WO2020211610A1 - Method and apparatus for recognising state of mobile robot, mobile robot, and storage medium - Google Patents

Method and apparatus for recognising state of mobile robot, mobile robot, and storage medium Download PDF

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Publication number
WO2020211610A1
WO2020211610A1 PCT/CN2020/081167 CN2020081167W WO2020211610A1 WO 2020211610 A1 WO2020211610 A1 WO 2020211610A1 CN 2020081167 W CN2020081167 W CN 2020081167W WO 2020211610 A1 WO2020211610 A1 WO 2020211610A1
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Prior art keywords
mobile robot
distance
preset
infrared
current ground
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PCT/CN2020/081167
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French (fr)
Chinese (zh)
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文上增
成梓杰
刘德
郑卓斌
王立磊
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广东宝乐机器人股份有限公司
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Publication of WO2020211610A1 publication Critical patent/WO2020211610A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • This application relates to the field of robot application technology, and in particular to a state recognition method, device, mobile robot and storage medium of a mobile robot.
  • a mobile robot is a machine device that automatically performs work. It can execute instructions sent by people, run pre-arranged programs, or work according to principles established by artificial intelligence technology.
  • the task of mobile robots is to assist or replace tasks completed by humans, such as production, construction, or dangerous jobs.
  • Mobile robots need to walk normally in various complex environments, but there may be obstacles such as wooden sticks and steps in the complex environment, causing mobile robots (such as sweeping robots, lawn mowing robots, etc.) to encounter obstacles and abnormal states. For example, it cannot move or is stuck by obstacles due to the tilt of the body.
  • a state recognition method of a mobile robot includes:
  • the distance difference is greater than a preset distance threshold
  • calculating the duration of the distance difference greater than the preset distance threshold is determined based on the environment in which the mobile robot is located.
  • a state recognition device for a mobile robot includes a processor and a memory, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor is caused to perform the following steps:
  • the distance difference is greater than a preset distance threshold
  • calculating the duration of the distance difference greater than the preset distance threshold where the preset distance threshold is determined based on the environment in which the mobile robot is located
  • a mobile robot including:
  • the distance detection mechanism is used to obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
  • the controller is configured to calculate the duration of the distance difference being greater than the preset distance threshold when the distance difference is greater than the preset distance threshold, wherein the preset distance threshold is based on the environment in which the mobile robot is located Determined; and when the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
  • the wheel mechanism is used to control the mobile robot to move.
  • a computer-readable storage medium having computer-readable instructions stored thereon, and when the computer-readable instructions are executed by a processor, the following steps are implemented:
  • the preset distance threshold is determined based on the environment in which the mobile robot is located.
  • Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment
  • Fig. 2 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • Fig. 3 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • FIG. 4 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • Fig. 5 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • Fig. 6 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • FIG. 7 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment
  • Fig. 8 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment.
  • the mobile robot 100 includes a controller 110, a wheel set mechanism 120, a power supply 130 and a distance detection mechanism 140.
  • the controller 110 is installed on the mobile robot 100, and the mobile robot 100 is controlled to move through the wheel mechanism 120; the power source 130 is used to power the mobile robot 100 and the controller 110; the distance detection mechanism 140 is used to detect that the mobile robot 100 is in advance. Set the distance of the position relative to the current ground; the controller 110 determines whether the mobile robot 100 is in an abnormal state through a preset distance threshold and a preset time threshold, and then determines whether to control the mobile robot 100 to process the abnormal state.
  • mobile robots are widely used in relation to the mobile characteristics of various mobile terminals, and can be, but not limited to, sweepers, lawn mowers, handling robots, and the like.
  • present application does not limit specific application scenarios, and the function of the mobile robot to determine whether the mobile robot is in an abnormal state via the controller 110 through stored computer-readable instructions.
  • the state recognition method of the mobile robot of the present application is implemented by the controller 110 and the distance detection mechanism 140, and includes the following steps:
  • S220 When the distance difference is greater than the preset distance threshold, calculate the duration of the distance difference greater than the preset distance threshold, where the preset distance threshold is determined based on the environment where the mobile robot is located.
  • the recognition and judgment distance threshold of the preset state is simply referred to as the preset distance threshold, which refers to a threshold for judging whether the mobile robot is in an abnormal state, where the abnormal state includes a state where the mobile machine is stuck by an obstacle due to the tilt of the body. Understandably, the mobile robot should be in a normal state when it is working normally.
  • the preset distance threshold can be set according to the obstacles on the surface of the mobile robot. For example, when the body of the mobile robot is tilted and cannot be moved, one end of the mobile robot is in a suspended state. At this time, at least two positions on the mobile robot include a first preset position and a second preset position, and the distance difference formed between the corresponding distances of the two relative to the current ground will change. When the distance difference is greater than the preset distance threshold, it can be determined that the mobile robot is in an abnormal state at this time. At this time, the controller 110 may start to record the duration of the time when the mobile robot is in the inclined state.
  • the preset distance threshold can only determine whether the mobile robot is in a tilted state. Understandably, when the mobile robot is in a tilted state, it does not necessarily mean that the mobile robot is trapped, and it may also be caused by violent shaking during the movement.
  • the controller 110 cannot recognize whether the mobile robot is trapped and cannot move through the preset distance threshold. At this time, the controller 110 may continue to determine whether the mobile robot is in a trapped state based on the duration of the inclined state of the mobile robot. When the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state.
  • the preset time threshold in this embodiment is an empirical threshold.
  • the state recognition method of the mobile robot described above first obtains the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground; when the distance difference is greater than the preset distance threshold, calculate the distance difference greater than the preset distance threshold Duration: When the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state. This application can effectively determine whether the mobile robot is currently in an abnormal state by obtaining the distance difference of the mobile robot.
  • step S210 acquiring the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground includes the following steps:
  • S310 Acquire the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction, respectively.
  • the first preset position and the second preset position are respectively located at different positions on the body of the mobile robot.
  • the first preset position and the second preset position are respectively set on the front and rear sides of the mobile robot.
  • the distance detection mechanism is installed on the first preset position and the second preset position respectively.
  • the distance detecting mechanism includes at least one of an infrared distance measuring sensor, an ultrasonic distance measuring sensor, or a laser distance measuring sensor.
  • the controller 110 can accurately estimate the distance of each preset position relative to the current ground in the vertical direction through the distance detection mechanism.
  • the controller 110 may obtain the first distance and the second distance at different moments, and obtain the distance difference between the first distance and the second distance at the same time. By comparing the distance difference between the first distance and the second distance at different times, it is determined whether the mobile robot is in an abnormal state. In this embodiment, the controller 110 can accurately obtain the distance difference corresponding to the two positions on the mobile robot.
  • step S310 the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction are obtained respectively.
