CN111435250A - Error detection method and self-propelled device using same - Google Patents
Error detection method and self-propelled device using same Download PDFInfo
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- CN111435250A CN111435250A CN201910957034.2A CN201910957034A CN111435250A CN 111435250 A CN111435250 A CN 111435250A CN 201910957034 A CN201910957034 A CN 201910957034A CN 111435250 A CN111435250 A CN 111435250A
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an error detection method and a self-propelled device using the same, comprising: a driving unit drives a body of a self-propelled device to move on the ground, and a first sensing unit senses the actuating state of the driving unit; enabling a control unit to obtain a preset value of the moving speed of the body from the actuating state of the driving unit; a second sensing unit senses the moving state of the body relative to the ground; the control unit obtains the actual value of the moving speed of the body from the moving state of the body relative to the ground; when the preset value of the moving speed of the body does not correspond to the actual value, the control unit judges that the error state occurs in the movement of the body.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to an error detection method and a self-propelled device using the same, and more particularly, to an error detection method capable of determining a movement error of a self-propelled device automatically moving on a floor and a self-propelled device using the same.
[ background of the invention ]
There are known self-propelled devices such as a sweeping robot, an Automated Guided Vehicle (AGV) …, which are driven by driving wheels to move on a floor in a predetermined space, and various sensors are provided thereon to sense a rotation angle or a moving distance of the self-propelled device, such as a Gyroscope (gyro) to sense the rotation angle of the self-propelled device and an Encoder (Encoder) to sense a rotation frequency of the driving wheels to convert the moving distance of the self-propelled device; after the information of the rotation angles and the moving distance is calculated by a controller, the moving track of the self-propelled device in the preset space can be known; in order to facilitate the user to grasp the position of the self-propelled device in the predetermined space for subsequent operation, a display is usually disposed on the self-propelled device or an external operation device for displaying the map information of the predetermined space and the position of the self-propelled device on the map.
[ summary of the invention ]
In the known self-propelled device, an Encoder (Encoder) is used for sensing the rotation frequency of the driving wheel to convert the moving distance of the self-propelled device, but when the driving wheel rotates on the ground to move the self-propelled device, the driving wheel may slip, so that although the Encoder senses that the driving wheel rotates, the rotation of the driving wheel does not cause the movement of the self-propelled device, and finally a movement error is generated; as illustrated in fig. 1, the controller calculates that the self-propelled device has moved a predetermined distance from the position a to the position B in the predetermined space, and moves a predetermined distance to the position C after the position B is turned, and the predetermined displacement path is Z; however, when the driving wheel is slipping, the moving distance of the self-propelled device will not meet the preset result, the self-propelled device actually moves to the position D first, then turns to the position E, the actual displacement path is Z', and if the self-propelled device continues to move, the moving error between the trajectory and the position calculated by the controller will gradually increase.
Accordingly, an object of the present invention is to provide an error detection method capable of detecting occurrence of an error.
Another object of the present invention is to provide a self-propelled device capable of detecting error.
An error detection method according to the object of the present invention comprises: a driving unit drives a body of a self-propelled device to move on the ground, and a first sensing unit senses the actuating state of the driving unit; enabling a control unit to obtain a preset value of the moving speed of the body from the actuating state of the driving unit; a second sensing unit senses the moving state of the body relative to the ground; the control unit obtains the actual value of the moving speed of the body from the moving state of the body relative to the ground; when the preset value of the moving speed of the body does not correspond to the actual value, the control unit judges that the error state occurs in the movement of the body.
The self-propelled device according to the object of the invention comprises: a self-propelled device for performing the error detection method.
The control unit can firstly sense the actuating state of the driving unit by the first sensing unit to obtain the preset value of the moving speed of the body, and sense the moving state of the body relative to the ground by the second sensing unit to obtain the actual value of the moving speed of the body; and comparing whether the preset value of the moving speed of the body corresponds to the actual value, and if not, judging that the error state occurs in the movement of the body by the control unit.
[ description of the drawings ]
Fig. 1 is a schematic diagram of the moving path of the self-propelled device in the normal running state and the error state according to the embodiment of the invention.
