WO2021147008A1 - Procédé de commande de robot sans pilote et robot sans pilote - Google Patents

Procédé de commande de robot sans pilote et robot sans pilote Download PDF

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Publication number
WO2021147008A1
WO2021147008A1 PCT/CN2020/073844 CN2020073844W WO2021147008A1 WO 2021147008 A1 WO2021147008 A1 WO 2021147008A1 CN 2020073844 W CN2020073844 W CN 2020073844W WO 2021147008 A1 WO2021147008 A1 WO 2021147008A1
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WIPO (PCT)
Prior art keywords
sensor
external sensor
sensor data
unmanned robot
data collected
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PCT/CN2020/073844
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English (en)
Chinese (zh)
Inventor
陈超彬
刘启明
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/073844 priority Critical patent/WO2021147008A1/fr
Priority to CN202080026271.8A priority patent/CN113661454A/zh
Publication of WO2021147008A1 publication Critical patent/WO2021147008A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to the field of control technology, in particular to a control method of an unmanned control robot and an unmanned control robot.
  • SDK Software Development Kit
  • developers can control the work of the platform through the SDK.
  • developers can control unmanned robots through the SDK. Customized control.
  • Sensors are supporting components that control the work of unmanned robots. They are used to perceive the operating status and operating environment of unmanned robots. Therefore, only when the sensors are accurate and feedback the operating status and operating environment in time, can the unmanned robot be guaranteed The stability, accuracy, and rapid control of the system.
  • the current SDK application can only obtain the internal sensor data of the unmanned robot.
  • the unmanned robot can only rely on the internal sensors to perform work tasks. Since the unmanned robot is shipped or sold, the internal sensors are fixed. The internal sensors In many cases, the customization needs of developers cannot be met.
  • the embodiments of the present invention provide a control method of an unmanned robot and an unmanned robot, so that the unmanned robot can use the sensor data collected by an external sensor to perform work tasks, and meet the customization of users or developers. ⁇ demand.
  • the first aspect of the embodiments of the present invention provides a control method of an unmanned robot.
  • the unmanned robot includes a universal interface, where the universal interface is used to detachably connect different types of external sensors, and the method includes :
  • the unmanned robot is controlled to perform work tasks.
  • the second aspect of the embodiments of the present invention provides an unmanned control robot, including a local storage device, a processor, and a general interface,
  • the local storage device is used to store the historical navigation information and program code
  • the universal interface is used to detachably connect different types of external sensors
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the unmanned robot is controlled to perform work tasks.
  • the unmanned robot can be connected to an external sensor through a universal interface to identify the mounted external sensor.
  • the unmanned robot successfully recognizes the external sensor, the unmanned robot
  • the control robot can obtain the sensor data collected by the external sensor, and control the operation of the unmanned robot based on the sensor data collected by the external sensor.
  • This realizes the expansion of the functions of unmanned control robots, which enables unmanned control robots to be applied to different scenarios, improves the scalability of unmanned control robots, and allows users to connect to unmanned control robots based on their individual needs.
  • the sensor is built to meet the customization needs of users or developers.
  • FIG. 1 is a schematic structural diagram of an unmanned robot and an external sensor according to an embodiment of the present invention
  • Figure 2 is a work flow chart of an unmanned robot according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a control method of an unmanned robot according to an embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of an unmanned robot according to an embodiment of the present invention.
  • an embodiment of the present invention proposes a control method for an unmanned robot, so that the unmanned robot can use sensor data collected by an external sensor to perform work tasks.
  • the unmanned robot includes a universal interface.
  • the universal interface is an SDK interface for detachably connecting different types of external sensors.
  • the unmanned robot can acquire the external sensor collection through the universal interface. Sensor data.
  • the universal interface can also be used to detachably connect different types of external control devices, where the external control device can be preset with a control program written by a developer, and the external control device can be The universal interface sends a control command to the unmanned robot to control the operation of the unmanned robot.
