A method and terminal for detecting anti-pressure foot

Abstract

The invention discloses a method and a terminal for detecting foot pressure prevention. A single-point laser is installed obliquely downward in front of a robot, and single-point lasers are respectively installed downward in a position close to the left and right rear wheels, a position close to the left and right rear wheels, and a position far from the left and right rear wheels. Human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far from the left and right wheels. Since the single-point laser for detecting human feet is at a certain distance from the left and right wheels, it is convenient to brake in time after the human feet are detected. In order to ensure foot pressure prevention, the single-point laser close to the left and right wheels only detects the height of obstacles, which can reduce the time of data collection and data processing, and ensure that the robot can stop in time when encountering a position close to the height of the human feet and far from the left and right wheels and the human feet are not detected, so as to avoid pressing the human feet that suddenly extend under the vehicle and avoid the occurrence of foot pressure accidents.

Description

Technical Field

[0001] The invention relates to the field of mobile robots, and in particular to an anti-pressure foot detection method and a terminal. Background Art

[0002] A variety of sensors can be used for robot anti-foot pressure detection, such as depth cameras, infrared sensors, and ultrasonic sensors. Common human detection methods include frame difference method, optical flow method, and background difference method, which usually require the collection of a large amount of data for related calculations to determine the position of pedestrians and avoid the robot from pressing on pedestrians' feet during driving.

[0003] Due to the influence of the sensor's own characteristics and environmental factors, depth cameras, infrared sensors, ultrasonic sensors and other sensors need to perform a lot of data calculations when detecting pedestrians. In addition, there is a high misjudgment rate when the distance is close, the pedestrian is not moving, and the on-site environment is complex. In many complex application scenarios, it may not be possible to make a timely and correct pedestrian judgment, which poses a major risk to the normal operation of the machine. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a foot pressure prevention detection method and terminal, which can quickly respond and brake in time when human feet are detected to avoid foot pressure accidents.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A method for detecting anti-pressure feet comprises the steps of:

[0007] Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels.

[0008] Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels;

[0009] Height detection is performed through a single-point laser close to the left and right wheels. If the height of the detected obstacle is within the height range of a human foot and the single-point laser far away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot suddenly inserted under the vehicle and the brakes are applied. Otherwise, whether to perform a bump-crossing operation is determined based on the height of the detected obstacle.

[0010] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0011] A foot pressure prevention detection terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0012] Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels.

[0013] Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels;

[0014] Height detection is performed through a single-point laser close to the left and right wheels. If the height of the detected obstacle is within the height range of a human foot and the single-point laser far away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot suddenly inserted under the vehicle and the brakes are applied. Otherwise, whether to perform a bump-crossing operation is determined based on the height of the detected obstacle.

[0015] The beneficial effects of the present invention are as follows: a single-point laser is installed obliquely downward in front of the robot, and single-point lasers are installed downward at a position close to the left and right rear wheels, a position close to the left and right rear wheels in front, and a position far from the left and right rear wheels in front respectively; human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far from the left and right wheels; since the single-point laser for detecting human feet is a certain distance away from the left and right wheels, timely braking is convenient after detecting human feet; in order to ensure anti-foot pressure, the single-point laser near the left and right wheels only detects the height of obstacles, which can reduce the time for data collection and data processing, and ensure that the robot can stop in time when encountering an obstacle close to the height of a human foot and the single-point laser far from the left and right wheels does not detect the human foot, thereby avoiding pressing the human foot that suddenly extends under the vehicle and avoiding foot pressure accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of an anti-pressure foot detection method according to an embodiment of the present invention;

[0017] Figure 2 Schematic diagram of an anti-pressure foot detection terminal according to an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of a single-point laser installation on a three-wheeled robot chassis of an anti-pressure foot detection method according to an embodiment of the present invention;

[0019] Figure 4A schematic diagram of several obstacles that are prone to misjudgment when a single-point laser is installed vertically in an anti-pressure foot detection method according to an embodiment of the present invention;

[0020] Figure 5 A schematic diagram of several obstacles that are likely to cause misjudgment when a single-point tilt installation is performed in a method for detecting foot pressure prevention according to an embodiment of the present invention;

[0021] Figure 6 A single foot height data variation curve of an anti-pressure foot detection method according to an embodiment of the present invention;

[0022] Figure 7 A curve showing the height variation of two feet in parallel in a method for detecting feet against pressure relief according to an embodiment of the present invention;

[0023] Figure 8 A schematic diagram of a single-point laser installation on a four-wheel robot chassis of an anti-pressure foot detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0025] Please refer to Figure 1 , Figures 3 to 8 The embodiment of the present invention provides a method for detecting anti-pressure feet, comprising the steps of:

[0026] Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels.

