Cliff detection method and robot

A detection method and robot technology, which is applied in the field of robots, can solve problems such as inaccurate judgments of robots, and achieve the effect of reducing misjudgments and improving accuracy

Active Publication Date: 2018-05-11
SHENZHEN FREE DYNAMICS DEV CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] The main purpose of the present invention is to provide a cliff detection method, which aims to solve the technical problem that the existing robot cannot dynamically set the limit conditions for cliff detection according to the ground state information, resulting in inaccurate judgment

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  • Cliff detection method and robot
  • Cliff detection method and robot

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Embodiment Construction

[0089] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0090] refer to figure 1 , the cliff detection method of an embodiment of the present invention, comprising:

[0091] S1: Monitor the state change information of the ground during the movement of the robot.

[0092] The state change information in this step includes: changes in the color of the ground, changes in the intensity of reflected light on the ground, changes in the material of the ground, and other information that affects the cliff detection by the infrared sensor. In this embodiment, an indoor sweeping robot with an infrared cliff sensor installed on the bottom shell of the fuselage head is taken as an example, and the robot monitors the status change information of the ground in real time during the moving process.

[0093] S2: Set a limit condition for cliff detection according to the above state chang...

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Abstract

The present invention provides a cliff detection method and a robot. The cliff detection method comprises the steps of: monitoring state change information of a ground where the robot is located in arobot movement process; setting a limitation condition of cliff detection according to the state change information; and determining and detecting whether the ground is a cliff or not according to thelimitation condition and a preset rule corresponding to the limitation condition. The cliff detection method monitors the state change information of the ground in the movement process by the robot to dynamically set the limitation condition of cliff detection according to the state change information of the ground, takes the consideration of the interference factors of cliff detection to dynamically regulate and control the cliff determination standard suitable for the current ground state and refine the limitation conditions of cliff detection in different ground states so as to improve theaccuracy of cliff determination of the robot and reduce the misjudgement.

Description

technical field [0001] The invention relates to the field of robots, in particular to a cliff detection method and a robot. Background technique [0002] The current cliff detection methods for indoor service robots generally use infrared signals for detection. However, infrared signals are more sensitive to the color information of the ground. For example, the detection signal value of a black ground is significantly lower than that of a white ground at the same distance. However, since the robot cannot detect the ground state information such as ground color and ground material, and cannot dynamically set the limit conditions for cliff detection according to the ground state information, misjudgment is prone to occur. For example, if a thin layer of dark carpet is laid on a white ground without cliffs, the indoor service robot will judge the dark carpet as a cliff based on the infrared signal detection results and refuse to continue the service; another example, when the r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/88
CPCG01S17/88
Inventor 郑勇张立新
Owner SHENZHEN FREE DYNAMICS DEV CO LTD
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