  • the universal interface may be, for example, a Controller Area Network (CAN) bus interface, a Universal Asynchronous Receiver Transmitter (UART) interface, and a Universal Serial Bus (Universal Serial Bus, USB) interface, And a serial peripheral (Serial Peripheral Interface, SPI) interface, etc.
  • the external sensor is a device that is mounted on the unmanned control robot and used to perceive the operating state and operating environment of the unmanned control robot.
  • the unmanned control robot may be, for example, a drone, a car, a smart robot, etc.
  • the control terminal may be, for example, at least one of a remote control, a smart phone, a wearable device, and a tablet computer.
  • the unmanned robot 101 may include a built-in sensor 102 and a processor 103, where the built-in sensor 102 is a sensor inherent to the unmanned robot 101, for example, a sensor configured for the unmanned robot 101 when it is sold. .
  • the processor 103 can obtain the sensor data output by the built-in sensor to control the unmanned robot to perform work tasks.
  • the unmanned robot further includes the universal interface 104 as described above, and the external sensor 105 carried on the unmanned robot 101 can be connected to the universal interface 104 in a wired manner to realize communication with the unmanned robot. Control the purpose of the robot connection.
  • the external sensor is a sensor provided by a manufacturer different from the unmanned robot 101.
  • the unmanned robot may be in communication connection with one or more control terminals, the control terminal may detect user input operations and control the unmanned robot, and the control terminal may obtain unmanned control.
  • the data sent by the machine is output to the user through its own interactive device.
  • the control terminal may display a user interface in the interactive device, where after the unmanned control robot recognizes the external sensor, the drone control robot can obtain the equipment information of the external sensor through the universal interface, and The device information is sent to the control terminal.
  • the control terminal outputs the device information of the external sensor to the user interface.
  • the device information includes, but is not limited to: one or more of manufacturer, type information, name information, serial number information, data accuracy, or access port number information, among which, output to the user
  • the device information of the interface can be as shown in Table 1:
  • the authentication information can be sent to the unmanned control robot.
  • the drone control robot can interpret the authentication information according to a preset analysis method to obtain target verification information.
  • the unmanned robot determines whether to recognize the external sensor according to the target verification information of the external sensor, and further, the unmanned robot matches the target verification information with the device information in the pre-stored sensor device library. If the matching is successful, it is determined that the external sensor is successfully identified, and if the matching fails, it is determined that the external sensor has failed to be identified. If it is determined that the target verification information meets the preset verification conditions, the matching is successful, and it can be determined that the unmanned robot has successfully recognized the external sensor.
  • the target verification information does not meet the preset verification condition, it is determined that it does not match, that is, it is determined that the unmanned robot fails to recognize the external sensor.
  • the external sensors may be the same type of sensors or different types of sensors.
  • the workflow of the unmanned robot is shown in FIG.
  • the connected external sensor After detecting the power-on operation and entering the working state, the connected external sensor is identified.
  • the device information of the external sensor is sent to the control terminal so that it can be displayed on the user interface through the interactive device.
  • the user interface can display the device information of all the successfully recognized external sensors of the current unmanned robot. For example, if the unmanned robot is currently connected to a real-time dynamic (RTK) sensor, but the device information of the sensor on the output user interface is displayed as an unknown device, the user can determine that the unmanned robot is not If the RTK sensor can be successfully identified, the RTK sensor can be replaced or reconnected.
  • RTK real-time dynamic
  • the interactive device of the control terminal can display the configuration interface of the successfully recognized external sensor, and the user can process the sensor data of the external sensor in the configuration interface (for example, whether to filter, merge, etc.) and /Or configure the target acquisition frequency and generate a configuration file, which can guide the unmanned robot to process the sensor data of the external sensor and/or determine the acquisition frequency of the sensor data of the external sensor.
  • the working status of the external sensor can be displayed in the user interface in real time, so that the user can monitor the working status of the external sensor in real time.
  • FIG. 3 is a schematic flowchart of a control method of an unmanned robot according to an embodiment of the present invention.
  • the method can be applied to the above-mentioned unmanned robot.
