CN111857154A - Robot calibration detection method, chip and robot - Google Patents
Robot calibration detection method, chip and robot Download PDFInfo
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- CN111857154A CN111857154A CN202010764234.9A CN202010764234A CN111857154A CN 111857154 A CN111857154 A CN 111857154A CN 202010764234 A CN202010764234 A CN 202010764234A CN 111857154 A CN111857154 A CN 111857154A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a robot calibration detection method, a chip and a robot, wherein the method comprises the following steps: the robot takes the obtained initial infrared signal value as a reference value and then starts to walk; the robot judges whether an obstacle exists in the self advancing direction based on the difference value between the infrared signal value detected in real time and the reference value; when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors; and when the difference value does not exceed the deceleration threshold value, the robot judges that no obstacle exists in the advancing direction and updates the reference value through the comparison result of the infrared signal value and the reference value. When the robot adopts the method to detect, the robot can independently detect and calibrate the reference value of the infrared sensor in real time when working every time, so that the detection precision of the robot is improved, and the robot is prevented from triggering a deceleration or obstacle avoidance threshold value to decelerate or avoid an obstacle in an open place without accident.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a robot calibration detection method, a chip and a robot.
Background
In the prior art, most robots adopt infrared sensors to detect obstacles, when the infrared sensors detect the obstacles, an unfixed reference value exists between a numerical value received by the infrared sensors and an actual numerical value due to the problems of abrasion of an optical filter, dust entering, interference inside a structure and the like, a good solution is not provided for the reference value temporarily, and the reference value is possibly increased due to the fact that the reference value is used for a longer time, so that the normal work of the infrared detection is influenced finally.
Disclosure of Invention
In order to solve the problems, the invention provides a robot calibration detection method, a chip and a robot, which greatly improve the accuracy of robot detection. The specific technical scheme of the invention is as follows:
a method of robot calibration detection, the method comprising the steps of: the robot takes the obtained initial infrared signal value as an initial reference value and then starts to walk; in the walking process, the robot judges whether an obstacle exists in the self advancing direction or not based on the difference value between the infrared signal value detected in real time and the reference value; when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors; when the difference value does not exceed the deceleration threshold value, the robot judges that no barrier exists in the advancing direction and compares the infrared signal value with the reference value, and if the infrared signal value is smaller than the reference value, the robot takes the infrared signal value as the reference value to continue walking; wherein the obstacle avoidance threshold is greater than the deceleration threshold. When the robot adopts the method to detect, the robot can independently detect and calibrate the reference value of the infrared sensor in real time when working every time, so that the detection precision of the robot is improved, and the robot is prevented from triggering a deceleration threshold or an obstacle avoidance threshold in an open place without accident to decelerate or avoid obstacles.
In one or more aspects of the present invention, when the difference exceeds the deceleration threshold, the robot determines that it is close to the obstacle, and reduces the walking speed until the difference is within the deceleration threshold.
In one or more aspects of the invention, when the difference exceeds the obstacle avoidance threshold, the robot judges that an obstacle exists in front of the robot and avoids the obstacle. The robot has set up the speed reduction threshold value and has kept away the barrier threshold value, and the robot decelerates when approaching the barrier, makes the robot have sufficient time to deal with the follow-up situation, improves the reply ability of robot, makes the robot can have sufficient time to keep away the barrier under the state of low speed, reduces the robot and takes place the situation of colliding.
In one or more aspects of the invention, before the robot starts walking, the initial reference value is determined through a deceleration threshold or an obstacle avoidance threshold. When the initial reference value is determined by the robot, the reference value is judged first, so that the influence of the obstacle on the acquisition of the initial reference value by the robot is prevented, and the error condition caused by judgment of the robot by adopting the reference value is reduced.
In one or more aspects of the present invention, the step of setting the initial reference value according to the deceleration threshold value comprises: the robot compares the initial reference value with the deceleration threshold value, if the initial reference value is larger than the deceleration threshold value, the robot autorotates, and then the infrared signal value is acquired and used as the initial reference value to be compared with the deceleration threshold value until the initial reference value is smaller than the deceleration threshold value. The robot adopts the deceleration threshold value to determine the initial reference value, prevents the robot from colliding with the barrier due to the initial reference value, and reduces the times of replacing the reference value by the robot.
