WO2020140605A1

WO2020140605A1 - Motion detection method and apparatus, and computer non-volatile readable storage medium

Info

Publication number: WO2020140605A1
Application number: PCT/CN2019/116455
Authority: WO
Inventors: 周宸; 傅佳; 周宝; 王虎
Original assignee: 平安科技（深圳）有限公司
Priority date: 2019-01-04
Filing date: 2019-11-08
Publication date: 2020-07-09
Also published as: CN109623876B; CN109623876A

Abstract

A motion detection method and apparatus, and a computer non-volatile readable storage medium, which is applied in the field of smart cities, wherein the method comprises: measuring a first motion parameter of a robot (101), the first motion parameter comprising linear velocity and angular velocity, the linear velocity being the linear velocity of the center of mass of the robot; calculating a second motion parameter of the robot by using the first motion parameter above (102), the second motion parameter comprising the linear velocity of the left front wheel and the linear velocity of the right front wheel of the robot; comparing the first motion parameter above and the second motion parameter above to corresponding threshold ranges respectively (103); and if any one motion parameter among the first motion parameter above and second motion parameter above is not within the corresponding threshold range, prompting a first warning message (104). The described method obtains a plurality of motion parameters of the robot by means of direct measurement and operation, and then determines whether the robot is in an abnormal motion state according to whether any one of the motion parameters of the robot is within the corresponding threshold range.

Description

Motion detection method, device and computer non-volatile readable storage medium

This application requires the priority of the Chinese patent application submitted to the China Patent Office on January 4, 2019, with the application number 201910015235.0 and the application name as "a motion detection method, motion detection device, and computer-readable storage medium", all of which The content is incorporated into this application by reference.

Technical field

The present application relates to the field of robots, and in particular to a motion detection method, device, and computer non-volatile readable storage medium.

Background technique

With the vigorous development of robot technology, all walks of life have begun to use robots to reduce the pressure of manual operations, such as home robots, surgical robots, writing robots, and hotel robots. Users can use robots to accomplish many things. For example, when users use home robots, they can control the robots through mobile phone applications, realize remote video chat and voice calls with home robots, and even use home robots as home stewards to help the master. Manage daily life, etc. Although robots are generally powerful, many robots have the problem of poor stability during motion.

In order to cope with the problem of poor robot motion stability, better hardware devices can be used to control the robot, such as a processor with better performance, a braking device, and an acceleration device.

However, no matter how good the hardware device is, it can't solve the problem of poor robot stability, because the robot with the best control performance can not guarantee that there will be no abnormal movement, so there is a lack of a robot that can be detected in the first place. Abnormal movement method.

Summary of the invention

The embodiments of the present application provide a motion detection method that can detect abnormal motion of the robot. When the motion of the robot is abnormal, a warning message is prompted to prompt the management personnel to take countermeasures, so that the present application improves from the perspective of prevention Robot stability.

In a first aspect, an embodiment of the present application provides a motion detection method. The method includes:

Measuring a first motion parameter of the robot, the first motion parameter including a linear velocity and an angular velocity, the linear velocity being a linear velocity of the center of mass of the robot;

Calculating the second motion parameter of the robot using the first motion parameter, the second motion parameter including the linear velocity of the left front wheel and the linear velocity of the right front wheel of the robot;

Comparing the first motion parameter and the second motion parameter with corresponding threshold ranges respectively;

If there is any one of the first motion parameter and the second motion parameter that is not within the corresponding threshold range, a first warning message is prompted, the first warning message is used to indicate that the robot motion is unstable .

In a second aspect, an embodiment of the present application provides a motion detection device, the motion detection device including a unit for executing the motion detection method of the first aspect, the motion detection device includes:

The measuring unit is used to measure a first motion parameter of the robot, the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is a linear velocity of the center of mass of the robot;

A calculation unit, configured to calculate a second movement parameter of the robot using the first movement parameter, the second movement parameter including a linear velocity of a left front wheel and a linear velocity of a right front wheel of the robot;

A comparing unit, configured to compare the first motion parameter and the second motion parameter with corresponding threshold ranges respectively;

The prompting unit is configured to prompt first warning information if any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range, and the first warning information is used to indicate The robot movement is unstable.

In a third aspect, an embodiment of the present application provides another motion detection device, including an encoder, a processor, and a display, where:

An encoder for measuring a first motion parameter of the robot, where the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is the linear velocity of the center of mass of the robot;

The processor is used to calculate the second motion parameter of the robot by using the first motion parameter, the second motion parameter includes the linear speed of the left front wheel and the linear speed of the right front wheel of the robot; The first motion parameter and the second motion parameter are compared with corresponding threshold ranges respectively;

The display is used for prompting first warning information if any one of the first sports parameter and the second sports parameter is not within the corresponding threshold range, and the first warning information is used to indicate the Robot movement is unstable.

According to a fourth aspect, an embodiment of the present application provides a robot including the motion detection device according to the third aspect, configured to execute the motion detection method according to any one of the implementation manners of the first aspect to the first aspect.

According to a fifth aspect, an embodiment of the present application provides a computer non-volatile readable storage medium, wherein the computer storage medium stores a computer program, and the computer program includes program instructions, and the program instructions are processed Executed by the controller to execute the method of any one of the implementation manners of the first aspect to the first aspect.

This application monitors the abnormal motion of the robot by monitoring the motion parameters, greatly improving the efficiency of abnormal detection, and improving the stability of the robot from the perspective of prevention.

BRIEF DESCRIPTION

In order to explain the technical solutions of the embodiments of the present application more clearly, the drawings required in the description of the embodiments will be briefly introduced below.

FIG. 1 is a schematic flowchart of a motion detection method provided by an embodiment of the present application;

2 is a schematic flowchart of a motion detection method provided by another embodiment of the present application;

3 is a schematic block diagram of a motion detection device provided by an embodiment of the present application;

4 is a structural block diagram of a motion detection device provided by an embodiment of the present application;

5 is a schematic structural diagram of a robot provided by an embodiment of the present application;

6 is a schematic structural diagram of a robot chassis provided by an embodiment of the present application;

7 is a schematic diagram of a pose of a robot provided by an embodiment of the present application.

detailed description

The present application is mainly applied to a motion detection device of a robot. The motion detection device may be a traditional motion detection device or the motion detection device described in the third and fourth embodiments of the present application. The robot may be a traditional robot or the The robot described in the fifth embodiment of the application is not limited in this application. When the motion detection device sends data, the characteristics of the data are recorded and transmitted according to a preset format, where the characteristics of the data include time, location, type, and so on.