  • the unmanned robot includes a general interface, wherein The universal interface is used to detachably connect different types of external sensors, as shown in Fig. 3, the method may include:
  • S301 Determine whether an external sensor carried on the unmanned robot and connected to the unmanned robot through the universal interface is successfully identified.
  • the external sensor needs to be adapted to the unmanned robot.
  • adaptation requirements for external sensors including:
  • the external sensor has a hardware interface adapted to the universal interface.
  • the data transmission format that the unmanned robot can recognize When the external sensor sends data to the unmanned robot through the universal interface, it needs to be sent in accordance with a data transmission format that the unmanned robot can recognize, so that the unmanned robot can recognize and use the data. Further, the data may include sensor data or working status data.
  • the data transmission format may be specified by the design or manufacturer of the unmanned robot.
  • the unmanned robot can trigger the recognition of the external sensor when it detects that the external sensor is mounted on the unmanned robot through the universal interface.
  • the identification result can be output to the user interface of the control terminal connected to the unmanned robot to inform the user of the unmanned robot's identification result of the external sensor, where:
  • the recognition result includes recognition success or recognition failure.
  • the unmanned robot successfully recognizes the external sensor, it can go to step S302, and after the unmanned robot fails to recognize the external sensor, the unmanned robot can output the recognition result on the user interface.
  • the external sensor is displayed as an unknown device to indicate that the unmanned robot has failed to recognize the external sensor.
  • the user can first configure the external sensor in the user interface corresponding to the control terminal, and the control terminal can obtain the configuration corresponding to the external sensor based on the user configuration. Information, and can generate a configuration file based on the adapted data format. Further, the control terminal can send the configuration file to the drone so that the drone can obtain the frequency from the target of the configuration file based on the instructions of the configuration file. Acquire sensor data and/or perform corresponding processing on the acquired sensor data, such as at least one of fusion processing, filter processing, recording processing, and control processing, etc., to achieve the acquisition of sensor data from external sensors Expansion of the approach.
  • the unmanned robot after the unmanned robot successfully recognizes the external sensor, it can receive the sensor data collected by the external sensor through the universal interface, and then proceed to step S303.
  • S303 Control the unmanned robot to perform work tasks according to the sensing data collected by the external sensor.
  • the unmanned robot can obtain the sensor data of the external sensor device through the universal interface.
  • the sensor data obtained by the external sensor device is compared with the built-in sensor of the unmanned robot.
  • the accuracy of the acquired sensing data is higher. Therefore, the unmanned control robot can be controlled based on the acquired higher-precision sensing data, which can improve the control accuracy of the unmanned control robot.
  • the external sensor may also be a sensor device of a different type from the built-in sensor of the unmanned robot. Therefore, based on the access of the external sensor, the function of the unmanned robot can be expanded.
  • the built-in sensor of the unmanned robot does not include an image acquisition sensor
  • an external sensor for image acquisition can be mounted outside the unmanned robot, so that the unmanned robot that cannot perform image acquisition can realize
  • the image acquisition function can realize the function expansion of the unmanned robot based on the user's individual needs, which can effectively improve the user experience.
  • the unmanned robot since the unmanned robot can be equipped with external sensors, the unmanned robot has great flexibility in designing. Considering the high cost of many sensor devices, and different user use scenarios Different sensor data requirements are different. Therefore, when designing an unmanned robot, only basic sensors can be installed inside the unmanned robot to reduce production costs, while other professional sensors can be customized by users. The scene needs to be purchased separately and mounted on the unmanned control robot. For example, for agricultural plant protection, high-precision radar obstacle avoidance equipment can be added, and RTK equipment can be added for precise surveying and mapping.
  • unmanned robots can be used in different scenarios, and users do not need to purchase multiple unmanned robots for different scenarios, only a basic unmanned robot is required to carry sensing equipment That is, while ensuring the user's application requirements, the user's cost can be reduced.
  • the unmanned control robot may be, for example, a drone, a car, an intelligent robot, etc.
  • the unmanned robot can be connected to an external sensor through a universal interface, and after the connection is completed, the mounted external sensor is recognized.
