CN112847434B - Control method and device for robot chassis, robot chassis and storage medium - Google Patents
Control method and device for robot chassis, robot chassis and storage medium Download PDFInfo
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- CN112847434B CN112847434B CN202011614963.2A CN202011614963A CN112847434B CN 112847434 B CN112847434 B CN 112847434B CN 202011614963 A CN202011614963 A CN 202011614963A CN 112847434 B CN112847434 B CN 112847434B
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The application provides a control method and device of a robot chassis, the robot chassis and a computer readable storage medium, wherein the method is applied to the robot chassis and comprises the following steps: when the fact that the robot chassis is provided with the loading module is detected, visual detection data are obtained, and the visual detection data are obtained by detecting the loading module through visual detection equipment; detecting whether the uploading module meets a preset condition or not according to the visual detection data; and if the upper mounting module meets the preset condition, controlling the moving speed of the robot chassis to be less than or equal to a first preset speed. When the robot chassis is provided with the loading module, the visual detection equipment can be utilized to detect whether the loading module meets the preset condition, if the loading module meets the preset condition, the robot chassis can run at a lower speed, and the problem that the loading module fails to work due to the fact that the speed of the robot chassis is too high is avoided.
Description
Technical Field
The present application relates to the field of computer vision technology and industrial inspection technology, and in particular, to a method and an apparatus for controlling a robot chassis, and a computer-readable storage medium.
Background
The existing distribution robot can realize a distribution function, but the distribution robot cannot control the speed of the distribution robot in real time according to a distribution piece loaded by the distribution robot, and when the distribution robot distributes meals containing soup, the soup is splashed due to too high speed, so that a distribution task fails.
Disclosure of Invention
The application aims to provide a control method and device for a robot chassis, the robot chassis and a computer readable storage medium, whether a loading module meets a preset condition or not can be detected by using visual detection equipment, if the loading module meets the preset condition, the robot chassis can run at a lower speed, and task failure caused by the fact that the speed of the loading module is too high is avoided.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a method for controlling a robot chassis, which is applied to the robot chassis, and includes: when the fact that the robot chassis is provided with the loading module is detected, visual detection data are obtained, and the visual detection data are obtained by detecting the loading module through visual detection equipment; detecting whether the upper mounting module meets a preset condition or not according to the visual detection data; and if the upper mounting module meets the preset condition, controlling the moving speed of the robot chassis to be less than or equal to a first preset speed. The technical scheme has the beneficial effects that when the robot chassis is provided with the loading module, the visual detection equipment can be utilized to detect whether the loading module meets the preset condition, if the loading module meets the preset condition, the robot chassis can run at a lower speed, and the problem that the loading module fails to work due to the fact that the speed of the robot chassis is too high is avoided.
In some optional embodiments, the method further comprises: and if the fact that the loading module does not meet the preset condition is determined, controlling the moving speed of the robot chassis to be larger than the first preset speed. The technical scheme has the beneficial effects that when the upper loading module does not meet the preset condition, the robot chassis can run at a higher speed, and the efficiency can be improved under the condition that the task is not influenced.
In some optional embodiments, the visual inspection data comprises at least one of: 2D detection data, 3D detection data and ray detection data; the preset condition comprises at least one of the following conditions: liquid exists in the upper module; preset articles exist in the upper-loading module, and the preset articles comprise one or more of toxic articles, fragile articles, easily-deformable articles, inflammable articles and easily-explosive articles. The technical scheme has the advantages that on one hand, the visual detection data can comprise one or more of 2D detection data, 3D detection data and ray detection data, and the detection efficiency and the accuracy are high; on the other hand, when the preset condition is that liquid exists in the upper-mounted module, the liquid in the upper-mounted module can be prevented from splashing in the upper-mounted module due to the fact that the speed of the robot chassis is too high; when the preset condition is that one or more of toxic substances, fragile substances, easily deformable substances, inflammable substances and easily explosive substances exist in the upper module, the preset substances in the upper module can be prevented from colliding in the upper module due to the fact that the chassis of the robot is too fast, and the preset substances are damaged and exploded.
In some optional embodiments, the method further comprises: acquiring the current task type of the robot chassis; and acquiring a preset condition corresponding to the current task type. The technical scheme has the advantages that corresponding preset conditions can be set according to the current task type of the robot chassis, and the corresponding preset conditions can be set when the same robot chassis executes tasks of different types, so that the tasks of different types can be completed, and the application range is wide.
