WO2019052285A1 - 机器人打滑的检测方法和建图方法及芯片 - Google Patents

机器人打滑的检测方法和建图方法及芯片 Download PDF

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Publication number
WO2019052285A1
WO2019052285A1 PCT/CN2018/098914 CN2018098914W WO2019052285A1 WO 2019052285 A1 WO2019052285 A1 WO 2019052285A1 CN 2018098914 W CN2018098914 W CN 2018098914W WO 2019052285 A1 WO2019052285 A1 WO 2019052285A1
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Prior art keywords
robot
determining
angle
difference
value
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PCT/CN2018/098914
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English (en)
French (fr)
Inventor
李永勇
肖刚军
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珠海市一微半导体有限公司
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Application filed by 珠海市一微半导体有限公司 filed Critical 珠海市一微半导体有限公司
Priority to EP18856510.5A priority Critical patent/EP3682784B1/en
Priority to US16/645,492 priority patent/US11832774B2/en
Publication of WO2019052285A1 publication Critical patent/WO2019052285A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to the field of robots, and in particular to a method for detecting a slip of a robot, a method for constructing a picture and a chip.
  • the wheel When the intelligent sweeping robot is in the process of cleaning, the wheel is easy to slip due to obstacles or when traveling on a relatively smooth and smooth ground. At this time, the odometer on the wheel still counts the distance that the wheel slips and rotates into the distance traveled. In the middle, the error of the travel distance is caused, so that the robot introduces the error when constructing the map, resulting in errors in the constructed map, and the map is inaccurate.
  • it is necessary to additionally install the odometer on the driven wheel, which will increase the cost of the robot.
  • due to the uncontrollability of the driven wheel such as floating and idling
  • the present invention provides a detection method and a mapping method and a chip for robot slip, and the detection accuracy is relatively high, and the cost is relatively low.
  • the specific technical solutions of the present invention are as follows:
  • a method for detecting a slip of a robot includes the steps of: calculating a first angle change rate generated by two drive wheels within a preset time; and calculating a second angle change rate generated by the gyroscope during the same preset time Determining a difference between the first angle change rate and the second angle change rate as a first difference; determining a maximum error value of the first angle change rate; determining an angular velocity change error rate as the first difference a ratio of the value to the maximum error value; determining whether the angular velocity change error rate is greater than or equal to a preset value; if so, determining that the robot is slipping; if not, determining that the robot is not slipping.
  • a method for constructing a robot includes the following steps: determining, based on the detection method of the robot slip, the grid unit where the position point of the robot is slipping; and indicating that the grid unit is a slip unit.
  • a chip for storing a program for controlling a robot to perform the above-described mapping method is a chip for storing a program for controlling a robot to perform the above-described mapping method.
  • the invention detects and calculates the first angle change rate generated by the two driving wheels within a preset time by using the odometer on the existing driving wheel of the robot, the gyroscope in the body and the processor, and the gyroscope
  • the second angle change rate generated in the same predetermined time period determines the angular velocity change error rate of the robot, and finally determines whether the robot is slipping by determining whether the angular velocity change error rate is greater than or equal to a preset value.
  • This method of detecting the slip of the robot and constructing the map based on the result of the detection are relatively low in cost.
  • the combination of odometer and gyroscope for detection and judgment has higher accuracy and the map constructed is more accurate. Similarly, the performance of the corresponding chip will be relatively high.
  • FIG. 1 is a schematic structural view of a robot according to the present invention.
  • FIG. 2 is a flow chart of a method for detecting slip of a robot according to the present invention.
  • FIG. 3 is a system block diagram of the robot slip detection according to the present invention.
  • FIG. 4 is a schematic diagram of analysis of a travel angle value according to the present invention.
  • Sweeping robots also known as automatic sweepers, smart vacuum cleaners, etc.
  • the brush and vacuum method is adopted, and the ground debris is first absorbed into its own garbage storage box, thereby completing the function of ground cleaning.
  • the robot that completes cleaning, vacuuming, and wiping the ground is also classified as a sweeping robot.
  • the body 10 of the sweeping robot is a wireless machine, and is mainly a disc type. Operate with a rechargeable battery, operating in the remote control or on the machine's operator panel. Generally, you can set the time to schedule the cleaning and charge yourself.
