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Method, system, storage medium and equipment for robot falling detection

A robot and covariance technology, applied in the field of robot detection, can solve the problems of limited scope of application and low accuracy

Inactive Publication Date: 2018-06-29
NANJING AVATARMIND ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problems of limited application range and low accuracy of the existing robot tipping detection technology, the present invention provides a robot tipping detection method and an anti-dumping robot, which can detect whether the robot is tipped more effectively and accurately, thereby providing Automatic controls to reduce security risks

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  • Method, system, storage medium and equipment for robot falling detection
  • Method, system, storage medium and equipment for robot falling detection
  • Method, system, storage medium and equipment for robot falling detection

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Embodiment Construction

[0061] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. An embodiment based on the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts, all belong to the scope of protection of the present invention. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0062] Usually, the detection method of the robot is to detect the motion and working conditions of the robot in real time, feed back to the control system as needed, and after comparing with the setting information, adjust the actuator to ensure that t...

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Abstract

The invention provides a method, a system, a storage medium and equipment for robot falling detection, and relates to the technical field of robot detection, in particular to the method, the system, the storage medium and the equipment for robot falling detection. The method for robot falling detection comprises the following steps: continuously obtaining measured data of a gyroscope and measureddata of an accelerometer, wherein the measured data of the gyroscope is taken as a k-moment estimated angle X (k), the measured data of the accelerometer is taken as a k-moment observed angle Y (k),and k is an integer greater than or equal to 1; according to a Kalman filtering principle, fusing the estimated angle with the observed angle, thus obtaining an included angle between a robot and ground; and if the included angle between the robot and the ground exceeds a preset range, judging that the robot falls. The invention provides an effective robot falling detection method on one hand, andprovides intelligent response on the other hand to avoid robot falling, and reduce safety risk.

Description

technical field [0001] The present invention relates to the technical field of robot detection, in particular to a method, system, storage medium and equipment for robot tipping detection. Background technique [0002] A robot is a machine device that automatically performs work, and is generally composed of an actuator, a drive device, a detection device, a control system, and complex machinery. The detection method is to detect the motion and working conditions of the robot in real time, feed back to the control system as needed, and after comparing with the set information, adjust the actuator to ensure that the robot's action meets the predetermined requirements. [0003] At present, there are some methods for detecting the fall of the robot. The robot is equipped with various barrier sensors, such as infrared ranging sensors, laser ranging sensors, cameras, ultrasonic sensors, collision switches and so on. However, the distance measuring sensors on each of the above-me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C9/00
CPCG01C9/00G08B29/04G08B29/18
Inventor 李庭亮
Owner NANJING AVATARMIND ROBOT TECH CO LTD
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