WO2020061999A1

WO2020061999A1 - Control method for ground remote control robot and ground remote control robot

Info

Publication number: WO2020061999A1
Application number: PCT/CN2018/108231
Authority: WO
Inventors: 龚鼎; 陈超彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2020-04-02
Also published as: CN110290901A

Abstract

Disclosed are a control method for a ground remote control robot and a ground remote control robot. The method comprises: acquiring sensing data output by a sensor (1003) configured on a ground remote control robot (101); determining, according to the sensing data, whether the ground remote control robot (101) is in an off-ground state; and when the ground remote control robot (101) is in the off-ground state, executing a pre-set protection operation.

Description

Control method of ground remote control robot and ground remote control robot

Technical field

The present invention relates to the technical field of terminals, and in particular, to a control method for a ground remote-controlled robot and a ground remote-controlled robot.

Background technique

With the continuous advancement of science and technology, the functions of remote control robots on the ground are constantly enriching, and their application fields are also expanding. However, it has been found in practical applications that the ground-controlled remote control robot often rolls, is inverted, or is lifted. After the ground remote control robot rolls over, is inverted, or is lifted, the power supply system of the ground remote control robot will continue to output, which will easily cause the ground remote control robot to perform further unrealistic movements, which may cause harm to the ground remote control robot or the user.

Summary of the Invention

The embodiment of the invention discloses a control method of a ground remote control robot and a ground remote control robot, which is beneficial to improving the safety of the ground remote control robot.

In a first aspect, the present application provides a method for controlling a ground-based remote control robot, which method comprises: acquiring sensing data output by a sensor configured on the ground-based remote control robot; and determining whether the ground-based remote control robot is disengaged according to the sensing data. Ground state; when the ground remote control robot is off the ground, a preset protection operation is performed.

In a second aspect, the present application provides a ground remote control robot, which includes:

An acquisition unit, configured to acquire the sensing data output by the sensors configured on the ground remote robot;

A determining unit, configured to determine whether the ground remote control robot is off the ground according to the sensing data;

The processing unit is configured to perform a preset protection operation when the remotely controlled robot is off-ground.

In a third aspect, the present application provides a ground remote-control robot. The ground remote-control robot includes: a memory, a processor, and a sensor, where:

Memory for storing program instructions;

Processor, which calls program instructions for:

Obtain the sensing data output by the sensors configured on the ground remote robot;

Determine whether the ground remote control robot is off the ground according to the sensing data;

When the ground remote control robot is off the ground, a preset protection operation is performed.

It can be seen that by implementing the method and the ground remote control robot described in the embodiments of the present application, the ground remote control robot can automatically detect whether it is off the ground, and when the ground remote control robot detects that it is off the ground, it can perform preset protection operations in time. Therefore, by implementing the method and the ground remote control robot described in the embodiments of the present application, it is beneficial to improve the safety of the ground remote control robot and to protect the personal safety of the user.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can obtain other drawings according to the drawings without paying creative labor.

FIG. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention; FIG.

FIG. 2 is a schematic flowchart of a control method of a ground remote-controlled robot according to an embodiment of the present invention; FIG.

3 is a schematic diagram of a ground remote control robot in a lifted state according to an embodiment of the present invention;

4 is a schematic diagram of a ground remote control robot in a rollover state according to an embodiment of the present invention;

5 is a schematic diagram of a ground remote control robot in an inverted state according to an embodiment of the present invention;

FIG. 6 is a schematic flowchart of another control method of a ground remote robot according to an embodiment of the present invention; FIG.

FIG. 7 is a schematic flowchart of another method for controlling a ground remote robot according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of a coordinate system of a ground remote control robot according to an embodiment of the present invention.

FIG. 9 is a schematic structural diagram of a ground remote control robot according to an embodiment of the present invention; FIG.

FIG. 10 is a schematic structural diagram of another ground remote control robot according to an embodiment of the present invention.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In addition, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms "a," "the," and "the" as used in this invention and in the claims are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and / or" as used herein means any or all possible combinations containing one or more of the associated listed items.

Although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, in addition, the word "if" can be interpreted as "at", or "at ...", or "in response to a determination".

In order to improve the safety of the ground remote control robot, the embodiments of the present application propose a control method for a ground remote control robot and a ground remote control robot.

The ground-based remote control robot may include, but is not limited to, a remote-controlling automobile and a remote-controlling robot that can be remotely controlled and can run on the ground. The following describes the applicable system architecture of this application.

As shown in FIG. 1, the system architecture includes a ground-based remote control robot 101 and a control terminal 102. Figure 1 uses the ground remote control robot as a remote control car and the control terminal as a mobile phone as an example. The control terminal is used to remotely control the ground remote control robot. The control terminal may be a remote control, a mobile phone, a tablet computer, or the like.

Among them, sensors are arranged on the ground control robot. The sensor may include one or more of the following sensors: a speed sensor for detecting speed, an acceleration sensor for detecting acceleration, an angular velocity sensor for detecting angular velocity, an attitude sensor for detecting the attitude of a ground-based remote control robot, and a sensor for detecting Speed sensor for wheel speed, distance sensor for detecting distance, light intensity sensor for detecting light intensity, and image sensor for detecting image. The sensor may also be other sensors, which are not limited in the embodiment of the present application.

