CN113661454A - Control method of unmanned robot and unmanned robot - Google Patents
Control method of unmanned robot and unmanned robot Download PDFInfo
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Abstract
A control method of an unmanned robot and the unmanned robot, the method comprises: determining whether an external sensor, which is loaded on the unmanned robot and connected to the unmanned robot through a general interface, is successfully identified (S301); when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface (S302); and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor (S303). The unmanned robot can use the acquired sensing data of the external sensor to execute a work task, and the customization requirements of users or developers are met.
Description
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
The invention relates to the technical field of control, in particular to a control method of an unmanned robot and the unmanned robot.
The Software Development Kit (SDK) is used to provide various types of functional Software for platform Development for developers, that is, the developers can control the platform to work through the SDK, for example, the developers can realize customized control of the unmanned robot through the SDK.
The sensor is a supporting component for controlling the operation of the unmanned robot and is used for sensing the operation state and the operation environment of the unmanned robot, so that the stability, accuracy and rapid control of the unmanned robot can be ensured only when the sensor is accurate and feeds back the operation state and the operation environment in time. However, the current SDK application can only obtain data of an internal sensor of the unmanned robot, and the unmanned robot can only execute a work task by the internal sensor, and since the internal sensor is fixed when the unmanned robot leaves a factory or is sold, the internal sensor cannot meet the customized requirements of developers in many cases.
Disclosure of Invention
In view of this, embodiments of the present invention provide a control method for an unmanned robot and an unmanned robot, so that the unmanned robot can use the collected sensing data of an external sensor to execute a work task, and meet the customized requirements of users or developers.
A first aspect of embodiments of the present invention provides a control method for an unmanned robot, where the unmanned robot includes a universal interface, where the universal interface is used to detachably connect different types of external sensors, and the method includes:
determining whether an external sensor carried on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified;
when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface;
and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In a second aspect, embodiments of the present invention provide an unmanned robot, comprising a local storage device, a processor, and a universal interface,
the local storage device is used for storing the historical navigation information and program codes;
the universal interface is used for detachably connecting different types of external sensors;
the processor, invoking the program code, when executed, is configured to perform the following:
determining whether an external sensor carried on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified;
when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface;
and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In the embodiment of the invention, the unmanned robot can be connected with the external sensor through the universal interface to identify the carried external sensor, and when the unmanned robot successfully identifies the external sensor, the unmanned robot can acquire the sensing data acquired by the external sensor and control the operation of the unmanned robot based on the sensing data acquired by the external sensor. Therefore, the function of the unmanned robot can be expanded, the unmanned robot can be applied to different scenes, the expansibility of the unmanned robot is improved, a user can build an external sensor in the unmanned robot based on personalized requirements, and the customized requirements of the user or a developer are met.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned robot and an external sensor according to an embodiment of the present invention;
FIG. 2 is a flow chart of the operation of an unmanned robot in accordance with an embodiment of the present invention;
fig. 3 is a flowchart of a control method of an unmanned robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method of an unmanned robot according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned robot according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
In order to meet the customized requirements of users or developers, the embodiment of the invention provides a control method of an unmanned robot, so that the unmanned robot can execute a work task by using the sensing data acquired by an external sensor. The unmanned robot comprises a general interface, wherein the general interface is an SDK interface and is used for detachably connecting different types of external sensors, and the unmanned robot can acquire sensing data acquired by the external sensors through the general interface. In some embodiments, the universal interface may be further configured to detachably connect different types of external control devices, where the external control device may preset a control program written by a developer, and the external control device may control the operation of the unmanned robot by using a control instruction sent to the unmanned robot through the universal interface. The Universal Interface may be, for example, a Controller Area Network (CAN) Bus Interface, a Universal Asynchronous Receiver Transmitter (UART) Interface, a Universal Serial Bus (USB) Interface, a Serial Peripheral Interface (SPI) Interface, or the like, and the external sensor is a device mounted on the unmanned robot for sensing an operation state and an operation environment of the unmanned robot, and the unmanned robot may be, for example: unmanned aerial vehicle, car and intelligent robot etc. control terminal can be for example at least one of remote controller, smart mobile phone, wearable equipment and panel computer.
