set threshold, the robot may perform any of the above actions as desired.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a robot according to an embodiment of the present invention, which includes a wireless signal receiver 41, a computing unit 42, a processor 43, and a memory 44.
And a wireless signal receiver 41 for receiving the wireless signal transmitted by the wireless tag.
Specifically, after receiving the wireless signal transmitted by the wireless tag, the wireless signal receiver 41 analyzes the received wireless signal, and reads data included in each frame of the wireless signal.
And a calculating unit 42, coupled to the wireless signal receiver 41, for calculating a distance to the hazardous area.
Specifically, the calculating unit 42 calculates an average value of all signal strengths in the signal strength cache in the current danger area stored in the tag information list within the latest set time, estimates a distance according to the calculated average signal strength, and outputs a result.
The processor 43 is coupled to the calculating unit 42 for performing corresponding reactions according to the calculated distances.
Specifically, depending on the distance, for example, when the distance from the dangerous area is greater than a set threshold, the robot operates normally; when the distance between the robot and the dangerous area is smaller than a set threshold value, the robot can adopt different reactions such as deceleration, stop and reverse departure to avoid the dangerous area; when the distance from the dangerous area is equal to a set threshold, the robot may perform any one of the above-described actions as needed.
A memory 44 for storing program data which, when executed, may implement the specific steps in the method for identifying a hazardous area by a robot as described in any of the above-described method embodiments.
Different from the prior art, the wireless tags which periodically transmit wireless signals are arranged in the dangerous area, so that the wireless signal receiver loaded on the robot can detect and receive the wireless signals transmitted by the wireless tags, then the calculation unit calculates the distance between the robot and the dangerous area through the signal strength, and the processor executes corresponding reactions according to different distances to enable the robot to avoid the dangerous area in time, thereby reducing the risks of falling or collision of the robot in the dangerous area, avoiding the transformation of indoor environment, reducing the construction requirements of the place where the robot is applied, and further saving the cost.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
The computer-readable storage medium 50 comprises a computer program 501 stored on the computer-readable storage medium 50, wherein the computer program 501, when executed by the processor, implements the steps of any of the above-described method embodiments or the steps correspondingly performed by the robot in the above-described method embodiments.
In particular, the integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium 50. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a computer-readable storage medium 50 and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned computer-readable storage medium 50 includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some interfaces, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A method of robotically identifying a hazardous area, comprising:
receiving a wireless signal transmitted by a wireless tag;
reading identification information carried by the wireless signal;
distinguishing the dangerous area and the signal intensity according to the identification information;
obtaining the distance between the dangerous area and the dangerous area according to the signal intensity change;
and reacting according to the distance.
2. The method for identifying a dangerous area by robot according to claim 1, wherein before the step of receiving the wireless signal transmitted by the wireless tag, comprising the steps of:
arranging at least one wireless tag in the dangerous area; wherein the wireless tag transmits the wireless signal in a timing mode, and the wireless signal comprises the ID of the wireless tag.
3. The method for identifying a dangerous area by robot according to claim 2, wherein before the step of receiving the wireless signal transmitted from the wireless tag, further comprising the steps of:
establishing a configuration file; the configuration file is used for recording the number of the dangerous area and the ID of the wireless tag in the dangerous area; wherein the number of the hazardous area corresponds to the wireless tag ID within the hazardous area;
and reading the information in the configuration file and carrying out initialization operation.
4. The method for identifying a dangerous area by a robot according to claim 2, wherein in the step of reading the identification information carried by the wireless signal, the method specifically comprises:
and analyzing the received wireless signals, and reading the wireless tag ID, the signal strength and the time stamp included in each frame of wireless signals.
5. The method for identifying a dangerous area by a robot according to claim 4, wherein the step of identifying the dangerous area and the signal strength according to the identification information specifically comprises:
determining the number of the dangerous area where the current position is located according to the read ID of the wireless tag and storing the number of the dangerous area;
and if the read signal intensity is lower than a set threshold value, deleting the corresponding wireless signal.
6. The method for identifying a dangerous area by a robot according to claim 5, wherein the step of identifying the dangerous area and the signal intensity based on the identification information further comprises:
judging whether the serial number of the dangerous area corresponding to the read wireless tag ID is the same as the stored serial number of the dangerous area;
when the number of the dangerous area corresponding to the read wireless tag ID is different from the stored number of the dangerous area, counting to 1, and continuously receiving and analyzing the wireless signal;
and when the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the saved dangerous area, adding the signal strength and the timestamp into a tag information list of the dangerous area where the wireless tag ID is located.
7. The method for identifying a hazardous area by a robot of claim 6, wherein after the step of receiving and interpreting wireless signals is continued with the count of 1, further comprising:
judging whether the serial number of the dangerous area corresponding to the read wireless tag ID is the same as the serial number of the dangerous area corresponding to the wireless tag ID read last time;
when the number of the dangerous area corresponding to the read wireless tag ID is the same as the number of the dangerous area corresponding to the wireless tag ID read last time, adding 1 to the count, or else, resetting the count; and when the count is more than 2, switching the stored serial number of the dangerous area to the serial number of the dangerous area corresponding to the wireless tag ID read last time, storing the serial number of the corresponding dangerous area, reading the information of the corresponding dangerous area, carrying out initialization operation, and continuously receiving and processing the wireless signal.
8. The method for identifying a dangerous area by robot according to claim 6, wherein in the step of adding the signal intensity and the time stamp to the tag information list of the dangerous area where the robot is located, further comprising:
judging whether the difference value between the timestamp and the current time exceeds a set time or not;
when the difference value between the timestamp and the current time exceeds the set time, deleting the signal intensity and the timestamp, and continuously receiving and analyzing the wireless signal;
and when the difference value between the time stamp and the current time does not exceed the set time, reserving the signal intensity and the time stamp, and continuously receiving and analyzing the wireless signal.
9. The method for identifying a dangerous area by a robot according to claim 8, wherein the step of deriving the distance to the dangerous area according to the signal strength variation comprises:
and calculating the average value of the signal intensity stored in the tag information list within the set time, and estimating the distance to the dangerous area according to the average value.
10. Method for robotic identification of a hazardous area according to claim 1, characterized in that in the step of reacting according to the distance, the reaction comprises in particular deceleration, stopping and reverse departure.
11. A robot, comprising:
the wireless signal receiver is used for receiving a wireless signal transmitted by the wireless tag;
a calculation unit, coupled to the wireless signal receiver, for calculating a distance to a hazardous area;
a processor, coupled to the computing unit, for performing a corresponding reaction according to the distance;
a memory for storing program data which when executed implement the steps in a method for identifying a hazardous area by a robot as claimed in any one of claims 1 to 10.
12. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for identifying a hazardous area by a robot according to any one of claims 1 to 10.
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