  • the body 10 is provided with various sensors for detecting the traveling distance, the traveling angle, the body state and the obstacles, etc., if it hits a wall or other obstacles, it will turn by itself, and according to different settings, take different routes. , clean the area in a planned manner.
  • the robot of the present invention comprises a structure: an autonomously movable robot body 10 with a first drive wheel 20 and a second drive wheel 30, the robot internal device having an inertial sensor including an accelerometer and a gyroscope 40, etc., the first driving wheel 20 and the second driving wheel 30 are provided with an odometer 60 (generally a code wheel) for detecting the traveling distance of the driving wheel, and capable of processing parameters of the relevant sensor, and capable of outputting a control signal to execution.
  • the processor 50 of the component is provided.
  • the method for detecting the slip of the robot includes the following steps: calculating a first angle change rate generated by the two driving wheels within a preset time; and calculating the generated by the gyroscope 40 in the same preset time. a second angle change rate; determining a difference between the first angle change rate and the second angle change rate as a first difference; determining a maximum error value of the first angle change rate; determining an angular velocity change error rate a ratio of the first difference value to the maximum error value; determining whether the angular velocity change error rate is greater than or equal to a preset value; if yes, determining that the robot is slipping; if not, determining that the robot is not slipping.
  • the detection method of the present invention detects and calculates two drives by using the odometer 60 on the existing drive wheel of the robot, the gyroscope 40 in the body 10, and the processor 50 (shown in FIG. 3).
  • the first angle change rate generated by the wheel within the preset time the second angle change rate generated by the gyroscope 40 during the same preset time, thereby determining the angular velocity change error rate of the robot, and finally determining the Whether the angular velocity change error rate is greater than or equal to a preset value to determine whether the robot is slipping.
  • This method of detecting the slip of the robot is relatively low in cost.
  • the odometer 60 and the gyroscope 40 are combined to perform detection and judgment, and the accuracy is high.
  • the slip data can be recorded and the travel data of the robot can be corrected to avoid the influence of the slip on the travel accuracy of the robot.
  • the calculating a first angle change rate generated by the two driving wheels within a preset time includes the following steps: calculating a difference in travel distance between the two driving wheels in the preset time; determining the a width between the two driving wheels; determining a traveling angle value of the two driving wheels in the preset time value as a ratio of the traveling distance difference to the width; determining the first angle change rate a ratio of the travel angle value to the preset time.
  • the distance traveled by the two drive wheels may be different (for example, one drive wheel slips, the other does not slip, or the friction between the two drive wheels and the ground is different, etc.
  • the number of turns of the wheel that causes the drive wheel to slip is different, that is, the distance traveled by the two drive wheels is different, so that the robot will produce a slight deflection, which will produce a tiny curved travel path.
  • the traveling trajectories of the first driving wheel 20 and the second driving wheel 30 will be represented in a straight line form, and the resulting error is within a predictable range.
  • the calculating the difference of the travel distance between the two driving wheels in the preset time comprises the following steps: the first driving wheel of the two driving wheels detected according to the current recording time point The first current travel distance traveled by 20, and the first previous travel distance traveled by the first drive wheel 20 detected at the last recording time point, the first distance traveled by the first drive wheel 20 is calculated as a difference between the first current travel distance and the first previous travel distance; a second current traveled by the second drive wheel 30 of the two drive wheels detected according to the current recording time point a travel distance, and a second last travel distance traveled by the second drive wheel 30 detected at the last recording time point, and calculating that the second distance traveled by the second drive wheel 30 is the second current a difference between the travel distance and the second previous travel distance; determining the travel distance difference as a difference between the first distance and the second distance.
  • the time interval between the current recording time point and the last recording time point is the preset time.
  • the calculating the second angle change rate generated by the gyroscope 40 during the same preset time includes the following steps: the current angle detected by the gyroscope 40 according to the current recording time point, and the previous record.
  • the previous angle detected by the time point gyroscope 40 calculates that the change angle is the difference between the current angle and the previous angle; determining the second angle change rate as the change angle and the pre- Set the ratio of time.