As shown in fig. 1, the unmanned robot 101 may include a built-in sensor 102 and a processor 103, where the built-in sensor 102 is a sensor inherent to the unmanned robot 101, such as a sensor configured when the unmanned robot 101 is sold. The processor 103 can acquire sensing data output by the built-in sensor to control the unmanned robot to execute work tasks. Further, the unmanned robot further comprises a general interface 104 as described above, and the external sensor 105 carried on the unmanned robot 101 can be connected to the general interface 104 by a wired manner to achieve the purpose of connection with the unmanned robot. The external sensor is a sensor provided by a manufacturer different from the robot 101. In some embodiments, the unmanned robot may be in communication connection with one or more control terminals, the control terminals may detect input operations of a user and control the unmanned robot, and the control terminals may acquire data sent by the unmanned robot and output the data to the user through an interaction device configured by the control terminals. For example, the control terminal may display a user interface in the interaction device, where after the unmanned robot recognizes the external sensor, the unmanned robot may acquire device information of the external sensor through the general interface and send the device information to the control terminal. And the control terminal outputs the equipment information of the external sensor to the user interface. Wherein the device information includes but is not limited to: one or more of manufacturer, type information, name information, serial number information, data accuracy, or accessed port number information, etc., wherein the device information output to the user interface may be as shown in table 1:
TABLE 1
In one embodiment, after the external sensor is connected to the unmanned control robot through the universal interface, authentication information can be sent to the unmanned control robot. The unmanned aerial vehicle control robot can interpret the authentication information according to a preset analysis mode to obtain target verification information. And the unmanned control robot determines whether to identify the external sensor according to the target verification information of the external sensor, and further matches the target verification information with the pre-stored equipment information in the sensor equipment library. If the matching is successful, the external sensor is successfully identified, and if the matching is failed, the external sensor is determined to be failed. And if the target verification information is determined to meet the preset verification condition, the matching is successful, and the unmanned robot can be determined to successfully identify the external sensor. And if the target verification information does not meet the preset verification condition, determining that the target verification information is not matched, namely determining that the unmanned robot fails to identify the external sensor. The external sensor externally connected to the unmanned robot can be one or more, and the external sensors can be the same type of sensor or different types of sensors.
In an embodiment, after the unmanned robot successfully identifies the external sensor, the working process of the unmanned robot is as shown in fig. 2, after the unmanned robot is connected to the external sensor through the universal interface and enters a working state after detecting a power-on operation, the accessed external sensor is identified, after the external sensor is successfully identified, the device information of the external sensor is sent to the control terminal, and thus, the device information can be displayed on the user interface through the interaction device, and the device information of all the external sensors successfully identified by the current unmanned robot can be displayed on the user interface. For example, if the unmanned robot is currently connected to a Real-time kinematic (RTK) sensor, but the output device information of the sensor of the user interface is displayed as an unknown device, the user may determine that the unmanned robot has failed to successfully recognize the RTK sensor and may replace or reconnect the RTK sensor. In one embodiment, the interaction device of the control terminal may display a configuration interface for successfully identifying the external sensor, and the user may configure a processing manner (e.g., whether filtering, fusion, etc.) of the sensing data of the external sensor and/or a target acquisition frequency in the configuration interface and generate a configuration file, where the configuration file may guide the unmanned robot to process the sensing data of the external sensor and/or determine an acquisition frequency of the sensing data of the external sensor. During the working process of the unmanned robot, the working state of the external sensor can be displayed in the user interface in real time, so that a user can monitor the working state of the external sensor in real time.
Referring to fig. 3, a schematic flowchart of a control method for an unmanned robot according to an embodiment of the present invention is shown, where the method is applicable to the above-mentioned unmanned robot, and the unmanned robot includes a general interface, where the general interface is used to detachably connect different types of external sensors, and as shown in fig. 3, the method may include:
s301, determining whether an external sensor which is borne on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified.
In one embodiment, if the external sensor can perform data interaction with the unmanned robot normally, the external sensor needs to be adapted to the unmanned robot. The following adaptation requirements are available for the external sensor: the method comprises the following steps:
1. the external sensor is provided with a hardware interface matched with the universal interface.