  • the unmanned control robot can obtain the sensing data collected by the external sensor, and control the operation of the unmanned robot based on the sensing data collected by the external sensor, and realize the sensing of the unmanned control robot.
  • the increase in data accuracy can improve the control accuracy of unmanned control robots.
  • the expansion of the functions of unmanned control robots has also been realized, so that unmanned control robots can be applied to different scenarios and improve the control of unmanned robots.
  • the flexibility of human-controlled robots when involved allows users to build external sensors in unmanned robots based on individual needs, which helps improve user experience.
  • FIG. 4 is a schematic flowchart of a control method of an unmanned robot provided by another embodiment of the present invention.
  • the method can also be applied to the above-mentioned unmanned robot, and the unmanned robot includes a universal Interface, wherein the universal interface is used to detachably connect different types of external sensors, see Figure 4, the method may include:
  • S401 Receive authentication information sent by the external sensor through the universal interface.
  • S402 Analyze the authentication information according to a preset analysis manner to obtain target verification information in the authentication information.
  • S403 Determine whether the target verification information meets a preset verification condition, and when it is determined to be satisfied, successfully identify the external sensor, otherwise, fail to identify the external sensor.
  • Steps S401 to S403 are specific details of the above step S301.
  • the external sensor after the external sensor is connected to the unmanned robot through the universal interface, it will send identification and authentication information to the unmanned robot .
  • the unmanned robot can determine whether the external sensor is successfully recognized according to the authentication information.
  • the external sensor can generate the authentication information according to its own device information.
  • the unmanned robot After the unmanned robot receives the authentication information, it analyzes the received authentication information according to a preset analysis method to obtain the target authentication information. For example, the unmanned robot determines the second byte of the received authentication information as the target authentication information.
  • the unmanned robot when the external sensor sends device information to the unmanned robot, the unmanned robot receives the device information sent by the external sensor through a universal interface. Further, the unmanned robot The device information may be sent to the control terminal, so that the control terminal can display the device information through an interactive device to inform the user of the operating status of the external sensor, where the interactive device may be, for example, a display screen Wait for the display device.
  • the externally controlled robot After the externally controlled robot obtains the target verification information by analyzing the acquired authentication information, it can determine whether the target verification information meets the preset verification conditions, so as to determine whether the unmanned robot successfully recognizes the external sensor.
  • the target verification information can be matched with the device information in the pre-stored sensor device library. When the matching is successful, it can be determined that the target verification information meets the preset verification conditions, and it can be determined that there is no The human-controlled robot successfully recognizes the external sensor; if the target verification information does not match the device information in the pre-stored sensor equipment library, it is determined that the target verification information does not meet the preset verification conditions, and the unmanned robot recognition can be determined The external sensor failed.
  • the device information in the pre-stored sensor device library may be the device information in the sensor device library pre-stored in an unmanned robot, a control terminal, or a server.
  • step S404 is performed; otherwise, when the unmanned robot fails to recognize the external sensor, it outputs an identification failure
  • the instruction information is output to the user interface of the control terminal connected to the unmanned robot.
  • the instruction information may be, for example, when the device information of the external sensor is output on the user interface, the device information of the external sensor is The identification information of the unknown device is output to the user to inform the user that the unmanned robot has failed to recognize the external sensor.
  • the instruction information may also be prompt box information, that is, when the unmanned robot fails to recognize the external sensor, a prompt box is output to inform the user that the unmanned robot fails to recognize the external sensor.
  • the unmanned robot includes a built-in sensor. If the data type of the sensor data collected by the built-in sensor is the same as the data type of the sensor data collected by the external sensor, then When the unmanned robot fails to recognize the external sensor, or when the external sensor is disconnected from the through port, the unmanned robot fails to enable the external sensor, and then according to the built-in sensor The collected sensor data controls the unmanned robot to perform work tasks.