  • the time interval between the current recording time point and the last recording time point is the preset time. Since the gyroscope 40 has high accuracy in angle detection, the angle change rate calculated by using the detection data of the gyroscope 40 already provided inside the robot has high accuracy.
  • the determining the maximum error value of the first angle change rate comprises the steps of: determining a maximum error rate of the driving wheel; determining that the maximum error value is the first angle change rate and the maximum The product of the error rate. Since the two drive wheels have errors in the physical structure themselves, the error rate generated is very close for the same physical structure. Therefore, the maximum error rate can be experimentally tested to obtain the maximum value, or can be tested from the The average value of the multiple sets of data is taken as the maximum error rate. By introducing the maximum error rate to determine the maximum error value of the first angle change rate, it can provide an accurate basis for subsequent data processing, avoiding the occurrence of misjudgment caused by directly referring to the error data, and improving whether the judging robot is slipping. accuracy.
  • the determining whether the angular velocity variation error rate is greater than or equal to a preset value further comprises the step of: determining the angular velocity variation error rate determined each time according to the angular velocity variation error rate determined continuously for N times Whether the value is greater than or equal to the preset value; if the determined angular velocity change error rate is greater than or equal to the preset value, the determination result is yes; if the determined angular velocity change error rate is less than the preset value, Then the result is judged whether or not.
  • the N may be correspondingly set according to a specific situation, preferably, a natural number greater than or equal to 2, and optimally set to 5 times, too little to achieve an accurate effect, too much Will waste computing resources.
  • the angular velocity variation error rate is determined as a ratio of the first difference value to the maximum error value. Since the rate of change of the first angle is different each time, the maximum error value obtained is different, that is to say, the maximum error value of each time is dynamically changed. If a fixed absolute value is used as a reference for judgment, the result is obtained. The result will be a large error.
  • the method of the present invention adopts a comparative method, and judges according to the comparative ratio, and a more accurate result can be obtained.
  • the preset value is 1, so that the relationship between the first difference value and the maximum error value can be accurately defined, thereby effectively determining whether the robot is in a slip state according to the comparison result.
  • the preset time is 10 milliseconds. Of course, it can also be set to other values according to different requirements. It is appropriate to set it to 10 milliseconds. If the time is too long, it will affect the detection result. The time is too short, and the performance requirements of the sensor and processor 50 are too high.
  • the method for constructing a robot according to the present invention comprises the steps of: determining a grid unit in which a position point of the robot is slipped based on the above-described detection method of the robot slip; and indicating that the grid unit is a slip unit. Since the robot is in the construction of the grid map, the grid unit needs to be correspondingly marked according to the detection condition. For example, when the obstacle is detected, the grid unit where the obstacle is detected is marked as the obstacle unit. When the cliff is detected, the grid unit where the position where the cliff is detected is marked as a cliff unit.
  • the sliding grid unit cannot be accurately marked, so that the subsequent robot navigates into the sliding area during the navigation according to the grid map, so that the traveling The efficiency is reduced and the navigation effect is poor.
  • the sliding grid unit can be accurately marked, and the constructed map has high accuracy.
  • the robot can avoid the sliding area, thereby improving the robot's travel. Efficiency and navigation.
  • the chip of the present invention is used for storing a program for controlling a robot to execute the above-described mapping method. Since the chip has high mapping accuracy, the performance of the chip is improved.