The specific process of the method for controlling a ground remote robot according to an embodiment of the present invention is further described below.

Please refer to FIG. 2, which is a schematic flowchart of a control method of a ground remote-control robot according to an embodiment of the present invention. As shown in FIG. 2, the control method of the ground remote-controlled robot may include steps 201 to 203. among them:

201. The ground remote control robot obtains sensing data output by a sensor configured on the ground remote control robot.

Wherein, the execution subject of the control method may be a ground remote control robot, and further, the execution subject may be a processor of the ground remote control robot.

As mentioned above, the sensor may include one or more of the following sensors: a speed sensor for detecting speed, an acceleration sensor for detecting acceleration, an angular velocity sensor for detecting angular velocity, and an attitude for detecting the attitude of the ground-based remote control robot A sensor, a speed sensor for detecting wheel speed, a distance sensor for detecting distance, and a light intensity sensor for detecting light intensity. The sensor may also be other sensors, which are not limited in the embodiment of the present application. Correspondingly, the sensing data may be data such as speed, acceleration, angular velocity, attitude of the ground-based remote control robot, wheel speed, distance, light intensity, and image.

Optionally, the processor of the ground-based remote control robot may acquire the sensing data output by the sensors in a preset periodic or non-periodic manner.

202. The ground remote control robot determines whether the ground remote control robot is off the ground according to the sensing data.

In the embodiment of the present application, after the ground remote control robot obtains the sensing data, it is determined whether the ground remote control robot is off the ground according to the sensing data. The off-ground state may be different from a state in which the remote control robot on the ground moves on the ground.

Optionally, the off-ground state may include one or more of a ground remote control robot in a lifted state and the ground remote control robot in a tipped state. Optionally, the ground remote-control robot is in an overturned state, and the ground remote-control robot is in one or more of a rollover state and an overturned state. For example, FIG. 3 is a schematic diagram of the ground remote control robot in a lifted state, FIG. 4 is a schematic diagram of the ground remote control robot in a rollover state, and FIG. 5 is a schematic diagram of the ground remote control robot in an inverted state.

Optionally, the specific implementation of the ground remote control robot determining whether the ground remote control robot is off the ground according to the sensing data is: entering sensor data into a preset neural network model to determine whether the ground remote control robot is off the ground. The neural network model may be a convolutional neural network. The neural network model is a neural network model obtained by training with multiple sets of inputs and outputs, wherein the output is that the ground-based remote control robot is in an overturned state, and the input is the sensor output when the ground-based remote control robot is in a turned-over state Sensor data. After the training of the neural network model is completed, the neural network model can be used to determine whether the ground mobile robot is in an overturned state. By implementing this embodiment, it is possible to accurately determine whether the ground remote-controlling robot is in an off-ground state.

The second specific implementation of the ground remote control robot to determine whether the ground remote control robot is off the ground according to the sensing data may refer to step 602 and step 603 shown in FIG. 6.

A third specific implementation manner of the ground remote-control robot to determine whether the ground remote-control robot is off-ground according to the sensing data may refer to

steps

702 and 703 shown in FIG. 7.

Certainly, the specific implementation manner of the ground remote-controlling robot to determine whether the ground remote-controlling robot is off the ground according to the sensing data may be other manners, which are not limited in the embodiment of the present application.

203. When the remote control robot on the ground is off the ground, the remote control robot on the ground performs a preset protection operation.

When the ground remote control robot is off the ground, it is determined that the ground remote control robot is in an abnormal state, and when the ground remote control robot is in an abnormal state, it may cause damage to the user's safety or the remote control robot's own components. Therefore, when it is determined that the ground remote control robot is off the ground, the ground remote control robot needs to perform a preset protection operation, which is a protection operation that is beneficial to avoid harm to the user or the ground remote control robot itself.

For example, the specific implementation manner of the ground remote control robot performing the preset protection operation may be: the ground remote control robot cuts off the power output of the power system of the ground remote control robot. When the ground remote control robot is off the ground, the ground remote control robot cuts off the power output of the ground remote control robot's power system, which can prevent the ground remote control robot from performing further unrealistic movements and cause damage to the ground remote control robot or the user. Therefore, by cutting off the power output of the power system of the ground remote control robot when the off-ground state is detected, it is beneficial to improve the safety of the ground remote control robot and to protect the personal safety of the user.

As another example, a specific implementation manner of the ground remote control robot performing a preset protection operation may be: the ground remote control robot reduces a power output of a power system of the ground remote control robot. By reducing the power output of the power system, it is possible to prevent the ground remote control robot from further unrealistically expected movement, causing damage to the ground remote control robot or the user. Therefore, by reducing the power output of the power system of the ground remote control robot when the off-ground state is detected, it is beneficial to improve the safety of the ground remote control robot and to protect the personal safety of the user.

For another example, the specific implementation manner of the ground remote control robot performing the preset protection operation may be: the ground remote control robot sends prompt information for prompting to leave the ground to the control terminal or server of the ground remote control robot. In this way, the control terminal or server of the ground remote control robot can know that the ground remote control robot is off the ground. The control terminal or server can control the display device to display the prompt message, and the user can know the ground through the prompt information displayed by the display device. The remote control robot is in an off-ground state, so that the user can remotely control the ground remote control robot to stop or reduce the power output through the control terminal or the server. Therefore, by sending a prompt message to the control terminal or server of the remote control robot on the ground when the off-ground state is detected, the safety of the remote control robot on the ground is improved.

