CN111841034A - Desktop edge detection system and edge avoidance method for foot type desktop pet robot - Google Patents
Desktop edge detection system and edge avoidance method for foot type desktop pet robot Download PDFInfo
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- CN111841034A CN111841034A CN202010720753.5A CN202010720753A CN111841034A CN 111841034 A CN111841034 A CN 111841034A CN 202010720753 A CN202010720753 A CN 202010720753A CN 111841034 A CN111841034 A CN 111841034A
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- A63—SPORTS; GAMES; AMUSEMENTS
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Abstract
The invention relates to the technical field of robots, in particular to a foot type desktop edge detection system and an edge evasion method for a pet robot. The robot is provided with a miniature laser ranging sensor at the lower jaw position of the head, and an optical sensor array is arranged at the sole; the emitting direction of the miniature laser ranging sensor forms a certain included angle with the horizontal direction and is installed obliquely downwards; the optical sensor array comprises 4 optical sensors, the robot is of a double-foot structure, and each sole is provided with two optical sensors; the two light sensors of each sole are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; the invention can effectively detect the edge of the desktop, execute evasive action to avoid the edge and solve the problem that the foot type desktop pet robot cannot detect the edge of the desktop and is damaged by falling.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foot type desktop edge detection system and an edge evasion method for a pet robot.
Background
The desktop pet robot is a new type in the field of intelligent robots, is provided with abundant sensors and high-performance processors, adopts an advanced AI algorithm, is high in environment perception and interaction capacity, and has certain autonomous behavior and self-learning capacity. According to the action mode of the desktop pet robot, the pet robot can be divided into a wheel type and a foot type.
The moving space of the desktop pet robot is usually a desk, an office table, a bedside cabinet and the like, most of the traditional wheeled desktop pet robots do not have desktop edge detection capability, and the detection method of the traditional wheeled desktop pet robots with desktop edge detection capability is not suitable for a foot type, so that the existing foot type desktop pet robot cannot effectively detect the desktop edge and can not avoid and prevent the edge from falling, and the robot can fall from the desktop and be damaged.
Disclosure of Invention
In order to overcome the above problems in the prior art, the invention aims to provide a tabletop edge detection system and an edge avoidance method for a foot type tabletop pet robot.
The technical scheme adopted by the invention is as follows:
a system for detecting an edge of a tabletop of a legged tabletop pet robot, comprising:
the robot is provided with a miniature laser ranging sensor at the lower jaw position of the head, and the sole of the robot is provided with an optical sensor array;
the emitting direction of the miniature laser ranging sensor forms a certain included angle with the horizontal direction and is installed obliquely downwards;
the optical sensor array comprises 4 optical sensors, the robot is of a double-foot structure, and each sole is provided with two optical sensors; the two light sensors of each sole are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; each light sensor is embedded in a groove of the sole; each groove is covered with a transparent dust cover;
an edge avoidance method based on the foot type desktop pet robot desktop edge detection system comprises the following steps:
the micro laser ranging sensor acquires a measuring distance every other fixed period, compares the measuring distance with a first threshold distance, and if the measuring distance is smaller than the first threshold distance, the front of the robot is far away from the edge of the table top; comparing the measured distance with a second threshold distance, and if the measured distance is greater than the second threshold distance, determining that the front of the robot is closer to the edge of the desktop;
the light sensor array of the sole collects a group of light intensity data every other fixed period, each group of light intensity data comprises light intensity 1, light intensity 2, light intensity 3 and light intensity 4, and the light intensity data respectively correspond to the four light sensors;
if the light intensity 1, the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the robot is considered that the feet do not exceed the edge of the desktop;
if the light intensity 1 is smaller than a second light intensity threshold value, and the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the front end of the right foot of the robot is considered to exceed the edge of the desktop, and the right foot of the robot is lifted first and then performs left-turning backward movement;
if the light intensity 2 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the rear end of the right foot of the robot is considered to exceed the edge of the desktop, and the right foot of the robot is lifted first and then performs left-turning forward movement;
if the light intensity 3 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 2 and the light intensity 4 are all larger than a first light intensity threshold value, the front end of the left foot of the robot is considered to exceed the edge of the desktop, and the left foot of the robot is lifted first and then performs a right-turning backward movement;