In one or more aspects of the present invention, the step of setting the initial reference value according to the obstacle avoidance threshold value includes: and the robot compares the initial reference value with the obstacle avoidance threshold value, and if the initial reference value is greater than the obstacle avoidance threshold value, the robot automatically rotates, and then an infrared signal value is acquired as the initial reference value to be compared with the obstacle avoidance threshold value until the initial reference value is smaller than the obstacle avoidance threshold value. The robot adopts the obstacle avoidance threshold value to determine the initial reference value, the reference value range is improved, and the influence of the reference value on the normal work of the robot is reduced.
In one or more embodiments of the present invention, the rotation angle of the robot is any one of 90 ° to 270 °. The robot can carry out the rotation of corresponding angle according to actual conditions, improves the flexibility of robot.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the robot calibration detection method. The robot can carry out obstacle detection through a calibration detection method by being loaded in different robots, and the applicability is strong
A robot is equipped with a main control chip, and the main control chip is the chip. The robot adopts a calibration detection method to detect obstacles, reduces the influence of the reference value of the infrared sensor on the detection result, and improves the accuracy of the robot detection.
Drawings
Fig. 1 is a flowchart of a robot calibration and detection method of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a method for calibrating and detecting a robot includes the following steps: the robot takes the obtained initial infrared signal value as a reference value and then starts to walk; in the walking process, the robot judges whether an obstacle exists in the self advancing direction or not based on the difference value between the infrared signal value detected in real time and the reference value; when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors; when the difference value does not exceed the deceleration threshold value, the robot judges that no barrier exists in the advancing direction and compares the infrared signal value with the reference value, and if the infrared signal value is smaller than the reference value, the robot takes the infrared signal value as the reference value to continue walking; wherein the obstacle avoidance threshold is greater than the deceleration threshold. When the robot adopts the method to detect, the robot can independently detect and calibrate the reference value of the infrared sensor in real time when working every time, so that the detection precision of the robot is improved, the condition that the robot triggers a deceleration threshold or an obstacle avoidance threshold in an open place without accident is avoided, and the robot decelerates or avoids obstacles. When the difference value exceeds the deceleration threshold value, the robot judges that the robot approaches the obstacle, and reduces the walking speed until the difference value is within the range of the deceleration threshold value. When the difference value exceeds the obstacle avoidance threshold value, the robot judges that an obstacle exists in front of the robot and avoids the obstacle. The robot has set up the speed reduction threshold value and has kept away the barrier threshold value, and the robot decelerates when approaching the barrier, makes the robot have sufficient time to deal with the follow-up situation, improves the reply ability of robot, makes the robot can have sufficient time to keep away the barrier under the state of low speed, reduces the robot and takes place the situation of colliding.
As one example, before the robot starts to walk, the infrared sensor of the robot may face an open place or an obstacle, and if the infrared sensor of the robot obtains an initial infrared signal value facing the open place, the infrared signal value obtained by the robot is the closest to an actual reference value, so that the detection accuracy of the robot can be improved; if the infrared sensor of the robot acquires an initial infrared signal value facing an obstacle, the infrared signal value acquired by the robot is used as a reference value to only influence the robot to detect, so that the obstacle avoidance judgment is not triggered when the robot approaches or collides the obstacle, and therefore the initial reference value needs to be determined through a deceleration threshold value or an obstacle avoidance threshold value. When the initial reference value is determined by the robot, the reference value is judged first, so that the influence of the obstacle on the acquisition of the initial reference value by the robot is prevented, and the error condition caused by judgment of the robot by adopting the reference value is reduced. And determining an initial reference value according to the deceleration threshold value, comparing the initial reference value with the deceleration threshold value by the robot, if the initial reference value is greater than the deceleration threshold value, autorotating the robot, and then acquiring an infrared signal value as the initial reference value to be compared with the deceleration threshold value until the initial reference value is less than the deceleration threshold value. The robot adopts the deceleration threshold value to determine the initial reference value, prevents the robot from colliding with the barrier due to the initial reference value, and reduces the times of replacing the reference value by the robot. And determining an initial reference value according to the obstacle avoidance threshold value, comparing the initial reference value with the obstacle avoidance threshold value by the robot, if the initial reference value is larger than the obstacle avoidance threshold value, enabling the robot to rotate, and then acquiring an infrared signal value as the initial reference value to be compared with the obstacle avoidance threshold value until the initial reference value is smaller than the obstacle avoidance threshold value. The robot adopts the obstacle avoidance threshold value to determine the initial reference value, the reference value range is improved, and the influence of the reference value on the normal work of the robot is reduced. The rotation angle of the robot is any one of 90 degrees to 270 degrees. The robot can carry out the rotation of corresponding angle according to actual conditions, improves the flexibility of robot.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the robot calibration detection method. The robot can carry out obstacle detection through a calibration detection method by being loaded in different robots, and the applicability is strong
A robot is equipped with a main control chip, and the main control chip is the chip. The robot adopts a calibration detection method to detect obstacles, reduces the influence of the reference value of the infrared sensor on the detection result, and improves the accuracy of the robot detection.