2. A data transmission format that the unmanned robot can recognize. When the external sensor sends data to the unmanned robot through the universal interface, the data need to be sent according to a data transmission format which can be identified by the unmanned robot, so that the data can be identified and used by the unmanned robot. Further, the data may include sensory data or operational status data. The data transmission format may be specified by a design or manufacturer of the unmanned robot.
In one embodiment, the unmanned robot may trigger the external sensor to be identified upon detecting the external sensor being mounted to the unmanned robot through the universal interface. After the unmanned robot is connected with the external sensor, the recognition result can be output to a user interface of a control terminal connected with the unmanned robot so as to inform a user of the recognition result of the unmanned robot on the external sensor, wherein the recognition result comprises the success or failure of recognition. After the unmanned robot successfully identifies the external sensor, the step S302 may be executed, and after the unmanned robot fails to identify the external sensor, when the recognition result is output on the user interface, the external sensor may be displayed as an unknown device to indicate that the unmanned robot fails to identify the external sensor.
S302, when the external sensor is successfully identified, the sensing data collected by the external sensor is received through the universal interface.
In an embodiment, after the unmanned robot successfully identifies the external sensor, a user may configure the external sensor in a user interface corresponding to a control terminal, the control terminal may obtain configuration information corresponding to the external sensor based on user configuration, and may generate a configuration file based on an adapted data format, further, the control terminal may send the configuration file to the unmanned plane, so that the unmanned plane may obtain frequency from a target of the configuration file based on an indication of the configuration file to obtain sensing data and/or perform corresponding processing on the obtained sensing data, such as at least one of fusion processing, filtering processing, recording processing, and control processing, and the like, thereby implementing extension of an obtaining path of the sensing data of the external sensor.
In one embodiment, after the unmanned robot successfully identifies the external sensor, the sensing data collected by the external sensor may be received through the universal interface, and step S303 is executed.
And S303, controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In one embodiment, the unmanned robot may acquire the sensing data of the external sensing device through the universal interface, and in some embodiments, the sensing data acquired by the external sensing device has higher precision than the sensing data acquired by the built-in sensor of the unmanned robot, so that the unmanned robot may be controlled based on the acquired sensing data with higher precision, and the control precision of the unmanned robot may be improved. In some embodiments, the external sensor may also be a sensing device of a type different from that of the built-in sensor of the unmanned robot, so that, based on the access of the external sensor, the extension of the functions of the unmanned robot may be achieved, and if the built-in sensor of the unmanned robot does not include an image acquisition sensor, the external sensor for image acquisition may be carried outside the unmanned robot, so that the unmanned robot that originally cannot perform image acquisition may implement an image acquisition function, and the function extension of the unmanned robot may be achieved based on the personalized requirements of the user, thereby effectively improving the user experience.
In one embodiment, the unmanned robot can be used for carrying an external sensor, so that the unmanned robot has great flexibility in design, and considering that the cost of a plurality of sensor devices is high, and different user use scenes have different requirements on various sensor data, so that when the unmanned robot is designed, a basic sensor can be arranged inside the unmanned robot only to reduce the production cost, and other professional sensors can be purchased and carried to the unmanned robot by the user according to different scene requirements, for example, the unmanned robot can be used for agricultural plant protection to increase high-precision radar obstacle avoidance equipment, and the unmanned robot can be used for precise surveying and mapping to increase RTK equipment. By the mode, the unmanned robot can be applied to different scenes, a user does not need to purchase multiple unmanned robots aiming at different scenes, only the carrying of the sensing equipment on one basic unmanned robot is needed, and the application requirement of the user is met while the cost of the user is reduced. The unmanned robot can be, for example, an unmanned aerial vehicle, an automobile, an intelligent robot, and the like.
In the embodiment of the invention, the unmanned robot can be connected with the external sensor through the universal interface, the carried external sensor is identified after the connection is finished, when the unmanned robot successfully identifies the external sensor, the unmanned robot can acquire the sensing data acquired by the external sensor and control the operation of the unmanned robot based on the sensing data acquired by the external sensor, so that the improvement of the precision of the sensing data acquired by the unmanned robot is realized, the control precision of the unmanned robot is improved, in addition, the expansion of the functions of the unmanned robot is also realized, the unmanned robot can be applied to different scenes, the flexibility of the unmanned robot in the related process is improved, and the user can build the external sensor in the unmanned robot based on the personalized requirements, the user experience is improved.