if the light intensity 4 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 2 and the light intensity 3 are all larger than a first light intensity threshold value, the rear end of the left foot of the robot is considered to exceed the edge of the desktop, and the left foot of the robot is lifted first and then performs a right-turning forward action;
if the light intensity 1 and the light intensity 2 are smaller than a second light intensity threshold value, and the light intensity 3 and the light intensity 4 are larger than a first light intensity threshold value, the right side of the robot is considered to be beyond the edge of the desktop, and the robot performs a step sliding action leftwards;
if the light intensity 3 and the light intensity 4 are smaller than a second light intensity threshold value, and the light intensity 1 and the light intensity 2 are larger than a first light intensity threshold value, the left side of the robot is considered to be beyond the edge of the desktop, and the robot executes a step-sliding action to the right;
if the light intensity 1 and the light intensity 3 are smaller than a second light intensity threshold value, and the light intensity 2 and the light intensity 4 are larger than a first light intensity threshold value, the front side of the robot is considered to exceed the edge of the desktop, the robot performs a retreating action, if the light intensity 1 is smaller than the light intensity 3, the right foot is lifted first when the retreating action is performed, if the light intensity 1 is larger than the light intensity 3, the left foot is lifted first when the retreating action is performed, and if the light intensity 1 is equal to the light intensity 3, the left foot or the right foot is randomly selected to be lifted first when retreating is performed;
if the light intensity 2 and the light intensity 4 are smaller than a second light intensity threshold value, and the light intensity 1 and the light intensity 3 are larger than a first light intensity threshold value, the rear side of the robot is considered to exceed the edge of the table top, the robot performs forward movement, if the light intensity 2 is smaller than the light intensity 4, the right foot is lifted first when the forward movement is performed, if the light intensity 2 is larger than the light intensity 4, the left foot is lifted first when the forward movement is performed, and if the light intensity 2 is equal to the light intensity 4, the left foot or the right foot is randomly selected to be lifted first when the robot moves forward;
the invention discloses a desktop edge detection system and an edge evasion method of a foot type desktop pet robot, which have the beneficial effects that:
(1) when the robot moves towards the edge of the table top, the front edge of the table top can be found through the miniature laser ranging sensor, and a subsequent movement path is determined according to the front edge of the table top.
(2) When the robot does not face the edge of the table top, or the front edge is found through the miniature laser ranging sensor, but the robot is still required to move forward, the specific foot and the specific direction exceed the edge of the table top can be judged through the light sensor array on the sole of the foot, and therefore the decision on which action to use is made to avoid the situation.
(3) The edge detection and avoidance can be effectively carried out by combining the two modes, the robot is prevented from falling from the desktop and being damaged, and the problem that the robot falls and is damaged due to the fact that the edge of the desktop cannot be detected in the traditional technical scheme is solved.
(4) Based on desktop pet robot desktop edge detecting system, can design a man-machine interaction mode, let the initiative discovery of robot and be close to the desktop edge to show the expression that receives the frightening, when the user tries to get on the robot with the hand and prevents falling, the robot has carried out the action of evading again and has avoided the desktop edge, has increased the interest of robot.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a system for detecting the edge of a tabletop of a legged tabletop pet robot according to the present invention;
FIG. 2 is a schematic view of the sole structure of the foot-type desktop pet robot of the present invention;
FIG. 3 is a flow chart of the desktop edge detection of the micro laser ranging sensor according to the present invention;
FIG. 4 is a flow chart of the detection and avoidance of the edge of the tabletop with the plantar optical sensor array according to the present invention;
in the figure: a foot-type desktop pet robot 1; a sole 2; a micro laser ranging sensor 3; a tabletop 4; a right foot front photosensor 201; a right foot rear light sensor 202; a left foot front light sensor 203; left foot rear light sensor 204.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Detailed description of the invention
A detection system for the edge of a tabletop of a foot type tabletop pet robot comprises a miniature laser ranging sensor 3 and a plantar optical sensor array, wherein the optical sensor array comprises a right foot front optical sensor 201; a right foot rear light sensor 202; a left foot front light sensor 203; a left foot rear light sensor 204;
as shown in fig. 1, the desktop pet robot 1 is of a biped structure, and the emitting direction of the miniature laser ranging sensor 3 forms a certain included angle α with the horizontal direction and is installed obliquely downwards;
as shown in fig. 2, the desktop pet robot 1 is provided with two light sensors per sole 2; the two light sensors of each sole 2 are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; each light sensor is embedded in a groove of the sole; each groove is covered with a transparent dust cover;
