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A Method for Robot No-Signal Terrain Detection

A terrain detection and robot technology, applied in the field of robot detection, can solve the problems of inaccurate terrain detection, error accumulation, etc., and achieve the effect of accurate acquisition and error reduction

Active Publication Date: 2021-07-16
HUNAN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When either the network signal or the GPS signal is weak or there is no signal at all, it may lead to inaccurate terrain detection
Of course, some inaccuracies are within the allowable error range of terrain detection, but long-term inaccuracy may lead to error accumulation, and it is very easy to exceed the error range, but the robot itself cannot know the situation
At present, there is no existing technology that describes the detection path of the robot in the absence of signal on the terrain detection robot

Method used

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  • A Method for Robot No-Signal Terrain Detection
  • A Method for Robot No-Signal Terrain Detection
  • A Method for Robot No-Signal Terrain Detection

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0023] Refer to attached figure 1 , in this embodiment, the robot walks at a speed of 0.75 m / s. During the terrain detection process, if it is detected that the network signal is lower than the network signal threshold or the GPS signal is lower than the GPS signal threshold for 5 seconds, the timer starts counting , record the initial position and initial walking direction of the robot at this time, start the acceleration sensor, the acceleration sensor draws the detection path of the robot, and stores the detection path in the memory.

[0024] When the robot does not encounter any obstacles, the robot continues to walk along the initial walking direction until it detects that the network signal is greater than or equal to the network signal threshold and the GPS signal is greater than or equal to the GPS signal threshold. When the duration reaches the first time threshold, the timer stops counting and the acceleration is turned off. Sensor, in the timer timing phase, the wal...

Embodiment 2

[0026] Refer to attached Figure 2-3 , in this embodiment, the robot walks at a speed of 0.5 m / s. During the terrain detection process, if it is detected that the network signal is lower than the network signal threshold or the GPS signal is lower than the GPS signal threshold for 10 seconds, the timer starts counting , record the initial position and initial walking direction of the robot at this time, start the acceleration sensor, the acceleration sensor draws the detection path of the robot, and stores the detection path in the memory.

[0027] Step 1. When the robot encounters an obstacle, the robot turns left, and the robot walks along the obstacle until the connection line between the robot and the initial position coincides with the initial walking direction, and the robot walks along the initial walking direction;

[0028] Step 2, when it is detected that the network signal is greater than or equal to the network signal threshold and the GPS signal is greater than or ...

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Abstract

A method for robot signal-free terrain detection, comprising the following steps: the robot walks at a first speed, and when the signal is poor, a timer starts counting, records the initial position and initial walking direction of the robot at this time, activates the acceleration sensor, stores The device starts to store the walking path of the robot described by the acceleration transmitter; S1, walking when the robot encounters an obstacle; S2, when the signal is good, record the first position and the first walking direction of the robot; S3, if the first When the first position falls within the vicinity of the initial position, the detection path of the robot in the bad area is obtained; if the first position does not fall within the vicinity of the initial position, repeat S1‑S3 until the position of the robot falls within the vicinity of the initial position ; S4, walk when the robot does not encounter obstacles and get the detection path of bad areas. Compared with the prior art, the present invention can accurately obtain the detection path and the contour map of the obstacle in the no-signal area or the poor signal area.

Description

technical field [0001] The invention relates to the technical field of robot detection, in particular to a method for robot non-signal terrain detection. Background technique [0002] When the terrain robot is walking, it sets images based on multiple cameras, and can transmit the images to the server at any time. The server analyzes the images and obtains the terrain on the walking path of the terrain robot. During terrain detection, due to various factors, the network signal or GPS signal will be poor. For terrain detection robots, they usually carry mobile phone cards with network transmission functions mainly based on SIM cards. However, since the detection is generally in unmanned or dangerous areas, the SIM card may have no signal due to obstacles or too far away from the base station. Similarly, the same is true for GPS, when in mountainous areas, GPS loss is a very common phenomenon. When either the network signal or the GPS signal is weak or there is no signal at ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C7/00
CPCG01C7/00
Inventor 邓彬李庆芬聂霞周成隆文革马斌夏泽涛
Owner HUNAN INST OF TECH