It can be seen that by implementing the method described in FIG. 2, the ground-based remote control robot can automatically detect whether it is off the ground, and when the ground-based remote control robot detects that it is off the ground, it can perform preset protection operations in a timely manner. Therefore, by implementing the method described in FIG. 2, it is beneficial to improve the safety of the ground remote control robot. In addition, by implementing the method described in FIG. 2, the ground-based remote control robot can automatically perform a preset protection operation, and does not require a user to manually turn off the power output of the ground-based remote control robot, which is beneficial to protecting the personal safety of the user.

Please refer to FIG. 6, which is a schematic flowchart of another method for controlling a ground remote robot according to an embodiment of the present invention. FIG. 6 is an example in which the ground remote control robot is lifted off the ground. As shown in FIG. 6, the control method of the ground remote-controlled robot may include steps 601 to 604. among them:

601. The ground remote control robot obtains sensing data output by a sensor configured on the ground remote control robot.

For the description of step 601, reference may be made to the description corresponding to 201 above, and details are not described herein.

602. The ground remote control robot determines whether the ground remote control robot moves upward and whether the wheels of the ground remote control robot are in an idling state according to the sensor data.

Optionally, the upward movement may be a vertical upward movement or an oblique upward movement. Among them, upward movement refers to movement away from the ground.

603. When it is determined that the ground remote control robot moves upward and all wheels of the ground remote control robot are in an idling state, the ground remote control robot determines that the ground remote control robot is in a lifted state.

If the ground remote control robot moves upward and all wheels of the ground remote control robot are in an idling state, the ground remote control robot determines that the ground remote control robot is in a lifted state. Otherwise, the ground-based remote control robot may continue to obtain new sensing data and detect whether the ground-based remote control robot is moving upwards and whether the wheels of the ground-based remote control robot are idling according to the new sensing data. If it is determined that the ground remote control robot is lifted only by detecting the ground remote control robot's upward movement, it may lead to misjudgment. For example, a ground-controlled remote robot going uphill also belongs to an upward movement. If it is determined that all the wheels of the ground remote control robot are idling, it is determined that the ground remote control robot is picked up, which may also lead to misjudgment. For example, a ground-controlled remote robot moving forward on wet ground may also cause all wheels of the ground-controlled remote robot to idle. Therefore, the upward movement of the ground remote control robot needs to be detected at the same time, and all wheels of the ground remote control robot are in an idling state, in order to determine that the ground remote control robot is in a lifted state. It can be seen that, by performing

steps

602 and 603, it can be accurately determined that the ground remote control robot is in a lifted state.

The specific implementation of the ground remote control robot to determine whether the ground remote control robot moves upward according to the sensor data is described below:

As an optional implementation manner, the sensing data includes a speed and / or acceleration in a vertical direction, and the specific implementation of the ground remote control robot determining whether the ground remote control robot moves upward according to the sensor data may be: when the vertical direction When the speed and / or acceleration in the vertical direction is a vertical upward direction, and the speed and / or acceleration in the vertical direction is greater than or equal to a preset speed threshold or a preset acceleration threshold, the upward movement of the ground remote control robot is determined.

The vertical direction is a vertical direction corresponding to the ground plane, that is, a direction perpendicular to the ground plane. Specifically, the ground-based remote control robot may be configured with a speed sensor and / or an acceleration sensor, and the ground-based remote control robot may acquire the speed and / or acceleration in the vertical direction output by the speed sensor and / or acceleration sensor. The preset speed threshold or the preset acceleration threshold may be an experience value.

As an optional implementation manner, the sensing data further includes a distance between the ground remote control robot and the ground; the ground remote control robot determines whether the ground remote control robot moves upward according to the sensor data. A specific implementation method is: when the distance is greater than or equal to When the distance threshold is set, the upward movement of the ground remote control robot is determined.

Wherein, a distance sensor can be arranged at the bottom of the ground remote control robot, and the distance between the ground remote control robot and the ground can be detected by the distance sensor. Of course, the distance sensor can also be arranged in other parts of the ground remote control robot, which is not limited in the embodiment of the present application. When the distance is greater than or equal to a preset distance threshold, it can be determined that the ground remote control robot moves upward. Alternatively, when it is detected that the distance between the remote control robot and the ground gradually increases, the ground remote control robot may be determined to move upward. By implementing this embodiment, the upward movement of the ground remote control robot can be accurately detected.

As an optional implementation manner, the sensing data further includes a light intensity value between the ground remote control robot and the ground; the specific implementation of the ground remote control robot determining whether the ground remote control robot moves upward according to the sensor data is: when the light intensity value When it is greater than or equal to the preset intensity threshold, it is determined that the ground remote control robot moves upward.

Wherein, a light sensor can be arranged at the bottom of the ground remote control robot, and the light intensity value between the ground remote control robot and the ground can be detected by the light sensor. If the detected light intensity value is greater than or equal to a preset intensity threshold, it is determined that the ground remote control robot moves upward. Alternatively, when it is detected that the light intensity value between the remote control robot and the ground gradually increases, the upward movement of the ground remote control robot may be determined. By implementing this embodiment, the upward movement of the ground remote control robot can be accurately detected.