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application.

1 is a schematic flowchart of a motion detection method applied to a robot according to an embodiment of the present application. As shown in FIG. 1, the motion detection method may include:

101: Measure the first motion parameter of the robot.

In the embodiment of the present application, the angular velocity of the robot and the linear velocity of the centroid of the robot are measured by a measuring device installed at the centroid of the robot to obtain the first motion parameter of the robot. Among them, measuring devices such as encoders, etc. An encoder is a device that can collect motion data such as linear velocity and angular velocity, and compile and convert the motion data into a signal form that can be used for communication, transmission, and storage. The center of mass refers to the imaginary point where the mass of the robot is concentrated on one point, which can be the center point on the chassis of the robot. Assuming that the chassis of the robot is circular, the centroid is the center of the circle. Assuming that the chassis of the robot is rectangular, the center of mass is the two of the rectangle. The intersection of diagonal lines.

It should be noted that, because the measuring device is installed in the center of mass of the robot, the measuring device can simultaneously measure the linear velocity and angular velocity of the center of mass, where the angular velocity refers to the radian that the robot rotates per unit time is the angular velocity. The linear speed refers to the moving speed of the robot along the tangential direction of the motion track. When the robot performs a curved motion, the angular velocity of each point on the robot is equal, and the linear velocity of different points on the robot may be equal or may not be equal, because the linear velocity of any point on the robot depends on the The distance from the point to the instantaneous center, the greater the distance, the greater the linear velocity, so the linear velocity of the point on the robot with the same distance to the instantaneous center is equal, otherwise it is not equal. Among them, the instantaneous center is the instantaneous rotation center of the robot in the curved motion, and it can be understood that the robot moves in a circular motion around the instantaneous center at the instant of the curved motion.

102: Calculate the second motion parameter of the robot using the first motion parameter.

In the embodiment of the present application, the first motion parameter is used to calculate the second motion parameter of the robot, wherein the second motion parameter includes the linear velocity of the left front wheel and the linear velocity of the right front wheel of the robot, and the robot The left front wheel and the right front wheel are located on the straight line connecting the robot's center of mass and instantaneous center.

Specifically, the distances between the left front wheel and the right front wheel to the instantaneous center are calculated using the first motion parameters, that is, the first distance L1 from the left front wheel to the instantaneous center, and the second distance L2 from the right front wheel to the instantaneous center; The angular velocity ω of the first motion parameter, the first distance L1 and the second distance L2 are calculated to obtain the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel.

More specifically, the above calculation of the distance between the left front wheel and the right front wheel to the instantaneous center using the first motion parameter refers to calculating the distance r between the center of mass and the instantaneous center according to the angular velocity V and the angular velocity ω of the first motion parameter; Set the distances of the center of mass to the left front wheel and the right front wheel; according to the distance r of the center of mass and the instant center, and the distance T of the center of mass to the left front wheel and the right front wheel, calculate the left front wheel and the right front wheel respectively. For the distances L1 and L2 of the center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instantaneous center.

In the embodiment of the present application, as shown in the chassis of the robot shown in FIG. 6, the robot including the chassis is rotating around the instant center M at the moment when the curve moves. The center point of the chassis (that is, the center of mass P) is equipped with an encoder that measures the first motion parameters of the robot. A dashed line containing an arrow indicates the direction of advancement of the robot, and the left and right front wheels are included on both sides of the encoder , The center of the left front wheel and the center of the right front wheel are located on the connecting line between the center of the encoder and the instant center, the distance T between the left front wheel and the encoder, and the distance T between the right front wheel and the encoder are known to be fixed The value is measured and stored in the robot's memory before the robot leaves the factory.

After the encoder measures the angular velocity of the robot and the linear velocity of the center of mass, the distance from the center of mass P to the instantaneous center M can be calculated, which is the radius of rotation r of the robot. Then according to the rotation radius r of the center of mass to the instantaneous center, the distance T of the center of mass to the left front wheel, the distance T of the center of mass to the right front wheel can be calculated to the first distance L1 from the left front wheel to the instantaneous center, the right front wheel to the instantaneous center The second distance L2. Specifically, there is a functional relationship between the angular velocity ω of the robot, the linear velocity V of the center of mass, the linear velocity VL of the left front wheel, the linear velocity VR of the right front wheel, the distance T between the left front wheel and the center of mass, and the distance T between the right front wheel and the center of mass , Ω=V/r=VL/(rT)=VR/(r+T).

Among them, V and ω are measured by the encoder. It is known. T can be obtained by measuring the size of the robot in advance, so it is also known, and r can be calculated from the known V and ω. After r is obtained, Then you can calculate the VL of the left front wheel and the VR of the right front wheel.

It should be noted that since the distances between the left front wheel and the right front wheel are equal to the center of mass, the linear velocity VL of the left front wheel, the linear velocity VR of the right front wheel, and the linear velocity V of the center of mass have the following functional relationship, V = (VL+VR)/2.

It can be seen that, as shown in Figure 6, because the left front wheel and the right front wheel are also installed on both sides of the robot chassis, and the two wheels are equipped with independent drive motors, the speed at the two wheels and the encoder is not It is always the same. It is assumed that when the robot is performing a curved motion, different points on the robot have different speeds according to the length of the distance from the center of the circle. Therefore, in order to describe the motion state of the robot more accurately, in addition to the linear velocity V and the angular velocity ω of the robot body, the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel of the robot need to be acquired. The angular velocity is consistent everywhere. Using the previously measured V and ω to perform a series of calculations, the linear velocity of the left front wheel VL and the linear velocity of the right front wheel VR of the robot can be obtained.

Optionally, another method is used to obtain the first motion parameter and the second motion parameter. Specifically, the rotational speed of the robot, the acceleration of the left front wheel and the acceleration of the right front wheel are measured; the angular velocity of the first motion parameter of the robot is calculated according to the rotational speed; the acceleration and The acceleration of the right front wheel is integrated separately to obtain the linear velocity of the left front wheel and the right front wheel of the robot and the second motion parameter of the robot; the left front wheel using the second motion parameter The linear velocity and the linear velocity of the right front wheel are used to calculate the linear velocity of the center of mass to obtain the linear velocity of the first motion parameter.