Referring to fig. 4, a schematic flowchart of a control method for an unmanned robot according to another embodiment of the present invention is shown, where the method is also applicable to the above-mentioned unmanned robot, and the unmanned robot includes a general interface, where the general interface is used to detachably connect different types of external sensors, and referring to fig. 4, the method may include:
s401, receiving the authentication information sent by the external sensor through the universal interface.
S402, analyzing the authentication information according to a preset analyzing mode to obtain target verification information in the authentication information.
S403, determining whether the target verification information meets preset verification conditions, and if so, successfully identifying the external sensor, otherwise, identifying the external sensor fails.
In step S401 to step S403, which are specific refinements of step S301, in an embodiment, after the external sensor is connected to the unmanned robot through the general-purpose interface, authentication information for identification is sent to the unmanned robot, and the unmanned robot may determine whether the external sensor is successfully identified according to the authentication information. In some embodiments, the external sensor may generate the authentication information according to its own device information. And after the unmanned control robot receives the authentication information, analyzing the received authentication information according to a preset analysis mode to obtain target verification information. For example, the unmanned robot determines the information of the second byte in the received authentication information as the target authentication information.
In one embodiment, when the external sensor sends the device information to the unmanned robot, the unmanned robot receives the device information sent by the external sensor through the universal interface, and further, the unmanned robot can send the device information to the control terminal, so that the control terminal displays the device information through the interaction device to inform the user of the operating state of the external sensor, wherein the interaction device may be a display device such as a display screen.
After the external control robot obtains target verification information through analysis according to the obtained authentication information, whether the target verification information meets preset verification conditions or not can be determined, and whether the external sensor is successfully identified or not can be determined. In some embodiments, the target verification information may be matched with device information in a pre-stored sensor device library, and when the matching is successful, it may be determined that the target verification information satisfies a preset verification condition, that is, it may be determined that the unmanned robot successfully identifies the external sensor; and if the target verification information is not matched with the pre-stored equipment information in the sensor equipment library, determining that the target verification information does not meet the preset verification condition, and determining that the unmanned robot fails to recognize the external sensor. The pre-stored device information in the sensor device library may be device information pre-stored in a sensor device library in the unmanned robot, the control terminal, or the server.
In one embodiment, if it is determined that the unmanned robot successfully recognizes the external sensor, step S404 is executed, otherwise, when the unmanned robot fails to recognize the external sensor, indication information of the recognition failure is output, where the indication information is output to a user interface of a control terminal connected to the unmanned robot, and the indication information may be, for example, when the user interface outputs device information of the external sensor, identification information of an unknown device is output in the device information of the external sensor, so as to notify a user that the unmanned robot fails to recognize the external sensor. In addition, the indication information may also be prompt box information, that is, when the unmanned robot fails to recognize the external sensor, a prompt box is output to inform a user that the unmanned robot fails to recognize the external sensor.
S404, when the external sensor is successfully identified, the sensing data collected by the external sensor is received through the universal interface.
In one embodiment, the unmanned robot comprises a built-in sensor, and if the data type of the sensing data collected by the built-in sensor is the same as the data type of the sensing data collected by the external sensor, when the unmanned robot fails to recognize the external sensor, or when the external sensor is disconnected from the through port, the unmanned robot fails to start the external sensor, and the unmanned robot is controlled to execute a work task according to the sensing data collected by the built-in sensor.
In one embodiment, before the unmanned robot controls the unmanned robot to execute a work task by using sensing data acquired by an external sensor, it is further required to determine whether an enabling condition of the sensing data acquired by the external sensor is preset; and when the starting condition is determined to be met, controlling the unmanned robot to execute the work task according to the sensing data acquired by the external sensor, namely executing the step S405, and when the starting condition is determined not to be met, controlling the unmanned robot to execute the work task according to the sensing data acquired by the built-in sensor of the unmanned robot. When the unmanned control robot determines whether the starting condition of the sensing data acquired by the external sensor is preset or not, whether the precision of the sensing data acquired by the external sensor is higher than that of the sensing data acquired by the built-in sensor or not can be determined; if so, determining that the starting condition of the sensing data acquired by the external sensor is preset, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not preset. Or, the unmanned robot may further determine whether external sensor enabling indication information sent by the control terminal is received, if the external sensor enabling indication information is received, it is determined that enabling conditions of the sensing data collected by the external sensor are preset, and if not, it is determined that the enabling conditions of the sensing data collected by the external sensor are not preset.