The following describes the specific implementation of the ground remote control robot to determine whether the wheels of the ground remote control robot are in an idling state according to the sensor data:

As an optional implementation manner, the sensing data includes the rotational speed of the wheel; and the specific implementation of determining whether the wheel of the ground remote control robot is in an idling state according to the sensor data is: determining whether the rotational speed of the wheel and the torque of the wheel conform to a preset Matching relationship; when the preset matching relationship is not met, it is determined that the wheel is in an idling state.

Generally, when the ground remote control moves normally on the ground, the greater the rotation speed of the wheel, the greater the torque of the wheel. Therefore, the matching relationship between the rotation speed of the wheel and the torque of the wheel can be set in advance on the ground remote control robot, and the rotation speed is positively related to the torque in the matching relationship. If it is detected that the speed of the wheel and the torque of the wheel do not meet the preset matching relationship, for example, it is detected that the speed of the wheel is large but the torque of the wheel is small, it can be determined that the wheel is idling. By implementing this embodiment, it can be accurately detected whether the wheels of the ground remote control robot are in an idling state.

As an optional implementation manner, the sensing data includes the speed of the ground-based remote control robot and the rotation speed of the wheel; and the specific implementation of determining whether the wheel of the ground-based remote control robot is in an idling state according to the sensor data is: determining the speed of the wheel and the ground-based remote control robot Whether the speed meets a preset matching relationship; when the preset matching relationship is not met, it is determined that the wheel of the ground remote control robot is in an idling state.

Generally, when the ground-based remote control moves normally on the ground, the greater the speed of the wheels, the greater the speed of the ground-based remote control robot. Therefore, a matching relationship between the rotation speed of the wheels and the speed of the ground remote control robot may be set in advance on the ground remote control robot, and in this matching relationship, the rotation speed is positively related to the speed of the ground remote control robot. If it is detected that the rotation speed of the wheel and the speed of the ground remote control robot do not conform to a preset matching relationship, for example, it is detected that the speed of the wheel is large but the speed of the ground remote control robot is low, it can be determined that the wheel is idling. By implementing this embodiment, it can be accurately detected whether the wheels of the ground remote control robot are in an idling state.

As an optional implementation manner, the ground-based remote control robot may further receive a control instruction, and the control instruction may include a running speed. The control instruction may be sent by a control terminal, or may be sent by a server, or may be input by a user on a ground remote control robot, which is not limited in the embodiment of the present application. After receiving the control instruction, the ground-based remote control robot can operate according to the control instruction. The ground remote control robot can detect the speed of the actual ground remote control robot through the speed sensor; the ground remote control robot can determine whether the speed of the actual ground remote control robot detected by the speed sensor and the running speed in the control instruction conform to a preset matching relationship. If the two do not meet the preset matching relationship, it is determined that the wheels of the ground remote control robot are in an idling state. Generally, when the ground remote controller moves normally on the ground, the larger the running speed in the control instruction is, the greater the speed of the ground remote robot is. Therefore, a matching relationship between the running speed in the control instruction and the speed of the ground remote control robot can be set in advance on the ground remote control robot, and the running speed in the control instruction has a positive correlation with the speed of the ground remote control robot in the matching relationship. If it is detected that the running speed in the control instruction and the speed of the ground remote control robot do not meet the preset matching relationship, for example, it is detected that the running speed in the control instruction is large but the speed of the ground remote control robot is small, it can be determined that the wheel is idling status. By implementing this embodiment, it can be accurately detected whether the wheels of the ground remote control robot are in an idling state.

As an optional implementation manner, the ground-based remote control robot may further receive a control instruction, and the control instruction may include a running acceleration. The control instruction may be sent by a control terminal, or may be sent by a server, or may be input by a user on a ground remote control robot, which is not limited in the embodiment of the present application. After receiving the control instruction, the ground-based remote control robot can operate according to the control instruction. The ground remote control robot can detect the acceleration of the actual ground remote control robot through the acceleration sensor; the ground remote control robot can determine whether the actual ground remote control robot detected by the acceleration sensor and the running acceleration in the control instruction meet a preset matching relationship. In accordance with the preset matching relationship, it is determined that the wheels of the ground remote control robot are in an idling state. Generally, when the ground-based remote control moves normally on the ground, the greater the acceleration in the control instruction is, the greater the acceleration of the ground-controlled remote control robot is. Therefore, a matching relationship between the running acceleration in the control instruction and the acceleration of the ground remote control robot may be set in advance on the ground remote control robot, and the running acceleration in the control instruction is positively related to the acceleration of the ground remote control robot in the matching relationship. If it is detected that the running acceleration in the control instruction and the acceleration of the ground remote robot do not meet the preset matching relationship, for example, it is detected that the running acceleration in the control instruction is large but the acceleration of the ground remote robot is small, it can be determined that the wheel is idling status. By implementing this embodiment, it can be accurately detected whether the wheels of the ground remote control robot are in an idling state.

604. When the remote control robot on the ground is in a lifted state, the remote control robot on the ground performs a preset protection operation.

For the description of step 604, reference may be made to the description corresponding to 203 above, and details are not described herein.

By implementing the method described in FIG. 6, it can be accurately determined that the ground remote control robot is in a lifted state.