Abstract

本发明涉及一种机器人打滑的检测方法和建图方法及芯片，通过利用机器人现有的驱动轮上的里程计、机体内的陀螺仪和处理器，来检测并计算得出两个驱动轮在预设时间内所产生的第一角度变化率，陀螺仪在相同的所述预设时间内所产生的第二角度变化率，从而确定了机器人的角速度变化误差率，最后通过判断该角速度变化误差率是否大于或等于预设值来确定机器人是否打滑。这种机器人打滑的检测方法和基于该检测的结果进行地图的构建，成本相对较低。同时，采用里程计和陀螺仪结合进行检测判断的方式，准确性较高，所构建的地图也比较准确。同理，相应的芯片的性能也会相对较高

Description

机器人打滑的检测方法和建图方法及芯片 技术领域
本发明涉及机器人领域，具体涉及一种机器人打滑的检测方法和建图方法及芯片。
背景技术
智能扫地机器人在行进清扫的过程中，由于碰到障碍物或者行进在比较潮湿光滑的地面时，轮子容易打滑，此时，轮子上的里程计仍然会把轮子打滑转动的距离计入行进的距离中，从而造成行进距离的误差，使得机器人在建图时会引入该误差，导致构建的地图也存在误差，地图不准确。目前，有一种方式是通过比较机器人的驱动轮和从动轮的速度来判断是否出现了打滑现象。但是，要获得从动轮的速度，就需要额外在从动轮上安装里程计，这样就会增加机器人的成本。同时，由于从动轮的不可控性(比如悬空空转)，采用这种方式判断机器人是否打滑，会存在误判的情况，准确性不够高。
发明内容
为解决上述问题，本发明提供了一种机器人打滑的检测方法和建图方法及芯片，检测的准确性相对较高，成本则相对较低。本发明的具体技术方案如下：
一种机器人打滑的检测方法，包括如下步骤：计算预设时间内两个驱动轮所产生的第一角度变化率；计算陀螺仪在相同的所述预设时间内所产生的第二角度变化率；确定所述第一角度变化率与所述第二角度变化率的差值为第一差值；确定所述第一角度变化率的最大误差值；确定角速度变化误差率为所述第一差值与所述最大误差值的比值；判断所述角速度变化误差率是否大于或者等于预设值；如果是，则确定机器人打滑；如果否，则确定机器人没有打滑。
一种机器人的建图方法，包括如下步骤：基于上述的机器人打滑的检测方法，确定机器人打滑时的位置点所在的栅格单元；标示所述栅格单元为打滑单元。
一种芯片，用于存储程序，所述程序用于控制机器人执行上述的建图方法。
本发明通过利用机器人现有的驱动轮上的里程计、机体内的陀螺仪和处理器，来检测并计算得出两个驱动轮在预设时间内所产生的第一角度变化率，陀螺仪在相同的所述预设时间内所产生的第二角度变化率，从而确定了机器人的角速度变化误差率，最后通过判断该角速度变化误差率是否大于或等于预设值来确定机器人是否打滑。这种机器人打滑的检测方法和基于该检测的结果进行地图的构建，成本相对较低。同时，采用里程计和陀螺仪结合进行检测判断的方式，准确性较高，所构建的地图也比较准确。同理，相应的芯片的性能也会相对较高。
附图说明
图1为本发明所述的机器人结构示意图。
图2为本发明所述的机器人打滑的检测方法的流程图。
图3为本发明所述的机器人打滑检测的系统框图。
图4为本发明所述的行进角度值的分析示意图。
具体实施方式
下面结合附图对本发明的具体实施方式作进一步说明：
扫地机器人，又称自动打扫机、智能吸尘器等，是智能家用电器的一种，能凭借一定的人工智能，自动在房间内完成地板清理工作。一般采用刷扫和真空方式，将地面杂物先吸纳进入自身的垃圾收纳盒，从而完成地面清理的功能。一般来说，将完成清扫、吸尘、擦地工作的机器人，也统一归为扫地机器人。扫地机器人的机体10为无线机器，以圆盘型为主。使用充电电池运作，操作方式为遥控或是机器上的操作面板。一般能设定时间预约打扫，自行充电。机体10上设有各种传感器，可检测行进距离、行进角度、机身状态和障碍物等，如碰到墙壁或其他障碍物，会自行转弯，并依不同的设定，而走不同的路线，有规划地清扫地区。