detailed description of the invention
An edge avoidance method based on the desktop pet robot desktop edge detection system comprises the following steps:
as shown in fig. 3, the micro laser distance measuring sensor 3 collects the measured distance D every other fixed period T1, compares the measured distance D with a first threshold distance D1, and if the measured distance is less than or equal to the first threshold distance D1, the distance from the front of the robot to the edge of the table top 4 is greater than D = H/tan α, and the front of the robot 1 is considered to be farther from the edge of the table top 4; comparing the measured distance D with a second threshold distance D2, if the measured distance D is greater than the second threshold distance D2, the distance from the edge of the table top 4 in front of the robot is less than D = H/tan α, and the distance from the edge of the table top 4 in front of the robot 1 is considered to be closer;
the values of the first threshold distance d1 and the second threshold distance d2 are as follows:
as shown in fig. 1, a vertical distance between the installation position of the micro laser ranging sensor 3 and the tabletop 4 is H, an included angle α is formed between the emission direction of the micro laser ranging sensor 3 and the horizontal direction, when the laser emitted by the micro laser ranging sensor 3 is reflected by the tabletop 4, an obtained measurement result is L = H/sin α, when the laser emitted by the micro laser ranging sensor 3 exceeds the edge of the tabletop 4, the laser cannot be reflected by the tabletop 4, the obtained measurement result is far greater than L = H/sin α, a first threshold distance d1= L = H/sin α is taken, and a second threshold distance d2=2 × d1 is taken;
as shown in fig. 4, the array of light sensors on the sole collects a set of light intensity data every other fixed period T2, each set of light intensity data includes light intensity 1, light intensity 2, light intensity 3 and light intensity 4, which respectively correspond to four light sensors;
if the light intensity 1, the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than the first light intensity threshold value p1, the two feet of the robot 1 are considered not to exceed the edge of the tabletop 4;
if the light intensity 1 is smaller than the second light intensity threshold value p2, and the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than the first light intensity threshold value p1, it is determined that the front end of the right foot of the robot 1 exceeds the edge of the tabletop 4, and the right foot of the robot 1 is lifted first and then performs left-turning backward movement;
if the light intensity 2 is smaller than the second light intensity threshold value p2, and the light intensity 1, the light intensity 3 and the light intensity 4 are all larger than the first light intensity threshold value p1, it is determined that the rear end of the right foot of the robot 1 exceeds the edge of the tabletop 4, and the right foot of the robot 1 is lifted first and then performs left-turning forward movement;
if the light intensity 3 is smaller than the second light intensity threshold value p2, and the light intensity 1, the light intensity 2 and the light intensity 4 are all larger than the first light intensity threshold value p1, it is determined that the front end of the left foot of the robot 1 exceeds the edge of the tabletop 4, and the left foot of the robot 1 is lifted first and then performs a right-turning backward movement;
if the light intensity 4 is smaller than the second light intensity threshold value p2, and the light intensity 1, the light intensity 2 and the light intensity 3 are all larger than the first light intensity threshold value p1, it is determined that the rear end of the left foot of the robot 1 exceeds the edge of the tabletop 4, and the left foot of the robot 1 is lifted first and then performs a right-turning forward action;
if the light intensity 1 and the light intensity 2 are smaller than the second light intensity threshold value p2, and the light intensity 3 and the light intensity 4 are larger than the first light intensity threshold value p1, the right side of the robot is considered to be beyond the edge of the table top 4, and the robot 1 performs a step-sliding action to the left;
if the light intensity 3 and the light intensity 4 are smaller than the second light intensity threshold value p2, and the light intensity 1 and the light intensity 2 are larger than the first light intensity threshold value p1, the left side of the robot is considered to be beyond the edge of the table top 4, and the robot 1 performs a step-sliding action to the right;
if the light intensity 1 and the light intensity 3 are smaller than a second light intensity threshold value p2, and the light intensity 2 and the light intensity 4 are larger than a first light intensity threshold value p1, the front side of the robot 1 is considered to exceed the edge of the tabletop 4, the robot 1 performs a retreating action, if the light intensity 1 is smaller than the light intensity 3, the right foot is lifted first when the retreating action is performed, if the light intensity 1 is larger than the light intensity 3, the left foot is lifted first when the retreating action is performed, and if the light intensity 1 is equal to the light intensity 3, the left foot or the right foot is randomly selected to be lifted first when the retreating action is;