Please refer to FIG. 7, which is a schematic flowchart of another method for controlling a ground-based remote control robot according to an embodiment of the present invention. FIG. 7 is an example in which the ground remote control robot is in an overturned state when it is off the ground. As shown in FIG. 7, the control method of the ground remote-controlled robot may include steps 701 to 704. among them:

701. The ground remote control robot obtains sensing data output by a sensor configured on the ground remote control robot.

For the description of step 701, reference may be made to the description corresponding to 201 above, and details are not described herein.

702: The ground remote control robot determines whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data.

703. When it is determined that the roll attitude of the ground remote control robot is in a preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in an overturning state.

The roll attitude may be the attitude angle of the roll axis. Here, the attitude angle of the roll axis is an angle of rotation around the X axis. For example, as shown in FIG. 8, FIG. 8 is a schematic diagram of a coordinate system of a ground-based remote control robot.

The preset roll attitude range may be a preset roll attitude angle range. For example, the preset roll attitude range may be 90 degrees to 180 degrees, when the roll attitude of the ground remote control robot is between 90 degrees and 180 degrees, and at least one wheel of the ground remote control robot is in an idle state, it is determined that the ground remote control robot is in the Overturned.

Optionally, the overturned state may include a rollover state, and the preset roll attitude range may include a first preset roll attitude range. For example, the first preset roll attitude range may be 60 to 90 degrees or other roll attitude ranges. Specifically, the ground remote control robot determines whether the rolling attitude of the ground remote control robot is within a first preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data. When it is determined that the roll attitude of the ground remote control robot is in a first preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in a rollover state. Generally, the roll attitude of the ground-based remote control robot is close to 90 degrees during rollover, and at least one wheel is in an idling state, for example, two wheels are in an idling state. Therefore, by implementing this optional manner, it can be accurately determined that the ground remote control robot is in a rollover state.

Optionally, the tipping state may include a tipping state, and the preset roll attitude range may include a second preset roll gesture range. For example, the second preset roll attitude range may be 90 to 180 degrees or other roll attitude ranges. Specifically, the ground remote control robot determines whether the rolling attitude of the ground remote control robot is in a second preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data. When it is determined that the rolling attitude of the ground remote control robot is in a second preset rolling attitude range and all wheels of the ground remote control robot are in an idling state, it is determined that the ground remote control robot is in an overturning state. Generally, when the ground-based remote control robot rolls over, the roll attitude angle is close to 180 degrees, and all wheels are idling. Therefore, by implementing this optional manner, it can be accurately determined that the ground remote control robot is in an upside-down state.

For a specific implementation manner of the ground remote control robot determining whether the wheels of the ground remote control robot are in an idling state according to the sensor data, reference may be made to the corresponding description in the embodiment corresponding to FIG. 6, and details are not described herein.

704. When the remote control robot on the ground is in an overturned state, the remote control robot on the ground performs a preset protection operation.

For the description of step 704, reference may be made to the description corresponding to the above 203, and details are not described herein.

By implementing the method described in FIG. 7, it can be accurately determined that the ground remote control robot is in an overturned state.

Please refer to FIG. 9, which is a ground remote-control robot disclosed in an embodiment of the present invention. The ground remote control robot can implement the functions of the ground remote control robot in the foregoing method embodiment. The ground remote control robot may include at least an obtaining unit 901, a determining unit 902, and a processing unit 903, where:

An acquiring unit 901, configured to acquire sensing data output by a sensor configured on the ground remote control robot;

A determining unit 902, configured to determine whether the ground remote-controlling robot is in an off-ground state according to the sensing data;

The processing unit 903 is configured to perform a preset protection operation when the remote-controlling robot is off-ground.

Optionally, the manner in which the processing unit 903 performs a preset protection operation is specifically:

Cut off the power output of the power system of the ground remote robot; and / or,

Send a prompt message for prompting to leave the ground to the control terminal or server of the ground remote robot.

Optionally, the off-ground state includes one or more of a ground remote control robot in a lifted state and a ground remote control robot in a tipped state.

Optionally, the off-ground state is that the ground remote control robot is in a lifted state. The manner in which the determining unit 902 determines whether the ground remote control robot is off the ground according to the sensing data is specifically: determining whether the ground remote control robot moves upward according to the sensor data. And whether the wheels of the ground remote control robot are in an idle state; when it is determined that the ground remote control robot is moving upward and all wheels of the ground remote control robot are in an idle state, it is determined that the ground remote control robot is in a lifted state.

Optionally, the sensing data includes speed and / or acceleration in the vertical direction; the manner in which the determining unit 902 determines whether the ground remote control robot moves upwards according to the sensor data is specifically: when the speed and / or acceleration in the vertical direction is When the vertical upward direction and the speed and / or acceleration in the vertical direction are greater than or equal to a preset speed threshold or a preset acceleration threshold, it is determined that the ground remote control robot moves upward.

Optionally, the sensing data further includes a distance between the ground remote control robot and the ground; the manner in which the determining unit 902 determines whether the ground remote control robot moves upward according to the sensor data is specifically: determining the ground when the distance is greater than or equal to a preset distance threshold The remote control robot moves upwards.