  • S410 Control the first infrared emitting unit and the second infrared emitting unit to send infrared signals periodically through pulse width modulation, and receive the reflected light energy through the first infrared receiving end and the second infrared receiving end, respectively, where the first infrared
  • the transmitting unit is located at the first preset position of the mobile robot, and the second infrared transmitting unit is located at the second preset position of the mobile robot.
  • the distance detection mechanism located at the first preset position and the second preset position of the mobile robot is specifically an infrared distance measuring sensor.
  • the infrared ranging sensor includes an infrared transmitter unit and an infrared receiver.
  • the controller 110 controls the infrared transmitting unit to periodically transmit infrared signals (for example, once every 500 ms) through pulse width modulation, and then receives infrared light energy reflected by the ground through the infrared receiving end.
  • the controller 110 is also based on the diffuse reflectance of the current ground where the mobile robot is located, to obtain a first distance from the first preset position to the current ground and a second distance from the second preset position to the current ground.
  • the controller 110 can accurately calculate the distance of the current position of the mobile robot through distance detection mechanisms located at different positions.
  • step S420 based on the diffuse reflectance of the current ground and the reflected light energy received by the first infrared receiving end, the first preset position of the mobile robot relative to the current ground is obtained.
  • the first distance includes the following steps:
  • S520 Obtain the median value of the light energy received by the first infrared receiving end and the median value of the light energy received by the second infrared receiving end during the sampling time period by using the median filter algorithm.
  • the median value of light energy received by the first infrared receiving end, and the median value of light energy received by the second infrared receiving end obtain the first preset on the mobile robot through the reflected energy method.
  • the formula of the emission energy method is:
  • L f is the first distance from the first preset position of the mobile robot to the current ground
  • P m is the energy received by the receiving end
  • K is a constant
  • d is the diffuse reflectance of the current ground.
  • the value of K in the above parameters is determined by the output power of the infrared emitting unit and the energy conversion efficiency.
  • the process of obtaining the second distance is the same as the process of obtaining the first distance.
  • the median filter algorithm is to arrange the n sampling values in order of size, and extract the median value of these sampling values as the effective value this time. Specifically, after receiving energy through the infrared receiving terminal, the controller 110 may obtain the light energy received by the first infrared receiving terminal at each sampling time point in a preset sampling time period centered on the current time. Then, the controller 110 can obtain the median value of the energy received by the infrared receiving end within the preset sampling time period through the median filter algorithm, so as to effectively overcome the fluctuation interference caused by accidental factors.
  • the controller 110 can obtain the first distance of the preset first position relative to the ground according to the reflected energy method.
  • the specific implementation process is as follows: the transmission control circuit controls the infrared transmitting unit to send a signal to the ground, and then returns to the infrared receiving end of the system after being reflected by the ground .
  • the controller 110 calculates the amount of light energy received by the photoelectric converter, and can obtain the distance L f of the preset first position where the infrared emitting unit is located relative to the ground.
  • the controller 110 may also obtain the second distance of the preset second position relative to the ground according to the reflected energy method.
  • step S220 that is, when the distance difference is greater than the preset distance threshold, before the step of calculating the duration of the distance difference greater than the preset distance threshold, the following steps are further included:
  • S620 Determine an abnormal simulation state of the mobile robot based on the obstacle information.
  • S630 Determine a preset distance threshold based on the abnormal simulation state and the simulation minimum.
  • common obstacles on the ground scene include thresholds, cables, and so on.
  • the controller 110 may also acquire obstacle information on the current ground to determine the preset distance threshold corresponding to the current ground.
  • the obstacle information specifically includes the height and type of common obstacles on the current ground. After inputting the information of these obstacles into the controller 110, the controller 110 will determine which obstacles may cause the mobile robot to be in an abnormal state according to the height and type of the obstacle, and thus simulate the abnormal simulation state of the mobile robot to determine the preset
  • the range of the state change determination distance threshold (referred to as the preset distance threshold for short) is generally set to 1-3 cm.
  • step S230 that is, after the step of determining that the mobile robot is in an abnormal state, the following steps are further included:
  • the controller 110 may generate a corresponding movement plan based on the current situation to help the mobile robot get rid of the current abnormal state and restore to a normal state.
  • the controller 110 may generate a new movement plan, and control the mobile robot to move according to the movement plan including the restoration route to get rid of the abnormal state until it returns to the normal state, that is, the normal movement state.
  • step S710 that is, acquiring a movement plan of the mobile robot that is out of abnormality, includes the following steps:
  • the controller 110 may obtain the initial movement trajectory of the mobile robot, and generate a corresponding movement scheme according to the movement trajectory.
  • the movement plan may include at least one restoration route.
  • the restoration route can be a movement along the reverse of the original movement trajectory to move the robot out of the current abnormal state.
  • the controller 110 After the controller 110 generates a movement plan for controlling the mobile robot to move along the restoration route, it controls the wheel mechanism to move the mobile robot along the restoration route, thereby getting rid of the current abnormal state. At the same time, return to step S210 to detect whether the mobile robot is still in an abnormal state.
  • the processor detects that the mobile robot gets rid of the abnormal state, it stops moving along the recovery route. The mobile robot can effectively get rid of the current abnormal state by moving along the reverse recovery route.
  • the state recognition method of the mobile robot of the present application includes:
  • the first infrared transmitter unit located at the first preset position of the mobile robot is controlled by pulse width modulation to periodically send infrared signals, and the reflected light energy is received through the first infrared receiving end;
  • the second infrared transmitter located at the mobile robot is controlled by pulse width modulation.
  • the second infrared transmitting unit in the set position sends infrared signals regularly, and receives the reflected light energy through the second infrared receiving end.
  • the diffuse reflectance of the current ground and obtain the first distance of the mobile robot's first preset position relative to the current ground based on the diffuse reflectance of the current ground and the reflected light energy received by the first infrared receiver; based on the diffuse reflectance of the current ground
  • the second infrared receiving end receives the reflected light energy and obtains the second distance of the second preset position of the mobile robot relative to the current ground.
  • the duration of the distance difference greater than the preset distance threshold is calculated.
  • the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state.
  • the first distance is the step of acquiring the second distance of the second preset position of the mobile robot relative to the current ground; when it is detected that the mobile robot is not in an abnormal state, stop moving.
  • a state recognition device for a mobile robot including a processor and a memory, and the memory stores computer-readable instructions.
  • the processor executes the above-mentioned embodiments. Steps of the method.