if the light intensity 2 and the light intensity 4 are smaller than a second light intensity threshold value p2, and the light intensity 1 and the light intensity 3 are larger than a first light intensity threshold value p1, the rear side of the robot 1 is considered to exceed the edge of the tabletop 4, the robot 1 executes a forward movement, if the light intensity 2 is smaller than the light intensity 4, the right foot is lifted first when the forward movement is executed, if the light intensity 2 is larger than the light intensity 4, the left foot is lifted first when the forward movement is executed, and if the light intensity 2 is equal to the light intensity 4, the left foot or the right foot is randomly selected to be lifted first when the robot moves forward;
the first light intensity threshold value p1 and the second light intensity threshold value p2 are obtained by the following steps:
the light sensor of the sole is of an infrared reflection type, and when the robot 1 stands on a table top in a static state and the sole is parallel to the table top 4, the intensity of reflected light collected by the light sensor is the maximum value pmax; when the robot 1 walks or performs other actions, the sole can be lifted for a certain distance, the intensity range of reflected light collected by the optical sensor is psmin-pmax, and the light intensity is smaller when the sole lifting distance is larger; when the area where the optical sensor on the sole of the robot 1 is located exceeds the edge of the desktop 4, the intensity range of reflected light collected by the optical sensor is 0-pedge, and the intensity is smaller when the reflected light exceeds the edge of the desktop 4; wherein psmin >2 × hedge; taking a first light intensity threshold value p1= (psmin + edge)/2, and taking a second light intensity threshold value p2= edge/2;
when the robot 1 moves towards the edge of the tabletop 4, the edge of the tabletop 4 in front can be found through the miniature laser ranging sensor 3, and a subsequent movement route is determined according to the edge; when the robot 1 does not face the edge of the tabletop 4, or the front edge is found through the miniature laser ranging sensor 3, but the robot 1 is still required to move forward, the specific foot and direction exceeding the edge of the tabletop can be judged through the light sensor array on the sole, and the decision on which action to use is made according to the judgment; by combining the two modes, edge detection and avoidance can be effectively carried out, the robot 1 is prevented from falling from the desktop and being damaged, and the problem that the robot falls and is damaged due to the fact that the edge of the desktop cannot be detected in the traditional technical scheme is solved;
based on desktop pet robot desktop edge detecting system, can design a man-machine interaction mode, let the initiative discovery of robot and be close to the desktop edge to show the expression that receives the frightening, when the user tries to get on the robot with the hand and prevents falling, the robot has carried out the action of evading again and has avoided the desktop edge, has increased the interest of robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (16)
1. A detection system for the edge of a tabletop of a foot type tabletop pet robot is characterized by comprising a miniature laser ranging sensor (3) and a plantar optical sensor array, wherein the plantar optical sensor array comprises a right foot front optical sensor (201); a right foot rear light sensor (202); a left foot front light sensor (203); a left foot rear light sensor (204).
2. The system for detecting the edge of the tabletop of the foot type tabletop pet robot as claimed in claim 1, wherein the tabletop pet robot (1) is of a double-foot structure, and the emitting direction of the micro laser ranging sensor (3) forms a certain included angle alpha with the horizontal direction and is installed in an inclined and downward mode.
3. The system for detecting the edge of the tabletop of the foot type tabletop pet robot as claimed in claim 1, wherein the tabletop pet robot (1) is provided with two light sensors per sole (2); the two light sensors of each sole (2) are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; each light sensor is embedded in a groove of the sole; and a transparent dust cover covers each groove.
4. An edge evading method based on a legged desktop pet robot desktop edge detection system according to claim 1, characterized in that the micro laser ranging sensor (3) collects the measured distance every fixed period, compares the measured distance with a first threshold distance, and if the measured distance is less than or equal to the first threshold distance, considers that the front of the robot (1) is farther away from the edge of the desktop (4); and comparing the measured distance with a second threshold distance, and if the measured distance is greater than the second threshold distance, considering that the distance between the front of the robot (1) and the edge of the table top (4) is shorter.
5. The edge avoiding method according to claim 4, wherein the first threshold distance d1 and the second threshold distance d2 take values as follows: the vertical distance between the installation position of the micro laser ranging sensor (3) and the desktop (4) is H, the emitting direction of the micro laser ranging sensor (3) forms a certain included angle alpha with the horizontal direction, when laser emitted by the micro laser ranging sensor (3) is reflected by the desktop (4), the obtained measurement result is L = H/sin alpha, when the laser emitted by the micro laser ranging sensor (3) exceeds the edge of the desktop (4), the laser cannot be reflected by the desktop (4), the obtained measurement result is far larger than L = H/sin alpha, the first threshold distance d1= L = H/sin alpha is taken, and the second threshold distance d2=2 d1 is taken.