Optionally, the off-ground state is that the ground remote control robot is in an overturned state, and the manner in which the determining unit 902 determines whether the ground remote control robot is off the ground according to the sensing data is specifically: determining the rolling attitude of the ground remote control robot according to the sensor data Whether it is in a preset roll attitude range and whether the wheels of the ground remote control robot are in an idling state; when it is determined that the roll attitude of the ground remote control robot is in a preset roll attitude range and at least one wheel of the ground remote control robot is in an idle state, determine the ground The remote control robot is in an overturned state.

Optionally, the preset roll attitude range includes a first preset roll attitude range, and the overturned state includes a rollover state. The determination unit 902 determines whether the roll attitude of the ground-based remote control robot is within the preset roll attitude range based on the sensor data. The method of determining whether the wheels of the ground remote control robot are in an idling state is specifically: determining whether the rolling attitude of the ground remote control robot is in a first preset rolling attitude range and whether the wheels of the ground remote control robot are in an idle state according to the sensor data; When the roll attitude of the remote control robot is in a preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, the manner in which the determining unit 902 determines that the ground remote control robot is in an overturning state is specifically: when determining the ground roll of the remote control robot When the attitude is in the first preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in a rollover state.

Optionally, the preset roll attitude range includes a second preset roll attitude range, and the overturned state includes an overturned state. The determination unit 902 determines whether the roll attitude of the ground-based remote control robot is within the preset roll attitude range based on the sensor data. The method of determining whether the wheels of the ground remote control robot are in the idling state is specifically: determining whether the rolling attitude of the ground remote control robot is in the second preset rolling attitude range and whether the wheels of the ground remote control robot are in the idling state according to the sensor data; When the roll attitude of the remote control robot is in a preset roll attitude range and the wheels of the ground remote control robot are in an idling state, the manner in which the determining unit 902 determines that the ground remote control robot is in an overturned state is specifically: When the second preset roll attitude range and all wheels of the ground remote control robot are in an idling state, the determining unit 902 determines that the ground remote control robot is in an overturning state.

Optionally, the sensing data includes the rotational speed of the wheel; the manner in which the determining unit 902 determines whether the wheel of the ground remote control robot is in an idling state according to the sensor data is specifically: determining whether the rotational speed of the wheel and the torque of the wheel conform to a preset matching relationship; when When the preset matching relationship is not met, it is determined that the wheel is in an idling state.

Optionally, the manner in which the determining unit 902 determines whether the ground remote control robot is off the ground according to the sensing data is specifically: inputting the sensor data into a preset neural network model to determine whether the ground remote control robot is off the ground.

Please refer to FIG. 10, which is a schematic structural diagram of a ground remote control robot according to an embodiment of the present invention. As shown in FIG. 10, the ground remote-control robot includes a memory 1001, a processor 1002, and a sensor 1003. Optionally, the memory 1001, the processor 1002, and the sensor 1003 may be connected through a bus system 1004.

The memory 1001 is configured to store a program instruction. The memory 1001 may include volatile memory (for example, random-access memory (RAM); the memory 1001 may also include non-volatile memory (for example, flash memory) memory), solid-state drive (SSD), etc .; the memory 1001 may further include a combination of the above types of memories.

The processor 1002 may include a central processing unit (CPU). The processor 1002 may further include a hardware chip. The above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a generic array logic (GAL), or the like. The processor 1002 calls the program instructions in the memory 1001 to perform the following steps:

Obtain the sensing data output by the sensor 1003 configured on the ground remote robot;

Optionally, when the processor 1002 performs a preset protection operation, it is specifically used to:

Optionally, the off-ground state is that the ground remote control robot is in a lifted state. When the processor 1002 determines whether the ground remote control robot is off the ground according to the sensing data, it is specifically used to:

Determine whether the ground remote control robot is moving upward and whether the wheels of the ground remote control robot are idling according to the sensor data;

When it is determined that the ground remote control robot moves upward and all wheels of the ground remote control robot are in an idling state, it is determined that the ground remote control robot is in a lifted state.

Optionally, the sensing data includes speed and / or acceleration in a vertical direction;

When the processor 1002 determines whether the ground remote control robot moves upward according to the sensor data, it is specifically used to:

When the speed and / or acceleration in the vertical direction is the vertical upward direction and the speed and / or acceleration in the vertical direction is greater than or equal to a preset speed threshold or a preset acceleration threshold, determine that the ground remote control robot moves upward.

Optionally, the sensing data also includes the distance between the ground remote control robot and the ground;

When the distance is greater than or equal to a preset distance threshold, it is determined that the ground remote control robot moves upward.

Optionally, the off-ground state is that the ground remote control robot is in an overturned state. When the processor 1002 determines whether the ground remote control robot is off the ground according to the sensing data, it is specifically used to:

Determining whether the rolling attitude of the ground-based remote control robot is within a preset rolling attitude range and whether the wheels of the ground-based remote control robot are idling according to the sensor data;

When it is determined that the rolling attitude of the ground remote control robot is in a preset rolling attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in an overturning state.

Optionally, the preset roll attitude range includes a first preset roll attitude range, and the overturned state includes a rollover state.

When the processor 1002 determines whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data, it is specifically used to:

Determining, according to the sensor data, whether the rolling attitude of the ground remote control robot is in a first preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state;

When it is determined that the roll attitude of the ground remote control robot is in a preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, the processor 1002 determines that the ground remote control robot is in an overturning state, and is specifically configured to:

When it is determined that the roll attitude of the ground remote control robot is in a first preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, the processor 1002 determines that the ground remote control robot is in a rollover state.

