Anti-drop method applied to mobile robot

Abstract

The invention discloses a fall prevention method applied to a mobile robot, which includes a mobile robot and a control system. The robot is provided with a two-dimensional laser ranging sensor communicated with the control system, including the following steps: 1) the control system Acquire the laser data of the two-dimensional laser ranging sensor, and calibrate the distance reference value of the laser sensor from the ground; 2) The control system performs linear fitting according to the position characteristics of the laser point data, constructs a two-dimensional scene, and performs cliff detection; 3) When the control system After the system detects that there is a cliff ahead, it sends a warning command to the mobile robot. The detection method of the present invention is two-dimensional, and the detected laser point data is analyzed into line segment data for analysis, the shape characteristics of obstacles are preserved, the single detection error rate is reduced, and the measurement reference value is initialized, so that the measurement is self-adaptive Compared with the traditional single-point or multi-point detection, the application environment is wider, especially in the hole floor.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation control, in particular to a fall prevention method applied to a mobile robot. Background technique [0002] With the development of robot navigation technology, mobility is not only a requirement for robots used in production. Nowadays, service robots including smart wheelchairs and smart sweeping robots have higher and higher requirements for the stability of navigation and obstacle avoidance. However, the working environment of the robot is relatively complicated, especially in the indoor environment where there are environmental factors such as steps, stairs, steep slopes, and pits. If there is no effective fall prevention method, the robot is easily damaged by a huge fall. [0003] In the prior art, the vast majority of anti-drop methods use infrared sensors as anti-drop sensors. The reflected signal then stops moving forward to prevent falling; another example is in the Chin...

AI Technical Summary

Problems solved by technology

[0005] The present invention is to solve the problem that the existing robot navigation technology is restricted by the color and material of the ground and cannot be applied to the ground with holes. It provides a two-dimensional laser ranging sensor for detection. The detection method is two-dimensional, not only Considering the distance of the detected obstacle, the detected laser point data is parsed into line segment data for analysis, which retains the shape characteristics of the obstacle and reduces the single detection error rate. It is applied to the anti-falling of mobile robots method

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