  • a computer-readable storage medium is provided, and computer-readable instructions are stored thereon, and the computer-readable instructions are executed by a processor to execute the steps of the method in the foregoing embodiment.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • RAM random access memory
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Channel (Synchlink) DRAM
  • RDRAM direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

A method for recognising the state of a mobile robot, the state recognition method comprising: acquiring a distance difference between two positions on a mobile robot in the vertical direction relative to the current ground; when the distance difference is greater than a preset distance threshold, calculating the duration that the distance difference has been greater than the preset distance threshold, the preset distance threshold being determined on the basis of the environment in which the mobile robot is located; and, when the duration exceeds a preset time threshold, determining that the mobile robot is in an abnormal state. The present invention also relates to an apparatus for recognising the state of a mobile robot, a mobile robot, and a storage medium.

Description

移动机器人的状态识别方法、装置、移动机器人及存储介质State recognition method and device of mobile robot, mobile robot and storage medium
本申请要求于2019年04月18日提交中国专利局，申请号为201910312680.3，申请名称为“移动机器人所处状态识别方法以及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on April 18, 2019. The application number is 201910312680.3, and the application title is "Method and Device for Recognizing the State of a Mobile Robot". The entire content is incorporated herein by reference. Applying.
技术领域Technical field
本申请涉及机器人应用技术领域，特别是涉及一种移动机器人的状态识别方法、装置、移动机器人及存储介质。This application relates to the field of robot application technology, and in particular to a state recognition method, device, mobile robot and storage medium of a mobile robot.
背景技术Background technique
移动机器人是一种自动执行工作的机器装置，其可以执行人们发送的指令，运行预先编排的程序，或者根据由人工智能技术制定的原则进行工作。移动机器人的任务是协助或取代由人类完成的工作，例如生产业、建筑业，或危险的工作。移动机器人需要在各种复杂环境中正常行走，但在复杂的环境中可能存在木棍、台阶等障碍物，导致移动机器人(如扫地机器人、割草机器人等)遇到障碍物而发生异常状态，例如不能移动或因机身倾斜而被障碍物卡住。A mobile robot is a machine device that automatically performs work. It can execute instructions sent by people, run pre-arranged programs, or work according to principles established by artificial intelligence technology. The task of mobile robots is to assist or replace tasks completed by humans, such as production, construction, or dangerous jobs. Mobile robots need to walk normally in various complex environments, but there may be obstacles such as wooden sticks and steps in the complex environment, causing mobile robots (such as sweeping robots, lawn mowing robots, etc.) to encounter obstacles and abnormal states. For example, it cannot move or is stuck by obstacles due to the tilt of the body.
发明内容Summary of the invention
一种移动机器人的状态识别方法，包括：A state recognition method of a mobile robot includes:
获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来 确定的；以及When the distance difference is greater than a preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, wherein the preset distance threshold is determined based on the environment in which the mobile robot is located; and
当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
一种移动机器人的状态识别装置，包括处理器和存储器，所述存储器存储有计算机可读指令，当所述计算机可读指令被所述处理器执行时，使得所述处理器执行以下步骤：A state recognition device for a mobile robot includes a processor and a memory, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor is caused to perform the following steps:
获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及When the distance difference is greater than a preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, where the preset distance threshold is determined based on the environment in which the mobile robot is located; and
当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
一种移动机器人，包括：A mobile robot, including:
距离检测机构，用于获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；The distance detection mechanism is used to obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
控制器，用于当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。The controller is configured to calculate the duration of the distance difference being greater than the preset distance threshold when the distance difference is greater than the preset distance threshold, wherein the preset distance threshold is based on the environment in which the mobile robot is located Determined; and when the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
轮组机构，用于控制移动机器人进行移动。The wheel mechanism is used to control the mobile robot to move.
一种计算机可读存储介质，其上存储有计算机可读指令，所述计算机可读指令被处理器执行时实现以下步骤：A computer-readable storage medium having computer-readable instructions stored thereon, and when the computer-readable instructions are executed by a processor, the following steps are implemented:
获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离 阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及When the distance difference is greater than the preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, wherein the preset distance threshold is determined based on the environment in which the mobile robot is located; and
当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
附图说明Description of the drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative work.
图1为根据一个实施例的移动机器人的结构示意图；Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment;
图2为根据一个实施例的移动机器人的状态识别方法的流程示意图；Fig. 2 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图3为根据一个实施例的移动机器人的状态识别方法的流程示意图；Fig. 3 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图4为根据一个实施例的移动机器人的状态识别方法的流程示意图；4 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图5为根据一个实施例的移动机器人的状态识别方法的流程示意图；Fig. 5 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图6为根据一个实施例的移动机器人的状态识别方法的流程示意图；Fig. 6 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图7为根据一个实施例的移动机器人的状态识别方法的流程示意图；FIG. 7 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment;
图8为根据一个实施例的移动机器人的状态识别方法的流程示意图。Fig. 8 is a schematic flowchart of a state recognition method of a mobile robot according to an embodiment.
具体实施方式detailed description
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are used to explain the application, and are not used to limit the application.
本申请提供一种移动机器人的状态识别方法，可以应用于如图1所示的移动机器人上。该移动机器人100包括控制器110、轮组机构120、电源130和距离检测机构140。其中，控制器110安装在移动机器人100上，通过轮 组机构120控制移动机器人100进行移动；电源130用于为移动机器人100以及控制器110供电；距离检测机构140用于检测移动机器人100在预设位置上的相对于当前地面的距离；控制器110通过预设距离阈值和预设时间阈值，来判定移动机器人是否100处于异常状态，进而确定是否控制移动机器人100进行脱离异常状态的处理。This application provides a state recognition method of a mobile robot, which can be applied to the mobile robot as shown in FIG. 1. The mobile robot 100 includes a controller 110, a wheel set mechanism 120, a power supply 130 and a distance detection mechanism 140. Among them, the controller 110 is installed on the mobile robot 100, and the mobile robot 100 is controlled to move through the wheel mechanism 120; the power source 130 is used to power the mobile robot 100 and the controller 110; the distance detection mechanism 140 is used to detect that the mobile robot 100 is in advance. Set the distance of the position relative to the current ground; the controller 110 determines whether the mobile robot 100 is in an abnormal state through a preset distance threshold and a preset time threshold, and then determines whether to control the mobile robot 100 to process the abnormal state.
可以理解的是，移动机器人被广泛地与各种可移动终端的移动特征相关地使用，并且可以为但不限于扫地机、割草机、搬运机器人等。另外，本申请不限定具体应用场景，以及移动机器人通过存储的计算机可读指令经由控制器110来判定移动机器人是否处于异常状态的功能。It can be understood that mobile robots are widely used in relation to the mobile characteristics of various mobile terminals, and can be, but not limited to, sweepers, lawn mowers, handling robots, and the like. In addition, the present application does not limit specific application scenarios, and the function of the mobile robot to determine whether the mobile robot is in an abnormal state via the controller 110 through stored computer-readable instructions.