Optionally, the preset roll attitude range includes a second preset roll attitude range, and the overturned state includes an overturned state,

Determining, according to the sensor data, whether the rolling attitude of the ground remote control robot is in a second preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state;

When it is determined that the roll attitude of the ground remote control robot is within a preset roll attitude range and the wheels of the ground remote control robot are in an idling state, the processor 1002 determines that the ground remote control robot is in an overturning state, which is specifically used to:

When it is determined that the rolling attitude of the ground remote control robot is in a second preset rolling attitude range and all wheels of the ground remote control robot are in an idling state, the processor 1002 determines that the ground remote control robot is in an overturning state.

Optionally, the sensing data includes the speed of the wheel;

When the processor 1002 determines whether the wheels of the ground remote control robot are in an idling state according to the sensor data, it is specifically used to:

Determine whether the speed of the wheel and the torque of the wheel meet the preset matching relationship;

When the preset matching relationship is not met, it is determined that the wheel is in an idling state.

Optionally, when the processor 1002 determines whether the ground remote control robot is off the ground according to the sensing data, it is specifically used to:

The sensor data is input into a preset neural network model to determine whether the ground-controlled remote robot is off-ground.

Based on the same inventive concept, the principle of the mobile platform provided in the embodiments of this application to solve the problem is similar to the method embodiment of this application, so the implementation of the mobile platform can refer to the implementation of the method, and the beneficial effects of the mobile platform can refer to the benefits of the method The effect, for brevity description, will not be repeated here.

It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence. Because according to the present invention, some steps may be performed in another order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

Those skilled in the art should be aware that, in one or more of the above examples, the functions described in the present invention may be implemented by hardware, software, firmware, or any combination thereof. When implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

The specific embodiments described above further describe the objectives, technical solutions, and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. The scope of protection, any modification, equivalent replacement, or improvement made on the basis of the technical solution of the present invention shall be included in the scope of protection of the present invention.

Claims

A control method for a ground remote-controlling robot, wherein the method includes:

Obtain the sensing data output by the sensors configured on the ground remote robot;

Determining whether the ground remote control robot is off the ground according to the sensing data;

When the ground remote control robot is off the ground, a preset protection operation is performed.
The method according to claim 1, wherein the performing a preset protection operation comprises:

Cut off the power output of the power system of the ground remote control robot; and / or,

Sending prompt information for prompting to leave the ground to the control terminal or server of the ground remote-controlling robot.
The method according to claim 1 or 2, wherein the off-ground state comprises one or more of the ground remote control robot in a lifted state and the ground remote control robot in a tipped state.
The method according to claim 3, wherein the off-ground state is that the ground remote control robot is in a lifted state, and wherein the determining according to the sensing data whether the ground remote control robot is off the ground Status, including:

Determining whether the ground remote control robot moves upward and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the ground remote control robot moves upward and all wheels of the ground remote control robot are in an idling state, it is determined that the ground remote control robot is in a lifted state.
The method according to claim 4, wherein the sensing data includes a speed and / or acceleration in a vertical direction;

The determining whether the ground remote control robot moves upward according to the sensor data includes:

Determining the ground remote control when the speed and / or acceleration in the vertical direction is a vertical upward direction and the speed and / or acceleration in the vertical direction is greater than or equal to a preset speed threshold or a preset acceleration threshold The robot moves up.
The method according to claim 4, wherein the sensing data further comprises a distance between the ground remote control robot and the ground;

The determining whether the ground remote control robot moves upward according to the sensor data includes:

When the distance is greater than or equal to a preset distance threshold, it is determined that the ground remote control robot moves upward.
The method according to claim 3, wherein the off-ground state is that the ground remote control robot is in an overturned state, and wherein determining whether the ground remote control robot is off the ground according to the sensing data comprises:

Determining whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the roll attitude of the ground remote control robot is in the preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in an overturned state.
The method according to claim 7, wherein the preset roll attitude range includes a first preset roll attitude range, and the overturned state includes a rollover state,

The determining whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data includes:

Determining whether the rolling attitude of the ground remote control robot is within the first preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the rolling attitude of the ground remote control robot is in a preset rolling attitude range and at least one wheel of the ground remote control robot is in an idling state, determining that the ground remote control robot is in an overturning state includes:

When it is determined that the roll attitude of the ground remote control robot is in the first preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in a rollover state.
The method according to claim 7 or 8, wherein the preset roll attitude range includes a second preset roll attitude range, and the overturned state includes an overturned state,

The determining whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data includes:

Determining whether the rolling attitude of the ground remote control robot is within the second preset rolling attitude range and whether the wheels of the ground remote control robot are in an idle state according to the sensor data;

When it is determined that the rolling attitude of the ground remote control robot is in a preset rolling attitude range and the wheels of the ground remote control robot are in an idling state, determining that the ground remote control robot is in a tipping state includes:

When it is determined that the rolling attitude of the ground remote control robot is in the second preset rolling attitude range and all wheels of the ground remote control robot are in an idling state, it is determined that the ground remote control robot is in an overturning state.
The method according to any one of claims 4-9, wherein the sensing data includes a rotational speed of a wheel;