Fig. 2 is a schematic diagram showing the arrangement of the functional units of the self-propelled device according to the embodiment of the present invention.
FIG. 3 is a diagram illustrating a sensing signal of the first sensing unit according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the second sensing unit of the self-propelled apparatus for sensing the pulse wave according to the embodiment of the invention.
Fig. 5 is a schematic diagram of the second sensing unit of the self-propelled apparatus for sensing the pulse wave according to the embodiment of the invention.
Fig. 6 is a schematic diagram of the second sensing unit of the self-propelled device for sensing the pulse wave according to the embodiment of the invention.
[ detailed description ] embodiments
Referring to fig. 2, the error detection method according to the embodiment of the present invention can be described by using a self-propelled device capable of automatically walking on the ground W to perform a predetermined operation, such as a sweeping robot, an automatic inspection robot …, and the like, which includes:
a body A;
a driving unit B for driving the body A to automatically move on the ground W; the driving unit B comprises a power assembly B1 and a plurality of driving wheels B2; the power assembly B1 is arranged in the body A and can be composed of a motor, a gear and the like; the driving wheel B2 is arranged below the body A and is contacted with the ground W;
a first sensing unit C for sensing the operation state of the driving unit B; the first sensing unit C can sense the rotation frequency of the motor or gear of the power assembly B1 by an optical or magnetic rotary encoder, or directly sense the rotation frequency of the driving wheel B2;
a second sensing unit D for sensing the moving state of the body A relative to the ground W; the second sensing unit D can emit a pulse toward the ground W and receive the pulse reflected by the ground W, for example, by an electromagnetic, acoustic or optical doppler sensor;
an obstacle sensing unit E for sensing an obstacle or a step in the walking direction of the body A; the obstacle sensing unit E comprises an obstacle sensor E1 and a section difference sensor E2; the obstacle sensor E1 is arranged on the front side of the main body a, and can detect forward in the moving direction, such as an optical, acoustic or image sensor; the level difference sensor E2 is disposed below the front side of the body a and detects the ground W below the body a, and may be, for example, an optical or acoustic sensor;
a control unit F for calculating the position of the body A in a map and executing various data operations or judgments to control each unit; the rotation frequency of the power assembly B1 or the driving wheel B2 can be calculated by the control unit F to obtain the preset moving speed and distance of the body a, and an angle sensor F1 such as a Gyroscope (Gyroscope) is additionally provided to sense the rotation angle of the body a, and the moving information of the rotation angle and the moving distance is calculated by the control unit F to obtain the moving track of the body a on the map.
Referring to fig. 2 and 3, the power assembly B1 can drive the driving wheel B2 under the body a to rotate, so that the driving wheel B2 drives the body a to move relative to the ground W; when the power module B1 or the driving wheel B2 of the driving unit B rotates, the first sensing unit C senses an intermittent signal, so that the operating state of the driving unit B can be sensed by the presence or absence of the sensing signal per unit time, and the rotating frequency of the power module B1 or the driving wheel B2 of the driving unit B can be sensed by the signal sensing frequency per unit time; when the signal sensing frequency is dense in unit time, the driving unit B drives the body A to move at a faster rotating speed; when the signal sensing frequency is loose in unit time, the driving unit B drives the body A to move at a slower rotating speed; when no signal is sensed in the unit time, the driving unit B does not drive the body A to move.
