CN110187323A - Robot idle running recognition methods and device - Google Patents
Robot idle running recognition methods and device Download PDFInfo
- Publication number
- CN110187323A CN110187323A CN201910399573.9A CN201910399573A CN110187323A CN 110187323 A CN110187323 A CN 110187323A CN 201910399573 A CN201910399573 A CN 201910399573A CN 110187323 A CN110187323 A CN 110187323A
- Authority
- CN
- China
- Prior art keywords
- robot
- pose
- laser radar
- laser
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application discloses a kind of idle running recognition methods of robot and devices.This method includes calculating in two frame laser radar data transmission periods, and the pose of wheel type encoder changes, and as the matched initial value of two frames laser radar data；Using laser matching process, the matched pose situation of change of two frames laser radar data is estimated；Add up the pose estimation of the wheel type encoder and laser matching within a preset time；According to pose estimated result, judge whether wheels of robot occurs sky.Present application addresses the bad technical problems of wheels of robot idle running recognition effect.It is realized by the application and preferably carries out wheels of robot idle running identification based on laser radar.In addition, the application is applicable to the indoor scene of navigation error caused by dallying.
Description
Technical field
This application involves navigation fields in robot chamber, in particular to a kind of idle running recognition methods of robot and dress
It sets.
Background technique
Frequently encounter the situation for needing ground level inconsistent when robot ambulation, for example, when disengaging elevator, by carpet
When, ground have a bank, elevator and ground level may be inconsistent.
Inventors have found that it is current dallied due to wheels of robot caused by navigation error problem be unable to get preferable solution
Certainly.
For the bad problem of the idle running recognition effect of wheels of robot in the related technology, effective solution is not yet proposed at present
Scheme.
Summary of the invention
The main purpose of the application is to provide a kind of robot idle running recognition methods and device, to solve wheels of robot
Dally the bad problem of recognition effect.
To achieve the goals above, according to the one aspect of the application, a kind of robot idle running recognition methods is provided.
It include: to calculate in two frame laser radar data transmission periods according to the idle running recognition methods of the robot of the application
It is interior, the pose variation of wheel type encoder, and as the matched initial value of two frames laser radar data；Using laser match party
Method estimates the matched pose situation of change of two frames laser radar data；Add up the wheel type encoder and the laser thunder
Up to the pose estimation of matching within a preset time；According to pose estimated result, judge whether wheels of robot dallies.
Further, according to pose estimated result, if judging whether wheels of robot occurs idle running includes: according to pose
Estimated result be the wheel type encoder forward travel distance be greater than threshold value, the matched forward travel distance of laser radar level off to 0 when,
The wheel for then judging robot is to dally.
Further, according to pose estimated result, after judging whether wheels of robot dallies, further includes: to institute
It states robot and sends the control command that wheel stops operating, and after the wheel stops operating, calculate the current idle period
Wheel rotation distance in section；According to the wheel rotation distance, the distance is deducted on the basis of current robot position；It will be described
Order, which is continued to execute, after robot location's resetting is restored to normal operating condition.
Further, using laser matching process, estimate the matched pose situation of change of two frames laser radar data
It include: using laser matching process, so that the matched pose variation of the two frames laser radar data converges near true value.
Further, add up the pose estimation packet of the wheel type encoder and laser radar matching within a preset time
It includes: in 1 to the 2s time, adding up the pose estimation of the wheel type encoder and laser radar matching within a preset time,
So that the wheel type encoder and the matched accumulative pose of the two frames laser radar data change.
To achieve the goals above, according to the another aspect of the application, a kind of robot idle running identification device is provided.
It include: initial calculation module according to the robot of the application idle running identification device, for calculating in two frame laser thunders
Up in data transmission period section, the pose of the wheel type encoder changes, and matched as the two frames laser radar data
Initial value；Laser matching module estimates the pose variation of the two frames laser radar data for using laser matching process
Situation；Estimation module, for adding up the pose estimation of the wheel type encoder and laser radar matching within a preset time；
Judgment module, for judging whether wheels of robot dallies according to pose estimated result.