In the embodiment of the present application, as shown in FIG. 6, accelerators and gyro sensors are installed at the left and right front wheels, respectively, where the accelerator is used to provide power to the left and right front wheels to power the left and right wheels. The right front wheel accelerates, and the accelerator can also measure the acceleration a1 of the left front wheel and the acceleration a2 of the right front wheel. The gyro sensor is used to measure the rotation speed n1 of the left front wheel and the rotation speed n2 of the right front wheel. The rotation speed n1 of the wheel, the rotation speed n2 of the right front wheel, and the rotation speed n of the center of mass are equal, so that the rotation speed n of the center of mass can be obtained. Then, the acceleration a1 of the left front wheel and the acceleration a2 of the right front wheel are respectively integrated, and the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel can be calculated. According to the functional relationship between the angular velocity ω and the rotation speed n, ω·r=2πnr calculates the angular velocity ω, where π=3.1415926...

103: Compare the first motion parameter and the second motion parameter to the corresponding threshold range, respectively.

In the embodiment of the present application, the first motion parameter including the angular velocity ω of the robot and the linear velocity V of the centroid, and the second motion including the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel are obtained in the above steps After the parameters, obtain the threshold ranges corresponding to each motion parameter, the threshold range [ωmin, ωmax] corresponding to the angular velocity ω of the robot, the threshold range [Vmin, Vmax] corresponding to the linear velocity V of the center of mass, the line of the left front wheel The threshold range corresponding to the speed VL [VL min, VL max], the threshold range corresponding to the right front wheel [VR min, VR max], where ωmin represents the minimum angular velocity of the robot, ωmax represents the maximum angular velocity of the robot, and Vmin represents the centroid of the robot The minimum linear velocity, Vmax represents the maximum linear velocity of the robot's center of mass, VLmin represents the minimum linear velocity of the left front wheel, VLmax represents the maximum linear velocity of the left front wheel, VRmin represents the minimum linear velocity of the right front wheel, VR max represents the maximum linear velocity of the front right wheel.

104: If any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range, the first warning message is prompted.

In the embodiment of the present application, when any of the motion parameters of the angular velocity ω of the robot, the linear velocity V, the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel are not within their corresponding threshold ranges, the robot is judged Abnormal movement, and prompt the first warning message. Among them, the first warning information is used to indicate that the robot motion is unstable. The first warning information includes abnormal motion parameters of the robot. The method of prompting includes displaying the first warning information on the display screen, or prompting the first warning information by voice The warning information, or the first warning information is prompted by means of light, and the method of prompting the warning information is not limited in this application.

Specifically, when VL ≤ VL min or VL ≥ VL max, it is judged that the mobile robot has an abnormal state in motion; when VR ≤ VR min or VR ≥ VR max, it is judged that the mobile robot has an abnormal state in motion; when V ≤ Vmin or V ≥VMax, to judge the abnormal state of the mobile robot's motion state; when ω≤ωmin or ω≥ωmax, to judge the abnormal state of the mobile robot's motion state.

Further, after measuring the first motion parameter of the robot, the posture of the robot is calculated according to the first motion parameter, the posture includes the position and deflection angle of the robot, and the position includes the horizontal displacement distance and the vertical displacement distance; On the running track; if it is determined that the robot is not on the running track, a second warning message is prompted.

In the embodiment of the present application, in addition to monitoring whether the first and second motion parameters of the robot are not within the corresponding threshold range to monitor whether the motion of the robot is abnormal, the motion of the robot is also monitored by monitoring the posture of the robot Is there any abnormality? After obtaining the above first motion parameters, the first motion parameters are used to calculate the robot's posture, which is used to describe the robot's running posture, including the robot's position and deflection direction, and the position includes the robot's horizontal displacement distance and vertical displacement Distance, and then judge whether the robot is on the running track according to the posture of the robot. If it is determined that the robot is not on the running track, a second warning message is prompted. Wherein, the second warning information includes abnormal motion parameters in the posture, and the method of prompting the second warning information can refer to the prompting method of the first warning information, which will not be repeated here.

Specifically, the above calculation of the position and posture of the robot based on the first motion parameter refers to the calculation of the instantaneous deflection angle of the robot, the instantaneous horizontal speed in the horizontal direction, and the instantaneous in the vertical direction using the first motion parameter Vertical speed; Integrate the instantaneous deflection angle, instantaneous horizontal speed and instantaneous vertical speed separately to get the deflection angle, horizontal displacement distance and vertical displacement distance of the robot. Referring to FIG. 7, (x, y) and angle θ are used to describe the robot's pose (x, y, θ), where (x, y) represents the position of the mobile robot relative to world coordinates (translation component), and x represents the robot Is the horizontal displacement distance, y represents the vertical displacement distance of the robot, and θ represents the deflection angle of the robot's advancing direction relative to the x axis.

In the embodiment of the present application, the above calculation of the pose of the robot through the first motion parameter refers to obtaining the first motion parameter to calculate the instantaneous deflection angle, instantaneous horizontal speed, and instantaneous vertical speed of the robot, where the instantaneous deflection angle is the robot In the angle deflected at the instant, the instantaneous horizontal speed is the instantaneous moving speed of the robot in the horizontal direction, and the instantaneous vertical speed is the instantaneous moving speed of the robot in the vertical direction. In fact, the instantaneous deflection angle is the angular velocity of the robot. There is a functional relationship between the linear velocity v and the angular velocity ω in the first motion parameter and the instantaneous deflection angle W of the robot, the instantaneous horizontal velocity Vx and the instantaneous vertical velocity Vy as follows:

Specifically, the above determination of whether the robot is on the running track according to the pose refers to determining whether the robot is on the running track according to the position of the robot; if the robot is not on the running track, it is determined that the robot is not on the running track; if the robot is on the running track Calculate the deflection angle of the tangent of the position of the robot on the running track; determine whether the deflection angle of the robot is consistent with the deflection angle of the tangent; if the deflection angle of the robot is not consistent with the deflection angle of the tangent, determine that the robot is not on the running trajectory.