Referring to fig. 2, when the body a moves relative to the ground W, the second sensing unit D can sense the moving state of the body a according to the difference between the pulse intensities, and can obtain the actual moving speed of the body a relative to the ground W by calculating the pulse sensing frequency in unit time through the control unit F; when the height difference of the pulse wave intensity is judged, a measured value obtained by subtracting the maximum value and the minimum value of each pulse wave intensity is compared with a preset value, if the measured value is larger than the preset value, the body A moves relative to the ground W, and if the measured value is lower than the preset value, the body A does not move relative to the ground W: taking fig. 4 as an example, assuming that the preset value is 10, the maximum value of each pulse wave intensity is 20, and the minimum value of each pulse wave intensity is 5, so the measurement value is 15, since 15 is greater than 10, it can be known that the body a moves relative to the ground W, and in fig. 4, the pulse wave sensing frequency per unit time is denser, which indicates that the body a moves on the ground W at a faster speed; taking fig. 5 as an example, assuming that the preset value is 10, the maximum value of each pulse wave intensity is 20, and the minimum value of each pulse wave intensity is 5, so the measurement value is 15, and since 15 is greater than 10, it can be known that the body a moves relative to the ground W, and in fig. 5, when the pulse wave sensing frequency is looser in unit time, it indicates that the body a moves at a slower speed on the ground W; taking fig. 6 as an example, assuming that the preset value is 10, the maximum value of each pulse intensity is 13, and the minimum value of each pulse intensity is 9, the measurement value is 4, and since 4 is less than 10, it can be known that the body a does not move relative to the floor W.
In an embodiment of the present invention, the driving unit B drives the body a of the self-propelled device to move on the ground W, and the first sensing unit C senses the actuation state of the driving unit B, so that the control unit F obtains a preset value of the moving speed of the body a from the actuation state of the driving unit B; meanwhile, the second sensing unit D senses the moving state of the body A relative to the ground W, and the control unit F obtains the actual value of the moving speed of the body A from the moving state of the body A relative to the ground W; when the preset value of the moving speed of the body A corresponds to the actual value, the control unit F judges that the body A is in a normal moving state, and the control unit F continuously calculates the moving track of the body A; when the preset value of the moving speed of the body A does not correspond to the actual value, the control unit F judges that the movement of the body A has an error state, such as idle slipping of the driving wheel B2 relative to the ground W or stopping of the driving wheel B2 but continuous sliding of the body A relative to the ground W …, and the control unit F stops calculating the moving track of the body A after the movement error state occurs until the control unit F judges that the body A returns to the normal moving state and then continues calculating;
wherein, the control unit F can also judge the occurrence of an error state by comparing whether the first sensing unit C senses the actuation of the driving unit B with whether the second sensing unit D senses the movement of the body a relative to the ground W; when the first sensing unit C senses that the driving unit B continuously operates and the second sensing unit D also senses that the body A moves relative to the ground W, the control unit F judges that the body A is in a normal moving state; if the first sensing unit C senses that the driving unit B has continuous action but the second sensing unit D does not sense that the body A moves relative to the ground W, the control unit F judges that the movement of the body A has an error state;
in addition, if the error state exceeds a preset time, the control unit F determines that the body a enters the trapped state, and the control unit F controls the body a to perform the trap-escaping operation, such as going backwards, sending an alarm to notify the operator ….
In the error detection method and the self-propelled device using the error detection method of the embodiment of the invention, the control unit F can first sense the actuation state of the driving unit B by the first sensing unit C to obtain the preset value of the moving speed of the body a, and sense the moving state of the body a relative to the ground W by the second sensing unit D to obtain the actual value of the moving speed of the body a; and comparing whether the preset value of the moving speed of the body A corresponds to the actual value, and if not, judging that the error state occurs in the movement of the body A by the control unit F.
However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all the simple equivalent changes and modifications made according to the claims and the description of the present invention are still within the scope of the present invention.
[ notation ] to show
A body and B driving unit
B1 Power Assembly B2 drive wheel
C first sensing unit D second sensing unit
E obstacle sensing unit E1 obstacle sensor
E2 step difference sensor F control unit
F1 angle sensor Wterra
Z moving path Z' moving path
Claims (11)
1. An error detection method, comprising:
a driving unit drives a body of a self-propelled device to move on the ground, and a first sensing unit senses the actuating state of the driving unit; enabling a control unit to obtain a preset value of the moving speed of the body from the actuating state of the driving unit;
a second sensing unit senses the moving state of the body relative to the ground; the control unit obtains the actual value of the moving speed of the body from the moving state of the body relative to the ground;
when the preset value of the moving speed of the body does not correspond to the actual value, the control unit judges that the error state occurs in the movement of the body.