在一个实施例中，如图2所示，本申请的移动机器人的状态识别方法，通过控制器110和距离检测机构140来实现，包括以下步骤：In one embodiment, as shown in FIG. 2, the state recognition method of the mobile robot of the present application is implemented by the controller 110 and the distance detection mechanism 140, and includes the following steps:
S210、获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差。S210: Obtain a distance difference between two positions on the mobile robot in a vertical direction relative to the current ground.
S220、当距离差大于预设距离阈值时，计算距离差大于预设距离阈值的持续时间，其中预设距离阈值是基于移动机器人所处的环境来确定的。S220: When the distance difference is greater than the preset distance threshold, calculate the duration of the distance difference greater than the preset distance threshold, where the preset distance threshold is determined based on the environment where the mobile robot is located.
具体地，预设状态的识别判定距离阈值简称为预设距离阈值，是指判断移动机器人是否处于异常状态的阈值，其中，异常状态包括移动机器因机身倾斜而被障碍物卡住的状态。可以理解地，移动机器人在正常工作时，应处于正常状态。Specifically, the recognition and judgment distance threshold of the preset state is simply referred to as the preset distance threshold, which refers to a threshold for judging whether the mobile robot is in an abnormal state, where the abnormal state includes a state where the mobile machine is stuck by an obstacle due to the tilt of the body. Understandably, the mobile robot should be in a normal state when it is working normally.
预设距离阈值可以根据移动机器人所在地面的障碍物的情况进行设置。例如，当移动机器人的机身处于倾斜且不能移动的情况时，移动机器人的一端处于悬空的状态。此时，移动机器人上的至少两个位置包括第一预设位置和第二预设位置，两者分别相对于当前地面对应的距离之间形成的距离差会产生变动。当距离差大于预设距离阈值时，可以判定此时移动机器人处于异常状态。此时控制器110可以开始记录移动机器人的处于倾斜状态时间的持续时间。The preset distance threshold can be set according to the obstacles on the surface of the mobile robot. For example, when the body of the mobile robot is tilted and cannot be moved, one end of the mobile robot is in a suspended state. At this time, at least two positions on the mobile robot include a first preset position and a second preset position, and the distance difference formed between the corresponding distances of the two relative to the current ground will change. When the distance difference is greater than the preset distance threshold, it can be determined that the mobile robot is in an abnormal state at this time. At this time, the controller 110 may start to record the duration of the time when the mobile robot is in the inclined state.
S230、当持续时间超过预设时间阈值时，判定移动机器人处于异常状态。S230: When the duration exceeds a preset time threshold, determine that the mobile robot is in an abnormal state.
具体地，预设距离阈值只能判断移动机器人是否处于倾斜状态。可以理解地，当移动机器人处于倾斜状态时，不一定是移动机器人被困住，也可能是在移动过程中产生的剧烈晃动。控制器110通过预设距离阈值无法识别移动机器人是否被困住而不能移动。此时，控制器110可以通过距离移动机器人的处于倾斜状态的持续时间，来继续判定移动机器人是否处于被困状态。当持续时间超过预设时间阈值时，判定移动机器人处于异常状态。具体地，本实施例中的预设时间阈值是一种经验阈值。Specifically, the preset distance threshold can only determine whether the mobile robot is in a tilted state. Understandably, when the mobile robot is in a tilted state, it does not necessarily mean that the mobile robot is trapped, and it may also be caused by violent shaking during the movement. The controller 110 cannot recognize whether the mobile robot is trapped and cannot move through the preset distance threshold. At this time, the controller 110 may continue to determine whether the mobile robot is in a trapped state based on the duration of the inclined state of the mobile robot. When the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state. Specifically, the preset time threshold in this embodiment is an empirical threshold.
上述移动机器人的状态识别方法，首先获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；当距离差大于预设距离阈值时，计算距离差大于预设距离阈值的持续时间；当持续时间超过预设时间阈值时，判定移动机器人处于异常状态。本申请通过获取移动机器人的距离之差，可有效地判定移动机器人是否当前处于异常状态。The state recognition method of the mobile robot described above first obtains the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground; when the distance difference is greater than the preset distance threshold, calculate the distance difference greater than the preset distance threshold Duration: When the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state. This application can effectively determine whether the mobile robot is currently in an abnormal state by obtaining the distance difference of the mobile robot.
在一个实施例中，如图3所示，在步骤S210中，即获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差，包括以下步骤：In one embodiment, as shown in FIG. 3, in step S210, acquiring the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground includes the following steps:
S310、分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离。S310: Acquire the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction, respectively.
具体地，第一预设位置以及第二预设位置分别位于移动机器人的机身上的不同位置，例如，第一预设位置与第二预设位置分别设置于移动机器人的前后两侧。在第一预设位置与第二预设位置上分别安装距离检测机构。距离检测机构包括红外测距传感器、超声波测距传感器或者激光测距传感器中的至少一种。控制器110可以通过距离检测机构准确地估计各预设位置在垂直方向上相对于当前地面的距离。Specifically, the first preset position and the second preset position are respectively located at different positions on the body of the mobile robot. For example, the first preset position and the second preset position are respectively set on the front and rear sides of the mobile robot. The distance detection mechanism is installed on the first preset position and the second preset position respectively. The distance detecting mechanism includes at least one of an infrared distance measuring sensor, an ultrasonic distance measuring sensor, or a laser distance measuring sensor. The controller 110 can accurately estimate the distance of each preset position relative to the current ground in the vertical direction through the distance detection mechanism.
S320、获取第一距离与第二距离之间的距离差。S320. Obtain a distance difference between the first distance and the second distance.
具体地，控制器110可以获取不同时刻的第一距离与第二距离，并获取同时刻的第一距离与第二距离之间的距离差。通过对比各个不同时刻第一距 离与第二距离之间的距离差，来判定移动机器人是否处于异常状态。本实施例中，控制器110可准确地获取移动机器人上的两个位置对应的距离差。Specifically, the controller 110 may obtain the first distance and the second distance at different moments, and obtain the distance difference between the first distance and the second distance at the same time. By comparing the distance difference between the first distance and the second distance at different times, it is determined whether the mobile robot is in an abnormal state. In this embodiment, the controller 110 can accurately obtain the distance difference corresponding to the two positions on the mobile robot.
在一个实施例中，如图4所示，在步骤S310中，即分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离，包括以下步骤：In one embodiment, as shown in FIG. 4, in step S310, the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction are obtained respectively. , Including the following steps:
S410、通过脉冲宽度调制控制第一红外发射单元和第二红外发射单元分别定时地发送红外信号，且通过第一红外接收端和第二红外接收端分别接收反射的光能量，其中，第一红外发射单元位于移动机器人的第一预设位置，第二红外发射单元位于移动机器人的第二预设位置。S410. Control the first infrared emitting unit and the second infrared emitting unit to send infrared signals periodically through pulse width modulation, and receive the reflected light energy through the first infrared receiving end and the second infrared receiving end, respectively, where the first infrared The transmitting unit is located at the first preset position of the mobile robot, and the second infrared transmitting unit is located at the second preset position of the mobile robot.