In the embodiment of the present application, the above judgment of whether the robot is on the running track according to the pose refers to first determining whether the robot is on the running track according to the position in the pose of the robot. The running track describes the movement range of the robot. Whether the robot is on the motion track can determine whether the robot is within a predetermined range of motion. If it is determined that the robot is not on the running track, it indicates that the robot is operating abnormally; if it is determined that the robot is on the running track, the deflection angle in the pose of the robot is obtained, And the deflection angle of the tangent of the position of the robot on the above running track, if the deflection angle of the robot is consistent with the deflection angle of the tangent, if it is consistent, it means that the robot is on the running track, otherwise, it is predicted that the robot will leave the running track, so Make sure that the robot is not on the running trajectory, where the running trajectory describes the running range of the robot and the deflection angle at each position.

It should be noted that the difference between the above-mentioned running track and the above-mentioned running track is that the above-mentioned running track describes the range of motion of the robot, and the running track not only describes the range in which the robot can move, but also describes the deflection of the robot at each position of the range of motion. angle. Therefore, when the robot is on the running track, it means that the robot is on the running route, and when the robot is on the running track, it means that the robot is traveling along the running route, and there is no tendency to deviate from the running route.

It should be noted that, whether it is the method of directly measuring the first motion parameter, or the method of calculating the first motion parameter from other motion parameters (such as the rotation speed and acceleration of the left front wheel and the right front wheel), as long as the first Any motion parameter may be used, and the embodiment of the present application does not limit the method for acquiring the first motion parameter.

Optionally, the method of calculating the position of the pose of the mobile robot further includes a method of using a beacon of an ultrasonic sensor and a method of using an indoor global positioning system (GPS, Global Positioning System).

The embodiment of the present application obtains multiple motion parameters of the robot through direct measurement and calculation, and then determines whether the robot is in an abnormal motion state according to whether any one of the motion parameters of the robot is within the corresponding threshold range, and then determines whether the robot appears In case of abnormality, alert information is reminded to remind customers and store staff. Therefore, the embodiment of the present application detects the abnormal motion state of the robot in time by monitoring multiple motion parameters of the robot in real time before prompting serious consequences of the abnormal motion of the robot, and prompts the management personnel to take corresponding measures, so that the embodiment of the present application monitors Simple motion parameters can realize the abnormal motion monitoring of the robot, greatly improving the efficiency of abnormal detection.

2 is a schematic flowchart of another motion detection method provided by an embodiment of the present application. As shown in FIG. 2, the motion detection method may include:

201: Measure the first motion parameter of the robot.

It should be noted that, because the measuring device is installed in the center of mass of the robot, the measuring device can simultaneously measure the linear velocity and angular velocity of the center of mass, where the angular velocity refers to the radian that the robot rotates per unit time is the angular velocity. The linear speed refers to the moving speed of the robot along the tangential direction of the motion track. When the robot performs a curved motion, the angular velocity of each point on the robot is equal, and the linear velocity of different points on the robot may be the same or may be inconsistent, because the linear velocity of any point on the robot depends on the point The distance to the instantaneous center, the greater the distance, the greater the linear velocity, so the linear velocity of the point on the robot with the same distance to the instantaneous center is consistent, otherwise it is inconsistent. Among them, the instantaneous center is the instantaneous rotation center of the robot in the curve motion, and it can be understood that the robot moves in a circular motion around the rotation center at the instant of the curve motion.

202: Calculate the second motion parameter of the robot using the first motion parameter.

After the encoder measures the angular velocity of the robot and the linear velocity of the center of mass, the distance from the center of mass P to the instantaneous center M can be calculated, which is the radius of rotation r of the robot. Then according to the rotation radius r of the center of mass to the instantaneous center, the distance T of the center of mass to the front left wheel, the distance T of the center of mass to the front right wheel can be calculated to the first distance L1 from the front left wheel to the center of instantaneous, the front right wheel to the center of instantaneous The second distance L2. Specifically, there is a functional relationship between the angular velocity ω of the robot, the linear velocity V of the center of mass, the linear velocity VL of the left front wheel, the linear velocity VR of the right front wheel, the distance T between the left front wheel and the center of mass, and the distance T between the right front wheel and the center of mass , Ω=V/r=VL/(rT)=VR/(r+T).

In the embodiment of the present application, as shown in FIG. 6, accelerators and gyro sensors are installed at the left and right front wheels, respectively, where the accelerator is used to provide power to the left and right front wheels to power the left and right wheels. The right front wheel accelerates, and the accelerator can also measure the acceleration a1 of the left front wheel and the acceleration a2 of the right front wheel. The gyro sensor is used to measure the rotation speed n1 of the left front wheel and the rotation speed n2 of the right front wheel. The rotation speed n1 of the wheel, the rotation speed n2 of the right front wheel, and the rotation speed n of the center of mass are equal, so that the rotation speed n of the center of mass can be obtained. Then, the acceleration a1 of the left front wheel and the acceleration a2 of the right front wheel are respectively integrated, and the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel can be calculated. According to the functional relationship between the angular velocity ω and the rotation speed n, ω·r=2πnr calculates the angular velocity ω, π=3.1415926...

203: Compare the first motion parameter and the second motion parameter to the corresponding threshold range, respectively.

In the embodiment of the present application, the first motion parameter including the angular velocity ω of the robot and the linear velocity V of the centroid, and the second motion including the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel are obtained in the above steps After the parameters, obtain the threshold ranges corresponding to each motion parameter, the threshold range [ωmin, ωmax] corresponding to the angular velocity ω of the robot, the threshold range [Vmin, Vmax] corresponding to the linear velocity V of the center of mass, the line of the left front wheel The threshold range corresponding to the speed VL [VL min, VL max], and the threshold range corresponding to the right front wheel [VR min, VR max].

204: If any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range, the first warning message is prompted.

In the embodiment of the present application, when any of the motion parameters of the angular velocity ω of the robot, the linear velocity V, the linear velocity VL of the left front wheel and the linear velocity VR of the right front wheel are not within their corresponding threshold ranges, the robot is judged Abnormal movement, and prompt the first warning message. Among them, the first warning information contains abnormal motion parameters of the robot, and the prompting method includes displaying the first warning information on the display screen, or prompting the first warning information by voice, or prompting the first warning information by light Warning information, this application does not limit the way of warning information.

205: Calculate the posture of the robot according to the first motion parameter.