Further, the judgment module is used for, and is that the wheel type encoder forward travel distance is big according to pose estimated result
In threshold value, the matched forward travel distance of laser radar level off to 0 when, then judge that the wheel of robot is to dally.
Further, further includes: correction module, for sending the control command that wheel stops operating to the robot,
And after the wheel stops operating, wheel rotation distance in current idle period section is calculated；According to the wheel rotation away from
From deducting the distance on the basis of current robot position；It is restored to order is continued to execute after robot location resetting
Normal operating condition.
Further, the laser matching module is used for, using laser matching process, so that the two frames laser radar number
It is converged near true value according to the variation of matched pose.
Further, so defeated estimation module, in 1 to the 2s time, adding up the wheel type encoder and described swashing
The pose estimation of light matching within a preset time, so that the wheel type encoder and the two frames laser radar data are matched tired
Meter pose changes.
Robot idle running recognition methods and device in the embodiment of the present application, are passed using calculating in two frame laser radar datas
In the defeated period, the pose of wheel type encoder changes, and the mode as the matched initial value of two frames laser radar data,
By using laser matching process, estimates the matched pose situation of change of two frames laser radar data, add up described wheeled
The pose estimation of encoder and laser radar matching within a preset time, has reached according to pose estimated result, has judged machine
The purpose whether device people wheel dallies preferably carries out wheels of robot idle running identification based on laser radar to realize
Technical effect, and then solve the bad technical problem of wheels of robot idle running recognition effect.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the recognition methods flow diagram that dallied according to the robot in the application first embodiment；
Fig. 2 is the recognition methods flow diagram that dallied according to the robot in the application second embodiment；
Fig. 3 is the recognition methods flow diagram that dallied according to the robot in the application 3rd embodiment；
Fig. 4 is the identification device structural schematic diagram that dallied according to the robot in the application first embodiment；
Fig. 5 is the identification device structural schematic diagram that dallied according to the robot in the application second embodiment.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
The explanation of nouns of the application:
Wheeled robot, the sensor configuration taken of navigating is wheeled odometer+laser radar+IMU, IMU provider
To benchmark, wheeled odometer provides short-term pose estimation, and laser radar carries out the amendment of pose estimation on this basis.
Frequently encounter the situation for needing ground level inconsistent when robot ambulation, for example, when disengaging elevator, by carpet
When, ground have a bank, elevator and ground level may be inconsistent.This just needs robot to have certain to cross a ridge ability.Different machines
It is variant that device people crosses a ridge ability, and the inconsistent degree of ground level is also different.The case where cannot always being crossed a ridge there are robot, this
When wheels of robot although go ahead rotation, but the position of robot is almost motionless, the pose estimation of wheeled odometer with
True value deviation is larger, and traditional laser radar can not correct big pose deviation, and the location error of robot becomes larger quickly, most
Navigation is caused to fail eventually.This wheels of robot rolls forward and the almost unchanged situation of physical location, referred to as wheel dally.
This application provides one kind to be based on the matched method of laser radar, passes through of two frame laser testing data of front and back
Match, initial value done using the pose variation of wheel type encoder, estimates the pose variation of two frame laser data period inner machine people,
It is accumulated to certain time wheel type encoder and the matched accumulative pose variation of laser is just bigger, can be easily identified out very much at this time
Although wheel can further correct the pose parameter of robot in rotation but the motionless situation of robot location.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this method includes the following steps, namely S102 to step S108:
Step S102 is calculated in two frame laser radar data transmission periods, and the pose of wheel type encoder changes, and makees
For the matched initial value of two frames laser radar data；
When each frame laser radar data arrives, interpolation is carried out to wheel type encoder.
Specifically, by calculating in two frame laser radar data periods, the pose of wheel type encoder changes, as two frames
The matched initial value of laser radar data.