  • the unmanned robot before the unmanned robot uses sensor data collected by an external sensor to control the unmanned robot to perform work tasks, it also needs to determine whether it meets the preset sensing data collected by the external sensor. Data activation condition; and when it is determined that the activation condition is satisfied, the unmanned robot is controlled to perform the work task according to the sensor data collected by the external sensor, that is, step S405 is performed instead, and when it is determined that the activation condition is not satisfied At this time, the unmanned robot is still controlled to perform the work task according to the sensor data collected by the built-in sensor of the unmanned robot.
  • the unmanned robot can determine whether the sensor data collected by the external sensor has a higher accuracy than that of the built-in sensor when determining whether the preset activation condition of the sensor data collected by the external sensor is satisfied. If it is, it is determined that the preset activation condition of the sensor data collected by the external sensor is satisfied; otherwise, it is determined that the preset activation condition of the sensor data collected by the external sensor is not satisfied.
  • the unmanned robot may also determine whether it receives the external sensor activation instruction information sent by the control terminal, and if the activation instruction information is received, it determines that the preset activation of the sensor data collected by the external sensor is satisfied. Condition, otherwise, it is determined that the preset enabling condition of the sensor data collected by the external sensor is not met.
  • the built-in sensor for positioning of the unmanned robot is the Global Positioning System (GPS)
  • GPS Global Positioning System
  • an RTK device for positioning can be connected to the unmanned robot.
  • the position accuracy obtained by the RTK device is higher than the position accuracy obtained by GPS.
  • the sensor obtains the location information if the RTK device fails to be recognized, or the RTK device and the universal interface of the unmanned robot are in a disconnected state, it can be determined that the unmanned robot fails to recognize the external RTK device. Then the unmanned robot can obtain the position information collected by the built-in GPS, and control the operation of the unmanned robot based on the position information collected by the GPS.
  • the unmanned robot needs to further determine whether the enabling conditions for the location information collected by the RTK device are met.
  • the unmanned robot determines the success of the external RTK device and satisfies the enabling conditions for the location information collected by the RTK device.
  • the location information controls the unmanned robot to perform work tasks.
  • S405 Control the unmanned robot to perform work tasks according to the sensor data collected by the external sensor.
  • the unmanned robot may also first obtain the sensor data processing algorithm instruction information sent by the control terminal, and the sensor data processing algorithm instruction information is the control terminal detecting the user's sensor data processing algorithm selection operation It is determined that when the unmanned control sensor controls the unmanned robot to perform work tasks based on the sensing data collected by the external sensor, it may first process the sensing data collected by the external sensor according to the target algorithm Therefore, the unmanned robot can be controlled to perform work tasks according to the processed sensor data, wherein the target algorithm includes at least one of a filtering algorithm and a fusion algorithm.
  • the unmanned robot may also first obtain the sensor data acquisition frequency indication information sent by the control terminal, where the sensor data acquisition frequency indication information is determined by the control terminal detecting the user's sensor data acquisition frequency selection operation ; So that the unmanned robot can determine the target acquisition frequency according to the sensor data acquisition frequency indication information; further, the unmanned robot controls the unmanned control according to the sensor data collected by the external sensor When the robot performs a work task, it can first receive the sensor data collected by the external sensor through the universal interface according to the target acquisition frequency, so that the unmanned robot can be controlled to perform the work task according to the acquired sensor data.
  • the sensor data acquired by the built-in sensor of the unmanned robot may be referred to, or it may be collected based on the external sensor only.
  • the sensor data of to control the unmanned robot which is not limited in the embodiment of the present invention.
  • the working status information of the external sensor can also be obtained through the universal interface.
  • the status information includes: abnormal status information, working time, working temperature, and information related to the One or more of the connection status of the universal interface.
  • the unmanned robot can send the working status information to the control terminal, so that the interactive device of the control terminal can display the working status information,
  • the user can determine the working status of the external sensor based on the working status information displayed by the interactive device, and when the working status of the external sensor is abnormal, the external sensor can be adjusted in time, realizing real-time monitoring of the working status of the external sensor.
  • the unmanned robot can parse the authentication information sent by the external sensor to obtain the target verification information, so that the target authentication information can be determined and the preset device information can be matched to determine whether the unmanned robot is The external sensor is successfully recognized.