For example, if the sensor for Positioning built in the unmanned robot is a Global Positioning System (GPS), because the position precision required by the obtained task data is higher when the user uses the unmanned robot to execute the task, therefore, an RTK device for positioning can be externally connected to the unmanned robot, wherein the position accuracy obtained by the RTK device is higher than that obtained by the GPS, therefore, when the unmanned robot acquires the position information from the sensor, if the recognition of the RTK device fails, or the general interface of the RTK equipment and the unmanned control robot is in a disconnected state, and determining that the unmanned robot fails to recognize the external RTK equipment, and then the unmanned robot can acquire the position information acquired by the built-in GPS and control the operation of the unmanned robot based on the position information acquired by the GPS. And if the unmanned robot successfully identifies the external RTK equipment, the unmanned robot needs to further determine whether starting conditions for starting the position information acquired by the RTK equipment are met, in the specific implementation, because the precision of the position information acquired by the RTK equipment is higher than that of the position information acquired by the built-in GPS, the unmanned robot determines the success of the external RTK equipment and meets the starting conditions for the position information acquired by the RTK equipment, and the unmanned robot can be controlled to execute a work task based on the position information acquired by the external RTK equipment.
And S405, controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In one embodiment, the unmanned robot may further obtain sensing data processing algorithm indication information sent by the control terminal, where the sensing data processing algorithm indication information is determined by a sensing data processing algorithm selection operation of a user detected by the control terminal, and when the unmanned robot is controlled to execute a work task according to sensing data acquired by an external sensor, the unmanned robot may process the sensing data acquired by the external sensor according to the target algorithm, so as to control the unmanned robot to execute the work task according to the processed sensing data, where the target algorithm includes: at least one of a filtering algorithm and a fusion algorithm. In addition, the unmanned robot can also acquire sensing data acquisition frequency indication information sent by the control terminal, wherein the sensing data acquisition frequency indication information is determined by the control terminal through sensing data acquisition frequency selection operation of a user; so that the unmanned robot can determine target acquisition frequency according to the sensing data acquisition frequency indication information; furthermore, when the unmanned robot is controlled to execute a work task according to the sensing data acquired by the external sensor, the sensing data acquired by the external sensor can be received through the universal interface according to the target acquisition frequency, so that the unmanned robot can be controlled to execute the work task according to the acquired sensing data. When the unmanned robot controls the operation of the unmanned robot according to the sensing data acquired by the external sensor, the sensing data acquired by the built-in sensor of the unmanned robot may be referred to, or the unmanned robot may be controlled only based on the sensing data acquired by the external sensor, which is not limited in the embodiment of the present invention.
In the process that the unmanned robot executes a work task, the working state information of the external sensor can be acquired through the universal interface, wherein the state information comprises: the unmanned robot can send the working state information to the control terminal, so that the interaction device of the control terminal displays the working state information, a user can determine the working state of the external sensor based on the working state information displayed by the interaction device, and the external sensor can be timely adjusted when the working state of the external sensor is in an abnormal state, so that the real-time monitoring of the working state of the external sensor is realized.
In the embodiment of the invention, the unmanned robot can analyze the authentication information sent by the external sensor to obtain the target verification information, so that the target authentication information can be determined to be matched with the preset equipment information to determine whether the unmanned robot successfully identifies the external sensor, when the unmanned robot determines that the external sensor is successfully identified, the unmanned robot can execute the working task based on the sensing data acquired by the external sensor, so that the unmanned aerial vehicle can obtain the external sensing data, the unmanned robot can realize the function depending on the external sensor data after identifying the external sensor, the expansion of the function of the unmanned robot is realized, and the unmanned robot can acquire the external sensing data to execute the working task, the redundancy of the sensing data is improved, and the reliability and the selectivity of the acquired sensing data can be improved, and then the control accuracy of the unmanned control robot can be improved.