Step S104 estimates the matched pose situation of change of two frames laser radar data using laser matching process；
Specifically, two frame laser radar datas are filtered respectively, filter out miscellaneous point therein and/or acnode, then root
According to ICP algorithm, the pose variation of two frame radar datas is estimated.
It should be noted that laser matching algorithm preferred ICP algorithm in the embodiment of the present application, but be not intended as this Shen
Please restriction in embodiment, those skilled in the art also can be realized using other laser matching algorithm such as characteristic matchings etc.
Identical purpose.
Step S106 adds up the pose estimation of the wheel type encoder and laser radar matching within a preset time；
Specifically, pose variation can be made to converge near true value by the matched method of laser, although two frame data
Between (usual a few tens of milliseconds) change in location it is smaller, but be accumulated to wheel type encoder described in certain time and the laser radar
Data Matching accumulative pose variation just it is bigger, it will be able to although easily identify wheel rotation robot location not
Dynamic situation, that is, wheels of robot idle running.
Step S108 judges whether wheels of robot dallies according to pose estimated result.
The location estimation of wheel type encoder and laser radar matching whithin a period of time is accumulated, and is compared, if wheel
When formula encoder forward travel distance greatly such as variation 0.2m per second, the matched forward travel distance of laser radar levels off to 0 for example, change per second
When changing less than 0.05m, then show that wheel dallies.
It should be noted that it is per second variation 0.2m/0.05m distance value, as just for example, be not intended as
The restriction of protection scope in the embodiment of the present application.
It can be seen from the above description that the application realizes following technical effect:
Robot idle running recognition methods and device in the embodiment of the present application, are passed using calculating in two frame laser radar datas
In the defeated period, the pose of wheel type encoder changes, and the mode as the matched initial value of two frames laser radar data,
By using laser matching process, estimates the matched pose situation of change of two frames laser radar data, add up described wheeled
The pose estimation of encoder and laser radar matching within a preset time, has reached according to pose estimated result, has judged machine
The purpose whether device people wheel dallies preferably carries out wheels of robot idle running identification based on laser radar to realize
Technical effect, and then solve the bad technical problem of wheels of robot idle running recognition effect.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, according to pose estimated result, judgement
Whether wheels of robot occurs idle running
Step S202, it is described to swash if being that the wheel type encoder forward travel distance is greater than threshold value according to pose estimated result
The matched forward travel distance of optical radar level off to 0 when, then judge that the wheel of robot is to dally.
Specifically, if being that the wheel type encoder forward travel distance is greater than threshold value, the laser according to pose estimated result
The matched forward travel distance of radar level off to 0 when, need to be judged simultaneously, judge if being all satisfied robot wheel be hair
Raw idle running.
It should be noted that threshold range is according to outdoor scene scene configuration, and without specifically limiting.Furthermore, it is necessary to avoid
When being unfavorable for laser sensor measurement due to ambient enviroment feature, such as glass barrier, spacious hall, cause laser matching to calculate
The inaccuracy of method.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 3, according to pose estimated result, judgement
After whether wheels of robot dallies, further includes:
Step S302, Xiang Suoshu robot sends the control command that wheel stops operating, and stops turning in the wheel
After dynamic, wheel rotation distance in current idle period section is calculated；
Step S304 deducts the distance on the basis of current robot position according to the wheel rotation distance；
Step S306 is restored to normal operating condition for order is continued to execute after robot location resetting.
Specifically, after wheels of robot stopping, wheel rotation distance in idle period section is calculated, in current robot position
The distance is deducted on the basis of setting.Order, which is continued to execute, after robot location's resetting is restored to normal operating condition.In identification wheel
It needs first to stop wheel rotation after idle running and carries out pose adjustment again, influence the mobile fluency of robot, but ensure that machine
The normal operation of people's task.