In the embodiment of the present application, in addition to monitoring whether the first and second motion parameters of the robot are not within the corresponding threshold range to monitor whether the motion of the robot is abnormal, the motion of the robot is also monitored by monitoring the posture of the robot Is there any abnormality? After obtaining the above first motion parameters, the first motion parameters are used to calculate the robot's posture, which is used to describe the robot's running posture, including the robot's position and deflection direction, and the position includes the robot's horizontal displacement distance and vertical displacement distance.

Specifically, the above calculation of the position and posture of the robot based on the first motion parameter refers to the use of the first motion parameter to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal speed in the horizontal direction, and the vertical Instantaneous vertical speed; integrate the instantaneous deflection angle, instantaneous horizontal speed and instantaneous vertical speed respectively to obtain the deflection angle, horizontal displacement distance and vertical displacement distance of the robot. Referring to FIG. 7, (x, y) and angle θ are used to describe the robot's posture (x, y, θ), where (x, y) represents the position of the mobile robot relative to the world coordinates (translation component), and θ represents the robot The deflection angle of the advancing direction relative to the x axis.

In the embodiment of the present application, the above calculation of the pose of the robot through the first motion parameter refers to obtaining the first motion parameter to calculate the instantaneous deflection angle, instantaneous horizontal speed, and instantaneous vertical speed of the robot, where the instantaneous deflection angle is the robot In the angle deflected at the instant, the instantaneous horizontal speed is the instantaneous moving speed of the robot in the horizontal direction, and the instantaneous vertical speed is the instantaneous moving speed of the robot in the vertical direction. In fact, the instantaneous deflection angle is the angular velocity of the robot. There is a functional relationship between the linear velocity ν and the angular velocity ω in the first motion parameter and the instantaneous deflection angle W of the robot, the instantaneous horizontal velocity Vx and the instantaneous vertical velocity Vy as follows:

206: Determine whether the robot is on the running track according to the pose.

In the embodiment of the present application, after the posture of the robot is obtained, it is determined whether the robot is on the running track according to the posture of the robot. Specifically, the above determination of whether the robot is on the running track according to the pose refers to determining whether the robot is on the running track according to the position of the robot; if the robot is not on the running track, it is determined that the robot is not on the running track; if the robot is on the running track Calculate the deflection angle of the tangent of the position of the robot on the running track; determine whether the deflection angle of the robot is consistent with the deflection angle of the tangent; if the deflection angle of the robot is not consistent with the deflection angle of the tangent, determine that the robot is not on the running trajectory.

In the embodiment of the present application, the above determination of whether the robot is on the running track according to the pose refers to first determining whether the robot is on the running track according to the position in the pose of the robot. The running track describes the movement range of the robot. Whether the robot is on the motion track can determine whether the robot is within a predetermined range of motion. If it is determined that the robot is not on the running track, it indicates that the robot is operating abnormally; if it is determined that the robot is on the running track, the deflection angle in the pose of the robot is obtained, And the deflection angle of the tangent of the position of the robot on the above running track, if the deflection angle of the robot is consistent with the deflection angle of the tangent, if it is consistent, it means that the robot is on the running track, otherwise, it is predicted that the robot will leave the running track, so Make sure that the robot is not on the running trajectory, where the running trajectory describes the running range of the robot and the deflection angle at each position.

207: If it is determined that the robot is not on the running track, a second warning message is prompted.

In the embodiment of the present application, if it is determined that the robot is not on the running track, a second warning message is prompted. Wherein, the second warning information includes abnormal motion parameters in the posture, and the method of prompting the second warning information can refer to the prompting method of the first warning information. The embodiment of the present application does not limit the manner of prompting the warning information.

Compared with the previous application example, in the embodiment of the present application, in addition to monitoring the first motion parameter and the second motion parameter of the robot, the posture of the robot is also monitored, and the robot is judged according to the posture of the robot Whether it is on the running track or not, if it is judged that the robot is not on the running track, a second warning message is prompted to remind the manager to take corresponding measures. It can be seen that the embodiments of the present application further improve the detection efficiency of the abnormal movement of the robot.

It should be noted that the above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similarities can refer to each other, and for the sake of brevity, they are not repeated here.

An embodiment of the present application further provides a motion detection device, which is used for a unit that executes any one of the foregoing motion detection methods. Specifically, referring to FIG. 3, it is a schematic block diagram of a motion detection device provided by an embodiment of the present application. The motion detection device of this embodiment includes a measurement unit 310, a calculation unit 320, a comparison unit 330, and a prompt unit 340. specific:

The measuring unit 310 is configured to measure a first motion parameter of the robot, where the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is a linear velocity of the center of mass of the robot;

The calculation unit 320 is configured to calculate a second motion parameter of the robot using the first motion parameter, and the second motion parameter includes a linear velocity of a left front wheel and a linear velocity of a right front wheel of the robot;

The calculation unit 320 is specifically configured to calculate the distances from the left front wheel and the right front wheel to the instantaneous center using the first motion parameter; using the angular velocity of the first motion parameter and the left front The distance between the wheel and the right front wheel and the instant center, respectively, to calculate the linear velocity of the left front wheel and the linear velocity of the right front wheel;

The calculation unit 320 is more specifically configured to calculate a radius of rotation from the center of mass to the instantaneous center according to the first motion parameter; obtain the preset center of mass to the left front wheel and the right front respectively The distance of the wheel; calculate the left front wheel and the right front wheel according to the turning radius of the center of mass to the instantaneous center, and the distances of the center of mass to the left front wheel and the right front wheel respectively A first distance and a second distance to the instant center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instant center;

The comparing unit 330 is configured to compare the first motion parameter and the second motion parameter with corresponding threshold ranges respectively;

The prompting unit 340 is configured to prompt the first warning information if any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range.

Further, the calculation unit 320 is further configured to calculate a pose of the robot according to the first motion parameter, the pose includes a position and a deflection angle of the robot, and the position includes a horizontal displacement distance and a vertical Displacement distance; the motion detection device further includes a judging unit 350 for judging whether the robot is on the running track according to the posture; the prompting unit 340 is also used for determining that the robot is not on the running track, Then the second warning information is prompted, and the second warning information is used to indicate that the robot is not on the running track.

Further, the calculation unit 320 is specifically configured to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal velocity in the horizontal direction, and the instantaneous vertical velocity in the vertical direction using the first motion parameter; The deflection angle, the instantaneous horizontal speed and the instantaneous vertical speed are respectively integrated to obtain the deflection angle of the robot, the horizontal displacement distance, and the vertical displacement distance.