如图1所示，本发明所述机器人包括如下结构：带有第一驱动轮20和第二驱动轮30的能够自主行进的机器人机体10，机器人内部装置有惯性传感器，包括加速度计和陀螺仪40等，第一驱动轮20和第二驱动轮30上设有用于检测驱动轮的行进距离的里程计60(一般是码盘)，以及能够处理相关传感器的参数，并能够输出控制信号到执行部件的处理器50。
如图2所示，机器人打滑的检测方法，包括如下步骤：计算预设时间内两个驱动轮所产生的第一角度变化率；计算陀螺仪40在相同的所述预设时间内所产生的第二角度变化率；确定所述第一角度变化率与所述第二角度变化率的差值为第一差值；确定所述第一角度变化率的最大误差值；确定角速度变化误差率为所述第一差值与所述最大误差值的比值；判断所述角速度变化误差率是否大于或者等于预设值；如果是，则确定机器人打滑；如果否，则确定机器人没有打滑。本发明所述的检测方法，通过利用机器人现有的驱动轮上的里程计60、机体10内的陀螺仪40和处理器50(如图3所示)，来检测并计算得出两个驱动轮在预设时间内所产生的第一角度变化率，陀螺仪40在相同的所述预设时间内所产生的第二角度变化率，从而确定了机器人的角速度变化误差率，最后通过判断该角速度变化误差率是否大于或等于预设值来确定机器人是否打滑。这种机器人打滑的检测方法，成本相对较低。同时，采用里程计60和陀螺仪40结合进行检测判断的方式，准确性较高。当检测到机器人是在打滑，则可以记录打滑数据，并对机器人的行进数据进行修正，从而避免打滑对机器人行进准确性的影响。
优选的，所述计算预设时间内两个驱动轮所产生的第一角度变化率，包括如下步骤：计算所述两个驱动轮在所述预设时间内的行进距离差值；确定所述两个驱动轮之间的宽度；确定所述两个驱动轮在所述预设时间内的行进角度值为所述行进距离差值与所述宽度的比值；确定所述第一角度变化率为所述行进角度值与所述预设时间的比值。如图4所示，如果机器人打滑，则两个驱动轮所行进的距离可能不一样(比如一个驱动轮打滑，另一个不打滑，或者两个驱动轮与地面的摩擦力不一样等等，这些都会导致驱动轮打滑产生的轮子转动的圈数也不一样，即两个驱动轮所行进的距离不一样)，使得机器人会产生一个微小的偏转，从而会产生一个微小的弧形的行进轨迹。但是为了便于说明，如图4所示，将采用直线的形式表示第一驱动轮20和第二驱动轮30的行进轨迹，由此产生的误差在可预期范围内。图4中，通过里程计60检测到第一驱动轮20在预设时间T内行进的距离为L，通过里程计60检测到第二驱动轮30在预设时间内行进的距离为R，所以，处理器50在接收到里程计60的检测数据后，计算得出两个驱动轮在所述预设时间内的行进距离差值为△L。由于两个驱动轮之间的宽度为W，所以计算得出两个驱动轮在所述预设时间内的行进角度值为a，a＝△L/W，最终，计算得出第一角度变化率为P，P＝a/T＝△L/(W*T)。通过这种小角度的检测方法，得出的每个预设时间段内的角度变化率，有利于后续的角度误差变化率的计算，能够提高最终判断机器人是否打滑的准确性。
优选的，所述计算所述两个驱动轮在所述预设时间内的行进距离差值，包括如下步骤：根据当前记录时间点所检测到的所述两个驱动轮中的第一驱动轮20所行进的第一当前行进距离，和上一记录时间点所检测到的第一驱动轮20所行进的第一上一行进距离，计算得出第一驱动轮20所行进的第一距离为所述第一当前行进距离与所述第一上一行进距离的差值；根据所述当前记录时间点所检测到的所述两个驱动轮中的第二驱动轮30所行进的第二当前行进距离，和所述上一记录时间点所检测到的第二驱动轮30所行进的第二上一行进距离，计算得出第二驱动轮30所行进的第二距离为所述第二当前行进距离与所述第二上一行进距离的差值；确定所述行进距离差值为所述第一距离与所述第二距离的差值。其中，所述当前记录时间点与所述上一记录时间点之间的时间间隔为所述预设时间。通过对每个记录时间点所检测到的行进距离进行分析比较，可以得出不同时间段内两个驱动轮的行进距离差值，为不同时间段内的角度变化率提供计算数据，保证后续计算角度变化率的准确性。
