CN113580197A - Mobile robot jamming detection method, system and chip - Google Patents
Mobile robot jamming detection method, system and chip Download PDFInfo
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- CN113580197A CN113580197A CN202110873471.3A CN202110873471A CN113580197A CN 113580197 A CN113580197 A CN 113580197A CN 202110873471 A CN202110873471 A CN 202110873471A CN 113580197 A CN113580197 A CN 113580197A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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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Abstract
The invention discloses a mobile robot jamming detection method, a system and a chip, wherein the method judges whether a mobile robot is jammed or not according to the position change condition of the mobile robot in an environment image with continuous frame numbers shot by an external camera; when the mobile robot cannot identify the position of the mobile robot in the environment images with continuous frames, the mobile robot is made to judge after moving to the specified position, and misjudgment can be avoided.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a mobile robot jamming detection method, a system and a chip.
Background
In the actual home environment, most families have a floor electric fan, a doorsill, a bar chair and the like, and some offices also have a U-shaped chair with legs, wherein the legs contacting the ground are U-shaped stainless steel pipes, and the cross section of each pipe is in an oblate shape. When the sweeping robot is used for sweeping, the sweeping robot is easily clamped by a floor electric fan base, a threshold, a base of a bar counter seat or U-shaped stool legs, so that the robot slips or is clamped and cannot move, the accuracy of the robot for constructing a map is influenced, and the navigation accuracy is greatly reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a mobile robot jamming detection method, a system and a chip, and whether the mobile robot is jammed or not can be quickly judged by means of an external camera. The specific technical scheme of the invention is as follows:
a mobile robot jam detection method, the method comprising the steps of: step S1, in the working process of the mobile robot, requesting an environment image from an external camera corresponding to the current area at preset time intervals, and identifying the mobile robot in the environment image; step S2, the mobile robot judges that the mobile robot is blocked if the mobile robot can identify itself in the environment images with continuous preset frame number and the position of the mobile robot does not change, and the step S3 is entered if the mobile robot cannot identify itself in the environment images with continuous preset frame number; step S3, the mobile robot extracts an environment image which cannot be identified, processes the environment image to construct a plane map and selects an open point; and step S4, the mobile robot moves to the open point, then requests the external camera for the environment image at the current moment, and if the mobile robot cannot identify itself in the environment image at the current moment, the mobile robot is judged to be blocked.
Compared with the prior art, the technical scheme judges whether the mobile robot is clamped or not according to the position change condition of the mobile robot in the environment images with continuous frames of frames shot by the external camera; when the mobile robot cannot identify the position of the mobile robot in the environment images with continuous frames, the mobile robot is made to judge after moving to the specified position, and misjudgment can be avoided.
Further, in step S1, the mobile robot identifies itself by identifying the features of the mobile robot in the environment image; wherein, the characteristics of the mobile robot at least comprise any one of the special marks, colors or shapes of the body of the mobile robot.
Further, in step S2, the method for the mobile robot to determine whether or not the position of the mobile robot changes includes: the mobile robot superposes the environment images with continuous preset frame numbers, and if the mobile robot can completely overlap or the non-overlapping part is in the preset floating range, the mobile robot indicates that the position of the mobile robot is not changed.
Further, in step S3, the method for processing the environment image to construct the plane map specifically includes performing image transformation processing on the environment image, transforming the environment image into a top view, and then generating the plane map from the top view through image transformation.
Further, the open point in step S3 satisfies that no obstacle exists in a circle having the open point as a center and a preset length as a radius. At an open point where no obstacles exist around, it is possible to ensure that the mobile robot is not blocked.
Further, in step S4, before the mobile robot moves to the clear point, the mobile robot records the position before the movement.
The system is used for realizing the mobile robot jamming detection method and comprises a mobile robot and an external camera; wherein the mobile robot includes: the request module is used for requesting an environment image from the external camera; the identification module is used for identifying the self in the environment image; the plane map construction module is used for processing the environment image and generating a plane map; the clamping detection module is used for judging whether the mobile robot is clamped or not; the external camera includes: and the response module is used for responding to the request of the mobile robot for the environment image.