Further, the judging unit 350 is specifically configured to judge whether the robot is on a running track according to the position of the robot, and the running track is a preset running line; if the robot is not on the running track, determine The robot is not on the running trajectory; if the robot is on the motion trajectory, it is determined whether the deflection angle of the robot is consistent with the tangent angle of the tangent; if the deflection angle of the robot is consistent with the tangent If the deflection angles are not consistent, it is determined that the robot is not on the running track.

Further, the calculation unit 320 is further configured to calculate the deflection angle of the tangent of the position of the robot on the running track if the robot is on the running track.

Further, the measuring unit 310 is also used to measure the rotation speed of the robot, the acceleration of the left front wheel and the acceleration of the right front wheel.

Further, the calculation unit 320 is further configured to calculate the angular velocity of the first motion parameter of the robot according to the rotation speed; integrate the acceleration of the left front wheel and the acceleration of the right front wheel respectively to obtain the robot’s The linear velocity of the left front wheel and the linear velocity of the right front wheel of the second motion parameter; using the linear velocity of the left front wheel and the linear velocity of the right front wheel of the second motion parameter, the linear velocity of the centroid is calculated To obtain the linear velocity of the first motion parameter.

In the embodiment of the present application, the measurement unit 310 and the calculation unit 320 are used to obtain multiple motion parameters of the robot, and then the comparison unit 330 determines whether the robot is in an abnormal motion state according to whether any one of the motion parameters of the robot is within a corresponding threshold range, and In the case where it is judged that the robot is abnormal, the warning information is prompted by the prompting unit 340 to remind the customer and the store staff. Therefore, the embodiment of the present application detects the abnormal motion state of the robot in time by monitoring multiple motion parameters of the robot in real time before prompting serious consequences of the abnormal motion of the robot, and prompts the management personnel to take corresponding measures, so that the embodiment of the present application monitors Simple motion parameters can realize the abnormal motion monitoring of the robot, greatly improving the efficiency of abnormal detection.

4 is a schematic block diagram of a motion detection device according to another embodiment of the present application. As shown in the figure, the motion detection device in this embodiment may include: an encoder 410, a processor 420, and a display 430. The encoder 410, the processor 420, and the display 430 are connected through a bus 440. specific:

The encoder 410 is used to perform the function of the measuring unit 310 for measuring a first motion parameter of the robot, where the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is a linear velocity of the center of mass of the robot;

The processor 420 is configured to execute the function of the calculation unit 320 for calculating the second motion parameter of the robot using the first motion parameter, the second motion parameter including the linear velocity of the left front wheel of the robot and the right Front wheel linear speed; also used to perform the function of the comparing unit 330, and also used to compare the first motion parameter and the second motion parameter with corresponding threshold ranges respectively;

The above processor 420 is specifically configured to calculate the distances from the left front wheel and the right front wheel to the instantaneous center using the first motion parameter; using the angular velocity of the first motion parameter and the left front wheel And the distance between the right front wheel and the instant center, respectively, to calculate the linear velocity of the left front wheel and the linear velocity of the right front wheel;

The above processor 420 more specifically calculates the radius of rotation from the center of mass to the instantaneous center according to the first motion parameter; acquiring the preset center of mass to the left front wheel and the right front wheel respectively Distance; according to the radius of rotation from the center of mass to the instantaneous center, and the distance of the center of mass to the left front wheel and the right front wheel respectively, calculate the left front wheel and the right front wheel to all The first distance and the second distance of the instant center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instant center;

The display 430 is used to execute the function of the display unit 340, and is used to prompt the first warning information if any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range.

Further, the above processor 420 is further configured to calculate the posture of the robot according to the first motion parameter, the posture includes a position and a deflection angle of the robot, and the position includes a horizontal displacement distance and a vertical displacement Distance; the above processor 420 is also used to execute the function of the judging unit 350, used to judge whether the robot is on the running track according to the pose.

The above display 430 is also used to prompt second warning information if it is determined that the robot is not on the running track, and the second warning information is used to indicate that the robot is not on the running track.

Further, the above processor 420 is specifically used to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal velocity in the horizontal direction, and the instantaneous vertical velocity in the vertical direction using the first motion parameter; deflect the instantaneous The angle, the instantaneous horizontal speed and the instantaneous vertical speed are respectively integrated to obtain the deflection angle of the robot, the horizontal displacement distance, and the vertical displacement distance.

Further, the processor 420 is specifically configured to determine whether the robot is on a running track according to the position of the robot, and the running track is a preset running line; if the robot is not on the running track, determine The robot is not on the running track; if the robot is on the running track, calculate the deflection angle of the tangent of the position of the robot on the running track; determine whether the deflection angle of the robot is the same as the The deflection angle of the tangent line is consistent; if the deflection angle of the robot does not match the deflection angle of the tangent line, it is determined that the robot is not on the running trajectory.

Further, the motion detection device further includes at least two accelerators 450 and two gyro sensors 460, wherein the gyro sensor is also used to perform the function of the measuring unit 310 to measure the rotational speed of the robot; the accelerator is also used to perform The function of the measuring unit 310 is to measure the acceleration of the left front wheel and the acceleration of the right front wheel.

Further, the processor 420 is further used to calculate the angular velocity of the first motion parameter of the robot according to the rotation speed; integrate the acceleration of the left front wheel and the acceleration of the right front wheel respectively to obtain the first The linear velocity of the left front wheel and the linear velocity of the right front wheel of the second motion parameter; using the linear velocity of the left front wheel and the linear velocity of the right front wheel of the second motion parameter, calculating the linear velocity of the centroid, The linear velocity of the first motion parameter is obtained.

Further, the above-mentioned motion detection device further includes a storage device 470 for storing a computer program, the computer program includes program instructions, and the processor 420 is configured to call the program instructions. Wherein, the memory package 470 contains a computer non-volatile readable storage medium, characterized in that the computer non-volatile readable storage medium stores a computer program, the computer program includes program instructions, and the program instructions are treated as When the processor 420 executes, it causes the processor 420 to execute.

It should be understood that in the embodiment of the present application, the encoder 410, the processor 420, and the display 430 may be a central processing unit (Central Processing Unit, CPU), and the processor 420 may also be other general-purpose processors, digital signal processing (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete Hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 470 may include a read-only memory and a random access memory, and provide instructions and data to the processor 420. A portion of the memory 470 may also include non-volatile random access memory. For example, the memory 470 may also store device type information.