In some optional embodiments, the obtaining of the preset condition corresponding to the current task type includes: when the current task type of the robot chassis is delivery, determining that the preset condition corresponding to the current task type is as follows: liquid is present within the upper module. The technical scheme has the advantages that when the current task type of the robot chassis is distribution, the fact that liquid exists in the upper loading module can be determined as the preset condition corresponding to the distribution task, the speed of the robot chassis can be adjusted by detecting whether the preset condition is met, and the intelligent level is high.
In some optional embodiments, the method further comprises: when detecting that a first preset event occurs on the robot chassis, detecting whether a second preset event occurs in the upper-mounted module; if the second preset event occurs in the upper loading module, controlling the robot chassis to stop moving; and generating prompt information and sending the prompt information to a cloud server and/or user equipment, wherein the prompt information is used for prompting a user that the second preset event occurs on the robot chassis. The technical scheme has the advantages that on one hand, whether a first preset event occurs on the robot chassis can be detected, and if the first preset event occurs, the risk of task failure of the robot chassis can be determined; on one hand, when a first preset event occurs, whether a second preset event occurs in the loading module can be detected, if the second preset event occurs, the fact that the task is influenced by the first preset event can be determined, the robot chassis stops moving, and loss aggravation can be avoided; on the other hand, the prompt information is sent to the cloud server and/or the user equipment, so that the user can be prompted that a second preset event occurs on the robot chassis, and the user can take corresponding measures conveniently.
In some optional embodiments, the method further comprises: and acquiring current position information of the robot chassis and sending the current position information to the cloud server and/or the user equipment. The technical scheme has the advantages that the current position information of the robot chassis is sent to the cloud server and/or the user equipment, and a user can track and position the robot chassis with the second preset event according to the current position information.
In some optional embodiments, the first preset event comprises at least one of: collision, scram, and passing through bumpy road segments; the second preset event comprises at least one of: container pour, container rupture, and liquid spill. The technical scheme has the beneficial effects that on one hand, whether the robot chassis has the risk of task failure can be judged through whether the robot chassis generates a first preset event, so that early warning is performed; on the other hand, whether the container and the liquid in the upper charging module are intact or not can be judged through whether a second preset event occurs in the upper charging module or not.
In a second aspect, the present application provides a control device for a robot chassis, applied to the robot chassis, the device including: the vision acquisition module is used for acquiring vision detection data when the robot chassis is detected to be provided with the loading module, and the vision detection data is obtained by detecting the loading module by vision detection equipment; the condition detection module is used for detecting whether the loading module meets a preset condition or not according to the visual detection data; and the first speed control module is used for determining that the loading module meets the preset condition, and controlling the moving speed of the robot chassis to be less than or equal to a first preset speed.
In some optional embodiments, the apparatus further comprises: and the second speed control module is used for controlling the moving speed of the robot chassis to be greater than the first preset speed if the uploading module is determined not to meet the preset condition.
In some optional embodiments, the visual inspection data comprises at least one of: 2D detection data, 3D detection data and ray detection data; the preset condition comprises at least one of the following conditions: liquid exists in the upper module; preset articles exist in the upper-loading module, and the preset articles comprise one or more of toxic articles, fragile articles, easily-deformable articles, inflammable articles and easily-explosive articles.
In some optional embodiments, the apparatus further comprises a condition obtaining module, the condition obtaining module comprising: the type obtaining unit is used for obtaining the current task type of the robot chassis; and the obtaining condition unit is used for obtaining a preset condition corresponding to the current task type.
In some optional embodiments, the obtaining condition unit is configured to, when the current task type of the robot chassis is delivery, determine that a preset condition corresponding to the current task type is: liquid is present within the upper module.
In some optional embodiments, the apparatus further comprises an event monitoring module, the event monitoring module comprising: the event detection unit is used for detecting whether a second preset event occurs in the upper mounting module when detecting that a first preset event occurs in the robot chassis; the chassis control unit is used for controlling the robot chassis to stop moving if the second preset event occurs in the upper-mounted module; and the prompt information unit is used for generating prompt information and sending the prompt information to a cloud server and/or user equipment, wherein the prompt information is used for prompting a user that the second preset event occurs on the robot chassis.