Compared with the prior art, the technical scheme judges whether the mobile robot is clamped or not according to the position change condition of the mobile robot in the environment images of the continuous frame number shot by the external camera, the realization process is simple and quick, and the practicability is high.
A chip storing computer program code which, when executed, implements the steps of the mobile robot jam detection method. The chip can enable the mobile robot to quickly detect whether the mobile robot is stuck.
Drawings
Fig. 1 is a flowchart of a mobile robot jam detection method according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the actual home environment, most families have a floor electric fan, a doorsill, a bar chair and the like, and some offices also have a U-shaped chair with legs, wherein the legs contacting the ground are U-shaped stainless steel pipes, and the cross section of each pipe is in an oblate shape. When the sweeping robot is used for sweeping, the sweeping robot is easily clamped by a floor electric fan base, a threshold, a base of a bar counter seat or U-shaped stool legs, so that the robot slips or is clamped and cannot move, the accuracy of the robot for constructing a map is influenced, and the navigation accuracy is greatly reduced.
Therefore, an embodiment of the present invention provides a mobile robot jamming detection method, including the following steps:
and step S1, in the working process of the mobile robot, requesting an environment image from the external camera corresponding to the current area at preset time intervals, and identifying the mobile robot in the environment image.
In the process of executing step S1, the mobile robot identifies itself by identifying the characteristics of the mobile robot within the environment image; wherein, the characteristics of the mobile robot at least comprise any one of the special marks, colors or shapes of the body of the mobile robot.
It should be noted that the external camera is disposed at a position where the current area can be completely monitored. Preferably, the external camera is disposed at a ceiling above the current area. However, the external camera is not limited to be a camera corresponding to the current area, and for example, in the case of using a wide-angle camera, the camera can capture a plurality of areas, so the camera may also be a camera corresponding to other areas, that is, the plurality of areas share one external camera.
In step S2, the mobile robot determines that the mobile robot is stuck if it can recognize itself and its position does not change in the environmental images of consecutive preset number of frames, and proceeds to step S3 if it cannot recognize itself in the environmental images of consecutive preset number of frames.
In the process of executing step S2, the mobile robot may be considered not to be jammed as long as it is determined that the position of the mobile robot has changed. And if the mobile robot cannot identify the position of the mobile robot in the environment images with the continuous preset frame number, the mobile robot is indicated to be shielded by the obstacle but may not be clamped, and further judgment is needed. The method for judging whether the position of the mobile robot changes or not by the mobile robot comprises the following steps: the mobile robot superposes the environment images with continuous preset frame numbers, and if the mobile robot can completely overlap or the non-overlapping part is in the preset floating range, the mobile robot indicates that the position of the mobile robot is not changed.
And step S3, the mobile robot extracts an environment image which cannot be recognized, processes the environment image to construct a plane map and selects an open point.
In the process of executing step S3, the method of processing the environment image to construct a plan map specifically includes subjecting the environment image to image transformation processing to transform into a top view, and then generating a plan map from the top view by image transformation. The method comprises the steps that a vacant point is randomly selected on a plane map, the vacant point meets the requirement that no barrier exists in a circle with the vacant point as the center of circle and the preset length as the radius, and the vacant point without the barrier can ensure that the mobile robot cannot be shielded.
And step S4, the mobile robot moves to the open point, then requests the external camera for the environment image at the current moment, and if the mobile robot cannot identify itself in the environment image at the current moment, the mobile robot is judged to be blocked.
In the process of executing step S4, if the mobile robot cannot recognize its own position in the environment image at the present time, it indicates that the mobile robot is stuck and cannot move to the specified position (but the mobile robot considers that the mobile robot has already reached the specified position). It should be noted that, before the mobile robot moves to the open point, the mobile robot records the position before moving, so as to facilitate returning.
Compared with the prior art, the technical scheme judges whether the mobile robot is clamped or not according to the position change condition of the mobile robot in the environment images with continuous frames of frames shot by the external camera; when the mobile robot cannot identify the position of the mobile robot in the environment images with continuous frames, the mobile robot is made to judge after moving to the specified position, and misjudgment can be avoided.