The computer non-volatile readable storage medium may be an internal storage unit of the motion detection device of any of the foregoing embodiments, such as a hard disk or a memory of the motion detection device. The non-volatile computer-readable storage medium may also be an external storage device of the motion detection device, such as a plug-in hard disk equipped on the motion detection device, a smart memory card (Smart, Media, Card, SMC), and secure digital (SD) ) Card, flash card (Flash Card), etc. Further, the computer non-volatile readable storage medium may also include both an internal storage unit of the motion detection device and an external storage device. The computer non-volatile storage medium is used to store computer programs and other programs and data required by the motion detection device. Computer non-volatile storage media can also be used to temporarily store data that has been or will be output.

In a specific implementation, the processor 420 described in the embodiments of the present application can execute the implementation methods described in the first and second embodiments of the motion detection method provided by the embodiments of the present application, and can also execute the embodiments of the present application The implementation of the described motion detection device will not be repeated here.

Another embodiment of the present application further provides a robot including the above-mentioned motion detection device. The robot shown in FIG. 5 includes a sports chassis, dual speakers, speakers, high-definition display screens, control equipment, and a general-purpose processor. Includes the encoder 410, accelerator and rotating gyroscope of the motion detection device, the high-definition display screen is the display, the general-purpose processor is the processor, and the control device sends control information to the robot for controlling the robot motion and When the movement is stopped, the dual speakers and the speakers are used to emit sound, and can be used together with the display 430 to prompt the abnormal warning information. As an example, the robot shown in FIG. 5 does not limit the specific structure of the robot.

Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly explain the hardware and software. Interchangeability, in the above description, the composition and steps of each example have been generally described according to function. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different motion detection methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that for the convenience and conciseness of the description, the specific working processes of the motion detection device and unit described above can refer to the corresponding processes in the foregoing motion detection method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed motion detection device and motion detection method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or integrated To another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections may be indirect couplings or communication connections through some interfaces, devices, or units, and may also be electrical, mechanical, or other forms of connection.

The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments of the present application.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The above integrated unit can be implemented in the form of hardware or software function unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application essentially or part of the contribution to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium In it, several instructions are included to enable a computer device (which may be a personal computer, a motion detection device, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

Claims

A motion detection method applied to robots, characterized in that it includes:

Measuring a first motion parameter of the robot, the first motion parameter including a linear velocity and an angular velocity, the linear velocity being a linear velocity of the center of mass of the robot;

Calculating the second motion parameter of the robot using the first motion parameter, the second motion parameter including the linear velocity of the left front wheel and the linear velocity of the right front wheel of the robot;

Comparing the first motion parameter and the second motion parameter with corresponding threshold ranges respectively;

If there is any one of the first motion parameter and the second motion parameter that is not within the corresponding threshold range, a first warning message is prompted, the first warning message is used to indicate that the robot motion is unstable .
The method according to claim 1, wherein the calculation of the second motion parameter of the robot using the first motion parameter comprises:

Calculating the distances from the left front wheel and the right front wheel to the instantaneous center by using the first motion parameter;

The linear velocity of the left front wheel and the right front wheel are calculated by using the angular velocity of the first motion parameter and the distance between the left front wheel and the right front wheel and the instantaneous center, respectively.
The method according to claim 2, wherein the calculating the distances from the left front wheel and the right front wheel to the instantaneous center using the first motion parameter respectively includes:

Calculating a radius of rotation from the center of mass to the instantaneous center according to the first motion parameter;

Obtaining the preset distances from the center of mass to the left front wheel and the right front wheel, respectively;

Calculate the distance from the left front wheel and the right front wheel to the instant according to the rotation radius of the center of mass to the instant center, and the distances of the center of mass to the left front wheel and the right front wheel respectively For the first distance and the second distance of the center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instantaneous center.
The method according to claim 1, wherein after measuring the first motion parameter of the robot, the method further comprises:

Calculating the posture of the robot according to the first motion parameter, the posture including a position and a deflection angle of the robot, the position including a horizontal displacement distance and a vertical displacement distance;

Determine whether the robot is on the running track according to the pose;

If it is determined that the robot is not on the running trajectory, second warning information is prompted, and the second warning information is used to indicate that the robot is not on the running trajectory.
The method according to claim 4, wherein the calculating the pose of the robot according to the first motion parameter comprises:

Using the first motion parameter to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal speed in the horizontal direction, and the instantaneous vertical speed in the vertical direction;

Integrating the instantaneous deflection angle, the instantaneous horizontal speed and the instantaneous vertical speed separately to obtain the deflection angle of the robot, the horizontal displacement distance, and the vertical displacement distance.
The method according to claim 4, wherein the judging whether the robot is on the running track according to the pose includes:

Judging whether the robot is on a running track according to the position of the robot, and the running track is a preset running line;

If the robot is not on the running track, it is determined that the robot is not on the running track;

If the robot is on the running track, calculate the deflection angle of the tangent to the position of the robot on the running track;

Determine whether the deflection angle of the robot is consistent with the deflection angle of the tangent;

If the deflection angle of the robot does not match the deflection angle of the tangent line, it is determined that the robot is not on the running trajectory.
The method according to claim 1, characterized in that if any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range, the first warning message is prompted, include:

Determining that the linear velocity in the first motion parameter is less than or equal to the minimum linear velocity of the robot's centroid, or the linear velocity in the first motion parameter is greater than or equal to the maximum linear velocity of the robot's centroid; and/or

Determining that the angular velocity in the first motion parameter is less than or equal to the minimum angular velocity of the robot, or the angular velocity in the first motion parameter is greater than or equal to the maximum angular velocity of the robot; and/or

Determining that the linear velocity of the left front wheel in the second motion parameter is less than or equal to the minimum linear velocity of the left front wheel of the robot, or the linear velocity of the left front wheel in the second motion parameter is greater than or equal to the robot Maximum linear speed of the left front wheel; and/or

Determining that the linear velocity of the right front wheel in the second motion parameter is less than or equal to the minimum linear velocity of the right front wheel of the robot, or the linear velocity of the right front wheel in the second motion parameter is greater than or equal to the robot The maximum linear speed of the front right wheel;

Prompt the first warning message.
A motion detection device, characterized in that it includes:

The measuring unit is used to measure a first motion parameter of the robot, the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is a linear velocity of the center of mass of the robot;