优选的，所述计算陀螺仪40在相同的所述预设时间内所产生的第二角度变化率，包括如下步骤：根据当前记录时间点陀螺仪40所检测到的当前角度，和上一记录时间点陀螺仪40所检测到的上一角度，计算得出变化角度为所述当前角度与所述上一角度的差值；确定所述第二角度变化率为所述变化角度和所述预设时间的比值。其中，所述当前记录时间点与所述上一记录时间点之间的时间间隔为所述预设时间。由于陀螺仪40在角度检测方面具有较高的准确性，所以，利用机器人内部已设有的陀螺仪40的检测数据计算得出的角度变化率，准确性较高。同时，通过与上述相对应的记录时间点进行数据检测，可以进行准确的数据对比，避免由于对比数据出错而造成的后续的角度误差变化率的计算出错，保证了机器人打滑判断的准确性。
优选的，所述确定所述第一角度变化率的最大误差值，包括如下步骤：确定所述驱动轮的最大误差率；确定所述最大误差值为所述第一角度变化率与所述最大误差率的乘积。由于两个驱动轮在物理结构上本身会存在误差，对于相同的物理结构，所产生的误差率非常接近，所以，所述最大误差率可以通过实验测试 得出最大值，也可以从所测试的多组数据中取平均值作为最大误差率。通过引入最大误差率来确定第一角度变化率的最大误差值，可以为后续的数据处理提供准确的依据，避免直接引用有误差的数据所导致的误判的情况出现，提高判断机器人是否打滑的准确性。
优选的，所述判断所述角速度变化误差率是否大于或者等于预设值，还包括如下步骤：根据连续N次所确定的所述角速度变化误差率，判断每次确定的所述角速度变化误差率是否都大于或者等于预设值；如果每次确定的所述角速度变化误差率都大于或者等于预设值，则判断结果为是；如果有一次确定的所述角速度变化误差率小于预设值，则判断结果为是否。由于机器人行进的路面情况很复杂，而不同的路面情况又会对机器人的检测结果产生不同的影响，所以，仅依靠一次数据的检测和判断，就确定机器人是否打滑，会存在误判的情况。应该进行连续多次的检测，并对多次的检测结果进行分析，只有都满足的情况下，才能确定是否打滑，这样得出的结果才具有更高的准确性。其中，所述N可以根据具体的情况进行相应的设置，优选的，设置为大于或者等于2的自然数，最优的，设置为5次，太少了达不到准确的效果，太多了又会浪费计算资源。
优选的，确定角速度变化误差率为所述第一差值与所述最大误差值的比值。由于每次的第一角度变化率不一样，得出的最大误差值也不一样，也就是说每次的最大误差值是动态变化的，如果采用固定的绝对数值为参考进行判断，得出的结果会有较大误差。本发明的方法采用的是对比的方式，根据对比的比值进行判断，可以得出更准确的结果。
优选的，所述预设值为1，这样可以准确地界定第一差值和最大误差值的关系，从而根据对比结果有效地判断出机器人是否处于打滑状态。
优选的，所述预设时间为10毫秒，当然，也可以不同需求，设置为其它数值。设置为10毫秒是比较合适的，如果时间太长，会影响检测结果，时间太短，对传感器和处理器50的性能要求又会太高。
本发明所述的机器人的建图方法，包括如下步骤：基于上述的机器人打滑的检测方法，确定机器人打滑时的位置点所在的栅格单元；标示所述栅格单元为打滑单元。由于机器人在栅格地图的构建中，需要根据检测的情况对栅格单元进行对应的标示，比如，在检测到障碍物时，把检测到障碍物的位置点所在的栅格单元标示为障碍单元；在检测到悬崖时，把检测到悬崖的位置点所在的栅格单元标示为悬崖单元。由于现有技术无法准确地检测到机器人是否打滑，所以，无法准确地对打滑的栅格单元进行标示，导致后续机器人在依据该栅格地图进行导航的过程中，导航进入该打滑区域，使得行进效率降低，导航效果较差。通过本发明所述的建图方法，可以准确地标示出打滑的栅格单元，所构建的地图准确性较高，在后续的导航过程中，机器人可以避开该打滑区域，从而提高机器人的行进效率和导航效果。
本发明所述的芯片，用于存储程序，所述程序用于控制机器人执行上述的建图方法。由于所述芯片具有较高的建图准确性，所以，提高了芯片的性能。
以上实施例仅为充分公开而非限制本发明，凡基于本发明的创作主旨、未经创造性劳动的等效技术特征的替换，应当视为本申请揭露的范围。