According to the embodiment of the present application, as preferred in the present embodiment, using laser matching process, estimate that two frame swashs
The pose situation of change of optical radar Data Matching includes: using laser matching process, so that the two frames laser radar data
The pose variation matched converges near true value.
Specifically, by the matching of two frame laser testing data of front and back, initial value is done using the pose variation of wheel type encoder,
The pose variation of two frame laser data period inner machine people is estimated, even if wheel type encoder is due to position caused by wheel idle running
Appearance variation and true value deviation are larger, pose variation can be made to converge near true value using laser matching process, although two frames
The change in location of usual a few tens of milliseconds is smaller between data, but is accumulated to certain period 1s or 2s wheel type encoder and laser
The accumulative pose variation matched is just bigger.
According to the embodiment of the present application, as preferred in the present embodiment, add up the wheel type encoder and the laser thunder
Include: up to the pose estimation of matching within a preset time
In 1 to the 2s time, add up the pose estimation of the wheel type encoder and laser matching within a preset time,
So that the wheel type encoder and the matched accumulative pose of the two frames laser radar data change.
Specifically, pose variation can be made to converge near true value by the matched method of laser, although two frame data
Between (usual a few tens of milliseconds) change in location it is smaller, but be accumulated to certain time in 1 to the 2s time, the wheel type encoder
It is just bigger with the matched accumulative pose variation of the laser radar data, it will be able to be rotated although easily identifying wheel
But the motionless situation of robot location, that is, wheels of robot idle running.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, it is empty to additionally provide a kind of robot for implementing above-mentioned robot idle running recognition methods
Turn identification device, as shown in figure 4, the device includes: initial calculation module 10, is transmitted for calculating in two frame laser radar datas
In period, the pose of the wheel type encoder changes, and as the matched initial value of two frames laser radar data；Laser
Matching module 20 estimates the pose situation of change of the two frames laser radar data for using laser matching process；Estimation
Module 30, for adding up the pose estimation of the wheel type encoder and laser radar matching within a preset time；Judge mould
Block 40, for judging whether wheels of robot dallies according to pose estimated result.
In the initial calculation module 10 of the embodiment of the present application when each frame laser radar data arrives, to wheel type encoder
Carry out interpolation.
Specifically, by calculating in two frame laser radar data periods, the pose of wheel type encoder changes, as two frames
The matched initial value of laser radar data.
In the laser matching module 20 of the embodiment of the present application specifically, two frame laser radar datas are filtered respectively,
Miscellaneous point therein and/or acnode are filtered out, further according to ICP algorithm, estimates the pose variation of two frame radar datas.
It should be noted that laser matching algorithm preferred ICP algorithm in the embodiment of the present application, but be not intended as this Shen
Please restriction in embodiment, those skilled in the art also can be realized using other laser matching algorithm such as characteristic matchings etc.
Identical purpose.
In the estimation module 30 of the embodiment of the present application specifically, by laser matched method pose variation can still received
It holds back near true value, although the change in location of (usual a few tens of milliseconds) is smaller between two frame data, is accumulated to certain time institute
It states wheel type encoder and the matched accumulative pose variation of the laser radar data is just bigger, it will be able to though it easily identifies
Right wheel is in rotation but the motionless situation, that is, wheels of robot idle running of robot location.
Wheel type encoder is accumulated in the judgment module 40 of the embodiment of the present application and laser radar matches whithin a period of time
Location estimation, and compare, if laser radar is matched when wheel type encoder forward travel distance greatly such as variation 0.2m per second
Forward travel distance levels off to 0 for example, when variation per second is less than 0.05m, then shows that wheel dallies.
It should be noted that it is per second variation 0.2m/0.05m distance value, as just for example, be not intended as
The restriction of protection scope in the embodiment of the present application.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 4, the judgment module 40 is used for, root
It is that the wheel type encoder forward travel distance is greater than threshold value, the matched forward travel distance approach of laser radar according to pose estimated result
When 0, then judge that the wheel of robot is to dally.