The determining whether the wheels of the ground remote control robot are in an idling state according to the sensor data includes:

Determining whether the speed of the wheel and the torque of the wheel conform to a preset matching relationship;

When the preset matching relationship is not met, it is determined that the wheel is in an idling state.
The method according to claim 3, wherein determining whether the ground remote control robot is off the ground according to the sensing data comprises:

The sensor data is input into a preset neural network model to determine whether the ground remote control robot is in an off-ground state.
A ground remote control robot, characterized in that the ground remote control robot includes: a memory, a processor, and a sensor, wherein:

The memory is used to store program instructions;

The processor calls the program instructions for:

Obtain the sensing data output by the sensors configured on the ground remote robot;

Determining whether the ground remote control robot is off the ground according to the sensing data;

When the ground remote control robot is off the ground, a preset protection operation is performed.
The ground-based remote control robot according to claim 12, wherein the processor is specifically configured to:

Cut off the power output of the power system of the ground remote control robot; and / or,

Sending prompt information for prompting to leave the ground to the control terminal or server of the ground remote-controlling robot.
The ground remote control robot according to claim 12 or 13, wherein the off-ground state comprises one or more of the ground remote control robot in a lifted state and the ground remote control robot in an overturned state. .
The ground remote control robot according to claim 14, wherein the off-ground state is that the ground remote control robot is in a lifted state, and wherein the processor determines the ground remote control robot according to the sensing data. When it is off the ground, it is specifically used to:

Determining whether the ground remote control robot moves upward and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the ground remote control robot moves upward and all wheels of the ground remote control robot are in an idling state, it is determined that the ground remote control robot is in a lifted state.
The ground-based remote control robot according to claim 15, wherein the sensing data includes a speed and / or acceleration in a vertical direction;

When the processor determines whether the ground remote control robot moves upward according to the sensor data, the processor is specifically configured to:

Determining the ground remote control when the speed and / or acceleration in the vertical direction is a vertical upward direction and the speed and / or acceleration in the vertical direction is greater than or equal to a preset speed threshold or a preset acceleration threshold The robot moves up.
The ground remote control robot according to claim 15, wherein the sensing data further comprises a distance between the ground remote control robot and the ground;

When the processor determines whether the ground remote control robot moves upward according to the sensor data, the processor is specifically configured to:

When the distance is greater than or equal to a preset distance threshold, it is determined that the ground remote control robot moves upward.
The ground remote-control robot according to claim 14, wherein the off-ground state is that the ground remote-control robot is in an overturned state, and wherein the processor determines whether the ground remote-control robot is in a disengagement state based on the sensing data. In ground state, it is specifically used for:

Determining whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the roll attitude of the ground remote control robot is in the preset roll attitude range and at least one wheel of the ground remote control robot is in an idling state, it is determined that the ground remote control robot is in an overturned state.
The ground-based remote control robot according to claim 18, wherein the preset roll attitude range includes a first preset roll attitude range, and the overturned state includes a rollover state,

When the processor determines whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idle state according to the sensor data, the processor is specifically configured to:

Determining whether the rolling attitude of the ground remote control robot is within the first preset rolling attitude range and whether the wheels of the ground remote control robot are in an idling state according to the sensor data;

When it is determined that the rolling attitude of the ground remote control robot is in a preset rolling attitude range and at least one wheel of the ground remote control robot is in an idling state, the processor determines that the ground remote control robot is in an overturning state, specifically, Used for:

When it is determined that the rolling attitude of the ground remote control robot is in the first preset rolling attitude range and at least one wheel of the ground remote control robot is in an idling state, the processor determines that the ground remote control robot is in a rollover status.
The ground-based remote control robot according to claim 18 or 19, wherein the preset roll attitude range includes a second preset roll attitude range, and the overturned state includes an overturned state,

When the processor determines whether the rolling attitude of the ground remote control robot is within a preset rolling attitude range and whether the wheels of the ground remote control robot are in an idle state according to the sensor data, the processor is specifically configured to:

Determining whether the rolling attitude of the ground remote control robot is within the second preset rolling attitude range and whether the wheels of the ground remote control robot are in an idle state according to the sensor data;

When it is determined that the rolling attitude of the ground remote control robot is in a preset rolling attitude range and the wheels of the ground remote control robot are in an idling state, the processor determines that the ground remote control robot is in an overturning state, and is specifically configured to: :

When it is determined that the rolling attitude of the ground remote control robot is in the second preset rolling attitude range and all wheels of the ground remote control robot are in an idling state, the processor determines that the ground remote control robot is in an overturning state .
The ground remote-controlling robot according to any one of claims 15-20, wherein the sensing data includes a rotation speed of a wheel;

When the processor determines whether the wheels of the ground remote control robot are in an idle state according to the sensor data, the processor is specifically configured to:

Determining whether the speed of the wheel and the torque of the wheel conform to a preset matching relationship;

When the preset matching relationship is not met, it is determined that the wheel is in an idling state.
The ground remote-controlling robot according to claim 14, wherein when the processor determines whether the ground remote-controlling robot is off the ground according to the sensing data, the processor is specifically configured to:

The sensor data is input into a preset neural network model to determine whether the ground remote control robot is in an off-ground state.