6. The edge avoiding method according to claim 4, wherein the array of light sensors on the sole collects a set of light intensity data every other fixed period, each set of light intensity data comprising light intensity 1, light intensity 2, light intensity 3 and light intensity 4, corresponding to four light sensors respectively.
7. The edge evasion method according to claim 4, characterized in that if the light intensity 1, the light intensity 2, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, the robot (1) is considered not to have its feet beyond the edge of the tabletop (4).
8. The edge evasion method as claimed in claim 4, wherein if the light intensity 1 is less than the second light intensity threshold p2, and the light intensity 2, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, the front end of the right foot of the robot (1) is considered to be beyond the edge of the desktop (4), and the right foot of the robot (1) is lifted first and then performs a left-turning backward movement.
9. The edge evasion method as claimed in claim 4, wherein if the light intensity 2 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, then the rear end of the right foot of the robot (1) is considered to be beyond the edge of the desktop (4), and the right foot of the robot (1) is lifted first and then performs a left-turning forward motion.
10. The edge evasion method as claimed in claim 4, wherein if the light intensity 3 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 2 and the light intensity 4 are all greater than the first light intensity threshold p1, the front end of the left foot of the robot (1) is considered to have exceeded the edge of the desktop (4), and the left foot of the robot (1) is lifted first and then performs a right-turning backward movement.
11. The edge evasion method as claimed in claim 4, wherein if the light intensity 4 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 2 and the light intensity 3 are all greater than the first light intensity threshold p1, then it is considered that the rear end of the left foot of the robot (1) exceeds the edge of the desktop (4), and the left foot of the robot (1) is lifted first and then performs a right-turn forward motion.
12. Edge avoidance method according to claim 4, characterized in that if the light intensity 1 and 2 is less than the second light intensity threshold p2 and the light intensity 3 and 4 is greater than the first light intensity threshold p1, the robot (1) is considered to have the right side beyond the edge of the table top (4) and the robot (1) performs a striding action to the left.
13. Edge avoidance method according to claim 4, characterized in that if the light intensity 3 and 4 is less than the second light intensity threshold p2, and the light intensity 1 and 2 is greater than the first light intensity threshold p1, the robot (1) is considered to have the left side of the robot beyond the edge of the table top (4) and the robot (1) performs a swiping movement to the right.
14. The edge evasion method according to claim 4, wherein if the light intensity 1 and the light intensity 3 are less than the second light intensity threshold p2, and the light intensity 2 and the light intensity 4 are greater than the first light intensity threshold p1, the front side of the robot (1) is considered to have exceeded the edge of the desktop (4), the robot (1) performs the backward movement, if the light intensity 1 is less than the light intensity 3, the right foot is lifted first, if the light intensity 1 is greater than the light intensity 3, the left foot is lifted first, and if the light intensity 1 is equal to the light intensity 3, the left foot or the right foot is randomly selected to be lifted first.
15. The edge evasion method according to claim 4, wherein if the light intensity 2 and the light intensity 4 are less than a second light intensity threshold value p2, and the light intensity 1 and the light intensity 3 are greater than a first light intensity threshold value p1, the rear side of the robot (1) is considered to have exceeded the edge of the desktop (4), the robot (1) performs a forward motion, if the light intensity 2 is less than the light intensity 4, the right foot is lifted first, if the light intensity 2 is greater than the light intensity 4, the left foot is lifted first, and if the light intensity 2 is equal to the light intensity 4, the left foot or the right foot is randomly selected to be lifted first.
16. The edge avoiding method according to claim 4, wherein the first light intensity threshold p1 and the second light intensity threshold p2 are obtained by: the light sensor of the sole is of an infrared reflection type, and when the robot (1) stands on a table top in a static state and the sole is parallel to the table top (4), the intensity of reflected light collected by the light sensor is the maximum value pmax; when the robot (1) walks or performs other actions, the sole can be lifted for a certain distance, the intensity range of reflected light collected by the optical sensor is psmin-pmax, and the light intensity is smaller when the lifting distance of the sole is larger; when the area where the optical sensor on the sole of the robot (1) is located exceeds the edge of the desktop (4), the intensity range of reflected light collected by the optical sensor is 0-pedge, and the intensity of the reflected light is smaller when the reflected light exceeds the edge of the desktop (4); wherein psmin >2 × hedge; the first light intensity threshold p1= (psmin + edge)/2 is taken, and the second light intensity threshold p2= edge/2 is taken.
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Application publication date: 20201030 |