Robot idling identification method and device
An identification method and identification device technology, applied in the directions of manipulators, manufacturing tools, etc., can solve the problems of poor robot wheel idling identification effect, etc., and achieve the effect of solving the poor idling identification effect.
Active Publication Date: 2021-06-08
北京云迹科技股份有限公司
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[0005] The main purpose of this application is to provide a robot idling recognition method and device to solve the problem of poor robot wheel idling recognition effect
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[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.
[0023] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...
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The present application discloses a robot idling recognition method and device. The method includes determining the first variation range of the motor current when the robot is stationary; determining the second variation range of the motor current when the robot is not stationary; determining the third variation range of the motor current when the robot is idling; and determining the third variation range of the motor current when the robot is running indoors. , obtain the current variation range of the motor in real time and within a preset time interval; filter out the real-time Obtain the coincidence degree of the electric current variation range of the motor; judge whether the wheels of the current robot are idling according to the coincidence degree. The application solves the technical problem that the identification effect of the idling of the robot wheel is not good. Through this application, the wheel idling recognition of the robot is realized according to the current change of the motor. In addition, the present application is applicable to indoor scenarios where navigation errors are caused by idling.
Description
technical field [0001] The present application relates to the field of indoor navigation of robots, and in particular, to a method and device for identifying idling of a robot. Background technique [0002] When the robot walks, it often encounters situations where the height of the ground is inconsistent. For example, when entering and exiting the elevator, when passing through the carpet, the ground has bumps, and the height of the elevator and the ground may be inconsistent. [0003] The inventors found that the current navigation error problem caused by the idling of the robot wheels cannot be better solved. [0004] Aiming at the problem of poor recognition effect of robot wheel idling in the related art, no effective solution has been proposed yet. Contents of the invention [0005] The main purpose of the present application is to provide a robot idling recognition method and device to solve the problem of poor recognition effect of robot wheel idling. [0006] In...
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IPC IPC(8): B25J19/00B25J5/00
CPCB25J5/007B25J19/0095
Inventor 应甫臣陈绍红
Owner 北京云迹科技股份有限公司