The working process of the robot is as follows: after the robot receives the starting signal, the infrared sensor is started to receive an initial infrared signal value, the infrared signal value is used as an initial reference value, and the robot simultaneously adopts a deceleration threshold value or an obstacle avoidance threshold value to judge whether the initial reference value can be used as a reference value to help the robot to detect. The robot starts to work normally after determining the reference value, the robot acquires an infrared signal value through an infrared sensor in real time in the normal working process, then obstacle detection is carried out by using a numerical value obtained by subtracting the reference value from the infrared signal value, if the calculated result exceeds a deceleration threshold value, the robot decelerates and walks until the difference value is within the range of the deceleration threshold value, whether the calculated result exceeds an obstacle avoidance threshold value or not is continuously judged in the process of decelerating and walking, and the robot avoids obstacles until the calculated result exceeds the obstacle avoidance threshold value; if the calculation result does not exceed the deceleration threshold, the robot compares the acquired infrared signal value with the reference value, and the robot continues to walk by adopting a smaller numerical value as the reference value. And repeatedly carrying out obstacle avoidance detection and reference value updating in the walking process of the robot. The robot can solve because the existence of reference value leads to the machine to have triggered the speed reduction or keep away the barrier action in spacious place nothing, when preventing the robot to start, is in the wall or the obstacle next door causes the influence to the testing result.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (9)
1. A robot calibration detection method is characterized by comprising the following steps:
the robot takes the obtained initial infrared signal value as an initial reference value and then starts to walk;
in the walking process, the robot judges whether an obstacle exists in the self advancing direction or not based on the difference value between the infrared signal value detected in real time and the reference value;
when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors;
when the difference value does not exceed the deceleration threshold value, the robot judges that no barrier exists in the advancing direction and compares the infrared signal value with the reference value, and if the infrared signal value is smaller than the reference value, the robot takes the infrared signal value as the reference value to continue walking;
wherein the obstacle avoidance threshold is greater than the deceleration threshold.
2. The robot calibration detection method of claim 1, wherein when the difference exceeds the deceleration threshold, the robot determines that it is approaching an obstacle and reduces the walking speed until the difference is within the deceleration threshold.
3. The robot calibration detection method of claim 1, wherein when the difference exceeds an obstacle avoidance threshold, the robot determines that an obstacle exists in front of the robot and performs obstacle avoidance.
4. The robot calibration detection method of claim 1, wherein the initial reference value is determined by a deceleration threshold or an obstacle avoidance threshold before the robot starts walking.
5. The robot calibration detection method of claim 4, wherein the step of setting the initial reference value according to the deceleration threshold value is: the robot compares the initial reference value with the deceleration threshold value, if the initial reference value is larger than the deceleration threshold value, the robot autorotates, and then the infrared signal value is acquired and used as the initial reference value to be compared with the deceleration threshold value until the initial reference value is smaller than the deceleration threshold value.
6. The robot calibration detection method of claim 4, wherein the step of setting the initial reference value according to the obstacle avoidance threshold comprises: and the robot compares the initial reference value with the obstacle avoidance threshold value, and if the initial reference value is greater than the obstacle avoidance threshold value, the robot automatically rotates, and then an infrared signal value is acquired as the initial reference value to be compared with the obstacle avoidance threshold value until the initial reference value is smaller than the obstacle avoidance threshold value.
7. A robot calibration detection method according to claim 5 or 6, wherein the rotation angle of the robot is any one of 90 ° to 270 °.
8. A chip with a built-in control program for controlling a robot to perform the robot calibration detection method of any one of claims 1 to 7.
9. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 8.
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