[0027] Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels;

[0028] Height detection is performed through a single-point laser close to the left and right wheels. If the height of the detected obstacle is within the height range of a human foot and the single-point laser far away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot suddenly inserted under the vehicle and the brakes are applied. Otherwise, whether to perform a bump-crossing operation is determined based on the height of the detected obstacle.

[0029] From the above description, it can be seen that the beneficial effects of the present invention are: a single-point laser is installed obliquely downward in front of the robot, and single-point lasers are installed downward at a position close to the left and right rear wheels directly behind the left and right rear wheels, a position close to the left and right rear wheels directly in front of the left and right rear wheels, and a position far away from the left and right rear wheels directly in front of the left and right rear wheels. Human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels. Since the single-point laser for human foot detection is a certain distance away from the left and right wheels, it is convenient to brake in time after the human feet are detected; in order to ensure anti-foot pressure, the single-point laser close to the left and right wheels only performs obstacle height detection, which can reduce the time for data collection and data processing, and ensure that the robot can stop in time when encountering an obstacle close to the height of the human foot and the single-point laser far away from the left and right wheels does not detect the human foot, so as to avoid pressing the human feet that suddenly extend under the vehicle and avoid foot pressing accidents.

[0030] Further, determining whether the single-point laser installed obliquely downward and the single-point laser away from the left and right wheels detects a human foot includes:

[0031] The single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels respectively detect the height of obstacles in front of and below the robot to obtain a continuous height array of the obstacles;

[0032] Calculating a height variation curve and a width of the obstacle according to a continuous height array of the obstacle;

[0033] Determine whether the width of the obstacle is within the width of a human foot and whether the height change curve conforms to a numerical change trend of first increasing and then decreasing and whether the highest point of the height change curve is within the height range of a human foot. If so, the detected obstacle is a human foot; otherwise, the detected obstacle is not a human foot.

[0034] From the above description, it can be seen that by using a single-point laser installed at an angle downward and a single-point laser far away from the left and right wheels to respectively detect the height of obstacles in front of and below the robot, a continuous height array of the obstacles can be obtained, thereby calculating the height change curve and width of the obstacles; by judging whether the height change curve of the obstacle meets the change trend, whether the highest point is within the height range of human feet, and whether the width of the obstacle is within the width range of human feet, human feet can be accurately identified.

[0035] Further, judging whether to perform a step-over operation according to the detected height of the obstacle includes:

[0036] Determine whether the obstacle height is greater than the maximum bump-crossing height, and if so, brake; otherwise, control the vehicle to cross the bump.

[0037] From the above description, it can be seen that when the obstacle is not a human foot, it is necessary to determine whether the height of the obstacle is sufficient to perform a step-over operation, thereby ensuring that the robot can smoothly pass through obstacles such as small slopes and improving the flexibility of the robot.

[0038] Furthermore, it also includes:

[0039] When turning left while moving forward, the single-point laser installed obliquely downward is used to detect human feet in front of the robot, the single-point laser directly in front of the left wheel and away from the left wheel is used to detect human feet in front of the left wheel, and the single-point laser directly in front of the left rear wheel and close to the left wheel is used to detect height;

[0040] When turning right forward, the single-point laser installed at an angle downward is used to detect human feet in front of the robot, the single-point laser directly in front of the right wheel and away from the right wheel is used to detect human feet in front of the right wheel, and the single-point laser directly in front of the right rear wheel and close to the right wheel is used for height detection.

[0041] From the above description, it can be seen that when the robot moves forward and turns left or moves forward and turns right, it can select the corresponding single-point laser for human foot detection and height detection according to the operating status of the vehicle, so that there is no need to obtain data from all single-point lasers for judgment, which reduces invalid data interference and improves data acquisition speed and data processing efficiency.

[0042] Furthermore, it also includes:

[0043] When moving backward or turning backward, only a single-point laser located in the backward direction of the left and right wheels of the robot is used for height detection.

[0044] From the above description, it can be seen that only a single-point laser located in the backward direction of the left and right wheels on the robot is needed for height detection, which improves the data acquisition speed and data processing efficiency.

[0045] Please refer to Figure 2 Another embodiment of the present invention provides an anti-pressurization foot detection terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0046] Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels.

[0047] Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels;

[0048] Height detection is performed through a single-point laser close to the left and right wheels. If the height of the detected obstacle is within the height range of a human foot and the single-point laser far away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot suddenly inserted under the vehicle and the brakes are applied. Otherwise, whether to perform a bump-crossing operation is determined based on the height of the detected obstacle.