Referring to fig. 5, fig. 5 is a view illustrating an unmanned robot 50 according to an embodiment of the present invention, where the unmanned robot 50 includes a processor 501 and a local storage device 502, and the processor 501 and the local storage device 502 may be connected to each other through a bus. In addition, the aircraft may also include a universal interface 503 for removably connecting different types of off-board sensors.
The local storage 502 includes, but is not limited to, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM), and the local storage 402 is used for storing related instructions and data.
The processor 501 may be one or more Central Processing Units (CPUs), and in the case that the processor 501 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.
The processor 501 in the robotically controlled robot 50 is configured to read the program code stored in the local storage device 502 and perform the following operations:
determining whether an external sensor carried on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified;
when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface;
and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
and when the external sensor is identified to fail, outputting indication information of identification failure.
In one embodiment, the unmanned robot comprises a built-in sensor, wherein the built-in sensor collects sensing data of the same data type as the external sensor, and when the program code is executed, the processor 501 is further configured to:
and when the external sensor is identified to fail or the external sensor is disconnected from the universal interface, controlling the unmanned robot to execute the work task according to the sensing data acquired by the built-in sensor.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
determining whether a preset starting condition of sensing data acquired by the external sensor is met;
when the starting condition is not met, controlling the unmanned robot to execute the work task according to sensing data acquired by the built-in sensor;
according to the sensing data control unmanned robot that external sensor gathered carries out work task, include:
and when the starting condition is met, controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
determining whether the precision of the sensing data acquired by the external sensor is higher than that of the sensing data acquired by the built-in sensor;
if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
determining whether external sensor starting indication information sent by a control terminal is received;
if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
receiving authentication information sent by the external sensor through the universal interface;
analyzing the authentication information according to a preset analysis mode to obtain target verification information in the authentication information;
determining whether the target verification information meets a preset verification condition;
and when the external sensor is satisfied, successfully identifying the external sensor, otherwise, identifying the external sensor fails.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
matching the target verification information with equipment information in a pre-stored sensor equipment library;
and when the matching is successful, the preset verification condition is met, and when the matching is unsuccessful, the preset verification condition is not met.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
receiving equipment information sent by the external sensor through the universal interface;
and sending the equipment information to a control terminal so as to enable an interaction device of the control terminal to display the equipment information.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
acquiring sensing data processing algorithm indication information sent by a control terminal, wherein the sensing data processing algorithm indication information is determined by the control terminal through sensing data processing algorithm selection operation of a user;
determining a target algorithm according to the sensing data processing algorithm indication information;
in one embodiment, processor 501, when the program code is executed, is further configured to perform:
processing the sensing data acquired by the external sensor according to the target algorithm;
and controlling the unmanned robot to execute a work task according to the processed sensing data.
In one embodiment, the target algorithm comprises: at least one of a filtering algorithm and a fusion algorithm.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
acquiring sensing data acquisition frequency indication information sent by a control terminal, wherein the sensing data acquisition frequency indication information is determined by the control terminal through sensing data acquisition frequency selection operation of a user;
determining target acquisition frequency according to the sensing data acquisition frequency indication information;
in one embodiment, processor 501, when the program code is executed, is further configured to perform:
and receiving the sensing data acquired by the external sensor through the universal interface according to the target acquisition frequency.
In one embodiment, processor 501, when the program code is executed, is further configured to perform:
acquiring the working state information of the external sensor through the universal interface, wherein the state information comprises: one or more of abnormal state information, operating time, operating temperature, and a connection state with the universal interface;
and sending the working state information to a control terminal so that an interaction device of the control terminal displays the working state information.
The unmanned robot provided by the embodiment of the present invention is capable of executing the control method of the unmanned robot shown in fig. 2, fig. 3, or fig. 4 provided by the foregoing embodiment, and the execution manner and the beneficial effects are similar, and are not described again here.
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 (28)
- A control method of an unmanned robot, the unmanned robot comprising a universal interface, wherein the universal interface is used for detachably connecting different types of external sensors, the method comprising:determining whether an external sensor carried on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified;when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface;and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
- The method of claim 1, further comprising:and when the external sensor is identified to fail, outputting indication information of identification failure.