S420、获取当前地面的漫反射率，并基于当前地面的漫反射率、第一红外接收端接收反射的光能量以及第二红外接收端接收反射的光能量，分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离。S420. Obtain the diffuse reflectance of the current ground, and obtain the first prediction on the mobile robot based on the diffuse reflectance of the current ground, the reflected light energy received by the first infrared receiving end, and the reflected light energy received by the second infrared receiving end. Set the first distance and the second distance of the position and the second preset position to the current ground in the vertical direction.
具体地，在本实施例中，位于移动机器人的第一预设位置和第二预设位置的距离检测机构具体为红外测距传感器。红外测距传感器包括了红外发射单元以及红外接收端。控制器110通过脉冲宽度调制，控制红外发射单元定时发射红外信号(例如，每隔500ms发射一次)，之后通过红外接收端接收地面反射的红外光能量。Specifically, in this embodiment, the distance detection mechanism located at the first preset position and the second preset position of the mobile robot is specifically an infrared distance measuring sensor. The infrared ranging sensor includes an infrared transmitter unit and an infrared receiver. The controller 110 controls the infrared transmitting unit to periodically transmit infrared signals (for example, once every 500 ms) through pulse width modulation, and then receives infrared light energy reflected by the ground through the infrared receiving end.
控制器110还基于移动机器人所处的当前地面的漫反射率，以获取第一预设位置相对当前地面的第一距离，和第二预设位置相对当前地面的第二距离。控制器110通过位于不同位置的距离检测机构，可以对移动机器人的当前位置的距离进行准确地计算。The controller 110 is also based on the diffuse reflectance of the current ground where the mobile robot is located, to obtain a first distance from the first preset position to the current ground and a second distance from the second preset position to the current ground. The controller 110 can accurately calculate the distance of the current position of the mobile robot through distance detection mechanisms located at different positions.
在一个实施例中，如图5所示，在步骤S420中，即基于当前地面的漫反射率以及第一红外接收端接收反射的光能量，获取移动机器人的第一预设位置相对当前地面的第一距离，包括以下步骤：In one embodiment, as shown in FIG. 5, in step S420, based on the diffuse reflectance of the current ground and the reflected light energy received by the first infrared receiving end, the first preset position of the mobile robot relative to the current ground is obtained. The first distance includes the following steps:
S510、在以当前时刻为中心的预设的采样时间段内，获取在各个采样时 间点的第一红外接收端接收到的光能量和第二红外接收端接收到的光能量。S510. Acquire the light energy received by the first infrared receiving end and the light energy received by the second infrared receiving end at each sampling time point within a preset sampling time period centered on the current time.
S520、通过中值滤波算法，分别获取在采样时间段内第一红外接收端接收到的光能量中值和第二红外接收端接收到的光能量中值。S520: Obtain the median value of the light energy received by the first infrared receiving end and the median value of the light energy received by the second infrared receiving end during the sampling time period by using the median filter algorithm.
S530、基于当前地面的漫反射率、第一红外接收端接收到的光能量中值和第二红外接收端接收到的光能量中值，通过反射能量法分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离。S530. Based on the current diffuse reflectance of the ground, the median value of light energy received by the first infrared receiving end, and the median value of light energy received by the second infrared receiving end, obtain the first preset on the mobile robot through the reflected energy method. The first distance and the second distance between the position and the second preset position relative to the current ground in the vertical direction.
具体地，发射能量法的公式具体为：Specifically, the formula of the emission energy method is:
Figure PCTCN2020081167-appb-000001
Figure PCTCN2020081167-appb-000001
公式中L f为移动机器人的第一预设位置相对当前地面的第一距离，P m为接收端接收到的能量，K为常数，以及d为当前地面的漫反射率。上述参数中的K的值是由红外发射单元的输出功率以及能量转换效率来决定的。第二距离的获取过程与第一距离的获取过程相同。 In the formula, L f is the first distance from the first preset position of the mobile robot to the current ground, P m is the energy received by the receiving end, K is a constant, and d is the diffuse reflectance of the current ground. The value of K in the above parameters is determined by the output power of the infrared emitting unit and the energy conversion efficiency. The process of obtaining the second distance is the same as the process of obtaining the first distance.
中值滤波算法即把n次采样值按大小排列，提取这些采样值的中位值为本次的有效值。具体地，在通过红外接收端接收到能量后，控制器110可以获取在以当前时刻为中心的预设采样时间段内，在各采样时间点时第一红外接收端接收到的光能量。然后，控制器110可以通过中值滤波算法得到该预设采样时间段内红外接收端接收到能量的中值，用以有效克服因偶然因素引起的波动干扰。The median filter algorithm is to arrange the n sampling values in order of size, and extract the median value of these sampling values as the effective value this time. Specifically, after receiving energy through the infrared receiving terminal, the controller 110 may obtain the light energy received by the first infrared receiving terminal at each sampling time point in a preset sampling time period centered on the current time. Then, the controller 110 can obtain the median value of the energy received by the infrared receiving end within the preset sampling time period through the median filter algorithm, so as to effectively overcome the fluctuation interference caused by accidental factors.
控制器110可以根据反射能量法得到预设第一位置相对地面的第一距离，具体实现过程如下：发射控制电路控制红外发射单元发出信号射向地面，经地面反射后传回***的红外接收端。控制器110计算光电转换器接收的光能量大小，可得到红外发射单元所在的预设第一位置相对地面的距离L f。同样地，控制器110还可以根据反射能量法得到预设第二位置相对地面的第二距离。 The controller 110 can obtain the first distance of the preset first position relative to the ground according to the reflected energy method. The specific implementation process is as follows: the transmission control circuit controls the infrared transmitting unit to send a signal to the ground, and then returns to the infrared receiving end of the system after being reflected by the ground . The controller 110 calculates the amount of light energy received by the photoelectric converter, and can obtain the distance L f of the preset first position where the infrared emitting unit is located relative to the ground. Similarly, the controller 110 may also obtain the second distance of the preset second position relative to the ground according to the reflected energy method.
在一个实施例中，如图6所示，在步骤S220之前，即在当距离差大于预设距离阈值时，计算距离差大于预设距离阈值的持续时间的步骤之前，还包括以下步骤：In one embodiment, as shown in FIG. 6, before step S220, that is, when the distance difference is greater than the preset distance threshold, before the step of calculating the duration of the distance difference greater than the preset distance threshold, the following steps are further included:
S610、获取移动机器人所处的当前地面的障碍物信息。S610. Obtain obstacle information on the current ground where the mobile robot is located.