In some optional embodiments, the event monitoring module further comprises: and the position information unit is used for acquiring the current position information of the robot chassis and sending the current position information to the cloud server and/or the user equipment.
In some optional embodiments, the first preset event comprises at least one of: collision, scram, and passing through bumpy road segments; the second preset event comprises at least one of: container pour, container rupture, and liquid spill.
In a third aspect, the present application provides a robot chassis comprising a memory storing a computer program and a processor implementing the steps of any of the above methods when the computer program is executed by the processor.
In some optional embodiments, the robot chassis further comprises a visual inspection device.
In some optional embodiments, the visual inspection apparatus comprises at least one of: optical camera, infrared camera, 3D contourgraph and CT scanner. The technical scheme has the beneficial effects that one or more of corresponding 2D detection data, 3D detection data and ray detection data can be acquired through one or more of an optical camera, an infrared camera, a 3D contourgraph and a CT scanner.
In a fourth aspect, the present application provides a mobile robot comprising a top-loading module and any one of the robot chassis described above, the top-loading module being detachably connected to the robot chassis. The technical scheme has the beneficial effects that the upper-mounted module is detachably connected with the robot chassis, so that different upper-mounted modules can be connected with the same robot chassis, and multiple functions are realized.
In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic flowchart of a control method for a robot chassis according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a control method for a robot chassis according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a control method for a robot chassis according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a control method for a robot chassis according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a control method for a robot chassis according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device of a robot chassis according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a control device of a robot chassis according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a control device of a robot chassis according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a condition obtaining module according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a control device of a robot chassis according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of an event monitoring module according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of an event monitoring module according to an embodiment of the present application;
fig. 13 is a block diagram of a robot chassis according to an embodiment of the present disclosure;
fig. 14 is a schematic structural diagram of a mobile robot according to an embodiment of the present disclosure;
fig. 15 is a schematic structural diagram of a program product for implementing a control method of a robot chassis according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1, the embodiment of the application provides a control method of a robot chassis, which is applied to the robot chassis and includes steps S101 to S103.
Step S101: and when the robot chassis is detected to be provided with the loading module, visual detection data are obtained, wherein the visual detection data are obtained by detecting the loading module by visual detection equipment.
In a specific embodiment, the upper module can be used to perform a task, when the task type is disinfection, the corresponding target upper module is for example a disinfectant liquid (disinfectant) spraying device; when the task type is security, the corresponding target uploading module is, for example, a camera, and specifically, may include an optical camera and/or an infrared camera; when the task type is delivery (express, take out), the corresponding target mounted module is, for example, a delivery box, and specifically, may be a delivery box with a display device.
In a specific embodiment, the visual inspection data may include at least one of: 2D detection data, 3D detection data and ray detection data; the preset condition may include at least one of: liquid exists in the upper module; preset articles exist in the upper-loading module, and the preset articles comprise one or more of toxic articles, fragile articles, easily-deformable articles, inflammable articles and easily-explosive articles.
Therefore, on one hand, the visual detection data can comprise one or more of 2D detection data, 3D detection data and ray detection data, and the detection efficiency and the accuracy are high; on the other hand, when the preset condition is that liquid exists in the upper-mounted module, the liquid in the upper-mounted module can be prevented from splashing in the upper-mounted module due to the fact that the speed of the robot chassis is too high; when the preset condition is that one or more of toxic substances, fragile substances, easily deformable substances, inflammable substances and easily explosive substances exist in the upper module, the preset substances in the upper module can be prevented from colliding in the upper module due to the fact that the chassis of the robot is too fast, and the preset substances are damaged and exploded.
Step S102: and detecting whether the loading module meets a preset condition or not according to the visual detection data.
Step S103: and if the upper mounting module meets the preset condition, controlling the moving speed of the robot chassis to be less than or equal to a first preset speed. The first predetermined speed is, for example, 3m/s, 1m/s, 0, etc.
In a specific embodiment, the upper module may be a distribution box for performing a distribution task, and the preset condition may be that liquid exists in the distribution box, and when the moving speed of the robot chassis is less than or equal to a first preset speed, it may be ensured that the liquid in the distribution box is not splashed.