  • the unmanned robot When the unmanned robot determines that the external sensor is successfully recognized, the unmanned robot can perform work tasks based on the sensor data collected by the external sensor, so that the drone can obtain external sensor data, After the unmanned robot recognizes the external sensor, it can realize the function of relying on the external sensor data, realize the expansion of the unmanned robot function, and because the unmanned robot can obtain the external sensor data to perform the work task, it improves The redundancy of the sensor data can improve the reliability and selectivity of the acquired sensor data, and thus the control accuracy of the unmanned robot can be improved.
  • FIG. 5 is an unmanned robot 50 provided by an embodiment of the present invention.
  • the unmanned robot 50 includes a processor 501 and a local storage device 502.
  • the processor 501 and the local storage device 502 can pass through a bus. Connect with each other.
  • the aircraft may also include a universal interface 503 for detachably connecting different types of external sensors.
  • the local storage device 502 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), Or a portable read-only memory (compact disc read-only memory, CD-ROM), the local storage device 402 is used to store related instructions and data.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • CD-ROM compact disc read-only memory
  • the processor 501 may be one or more central processing units (CPU).
  • the CPU may be a single-core CPU or a multi-core CPU.
  • the processor 501 in the unmanned robot 50 is used to read the program code stored in the local storage device 502, and perform the following operations:
  • the unmanned robot is controlled to perform work tasks.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the unmanned robot includes a built-in sensor, wherein the data type of the sensor data collected by the built-in sensor is the same as the data type of the sensor data collected by the external sensor, when the program code When being executed, the processor 501 is also used to execute:
  • the unmanned robot is controlled to perform the work task according to the sensing data collected by the built-in sensor.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • control the unmanned robot to perform the work task according to the sensor data collected by the built-in sensor;
  • the controlling the unmanned robot to perform work tasks according to the sensor data collected by the external sensor includes:
  • the unmanned robot is controlled to perform a work task according to the sensor data collected by the external sensor.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the external sensor When it is satisfied, the external sensor is successfully identified; otherwise, the external sensor fails to be identified.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the preset verification condition is met, and when the matching is unsuccessful, the preset verification condition is not met.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the device information is sent to the control terminal so that the interactive device of the control terminal displays the device information.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the unmanned robot is controlled to perform work tasks.
  • the target algorithm includes at least one of a filtering algorithm and a fusion algorithm.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the sensor data collected by the external sensor is received through the universal interface according to the target acquisition frequency.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the status information including: one or more of abnormal status information, working time, working temperature, and connection status with the universal interface;
  • the unmanned robot provided by the embodiment of the present invention can execute the control method of the unmanned robot as shown in FIG. 2 or FIG. 3 or FIG. 4 provided by the foregoing embodiment, and its execution mode and beneficial effects are similar, and will not be repeated here. .

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Abstract

La présente invention concerne un procédé de commande d'un robot sans pilote et un robot sans pilote. Le procédé consiste à : déterminer si un capteur externe porté sur un robot sans pilote et connecté au robot sans pilote au moyen d'une interface universelle est identifié avec succès (S301) ; lorsque le capteur externe est identifié avec succès, recevoir, au moyen de l'interface universelle, des données de détection acquises par le capteur externe (S302) ; et commander au robot sans pilote d'exécuter une tâche de travail en fonction des données de détection acquises par le capteur externe (S303). Le robot sans pilote peut être amené à exécuter une tâche de travail à l'aide des données de détection acquises par le capteur externe, ce qui répond aux exigences personnalisées des utilisateurs ou des développeurs.
PCT/CN2020/073844 2020-01-22 2020-01-22 Procédé de commande de robot sans pilote et robot sans pilote WO2021147008A1 (fr)

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PCT/CN2020/073844 WO2021147008A1 (fr) 2020-01-22 2020-01-22 Procédé de commande de robot sans pilote et robot sans pilote
CN202080026271.8A CN113661454A (zh) 2020-01-22 2020-01-22 一种无人控制机器人的控制方法及无人控制机器人

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Citations (8)

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