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Foot-type desktop pet robot desktop edge detection system and edge avoidance method

An edge detection and robotics technology, applied in the field of robotics, can solve the problems of undetectable desktop edges, drop damage, etc., so as to avoid desktop drop damage and increase fun

Inactive Publication Date: 2020-10-30
灵起科技(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the above-mentioned problems in the prior art, the object of the present invention is to provide a desktop edge detection system and an edge avoidance method for a foot-type desktop pet robot. The sensor array can effectively detect the edge of the desktop and perform evasive actions to avoid the edge, which solves the problem that the legged desktop pet robot cannot detect the edge of the desktop and cause damage due to falling

Method used

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  • Foot-type desktop pet robot desktop edge detection system and edge avoidance method
  • Foot-type desktop pet robot desktop edge detection system and edge avoidance method
  • Foot-type desktop pet robot desktop edge detection system and edge avoidance method

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specific Embodiment approach 1

[0035] A desktop edge detection system for a foot-type desktop pet robot, comprising a miniature laser ranging sensor 3, a plantar light sensor array, and the light sensor array includes a right foot front light sensor 201; a right foot rear light sensor 202; a left foot front light sensor sensor 203; light sensor 204 behind the left foot;

[0036] Such as figure 1 As shown, the desktop pet robot 1 has a biped structure, and the emission direction of the miniature laser ranging sensor 3 forms a certain angle α with the horizontal direction, and is installed obliquely downward;

[0037] Such as figure 2 As shown, the desktop pet robot 1 is provided with two photosensors on each sole 2; the two photosensors on each sole 2 are arranged on the outer edge of the sole and are inclined at 45 degrees; each photosensor It includes an infrared emitting tube and an infrared receiving tube; when each light sensor is installed, the infrared emitting tube is on the outside, and the infra...

specific Embodiment approach 2

[0039] An edge avoidance method based on the desktop edge detection system of the desktop pet robot, comprising:

[0040] Such as image 3 As shown, the miniature laser ranging sensor 3 collects the measurement distance d every fixed period T1, compares the measurement distance d with the first threshold distance d1, and if the measurement distance is less than or equal to the first threshold distance d1, the distance in front of the robot is If the distance from the edge of the desktop 4 is greater than D=H / tanα, it is considered that the front of the robot 1 is far away from the edge of the desktop 4; compare the measured distance d with the second threshold distance d2, if the measured distance d is greater than the second threshold distance d2, the front of the robot is far away from the edge of the desktop 4. The distance from the edge of desktop 4 is less than D=H / tanα, it is considered that the front of robot 1 is closer to the edge of desktop 4;

[0041] The value met...

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Abstract

The invention relates to the technical field of robots, and especially relates to a foot-type desktop pet robot desktop edge detection system and an edge avoidance method. The system comprises a robot, a miniature laser distance measuring sensor is arranged at the lower jaw position of the head of the robot, and an optical sensor array is arranged at the sole. A certain included angle is formed between the emitting direction of the miniature laser distance measuring sensor and the horizontal direction, and the miniature laser distance measuring sensor is obliquely mounted downwards; the optical sensor array comprises four optical sensors, the robot is of a biped structure, and two optical sensors are arranged at each sole; the two optical sensors of each sole are arranged on the outer sideedge of the sole and are inclined by 45 DEG; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; and when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side. According to the invention, the edge of the desktop can be effectively detected, the avoidanceaction is executed to avoid the edge, and the problem that the foot-type desktop pet robot cannot detect the edge of the desktop to cause falling damage is solved.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically relates to a desktop edge detection system and an edge avoidance method for a legged desktop pet robot. Background technique [0002] The desktop pet robot is a new category in the field of intelligent robots. It has rich sensors, high-performance processors, advanced AI algorithms, strong environmental perception and interaction capabilities, and the robot itself has certain autonomous behavior and self-learning capabilities. According to the action mode of the desktop pet robot, it can be divided into wheeled and footed. [0003] The activity space of desktop pet robots is usually desks, desks, bedside cabinets, etc. Most of the traditional wheeled desktop pet robots do not have the ability to detect the edge of the desktop. Therefore, the current footed desktop pet robot cannot effectively detect the edge of the desktop, and cannot perform edge avoidance and fall preven...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A63H11/18
CPCA63H11/18
Inventor 张洪涛张月
Owner 灵起科技(深圳)有限公司
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