Therefore, when the robot chassis is provided with the loading module, the visual detection equipment can be utilized to detect whether the loading module meets the preset condition, if the loading module meets the preset condition, the robot chassis can run at a lower speed, and the problem that the loading module fails to work due to the fact that the speed of the robot chassis is too high is avoided.
Referring to fig. 2, in a specific embodiment, the method may further include step S104.
Step S104: and if the fact that the loading module does not meet the preset condition is determined, controlling the moving speed of the robot chassis to be larger than the first preset speed.
Therefore, when the upper loading module does not meet the preset conditions, the robot chassis can run at a high speed, and the efficiency can be improved under the condition that the task is not influenced.
Referring to fig. 3, in a specific embodiment, the method may further include steps S105 to S106.
Step S105: and acquiring the current task type of the robot chassis.
Step S106: and acquiring a preset condition corresponding to the current task type.
Therefore, corresponding preset conditions can be set according to the current task type of the robot chassis, and when the same robot chassis executes tasks of different types, the corresponding preset conditions can be set, so that the tasks of different types can be completed, and the application range is wide.
In a specific embodiment, the step S106 may include: when the current task type of the robot chassis is delivery, determining that the preset condition corresponding to the current task type is as follows: liquid is present within the upper module.
Therefore, when the current task type of the robot chassis is distribution, the preset condition corresponding to the distribution task can be determined to be that liquid exists in the loading module, the speed of the robot chassis can be adjusted by detecting whether the preset condition is met, and the intelligent level is high.
Referring to fig. 4, in a specific embodiment, the method may further include steps S107 to S109.
Step S107: when detecting that the robot chassis generates a first preset event, detecting whether a second preset event occurs in the upper-mounted module.
In a specific embodiment, the first preset event may include at least one of: collision, scram, and passing through bumpy road segments; the second preset event may include at least one of: container pour, container rupture, and liquid spill.
Therefore, on one hand, whether the robot chassis has the risk of task failure can be judged through whether the robot chassis generates the first preset event, and therefore early warning is carried out; on the other hand, whether the container and the liquid in the upper charging module are intact or not can be judged by judging whether the second preset event occurs in the upper charging module or not.
Step S108: and if the second preset event is determined to occur in the upper loading module, controlling the robot chassis to stop moving.
Step S109: and generating prompt information and sending the prompt information to a cloud server and/or user equipment, wherein the prompt information is used for prompting a user that the second preset event occurs on the robot chassis.
Therefore, on one hand, whether a first preset event occurs on the robot chassis can be detected, and if the first preset event occurs, the risk of task failure of the robot chassis can be determined; on one hand, when a first preset event occurs, whether a second preset event occurs in the loading module can be detected, if the second preset event occurs, the fact that the task is influenced by the first preset event can be determined, the robot chassis stops moving, and loss aggravation can be avoided; on the other hand, the prompt information is sent to the cloud server and/or the user equipment, so that the user can be prompted that a second preset event occurs on the robot chassis, and the user can take corresponding measures conveniently.
Referring to fig. 5, in a specific embodiment, the method may further include step S110.
Step S110: and acquiring current position information of the robot chassis and sending the current position information to the cloud server and/or the user equipment. Specifically, the user equipment may be a mobile phone, a tablet, a computer, a smart wearable device, or the like.
Therefore, the current position information of the robot chassis is sent to the cloud server and/or the user equipment, and a user can track and position the robot chassis with the second preset event according to the current position information.
Referring to fig. 6, an embodiment of the present application further provides a control device for a robot chassis, and a specific implementation manner of the control device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for a robot chassis, and a part of the details are not repeated. The device is applied to a robot chassis.
The device comprises: the vision acquisition module 101 is used for acquiring vision detection data when the robot chassis is detected to be provided with the loading module, wherein the vision detection data is obtained by detecting the loading module by a vision detection device; the condition detection module 102 is configured to detect whether the loading module meets a preset condition according to the visual detection data; and the first speed control module 103 is configured to control the moving speed of the robot chassis to be less than or equal to a first preset speed if it is determined that the upper mounting module meets the preset condition.
In a specific embodiment, the visual inspection data may include at least one of: 2D detection data, 3D detection data and ray detection data; the preset condition may include at least one of: liquid exists in the upper module; the upper module is internally provided with preset articles, and the preset articles comprise one or more of toxic articles, fragile articles, easily deformable articles, inflammable articles and easily explosive articles.