The invention also provides a mobile robot jamming detection system, which is used for realizing the mobile robot jamming detection method and comprises a mobile robot and an external camera; wherein the mobile robot includes: the request module is a virtual module and is used for requesting an environment image from an external camera; the identification module is a virtual module and is used for identifying the self in the environment image; the plane map building module is a virtual module and is used for processing the environment image and generating a plane map; the system comprises a jamming detection module, a data processing module and a data processing module, wherein the jamming detection module is a virtual module and is used for judging whether the mobile robot is jammed or not; the external camera includes: and the response module is a virtual module and is used for responding to the request of the mobile robot for the environment image.
Compared with the prior art, the technical scheme judges whether the mobile robot is clamped or not according to the position change condition of the mobile robot in the environment images of the continuous frame number shot by the external camera, the realization process is simple and quick, and the practicability is high.
The invention also discloses a chip, which is used for storing the computer program code and can be arranged in the mobile robot, and the computer program code realizes the steps of the mobile robot jamming detection method when being executed. Or, the chip implements the functions of the modules in the mobile robot embodiment when executing the computer program code. Illustratively, the computer program code may be partitioned into one or more modules/units that are stored in and executed by the chip to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program code in the mobile robot. For example, the computer program code may be partitioned into: the mobile robot comprises a request module, an identification module, a plane map construction module, a jamming detection module and a response module in an external camera. The chip can enable the mobile robot to quickly detect whether the mobile robot is stuck.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method for mobile robot jam detection, the method comprising the steps of:
step S1, in the working process of the mobile robot, requesting an environment image from an external camera corresponding to the current area at preset time intervals, and identifying the mobile robot in the environment image;
step S2, the mobile robot judges that the mobile robot is blocked if the mobile robot can identify itself in the environment images with continuous preset frame number and the position of the mobile robot does not change, and the step S3 is entered if the mobile robot cannot identify itself in the environment images with continuous preset frame number;
step S3, the mobile robot extracts an environment image which cannot be identified, processes the environment image to construct a plane map and selects an open point;
and step S4, the mobile robot moves to the open point, then requests the external camera for the environment image at the current moment, and if the mobile robot cannot identify itself in the environment image at the current moment, the mobile robot is judged to be blocked.
2. The mobile robot jam detection method according to claim 1, wherein in step S1, the mobile robot recognizes itself by recognizing a feature of the mobile robot within the environmental image; wherein, the characteristics of the mobile robot at least comprise any one of the special marks, colors or shapes of the body of the mobile robot.
3. The method for detecting a jamming of a mobile robot according to claim 1, wherein the step S2 is a method for the mobile robot to determine whether or not its own position has changed, the method comprising:
the mobile robot superposes the environment images with continuous preset frame numbers, and if the mobile robot can completely overlap or the non-overlapping part is in the preset floating range, the mobile robot indicates that the position of the mobile robot is not changed.
4. The method for detecting a jamming of a mobile robot according to claim 1, wherein in step S3, the method for processing the environment image to construct the plan map specifically includes subjecting the environment image to image transformation processing, transforming the environment image into a top view, and generating the plan map from the top view by image transformation.
5. The mobile robot jamming detection method according to claim 1, wherein the open point in step S3 is satisfied, and no obstacle is present in a circle having the open point as a center and a preset length as a radius.
6. The mobile robot jamming detection method according to claim 1, wherein in step S4, before the mobile robot moves to the clear point, the mobile robot records a position before the mobile robot moves.
7. A mobile robot jam detecting system for implementing the mobile robot jam detecting method according to any one of claims 1 to 6, characterized in that the system includes a mobile robot and an external camera; wherein the content of the first and second substances,
the mobile robot includes:
the request module is used for requesting an environment image from the external camera;
the identification module is used for identifying the self in the environment image;
the plane map construction module is used for processing the environment image and generating a plane map;
the clamping detection module is used for judging whether the mobile robot is clamped or not;
the external camera includes:
and the response module is used for responding to the request of the mobile robot for the environment image.
8. A chip storing computer program code, characterized in that the computer program code when executed performs the steps of the mobile robot jam detection method according to any one of claims 1-6.
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| CN202110873471.3A CN113580197B (en) | 2021-07-30 | 2021-07-30 | Mobile robot jamming detection method, system and chip |
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| CN113580197B CN113580197B (en) | 2022-12-13 |
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| CN113580197B (en) | 2022-12-13 |
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