In the judgment module 40 of the embodiment of the present application specifically, if being the wheeled volume according to pose estimated result
Code device forward travel distance be greater than threshold value, the matched forward travel distance of laser radar level off to 0 when, need to be judged simultaneously, such as
Fruit is all satisfied, and judges that the wheel of robot is to dally.
It should be noted that threshold range is according to outdoor scene scene configuration, and without specifically limiting.Furthermore, it is necessary to avoid
When being unfavorable for laser sensor measurement due to ambient enviroment feature, such as glass barrier, spacious hall, cause laser matching to calculate
The inaccuracy of method.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Figure 5, further includes: correction module 60 is used
In the control command to stop operating to robot transmission wheel, and after the wheel stops operating, calculate current empty
Turn wheel rotation distance in the period；According to the wheel rotation distance, the distance is deducted on the basis of current robot position；
Normal operating condition is restored to by order is continued to execute after robot location resetting.
In the correction module 60 of the embodiment of the present application specifically, it after wheels of robot stopping, calculating in idle period section
Wheel rotation distance deducts the distance on the basis of current robot position.It is extensive that order is continued to execute after robot location's resetting
Normal operating condition is arrived again.It needs first to stop wheel rotation after identification wheel idle running and carries out pose adjustment again, influence machine
The mobile fluency of people, but ensure that the normal operation of robot task.
According to the embodiment of the present application, as preferred in the present embodiment, using laser matching process, estimate that two frame swashs
The pose situation of change of optical radar Data Matching includes: using laser matching process, so that the two frames laser radar data
The pose variation matched converges near true value.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 4, the laser matching module 20 is used
In using laser matching process, so that the matched pose variation of the two frames laser radar data converges near true value.
In the laser matching module 20 of the embodiment of the present application specifically, pass through of two frame laser testing data of front and back
Match, initial value done using the pose variation of wheel type encoder, estimates the pose variation of two frame laser data period inner machine people,
Even if the variation of pose caused by wheel type encoder is dallied due to wheel and true value deviation are larger, still can using laser matching process
It converges to pose variation near true value, although the change in location of usual a few tens of milliseconds is smaller between two frame data, is accumulated to
Certain period 1s or 2s wheel type encoder and the matched accumulative pose variation of laser are just bigger.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 4, so defeated estimation module 30, is used for
In 1 to the 2s time, add up the pose estimation of the wheel type encoder and laser radar matching within a preset time, so that
The wheel type encoder and the matched accumulative pose of the two frames laser radar data change.
The embodiment of the present application so in defeated estimation module 30 specifically, pose still can be made by the matched method of laser
Variation converges near true value, although the change in location of (usual a few tens of milliseconds) is smaller between two frame data, is accumulated to certain
Time, the wheel type encoder and the matched accumulative pose variation of the laser radar data were just bigger in 1 to the 2s time,
Although wheel can be easily identified in rotation but the motionless situation of robot location i.e. wheels of robot dallies.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
- The recognition methods 1. a kind of robot dallies characterized by comprisingIt calculates in two frame laser radar data transmission periods, the pose of wheel type encoder changes, and swashs as two frame The initial value of optical radar Data Matching；Using laser matching process, the matched pose situation of change of two frames laser radar data is estimated；Add up the pose estimation of the wheel type encoder and laser radar matching within a preset time；According to pose estimated result, judge whether wheels of robot dallies.
- The recognition methods 2. robot according to claim 1 dallies, which is characterized in that according to pose estimated result, judgement Whether wheels of robot occurs idle runningIf being that the wheel type encoder forward travel distance is greater than threshold value according to pose estimated result, before the laser radar is matched Into distance level off to 0 when, then judge that the wheel of robot is to dally.