Referring to fig. 7, in a specific embodiment, the apparatus may further include: the second speed control module 104 may be configured to control the moving speed of the robot chassis to be greater than the first preset speed if it is determined that the loading module does not satisfy the preset condition.
Referring to fig. 8-9, in a specific embodiment, the apparatus may further include a condition obtaining module 105, where the condition obtaining module 105 may include: a type obtaining unit 1051, which may be configured to obtain a current task type of the robot chassis; the obtaining condition unit 1052 may be configured to obtain a preset condition corresponding to the current task type.
In a specific embodiment, the obtaining condition unit 1052 may be configured to determine that, when the current task type of the robot chassis is delivery, the preset condition corresponding to the current task type is: liquid is present within the upper module.
Referring to fig. 10-11, in a specific embodiment, the apparatus may further include an event monitoring module 106, and the event monitoring module 106 may include: the event detection unit 1061 may be configured to detect whether a second preset event occurs in the upper module when it is detected that a first preset event occurs in the robot chassis; the chassis control unit 1062 may be configured to determine that the second preset event occurs in the upper module, and control the robot chassis to stop moving; the prompt information unit 1063 may be configured to generate prompt information and send the prompt information to a cloud server and/or user equipment, where the prompt information is used to prompt a user that the second preset event occurs on the robot chassis.
In a specific embodiment, the first preset event may include at least one of: collision, sudden stop and passing through bumpy road sections; the second preset event may include at least one of: container pour, container rupture, and liquid spill.
Referring to fig. 12, in a specific embodiment, the event monitoring module 106 may further include: the position information unit 1064 may be configured to obtain current position information of the robot chassis and send the current position information to the cloud server and/or the user equipment.
Referring to fig. 13, the embodiment of the present application further provides a robot chassis 200, where the robot chassis 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.
The memory 210 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the control method for the robot chassis in the embodiment of the present application, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for the robot chassis, and details of some of the contents are not repeated.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
The robot chassis 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the robot chassis 200, and/or with any device (e.g., router, modem, etc.) that enables the robot chassis 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the robot chassis 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the robot chassis 200 via the bus 230. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the robot chassis 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
In a specific embodiment, the robot chassis 200 may further include a visual inspection device (not shown).
In a particular embodiment, the visual inspection device may include at least one of: optical camera, infrared camera, 3D contourgraph and CT scanner.
Therefore, one or more of corresponding 2D detection data, 3D detection data and ray detection data can be acquired through one or more of an optical camera, an infrared camera, a 3D contourgraph and a CT scanner.
Referring to fig. 14, the embodiment of the present application further provides a mobile robot 20, where the mobile robot 20 includes an upper module 201 and any one of the robot chassis 200, and the upper module 201 is detachably connected to the robot chassis 200.
Thus, the upper-mounted module 201 is detachably connected with the robot chassis 200, so that the same robot chassis 200 can be connected with different upper-mounted modules 201, thereby realizing multiple functions.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the control method for a robot chassis in the embodiment of the present application are implemented, and a specific implementation manner of the steps is consistent with the implementation manner and the achieved technical effect described in the embodiment of the control method for a robot chassis, and some contents are not described again.
Fig. 15 shows a program product 300 for implementing the control method of the robot chassis, which may be a portable compact disc read only memory (CD-ROM) and includes program codes, and may be executed on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.
Claims (17)
1. A control method of a robot chassis is characterized by being applied to the robot chassis, and the method comprises the following steps:
when the fact that the robot chassis is provided with the loading module is detected, visual detection data are obtained, and the visual detection data are obtained by detecting the loading module through visual detection equipment;
detecting whether the uploading module meets a preset condition or not according to the visual detection data;
if the upper mounting module meets the preset condition, controlling the moving speed of the robot chassis to be less than or equal to a first preset speed;
the method further comprises the following steps:
when detecting that a first preset event occurs on the robot chassis, detecting whether a second preset event occurs in the upper-mounted module;
if the second preset event occurs in the upper loading module, controlling the robot chassis to stop moving;
generating prompt information and sending the prompt information to a cloud server and/or user equipment, wherein the prompt information is used for prompting a user that the second preset event occurs on the robot chassis;
wherein the preset condition comprises at least one of the following:
liquid exists in the upper module;
preset articles exist in the upper module, and the preset articles comprise one or more of toxic articles, fragile articles, easily deformable articles, inflammable articles and easily explosive articles;
the first preset event comprises at least one of the following: collision, sudden stop and passing through bumpy road sections;
the second preset event comprises at least one of: container pour, container rupture, and liquid spill.