S620、基于障碍物信息，确定移动机器人的异常模拟状态。S620: Determine an abnormal simulation state of the mobile robot based on the obstacle information.
S630、根据异常模拟状态，确定距离差的模拟最小值。S630: Determine the simulated minimum value of the distance difference according to the abnormal simulation state.
S630、基于异常模拟状态和模拟最小值，确定预设距离阈值。S630: Determine a preset distance threshold based on the abnormal simulation state and the simulation minimum.
具体地，在地面场景上常见的障碍物包括门槛、电缆等。控制器110在获取预设距离阈值前，还可以获取当前地面的障碍物信息，用以确定当前地面对应的预设距离阈值。障碍物信息具体包括当前地面上常见障碍物的高度以及类型。将这些障碍物的信息输入控制器110后，控制器110会根据障碍物高度以及类型来判断哪些障碍物可能会使得移动机器人处于异常状态，并因此模拟移动机器人的异常模拟状态，以确定预设状态变更判定距离阈值(简称为预设距离阈值)的范围，一般设置为1-3cm。Specifically, common obstacles on the ground scene include thresholds, cables, and so on. Before acquiring the preset distance threshold, the controller 110 may also acquire obstacle information on the current ground to determine the preset distance threshold corresponding to the current ground. The obstacle information specifically includes the height and type of common obstacles on the current ground. After inputting the information of these obstacles into the controller 110, the controller 110 will determine which obstacles may cause the mobile robot to be in an abnormal state according to the height and type of the obstacle, and thus simulate the abnormal simulation state of the mobile robot to determine the preset The range of the state change determination distance threshold (referred to as the preset distance threshold for short) is generally set to 1-3 cm.
在一个实施例中，如图7所示，在步骤S230之后，即在判定移动机器人处于异常状态的步骤之后，还包括以下步骤：In an embodiment, as shown in FIG. 7, after step S230, that is, after the step of determining that the mobile robot is in an abnormal state, the following steps are further included:
S710、获取移动机器人的恢复正常状态的移动方案，并基于移动方案，获取恢复路线。S710. Obtain a movement plan for the mobile robot to return to a normal state, and obtain a restoration route based on the movement plan.
S720、控制移动机器人沿恢复路线进行移动。S720: Control the mobile robot to move along the restoration route.
S730、返回执行获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差的步骤。S730. Return to the step of obtaining the distance difference between the two positions on the mobile robot in the vertical direction relative to the current ground.
S740、当检测到移动机器人处于正常状态时，停止沿恢复路线进行移动。S740: When it is detected that the mobile robot is in a normal state, stop moving along the restoration route.
具体地，当控制器110判定移动机器人处于异常状态时，可以基于当前的情况生成对应的移动方案，用于帮助移动机器人摆脱当前的异常状态，以恢复到正常状态。当移动机器人处于异常状态，比如处于被困且不能移动的状态时，如果按照原来的移动轨迹，移动机器人可能会一直处于异常状态。 此时控制器110可以生成新的移动方案，控制移动机器人按照包括恢复路线的移动方案进行移动，以摆脱异常状态，直至恢复到正常状态，也即正常移动的状态。Specifically, when the controller 110 determines that the mobile robot is in an abnormal state, it may generate a corresponding movement plan based on the current situation to help the mobile robot get rid of the current abnormal state and restore to a normal state. When the mobile robot is in an abnormal state, such as being trapped and unable to move, if it follows the original movement trajectory, the mobile robot may always be in an abnormal state. At this time, the controller 110 may generate a new movement plan, and control the mobile robot to move according to the movement plan including the restoration route to get rid of the abnormal state until it returns to the normal state, that is, the normal movement state.
在一个实施例中，如图8所示，在步骤S710中，即获取移动机器人的脱离异常的移动方案，包括以下步骤：In an embodiment, as shown in FIG. 8, in step S710, that is, acquiring a movement plan of the mobile robot that is out of abnormality, includes the following steps:
S810、获取移动机器人的移动轨迹。S810: Obtain a movement track of the mobile robot.
S820、基于移动机器人的移动轨迹，生成恢复正常状态的移动方案，其中，移动方案的恢复路线包括沿移动轨迹的反向路线。S820. Based on the movement trajectory of the mobile robot, generate a movement plan to restore a normal state, where the restoration route of the movement plan includes a reverse route along the movement trajectory.
具体地，控制器110可以通过获取移动机器人的初始的移动轨迹，并根据移动轨迹生成对应的移动方案。该移动方案可包括至少一种恢复路线。恢复路线可以为沿原先的移动轨迹的反向进行移动，用以移动机器人摆脱当前的异常状态。Specifically, the controller 110 may obtain the initial movement trajectory of the mobile robot, and generate a corresponding movement scheme according to the movement trajectory. The movement plan may include at least one restoration route. The restoration route can be a movement along the reverse of the original movement trajectory to move the robot out of the current abnormal state.
控制器110生成用于控制移动机器人沿恢复路线移动的移动方案后，通过控制轮组机构以使移动机器人沿恢复路线移动，从而摆脱当前的异常状态。同时返回步骤S210检测移动机器人是否仍然处于异常状态。当处理器检测到移动机器人摆脱了异常状态时，停止沿恢复路线移动。移动机器人通过沿反向移动的恢复路线，可以有效摆脱当前的异常状态。After the controller 110 generates a movement plan for controlling the mobile robot to move along the restoration route, it controls the wheel mechanism to move the mobile robot along the restoration route, thereby getting rid of the current abnormal state. At the same time, return to step S210 to detect whether the mobile robot is still in an abnormal state. When the processor detects that the mobile robot gets rid of the abnormal state, it stops moving along the recovery route. The mobile robot can effectively get rid of the current abnormal state by moving along the reverse recovery route.
在其中一个实施例中，本申请的移动机器人的状态识别方法包括：In one of the embodiments, the state recognition method of the mobile robot of the present application includes:
通过脉冲宽度调制控制位于移动机器人的第一预设位置的第一红外发射单元定时发送红外信号，且通过第一红外接收端接收反射的光能量；通过脉冲宽度调制控制位于移动机器人的第二预设位置的第二红外发射单元定时发送红外信号，且通过第二红外接收端接收反射的光能量。The first infrared transmitter unit located at the first preset position of the mobile robot is controlled by pulse width modulation to periodically send infrared signals, and the reflected light energy is received through the first infrared receiving end; the second infrared transmitter located at the mobile robot is controlled by pulse width modulation. The second infrared transmitting unit in the set position sends infrared signals regularly, and receives the reflected light energy through the second infrared receiving end.