- The recognition methods 3. robot according to claim 1 dallies, which is characterized in that according to pose estimated result, judgement After whether wheels of robot dallies, further includes:The control command that wheel stops operating is sent to the robot, and after the wheel stops operating, calculated current Wheel rotation distance in idle period section；According to the wheel rotation distance, the distance is deducted on the basis of current robot position；Normal operating condition is restored to by order is continued to execute after robot location resetting.
- The recognition methods 4. robot according to claim 1 dallies, which is characterized in that use laser matching process, estimation The matched pose situation of change of two frames laser radar data includes:Using laser matching process, so that the matched pose variation of the two frames laser radar data converges near true value.
- The recognition methods 5. robot according to claim 1 dallies, which is characterized in that add up the wheel type encoder and institute Stating the pose estimation of laser radar matching within a preset time includes:In 1 to the 2s time, add up the pose estimation of the wheel type encoder and laser radar matching within a preset time, So that the wheel type encoder and the matched accumulative pose of the two frames laser radar data change.
- The identification device 6. a kind of robot dallies characterized by comprisingInitial calculation module, for calculating the pose of the wheel type encoder in two frame laser radar data transmission periods Variation, and as the matched initial value of two frames laser radar data；Laser matching module estimates that the pose of the two frames laser radar data changes feelings for using laser matching process Condition；Estimation module, for adding up the pose estimation of the wheel type encoder and laser radar matching within a preset time；Judgment module, for judging whether wheels of robot dallies according to pose estimated result.
- The identification device 7. robot according to claim 6 dallies, which is characterized in that the judgment module is used for, according to Pose estimated result is that the wheel type encoder forward travel distance is greater than threshold value, and the matched forward travel distance of laser radar levels off to When 0, then judge that the wheel of robot is to dally.
- The identification device 8. robot according to claim 6 dallies, which is characterized in that further include: correction module is used forThe control command that wheel stops operating is sent to the robot, and after the wheel stops operating, calculated current Wheel rotation distance in idle period section；According to the wheel rotation distance, the distance is deducted on the basis of current robot position；Normal operating condition is restored to by order is continued to execute after robot location resetting.
- The identification device 9. robot according to claim 6 dallies, which is characterized in that the laser matching module is used for, Using laser matching process, so that the matched pose variation of the two frames laser radar data converges near true value.
- The identification device 10. robot according to claim 6 dallies, which is characterized in that so defeated estimation module, is used for In 1 to 2s time, add up the pose estimation of the wheel type encoder and laser radar matching within a preset time, so that institute It states wheel type encoder and the matched accumulative pose of the two frames laser radar data changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910399573.9A CN110187323A (en) | 2019-05-14 | 2019-05-14 | Robot idle running recognition methods and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910399573.9A CN110187323A (en) | 2019-05-14 | 2019-05-14 | Robot idle running recognition methods and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110187323A true CN110187323A (en) | 2019-08-30 |
Family
ID=67716270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910399573.9A Pending CN110187323A (en) | 2019-05-14 | 2019-05-14 | Robot idle running recognition methods and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110187323A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398984A (en) * | 2020-03-22 | 2020-07-10 | 华南理工大学 | Self-adaptive laser radar point cloud correction and positioning method based on sweeping robot |
| CN111707252A (en) * | 2020-06-11 | 2020-09-25 | 上海有个机器人有限公司 | Positioning judgment method and device |