2. The error detection method of claim 1, wherein the driving unit has a power assembly and a driving wheel, the first sensing unit senses the rotation frequency of the power assembly or the driving wheel by a rotary encoder, and the control unit calculates the predetermined value of the moving speed of the body.
3. The error detection method of claim 1, wherein the control unit is configured to calculate a position of the body within a map; the movement information of the body is calculated by the control unit to obtain the movement track of the body on the map.
4. The error detection method of claim 3, wherein if the preset value of the moving speed of the body corresponds to the actual value, the control unit determines that the body is in a normal moving state, and the control unit continuously calculates the moving track of the body.
5. The error detecting method of claim 3, wherein the control unit determines that the body has moved with an error, and the control unit stops calculating the movement track of the body.
6. The error detection method of claim 5, wherein the control unit continues to calculate the movement path of the body after the control unit determines that the body returns to the normal movement state.
7. The error detection method of claim 1, wherein if the error state exceeds a predetermined time, the control unit determines that the body is in a trapped state, and the control unit controls the body to perform a trap-free operation.
8. The method of claim 1, wherein the second sensing unit emits a pulse toward the ground with a Duplerian sensor and receives the pulse reflected by the ground.
9. The error detection method of claim 8, wherein the second sensing unit senses the pulse wave reflected from the ground and converts the pulse wave into a measurement value to compare the measurement value with a predetermined value.
10. The method of claim 9, wherein the measurement is a subtraction of a maximum value and a minimum value for each pulse.
11. A self-propelled device, comprising: apparatus for performing the error detection method of any one of claims 1 to 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107147276A TW202024830A (en) | 2018-12-26 | 2018-12-26 | Error detection method and self-propelled device using the error detection method capable of determining whether the movement of a main body of a self-propelled device is in an error state |
| TW107147276 | 2018-12-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111435250A true CN111435250A (en) | 2020-07-21 |
Family
ID=71580141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910957034.2A Withdrawn CN111435250A (en) | 2018-12-26 | 2019-10-10 | Error detection method and self-propelled device using same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111435250A (en) |
| TW (1) | TW202024830A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08517A (en) * | 1994-06-27 | 1996-01-09 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| JP2008137652A (en) * | 2007-12-04 | 2008-06-19 | Central Japan Railway Co | On-track moving body control device and advance direction detector |
| JP2010262461A (en) * | 2009-05-07 | 2010-11-18 | Yaskawa Electric Corp | Mobile object |
| CN102680724A (en) * | 2012-05-28 | 2012-09-19 | 无锡普智联科高新技术有限公司 | Two-freedom-degree speed measurement mechanism and speed measurement method for mobile robot car |
| CN107443430A (en) * | 2017-09-12 | 2017-12-08 | 珠海市微半导体有限公司 | The detection method of intelligent robot collision obstacle and build drawing method |
| CN108638053A (en) * | 2018-04-03 | 2018-10-12 | 珠海市微半导体有限公司 | A kind of detection method and its antidote of robot skidding |
-
2018
- 2018-12-26 TW TW107147276A patent/TW202024830A/en unknown
-
2019
- 2019-10-10 CN CN201910957034.2A patent/CN111435250A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08517A (en) * | 1994-06-27 | 1996-01-09 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| JP2008137652A (en) * | 2007-12-04 | 2008-06-19 | Central Japan Railway Co | On-track moving body control device and advance direction detector |
| JP2010262461A (en) * | 2009-05-07 | 2010-11-18 | Yaskawa Electric Corp | Mobile object |
| CN102680724A (en) * | 2012-05-28 | 2012-09-19 | 无锡普智联科高新技术有限公司 | Two-freedom-degree speed measurement mechanism and speed measurement method for mobile robot car |
| CN107443430A (en) * | 2017-09-12 | 2017-12-08 | 珠海市微半导体有限公司 | The detection method of intelligent robot collision obstacle and build drawing method |
| CN108638053A (en) * | 2018-04-03 | 2018-10-12 | 珠海市微半导体有限公司 | A kind of detection method and its antidote of robot skidding |
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| Publication number | Publication date |
|---|---|
| TW202024830A (en) | 2020-07-01 |
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Application publication date: 20200721 |
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