获取当前地面的漫反射率，基于当前地面的漫反射率以及第一红外接收端接收反射的光能量，获取移动机器人的第一预设位置相对当前地面的第一距离；基于当前地面的漫反射率以及第二红外接收端接收反射的光能量，获取移动机器人的第二预设位置相对当前地面的第二距离。Obtain the diffuse reflectance of the current ground, and obtain the first distance of the mobile robot's first preset position relative to the current ground based on the diffuse reflectance of the current ground and the reflected light energy received by the first infrared receiver; based on the diffuse reflectance of the current ground The second infrared receiving end receives the reflected light energy and obtains the second distance of the second preset position of the mobile robot relative to the current ground.
获取各时刻对应的第一距离与第二距离之间的距离差。获取移动机器人所处地面的障碍物信息，基于障碍物信息模拟移动机器人异常状态，基于模拟中移动机器人处于倾斜状态时，第一距离与第二距离之间的距离差的最小值确定预设距离阈值。Obtain the distance difference between the first distance and the second distance corresponding to each moment. Obtain the obstacle information on the ground where the mobile robot is located, simulate the abnormal state of the mobile robot based on the obstacle information, and determine the preset distance threshold based on the minimum distance difference between the first distance and the second distance when the mobile robot is in a tilted state in the simulation .
当距离差大于预设距离阈值时，计算距离差大于预设距离阈值的持续时间。当持续时间超过预设时间阈值时，判定移动机器人处于异常状态。获取移动机器人的移动轨迹；基于移动机器人的移动轨迹，生成脱离异常的移动方案；基于脱离异常的移动方案控制移动机器人沿恢复路线移动；返回执行获取移动机器人的第一预设位置相对当前地面的第一距离，获取移动机器人的第二预设位置相对当前地面的第二距离的步骤；当检测到移动机器人不处于异常状态时，停止移动。When the distance difference is greater than the preset distance threshold, the duration of the distance difference greater than the preset distance threshold is calculated. When the duration exceeds the preset time threshold, it is determined that the mobile robot is in an abnormal state. Obtain the movement trajectory of the mobile robot; generate an abnormal movement plan based on the movement trajectory of the mobile robot; control the mobile robot to move along the recovery route based on the abnormal movement plan; return to execute the acquisition of the first preset position of the mobile robot relative to the current ground The first distance is the step of acquiring the second distance of the second preset position of the mobile robot relative to the current ground; when it is detected that the mobile robot is not in an abnormal state, stop moving.
应该理解的是，虽然上述流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，上述流程图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that, although the steps in the above flowchart are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in the above-mentioned flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of sub-steps or stages of other steps.
在一个实施例中，提供了一种移动机器人的状态识别装置，包括处理器和存储器，存储器存储有计算机可读指令，当计算机可读指令被处理器执行时，使得处理器执行上述实施例中的方法的步骤。In one embodiment, a state recognition device for a mobile robot is provided, including a processor and a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor executes the above-mentioned embodiments. Steps of the method.
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机可读指令，计算机可读指令被处理器执行上述实施例中的方法的步骤。In one embodiment, a computer-readable storage medium is provided, and computer-readable instructions are stored thereon, and the computer-readable instructions are executed by a processor to execute the steps of the method in the foregoing embodiment.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储 于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage. In the medium, when the computer program is executed, it may include the procedures of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. easy
失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。Lost memory may include random access memory (RAM) or external cache memory. As an illustration and not a limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express a few implementation modes of the present application, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the patent application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims (16)

  1. 一种移动机器人的状态识别方法，包括：A state recognition method of a mobile robot includes:
    获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
    当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及When the distance difference is greater than a preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, where the preset distance threshold is determined based on the environment in which the mobile robot is located; and
    当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
  2. 根据权利要求1所述的方法，其特征在于，所述获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差，包括：The method according to claim 1, wherein the obtaining the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground comprises:
    分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离；以及Respectively acquiring the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction; and
    获取所述第一距离与所述第二距离之间的距离差。Obtain the distance difference between the first distance and the second distance.
  3. 根据权利要求2所述的方法，其特征在于，所述分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离，包括：The method according to claim 2, wherein the obtaining the first distance and the second distance of the first preset position and the second preset position on the mobile robot in the vertical direction relative to the current ground, respectively, comprises:
    通过距离检测机构，分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离，其中，所述距离检测机构包括红外测距传感器、超声波测距传感器或者激光测距传感器中的至少一种。The first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction are obtained through a distance detection mechanism, wherein the distance detection mechanism includes an infrared distance measuring sensor , At least one of an ultrasonic ranging sensor or a laser ranging sensor.
  4. 根据权利要求3所述的方法，其特征在于，所述距离检测机构为红外测距传感器，所述红外测距传感器包括红外发射单元以及红外接收端。The method according to claim 3, wherein the distance detection mechanism is an infrared distance measuring sensor, and the infrared distance measuring sensor includes an infrared transmitting unit and an infrared receiving end.
  5. 根据权利要求2所述的方法，其特征在于，所述分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和 第二距离，包括：The method according to claim 2, wherein the obtaining the first distance and the second distance of the first preset position and the second preset position on the mobile robot in the vertical direction relative to the current ground, respectively, comprises:
    通过脉冲宽度调制控制第一红外发射单元和第二红外发射单元分别定时地发送红外信号，且通过第一红外接收端和第二红外接收端分别接收反射的光能量，其中，所述第一红外发射单元位于所述移动机器人的第一预设位置，所述第二红外发射单元位于所述移动机器人的第二预设位置；以及The first infrared emitting unit and the second infrared emitting unit are controlled by pulse width modulation to send infrared signals at regular intervals, and the reflected light energy is respectively received through the first infrared receiving end and the second infrared receiving end, wherein the first infrared The transmitting unit is located at a first preset position of the mobile robot, and the second infrared transmitting unit is located at a second preset position of the mobile robot; and
    获取当前地面的漫反射率，并基于所述当前地面的漫反射率、所述第一红外接收端接收反射的光能量以及所述第二红外接收端接收反射的光能量，分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离。Obtain the diffuse reflectance of the current ground, and obtain the mobile robot based on the diffuse reflectance of the current ground, the reflected light energy received by the first infrared receiving end, and the reflected light energy received by the second infrared receiving end. The first distance and the second distance of the first preset position and the second preset position relative to the current ground in the vertical direction.