- The method of claim 1 or 2, wherein the unmanned robot comprises a built-in sensor, wherein the built-in sensor collects the same type of sensing data as the external sensor, and wherein the method further comprises:and when the external sensor is identified to fail or the external sensor is disconnected from the universal interface, controlling the unmanned robot to execute the work task according to the sensing data acquired by the built-in sensor.
- The method of claim 3, further comprising:determining whether a preset starting condition of sensing data acquired by the external sensor is met;when the starting condition is not met, controlling the unmanned robot to execute the work task according to sensing data acquired by the built-in sensor;according to the sensing data control unmanned robot that external sensor gathered carries out work task, include:and when the starting condition is met, controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
- The method of claim 4, wherein the determining whether the preset enabling condition of the sensing data collected by the external sensor is met comprises:determining whether the precision of the sensing data acquired by the external sensor is higher than that of the sensing data acquired by the built-in sensor;if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
- The method of claim 4, wherein the determining whether the preset enabling condition of the sensing data collected by the external sensor is met comprises:determining whether external sensor starting indication information sent by a control terminal is received;if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
- The method of any of claims 1-6, wherein the determining whether to successfully identify an off-board sensor carried on the robotically controlled robot and connected to the robotically controlled robot through the generic interface comprises:receiving authentication information sent by the external sensor through the universal interface;analyzing the authentication information according to a preset analysis mode to obtain target verification information in the authentication information;determining whether the target verification information meets a preset verification condition;and when the external sensor is satisfied, successfully identifying the external sensor, otherwise, identifying the external sensor fails.
- The method of claim 7, wherein the determining whether the target authentication information satisfies a preset authentication condition comprises:matching the target verification information with equipment information in a pre-stored sensor equipment library;and when the matching is successful, the preset verification condition is met, and when the matching is unsuccessful, the preset verification condition is not met.
- The method according to any one of claims 1-8, further comprising:receiving equipment information sent by the external sensor through the universal interface;and sending the equipment information to a control terminal so as to enable an interaction device of the control terminal to display the equipment information.
- The method according to any one of claims 1-9, further comprising:acquiring sensing data processing algorithm indication information sent by a control terminal, wherein the sensing data processing algorithm indication information is determined by the control terminal through sensing data processing algorithm selection operation of a user;determining a target algorithm according to the sensing data processing algorithm indication information;according to the sensing data control unmanned robot that external sensor gathered carries out work task, include:processing the sensing data acquired by the external sensor according to the target algorithm;and controlling the unmanned robot to execute a work task according to the processed sensing data.
- The method of claim 10, wherein the target algorithm comprises: at least one of a filtering algorithm and a fusion algorithm.
- The method according to any one of claims 1-11, further comprising:acquiring sensing data acquisition frequency indication information sent by a control terminal, wherein the sensing data acquisition frequency indication information is determined by the control terminal through sensing data acquisition frequency selection operation of a user;determining target acquisition frequency according to the sensing data acquisition frequency indication information;the receiving of the sensing data collected by the external sensor through the universal interface comprises:and receiving the sensing data acquired by the external sensor through the universal interface according to the target acquisition frequency.
- The method according to any one of claims 1-12, further comprising:acquiring the working state information of the external sensor through the universal interface, wherein the state information comprises: one or more of abnormal state information, operating time, operating temperature, and a connection state with the universal interface;and sending the working state information to a control terminal so that an interaction device of the control terminal displays the working state information.
- An unmanned robot comprising a local storage device, a processor and a universal interface, wherein,the local storage device is used for storing program codes;the universal interface is used for detachably connecting different types of external sensors;the processor, invoking the program code, when executed, is configured to perform the following:determining whether an external sensor carried on the unmanned robot and connected with the unmanned robot through the universal interface is successfully identified;when the external sensor is successfully identified, receiving sensing data acquired by the external sensor through the universal interface;and controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
- An unmanned robotically controlled robot according to claim 14, wherein the processor is further configured to perform:and when the external sensor is identified to fail, outputting indication information of identification failure.
- An unmanned robot as claimed in claim 14 or 15, further comprising a built-in sensor, wherein the built-in sensor collects sensing data of the same type as the external sensor;the processor is further configured to perform:and when the external sensor is identified to fail or the external sensor is disconnected from the universal interface, controlling the unmanned robot to execute the work task according to the sensing data acquired by the built-in sensor.