A calculation unit, configured to calculate a second movement parameter of the robot using the first movement parameter, the second movement parameter including a linear velocity of a left front wheel and a linear velocity of a right front wheel of the robot;

A comparing unit, configured to compare the first motion parameter and the second motion parameter with corresponding thresholds respectively;

The prompting unit is configured to prompt first warning information if any one of the first motion parameter and the second motion parameter is not within the corresponding threshold range, and the first warning information is used to indicate The robot movement is unstable.
The apparatus according to claim 8, wherein the calculation unit is specifically configured to:

Calculating the distances from the left front wheel and the right front wheel to the instantaneous center by using the first motion parameter;

The linear velocity of the left front wheel and the right front wheel are calculated by using the angular velocity of the first motion parameter and the distance between the left front wheel and the right front wheel and the instantaneous center, respectively.
The apparatus according to claim 9, wherein the calculation unit is specifically configured to:

Calculating a radius of rotation from the center of mass to the instantaneous center according to the first motion parameter;

Obtaining the preset distances from the center of mass to the left front wheel and the right front wheel, respectively;

Calculate the distance from the left front wheel and the right front wheel to the instant according to the rotation radius of the center of mass to the instant center, and the distances of the center of mass to the left front wheel and the right front wheel respectively For the first distance and the second distance of the center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instantaneous center.
The device according to claim 8, comprising:

The calculation unit is further configured to calculate a pose of the robot according to the first motion parameter, the pose includes a position and a deflection angle of the robot, and the position includes a horizontal displacement distance and a vertical displacement distance;

The motion detection device further includes a judgment unit for judging whether the robot is on a running track according to the posture;

The prompting unit is further configured to prompt second warning information if it is determined that the robot is not on the running track, and the second warning information is used to indicate that the robot is not on the running track.
The apparatus according to claim 11, wherein the calculation unit is specifically configured to:

Using the first motion parameter to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal speed in the horizontal direction, and the instantaneous vertical speed in the vertical direction;

Integrating the instantaneous deflection angle, the instantaneous horizontal speed and the instantaneous vertical speed separately to obtain the deflection angle of the robot, the horizontal displacement distance, and the vertical displacement distance.
The apparatus according to claim 11, wherein the judgment unit is specifically configured to:

Judging whether the robot is on a running track according to the position of the robot, and the running track is a preset running line;

If the robot is not on the running track, it is determined that the robot is not on the running track;

If the robot is on the running track, calculate the deflection angle of the tangent to the position of the robot on the running track;

Determine whether the deflection angle of the robot is consistent with the deflection angle of the tangent;

If the deflection angle of the robot does not match the deflection angle of the tangent line, it is determined that the robot is not on the running trajectory.
The device according to claim 8, wherein the prompt unit is specifically used for:

Determining that the linear velocity in the first motion parameter is less than or equal to the minimum linear velocity of the robot's centroid, or the linear velocity in the first motion parameter is greater than or equal to the maximum linear velocity of the robot's centroid; and/or

Determining that the angular velocity in the first motion parameter is less than or equal to the minimum angular velocity of the robot, or the angular velocity in the first motion parameter is greater than or equal to the maximum angular velocity of the robot; and/or

Determining that the linear velocity of the left front wheel in the second motion parameter is less than or equal to the minimum linear velocity of the left front wheel of the robot, or the linear velocity of the left front wheel in the second motion parameter is greater than or equal to the robot Maximum linear speed of the left front wheel; and/or

Determining that the linear velocity of the right front wheel in the second motion parameter is less than or equal to the minimum linear velocity of the right front wheel of the robot, or the linear velocity of the right front wheel in the second motion parameter is greater than or equal to the robot The maximum linear speed of the front right wheel;

Prompt the first warning message.
A motion detection device, characterized in that it includes:

An encoder for measuring a first motion parameter of the robot, where the first motion parameter includes a linear velocity and an angular velocity, and the linear velocity is the linear velocity of the center of mass of the robot;

The processor is used to calculate the second motion parameter of the robot by using the first motion parameter, the second motion parameter includes the linear speed of the left front wheel and the linear speed of the right front wheel of the robot; The first motion parameter and the second motion parameter are compared with corresponding threshold ranges respectively;

The display is used for prompting first warning information if any one of the first sports parameter and the second sports parameter is not within the corresponding threshold range, and the first warning information is used to indicate the Robot movement is unstable.
The apparatus according to claim 15, wherein the processor is specifically configured to:

Calculating the distances from the left front wheel and the right front wheel to the instantaneous center by using the first motion parameter;

The linear velocity of the left front wheel and the right front wheel are calculated by using the angular velocity of the first motion parameter and the distance between the left front wheel and the right front wheel and the instantaneous center, respectively.
The apparatus according to claim 16, wherein the processor is specifically configured to:

Calculating a radius of rotation from the center of mass to the instantaneous center according to the first motion parameter;

Obtaining the preset distances from the center of mass to the left front wheel and the right front wheel, respectively;

Calculate the distance from the left front wheel and the right front wheel to the instant according to the rotation radius of the center of mass to the instant center, and the distances of the center of mass to the left front wheel and the right front wheel respectively For the first distance and the second distance of the center, the left front wheel and the right front wheel are located on a straight line connecting the center of mass and the instantaneous center.
The device according to claim 15, comprising:

The processor is further configured to calculate a pose of the robot according to the first motion parameter, the pose includes a position and a deflection angle of the robot, and the position includes a horizontal displacement distance and a vertical displacement distance; Used to determine whether the robot is on the running track according to the pose;

The display 430 is also used to prompt second warning information if it is determined that the robot is not on the running track, and the second warning information is used to indicate that the robot is not on the running track.
The apparatus according to claim 18, wherein the processor is specifically configured to:

Using the first motion parameter to calculate the instantaneous deflection angle of the robot, the instantaneous horizontal speed in the horizontal direction, and the instantaneous vertical speed in the vertical direction;

Integrating the instantaneous deflection angle, the instantaneous horizontal speed and the instantaneous vertical speed separately to obtain the deflection angle of the robot, the horizontal displacement distance, and the vertical displacement distance.
A computer non-volatile readable storage medium, characterized in that the computer storage medium stores a computer program, and the computer program includes program instructions, and the program instructions are executed by a processor to execute claim 1 -7 The method of any one.