Claims (10)

  1. 一种机器人打滑的检测方法，其特征在于，包括如下步骤：
    计算预设时间内两个驱动轮所产生的第一角度变化率；
    计算陀螺仪在相同的所述预设时间内所产生的第二角度变化率；
    确定所述第一角度变化率与所述第二角度变化率的差值为第一差值；
    确定所述第一角度变化率的最大误差值；
    确定角速度变化误差率为所述第一差值与所述最大误差值的比值；
    判断所述角速度变化误差率是否大于或者等于预设值；
    如果是，则确定机器人打滑；
    如果否，则确定机器人没有打滑。
  2. 根据权利要求1所述的方法，其特征在于，所述计算预设时间内两个驱动轮所产生的第一角度变化率，包括如下步骤：
    计算所述两个驱动轮在所述预设时间内的行进距离差值；
    确定所述两个驱动轮之间的宽度；
    确定所述两个驱动轮在所述预设时间内的行进角度值为所述行进距离差值与所述宽度的比值；
    确定所述第一角度变化率为所述行进角度值与所述预设时间的比值。
  3. 根据权利要求2所述的方法，其特征在于，所述计算所述两个驱动轮在所述预设时间内的行进距离差值，包括如下步骤：
    根据当前记录时间点所检测到的所述两个驱动轮中的第一驱动轮所行进的第一当前行进距离，和上一记录时间点所检测到的第一驱动轮所行进的第一上一行进距离，计算得出第一驱动轮所行进的第一距离为所述第一当前行进距离与所述第一上一行进距离的差值；
    根据所述当前记录时间点所检测到的所述两个驱动轮中的第二驱动轮所行进的第二当前行进距离，和所述上一记录时间点所检测到的第二驱动轮所行进的第二上一行进距离，计算得出第二驱动轮所行进的第二距离为所述第二当前行进距离与所述第二上一行进距离的差值；
    确定所述行进距离差值为所述第一距离与所述第二距离的差值；
    其中，所述当前记录时间点与所述上一记录时间点之间的时间间隔为所述预设时间。
  4. 根据权利要求1所述的方法，其特征在于，所述计算陀螺仪在相同的所述预设时间内所产生的第二角度变化率，包括如下步骤：
    根据当前记录时间点陀螺仪所检测到的当前角度，和上一记录时间点陀螺仪所检测到的上一角度，计算得出变化角度为所述当前角度与所述上一角度的差值；
    确定所述第二角度变化率为所述变化角度和所述预设时间的比值；
    其中，所述当前记录时间点与所述上一记录时间点之间的时间间隔为所述预设时间。
  5. 根据权利要求1所述的方法，其特征在于，所述确定所述第一角度变化率的最大误差值，包括如下步骤：
    确定所述驱动轮的最大误差率；
    确定所述最大误差值为所述第一角度变化率与所述最大误差率的乘积；
    其中，所述最大误差率通过实验测试得出。
  6. 根据权利要求1所述的方法，其特征在于，所述判断所述角速度变化误差率是否大于或者等于预设值，还包括如下步骤：
    根据连续N次所确定的所述角速度变化误差率，判断每次确定的所述角速度变化误差率是否都大于或者等于预设值；
    如果每次确定的所述角速度变化误差率都大于或者等于预设值，则判断结果为是；
    如果有一次确定的所述角速度变化误差率小于预设值，则判断结果为是否；
    其中，所述N为大于或者等于2的自然数。
  7. 根据权利要求1至6任一项所述的方法，其特征在于，所述预设值为1。
  8. 根据权利要求1至6任一项所述的方法，其特征在于，所述预设时间为10毫秒。
  9. 一种机器人的建图方法，其特征在于，包括如下步骤：
    基于权利要求1至8任一项所述的机器人打滑的检测方法，确定机器人打滑时的位置点所在的栅格单元；
    标示所述栅格单元为打滑单元。
  10. 一种芯片，用于存储程序，其特征在于：所述程序用于控制机器人执行权利要求9所述的建图方法。
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