- The unmanned robot of claim 16, wherein the processor is further configured to perform:determining whether a preset starting condition of sensing data acquired by the external sensor is met;when the starting condition is not met, controlling the unmanned robot to execute the work task according to sensing data acquired by the built-in sensor;the processor executes the following operations when controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor:and when the starting condition is met, controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor.
- The unmanned robot of claim 17, wherein the processor, when determining whether a preset enabling condition for the sensing data collected by the external sensor is satisfied, performs the following operations:determining whether the precision of the sensing data acquired by the external sensor is higher than that of the sensing data acquired by the built-in sensor;if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
- The unmanned robot of claim 17, wherein the processor, when determining whether a preset enabling condition for the sensing data collected by the external sensor is satisfied, performs the following operations:determining whether external sensor starting indication information sent by a control terminal is received;if so, determining that the starting condition of the sensing data acquired by the external sensor is met, otherwise, determining that the starting condition of the sensing data acquired by the external sensor is not met.
- An unmanned robot as claimed in any of claims 14 to 19, wherein the processor, in determining whether to successfully identify an off-board sensor carried on the unmanned robot and connected to the unmanned robot via the generic interface, is operable to:receiving authentication information sent by the external sensor through the universal interface;analyzing the authentication information according to a preset analysis mode to obtain target verification information in the authentication information;determining whether the target verification information meets a preset verification condition;and when the external sensor is satisfied, successfully identifying the external sensor, otherwise, identifying the external sensor fails.
- The unmanned robot of claim 20, wherein the processor, in determining whether the target authentication information satisfies a preset authentication condition, performs the following:matching the target verification information with equipment information in a pre-stored sensor equipment library;and when the matching is successful, the preset verification condition is met, and when the matching is unsuccessful, the preset verification condition is not met.
- An unmanned robot as claimed in any of claims 14 to 21, wherein the processor is further configured to perform:receiving equipment information sent by the external sensor through the universal interface;and sending the equipment information to a control terminal so as to enable an interaction device of the control terminal to display the equipment information.
- An unmanned robot according to any of claims 14-22, wherein the processor is further configured to perform:acquiring sensing data processing algorithm indication information sent by a control terminal, wherein the sensing data processing algorithm indication information is determined by the control terminal through sensing data processing algorithm selection operation of a user;determining a target algorithm according to the sensing data processing algorithm indication information;the processor executes the following operations when controlling the unmanned robot to execute a work task according to the sensing data acquired by the external sensor:processing the sensing data acquired by the external sensor according to the target algorithm;and controlling the unmanned robot to execute a work task according to the processed sensing data.
- The unmanned robot of claim 23, wherein the target algorithm comprises: at least one of a filtering algorithm and a fusion algorithm.
- An unmanned robot as claimed in any of claims 14-24, wherein the processor is further configured to perform:acquiring sensing data acquisition frequency indication information sent by a control terminal, wherein the sensing data acquisition frequency indication information is determined by the control terminal through sensing data acquisition frequency selection operation of a user;determining target acquisition frequency according to the sensing data acquisition frequency indication information;when the processor receives the sensing data acquired by the external sensor through the general interface, the following operations are executed:and receiving the sensing data acquired by the external sensor through the universal interface according to the target acquisition frequency.
- An unmanned robot as claimed in any of claims 14-25, wherein the processor is further configured to perform:acquiring the working state information of the external sensor through the universal interface, wherein the state information comprises: one or more of abnormal state information, operating time, operating temperature, and a connection state with the universal interface;and sending the working state information to a control terminal so that an interaction device of the control terminal displays the working state information.
- The robotically controlled robot according to claim 14, characterized in that it comprises at least one of: unmanned aerial vehicle, car and intelligent robot.
- A computer-readable storage medium, in which program instructions are stored, which, when run on a processor, implement the method of any one of claims 1-13.
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| PCT/CN2020/073844 WO2021147008A1 (en) | 2020-01-22 | 2020-01-22 | Method for controlling unmanned robot, and unmanned robot |
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| CN113661454A true CN113661454A (en) | 2021-11-16 |
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