| WO2023078112A1 (en) * | 2021-11-05 | 2023-05-11 | 追觅创新科技(苏州)有限公司 | Method and apparatus for determining state of robot, and storage medium and electronic apparatus |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170343674A1 (en) * | 2012-10-05 | 2017-11-30 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| CN107643186A (en) * | 2017-09-15 | 2018-01-30 | 深圳市杉川机器人有限公司 | The method, apparatus and system of machine skidding detection |
| CN208296793U (en) * | 2018-06-13 | 2018-12-28 | 上海贽匠智能科技有限公司 | A kind of Dual-encoder robot localization navigation device |
| CN109506641A (en) * | 2017-09-14 | 2019-03-22 | 深圳乐动机器人有限公司 | The pose loss detection and relocation system and robot of mobile robot |
| US10625425B2 (en) * | 2017-03-08 | 2020-04-21 | Honda Motor Co., Ltd. | Position and posture adjustment method |
-
2019
- 2019-05-14 CN CN201910399573.9A patent/CN110187323A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170343674A1 (en) * | 2012-10-05 | 2017-11-30 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US10625425B2 (en) * | 2017-03-08 | 2020-04-21 | Honda Motor Co., Ltd. | Position and posture adjustment method |
| CN109506641A (en) * | 2017-09-14 | 2019-03-22 | 深圳乐动机器人有限公司 | The pose loss detection and relocation system and robot of mobile robot |
| CN107643186A (en) * | 2017-09-15 | 2018-01-30 | 深圳市杉川机器人有限公司 | The method, apparatus and system of machine skidding detection |
| CN208296793U (en) * | 2018-06-13 | 2018-12-28 | 上海贽匠智能科技有限公司 | A kind of Dual-encoder robot localization navigation device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398984A (en) * | 2020-03-22 | 2020-07-10 | 华南理工大学 | Self-adaptive laser radar point cloud correction and positioning method based on sweeping robot |
| CN111398984B (en) * | 2020-03-22 | 2022-03-29 | 华南理工大学 | Self-adaptive laser radar point cloud correction and positioning method based on sweeping robot |
| CN111707252A (en) * | 2020-06-11 | 2020-09-25 | 上海有个机器人有限公司 | Positioning judgment method and device |
| WO2023078112A1 (en) * | 2021-11-05 | 2023-05-11 | 追觅创新科技(苏州)有限公司 | Method and apparatus for determining state of robot, and storage medium and electronic apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110187323A (en) | Robot idle running recognition methods and device | |
| CN110084832B (en) | Method, device, system, equipment and storage medium for correcting camera pose | |
| CN110806215B (en) | Vehicle positioning method, device, equipment and storage medium | |
| CN110738183B (en) | Road side camera obstacle detection method and device | |
| CN106920259B (en) | positioning method and system | |
| CN111611901B (en) | Vehicle reverse running detection method, device, equipment and storage medium | |
| CN110827325A (en) | Target tracking method and device, electronic equipment and storage medium | |
| CN114663528A (en) | Multi-phase external parameter combined calibration method, device, equipment and medium | |
| CN111397611B (en) | Path planning method and device and electronic equipment | |
| CN111274343A (en) | Vehicle positioning method and device, electronic equipment and storage medium | |
| CN110929639A (en) | Method, apparatus, device and medium for determining position of obstacle in image | |
| EP3852065A1 (en) | Data processing method and apparatus | |
| KR20170046790A (en) | See-through smart glasses and see-through method thereof | |
| CN112578788B (en) | Vehicle obstacle avoidance secondary planning method, device, equipment and readable storage medium | |
| CN107782304B (en) | Mobile robot positioning method and device, mobile robot and storage medium | |
| CN111079079A (en) | Data correction method and device, electronic equipment and computer readable storage medium | |
| CN105204520A (en) | Method for controlling unmanned aerial vehicle | |
| CN111242986B (en) | Cross-camera obstacle tracking method, device, equipment, system and medium | |
| WO2022222345A1 (en) | Positioning correction method and apparatus for mobile robot, storage medium, and electronic apparatus | |
| CN113500604A (en) | Robot control method, device, equipment and storage medium | |
| CN113587928A (en) | Navigation method, navigation device, electronic equipment, storage medium and computer program product | |
| CN112799389B (en) | Automatic walking area path planning method and automatic walking equipment | |
| CN109718540B (en) | Method, device, equipment and storage medium for realizing drift effect in game | |
| CN112729349B (en) | Method and device for on-line calibration of odometer, electronic equipment and storage medium | |
| CN113689021B (en) | Method and device for outputting information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190830 |