  6. 根据权利要求5所述的方法，其特征在于，所述基于所述当前地面的漫反射率、所述第一红外接收端接收反射的光能量以及所述第二红外接收端接收反射的光能量，分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离，包括：The method according to claim 5, wherein the diffuse reflectance based on the current ground, the reflected light energy received by the first infrared receiving end, and the reflected light energy received by the second infrared receiving end , Respectively acquiring the first distance and the second distance of the first preset position and the second preset position on the mobile robot relative to the current ground in the vertical direction, including:
    在以当前时刻为中心的预设的采样时间段内，获取在各个采样时间点的第一红外接收端接收到的光能量和第二红外接收端接收到的光能量；Acquire the light energy received by the first infrared receiving end and the light energy received by the second infrared receiving end at each sampling time point in a preset sampling time period centered on the current time;
    通过中值滤波算法，分别获取在所述采样时间段内所述第一红外接收端接收到的光能量中值和所述第二红外接收端接收到的光能量中值；以及Obtain the median value of light energy received by the first infrared receiving end and the median value of light energy received by the second infrared receiving end during the sampling time period by using a median filter algorithm; and
    基于所述当前地面的漫反射率、所述第一红外接收端接收到的光能量中值和所述第二红外接收端接收到的光能量中值，通过反射能量法分别获取移动机器人上的第一预设位置和第二预设位置在垂直方向上相对当前地面的第一距离和第二距离。Based on the current diffuse reflectance of the ground, the median value of light energy received by the first infrared receiving end, and the median value of light energy received by the second infrared receiving end, the reflected energy method is used to obtain the The first distance and the second distance of the first preset position and the second preset position relative to the current ground in the vertical direction.
  7. 根据权利要求1所述的方法，其特征在于，在所述当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间的步骤之前，还包括：The method according to claim 1, characterized in that, before the step of calculating the duration for which the distance difference is greater than the preset distance threshold when the distance difference is greater than the preset distance threshold, further comprising:
    获取移动机器人所处的当前地面的障碍物信息；Obtain the obstacle information on the current ground where the mobile robot is located;
    基于所述障碍物信息，确定所述移动机器人的异常模拟状态；Determine the abnormal simulation state of the mobile robot based on the obstacle information;
    根据所述异常模拟状态，确定所述距离差的模拟最小值；以及Determine the simulated minimum value of the distance difference according to the abnormal simulation state; and
    基于所述异常模拟状态和所述模拟最小值，确定预设距离阈值。Based on the abnormal simulation state and the simulated minimum value, a preset distance threshold is determined.
  8. 根据权利要求7所述的方法，其特征在于，所述障碍物信息包括障碍物的高度信息以及类型信息。The method according to claim 7, wherein the obstacle information includes height information and type information of the obstacle.
  9. 根据权利要求7所述的方法，其特征在于，所述预设距离阈值的范围为1-3cm。The method according to claim 7, wherein the preset distance threshold is in the range of 1-3 cm.
  10. 根据权利要求1所述的方法，其特征在于，在所述判定所述移动机器人处于异常状态之后，还包括：The method according to claim 1, wherein after the determining that the mobile robot is in an abnormal state, the method further comprises:
    获取移动机器人的恢复正常状态的移动方案，并基于所述移动方案，获取恢复路线；Acquiring a movement plan of the mobile robot to return to a normal state, and acquiring a restoration route based on the movement plan;
    控制所述移动机器人沿所述恢复路线进行移动；Controlling the mobile robot to move along the restoration route;
    返回执行所述获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差的步骤；以及Return to performing the step of obtaining the distance difference between the two positions on the mobile robot in the vertical direction relative to the current ground; and
    当检测到所述移动机器人处于所述正常状态时，停止沿所述恢复路线进行移动。When it is detected that the mobile robot is in the normal state, stop moving along the recovery route.
  11. 根据权利要求10所述的方法，其特征在于，所述获取移动机器人的恢复正常状态的移动方案，包括：The method according to claim 10, wherein said acquiring a movement plan of the mobile robot to return to a normal state comprises:
    获取所述移动机器人的移动轨迹；以及Acquiring the movement track of the mobile robot; and
    基于所述移动机器人的移动轨迹，生成恢复正常状态的移动方案，其中，所述移动方案的恢复路线包括沿所述移动轨迹的反向路线。Based on the movement trajectory of the mobile robot, a movement plan to restore a normal state is generated, wherein the restoration route of the movement plan includes a reverse route along the movement trajectory.
  12. 一种移动机器人的状态识别装置，包括处理器和存储器，所述存储器存储有计算机可读指令，当所述计算机可读指令被所述处理器执行时，使得所述处理器执行以下步骤：A state recognition device for a mobile robot includes a processor and a memory, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor is caused to perform the following steps:
    获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
    当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离 阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及When the distance difference is greater than the preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, wherein the preset distance threshold is determined based on the environment in which the mobile robot is located; and
    当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
  13. 一种移动机器人，包括：A mobile robot, including:
    距离检测机构，用于获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；The distance detection mechanism is used to obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
    控制器，用于当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状态；以及The controller is configured to calculate the duration of the distance difference being greater than the preset distance threshold when the distance difference is greater than the preset distance threshold, wherein the preset distance threshold is based on the environment in which the mobile robot is located Determined; and when the duration exceeds a preset time threshold, determining that the mobile robot is in an abnormal state; and
    轮组机构，用于控制移动机器人进行移动。The wheel mechanism is used to control the mobile robot to move.
  14. 根据权利要求13所述的移动机器人，其特征在于，还包括距离测距装置，所述距离检测机构包括红外测距传感器、超声波测距传感器或者激光测距传感器中的至少一种。The mobile robot according to claim 13, further comprising a distance measuring device, and the distance detecting mechanism comprises at least one of an infrared distance measuring sensor, an ultrasonic distance measuring sensor or a laser distance measuring sensor.
  15. 根据权利要求13所述的移动机器人，其特征在于，所述距离检测机构为红外测距传感器，所述红外测距传感器包括红外发射单元以及红外接收端。The mobile robot according to claim 13, wherein the distance detection mechanism is an infrared distance measuring sensor, and the infrared distance measuring sensor comprises an infrared transmitting unit and an infrared receiving end.
  16. 一种计算机可读存储介质，其上存储有计算机可读指令，所述计算机可读指令被处理器执行时实现以下步骤：A computer-readable storage medium having computer-readable instructions stored thereon, and when the computer-readable instructions are executed by a processor, the following steps are implemented:
    获取移动机器人上的两个位置之间在垂直方向上相对于当前地面的距离差；Obtain the distance difference between two positions on the mobile robot in the vertical direction relative to the current ground;
    当所述距离差大于预设距离阈值时，计算所述距离差大于所述预设距离阈值的持续时间，其中，所述预设距离阈值是基于移动机器人所处的环境来确定的；以及When the distance difference is greater than a preset distance threshold, calculating the duration of the distance difference greater than the preset distance threshold, where the preset distance threshold is determined based on the environment in which the mobile robot is located; and
    当所述持续时间超过预设时间阈值时，判定所述移动机器人处于异常状 态。When the duration exceeds a preset time threshold, it is determined that the mobile robot is in an abnormal state.
PCT/CN2020/081167 2019-04-18 2020-03-25 Method and apparatus for recognising state of mobile robot, mobile robot, and storage medium WO2020211610A1 (en)

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