2. The method of controlling a robot chassis of claim 1, further comprising:
and if the fact that the loading module does not meet the preset condition is determined, controlling the moving speed of the robot chassis to be larger than the first preset speed.
3. The method of controlling a robot chassis of claim 1, wherein the visual inspection data includes at least one of: 2D detection data, 3D detection data, and ray detection data.
4. The method of controlling a robot chassis of claim 1, further comprising:
acquiring the current task type of the robot chassis;
and acquiring a preset condition corresponding to the current task type.
5. The control method of the robot chassis according to claim 4, wherein the obtaining of the preset condition corresponding to the current task type includes:
when the current task type of the robot chassis is delivery, determining that the preset condition corresponding to the current task type is as follows: liquid is present within the upper module.
6. The method of controlling a robot chassis of claim 1, further comprising:
and acquiring current position information of the robot chassis and sending the current position information to the cloud server and/or the user equipment.
7. A control device of a robot chassis, which is applied to the robot chassis, the device comprising:
the vision acquisition module is used for acquiring vision detection data when the robot chassis is detected to be provided with the loading module, and the vision detection data is obtained by detecting the loading module by vision detection equipment;
the condition detection module is used for detecting whether the loading module meets a preset condition or not according to the visual detection data;
the first speed control module is used for controlling the moving speed of the robot chassis to be smaller than or equal to a first preset speed if the upper mounting module meets the preset condition;
the apparatus further comprises an event monitoring module, the event monitoring module comprising:
the event detection unit is used for detecting whether a second preset event occurs in the upper mounting module when detecting that a first preset event occurs in the robot chassis;
the chassis control unit is used for controlling the robot chassis to stop moving if the second preset event occurs in the upper-mounted module;
the prompting information unit is used for generating prompting information and sending the prompting information to a cloud server and/or user equipment, wherein the prompting information is used for prompting a user that the second preset event occurs on the robot chassis;
wherein the preset condition comprises at least one of the following:
liquid exists in the upper module;
preset articles exist in the upper module, and the preset articles comprise one or more of toxic articles, fragile articles, easily deformable articles, inflammable articles and easily explosive articles;
the first preset event comprises at least one of: collision, scram, and passing through bumpy road segments;
the second preset event comprises at least one of: container pour, container rupture, and liquid spill.
8. The control device for a robot chassis according to claim 7, wherein the device further comprises:
and the second speed control module is used for controlling the moving speed of the robot chassis to be greater than the first preset speed if the uploading module is determined not to meet the preset condition.
9. The control device for a robot chassis of claim 7, wherein the visual inspection data comprises at least one of: 2D detection data, 3D detection data and ray detection data.
10. The control device for a robot chassis according to claim 7, wherein the device further comprises a condition acquisition module comprising:
the type acquisition unit is used for acquiring the current task type of the robot chassis;
and the obtaining condition unit is used for obtaining a preset condition corresponding to the current task type.
11. The control device of the robot chassis according to claim 10, wherein the obtaining condition unit is configured to determine that the preset condition corresponding to the current task type is: liquid is present within the upper module.
12. The control device for a robot chassis of claim 7, wherein the event monitoring module further comprises:
and the position information unit is used for acquiring the current position information of the robot chassis and sending the current position information to the cloud server and/or the user equipment.
13. A robot chassis, characterized in that the robot chassis comprises a memory, in which a computer program is stored, and a processor, which when executing the computer program performs the steps of the method according to any of claims 1-6.
14. The robot chassis of claim 13, further comprising a visual inspection device.
15. The robotic chassis of claim 14, wherein the visual inspection device comprises at least one of: optical camera, infrared camera, 3D contourgraph and CT scanner.
16. A mobile robot, characterized in that the mobile robot comprises a robot chassis according to any of claims 14-15 and a top-up module, which is detachably connected to the robot chassis.
17. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN113858190B (en) * | 2021-08-02 | 2023-09-05 | 深兰机器人产业发展(河南)有限公司 | Control method and related device for reloading platform |
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