Anti-dropping method and device for robot

A robot and anti-fall technology, applied in the field of robots, can solve the problems of long braking distance of robots, and achieve the effect of solving long braking distance, shortening response delay, and shortening braking distance

Inactive Publication Date: 2017-08-25
NINEBOT (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention provides a method and device for preventing fall...

Method used

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  • Anti-dropping method and device for robot

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Embodiment 1

[0024] According to an embodiment of the present invention, a method embodiment of a robot fall prevention method is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0025] figure 1 It is a flowchart of a method for preventing falling of a robot according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0026] Step S102, acquiring a first distance between the robot and the obstacle detected by the sensor. In the embodiment of the present invention, at least one sensor may be provided on the robot, and the sensor is used to detect the distance between the obstacle and the robot at a preset distance in t...

Embodiment approach

[0032] As an optional implementation of the present invention, after the stop command is sent to the robot and the robot is controlled to stop, autonomous recovery of the robot can also be realized. Optionally, after sending the stop command to the robot, continue to detect the second distance between the robot and the obstacle, and judge whether the second distance satisfies the second condition, and when the second distance satisfies the second condition, the robot is not in the danger of falling. Distance range, at this time, you can send a forward command to the robot to restore the robot to the advancing state, and at the same time, the robot executes the obstacle avoidance algorithm; The stop state prevents the robot from falling.

[0033] Optionally, the second distance includes a first infrared distance, a second infrared distance and a first ultrasonic distance, wherein the first infrared distance is the distance between obstacles measured by the first sensor of the r...

Embodiment 2

[0041] According to an embodiment of the present invention, a robot fall prevention device is also provided, figure 2 is a schematic diagram of a method for preventing falling of a robot according to an embodiment of the present invention, such as figure 2 As shown, the device includes:

[0042] The first obtaining unit 210 is configured to obtain a first distance between the robot and the obstacle detected by the sensor. In the embodiment of the present invention, at least one sensor may be provided on the robot, and the sensor is used to detect the distance between the obstacle and the robot at a preset distance in the traveling direction of the robot. When there is no obstacle at the preset distance, the distance detected by the sensor is the distance from the ground at the preset distance. Optionally, the above-mentioned at least one sensor can also be a different type of sensor, and different types of sensors can detect the first distance between the robot and the obs...

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PUM

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Abstract

The invention discloses an anti-dropping method and a device for a robot. The method comprises steps: a first distance between the robot and an obstacle detected by a sensor is acquired; whether the first distance meets a first condition is judged, wherein the first condition is used for indicating the robot to be in a determined falling distance range; when the first distance meets the first condition, a stop command is sent to the robot, wherein the stop command is used for indicating the robot to stop moving; and when the first distance does not meet the first condition, the robot is controlled to execute an obstacle avoidance algorithm, wherein the obstacle avoidance algorithm is used for controlling the robot to avoid the obstacle. The technical problem of a long braking distance of the robot is solved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for preventing falling of a robot. Background technique [0002] The environment that the robot faces is relatively complex. For environments such as steps, stairs, and pits, if there is no anti-drop module, the robot is easy to fall, and the damage to the robot is huge. [0003] Common ground robots such as sweeping robots mostly use infrared sensors as anti-drop sensors. The infrared sensor has a transmitting end and a receiving end, and the distance is calculated through the infrared emission and reception time. When the ground is flat, the distance measured by infrared is a constant value. If the distance measured by infrared becomes longer suddenly, it means that there is a deep pit or steps in front of the wheelchair, and a fall alarm will be issued. [0004] A state machine is usually maintained in the robot's obstacle avoidance system to switch between differe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0242G05D1/0255G05D1/0276G05D2201/02
Inventor 冷静陈子冲
Owner NINEBOT (BEIJING) TECH CO LTD
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