[0049] From the above description, it can be seen that a single-point laser is installed obliquely downward in front of the robot, and single-point lasers are installed downward at a position close to the left and right rear wheels directly behind the left and right rear wheels, a position close to the left and right rear wheels directly in front of the left and right rear wheels, and a position far away from the left and right rear wheels directly in front of the left and right rear wheels. Human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels. Since the single-point laser for human foot detection is a certain distance away from the left and right wheels, it is convenient to brake in time after detecting human feet. In order to ensure anti-foot pressure, the single-point laser close to the left and right wheels only detects the height of obstacles, which can reduce the time for data collection and data processing, and ensure that the robot can stop in time when encountering an obstacle close to the height of a human foot and the single-point laser far away from the left and right wheels does not detect the human foot, so as to avoid pressing the human foot that suddenly extends under the car and avoid foot pressing accidents.

[0050] Further, determining whether the single-point laser installed obliquely downward and the single-point laser away from the left and right wheels detects a human foot includes:

[0051] The single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels respectively detect the height of obstacles in front of and below the robot to obtain a continuous height array of the obstacles;

[0052] Calculating a height variation curve and a width of the obstacle according to a continuous height array of the obstacle;

[0053] Determine whether the width of the obstacle is within the width of a human foot and whether the height change curve conforms to a numerical change trend of first increasing and then decreasing and whether the highest point of the height change curve is within the height range of a human foot. If so, the detected obstacle is a human foot; otherwise, the detected obstacle is not a human foot.

[0054] From the above description, it can be seen that by using a single-point laser installed at an angle downward and a single-point laser far away from the left and right wheels to respectively detect the height of obstacles in front of and below the robot, a continuous height array of the obstacles can be obtained, thereby calculating the height change curve and width of the obstacles; by judging whether the height change curve of the obstacle meets the change trend, whether the highest point is within the height range of human feet, and whether the width of the obstacle is within the width range of human feet, human feet can be accurately identified.

[0055] Further, judging whether to perform a step-over operation according to the detected height of the obstacle includes:

[0056] Determine whether the obstacle height is greater than the maximum bump-crossing height, and if so, brake; otherwise, control the vehicle to cross the bump.

[0057] From the above description, it can be seen that when the obstacle is not a human foot, it is necessary to determine whether the height of the obstacle is sufficient to perform a step-over operation, thereby ensuring that the robot can smoothly pass through obstacles such as small slopes and improving the flexibility of the robot.

[0058] Furthermore, it also includes:

[0059] When turning left while moving forward, the single-point laser installed obliquely downward is used to detect human feet in front of the robot, the single-point laser directly in front of the left wheel and away from the left wheel is used to detect human feet in front of the left wheel, and the single-point laser directly in front of the left rear wheel and close to the left wheel is used to detect height;

[0060] When turning right forward, the single-point laser installed at an angle downward is used to detect human feet in front of the robot, the single-point laser directly in front of the right wheel and away from the right wheel is used to detect human feet in front of the right wheel, and the single-point laser directly in front of the right rear wheel and close to the right wheel is used for height detection.

[0061] From the above description, it can be seen that when the robot moves forward and turns left or moves forward and turns right, it can select the corresponding single-point laser for human foot detection and height detection according to the operating status of the vehicle, so that there is no need to obtain data from all single-point lasers for judgment, which reduces invalid data interference and improves data acquisition speed and data processing efficiency.

[0062] Furthermore, it also includes:

[0063] When moving backward or turning backward, only a single-point laser located in the backward direction of the left and right wheels of the robot is used for height detection.

[0064] From the above description, it can be seen that only a single-point laser located in the backward direction of the left and right wheels on the robot is needed for height detection, which improves the data acquisition speed and data processing efficiency.

[0065] The present invention provides an anti-foot pressure detection method and terminal, which are suitable for anti-foot pressure detection during the driving process of a robot, and can quickly and accurately detect whether there is a hidden danger of foot pressure on the driving route of the robot, and provide accurate environmental data for the safe operation of the robot. The following is an explanation through specific implementation methods:

[0066] Embodiment 1

[0067] Please refer to Figure 1 , Figures 3 to 7 , a method for detecting anti-pressure feet, comprising the steps of:

[0068] S1. Install a single-point laser at an angle downward in front of the robot, and install a single-point laser at a position close to the left and right rear wheels behind the robot, a position close to the left and right rear wheels in front of the robot, and a position far from the left and right rear wheels in front of the robot.

[0069] For details, please refer to Figure 3 In this embodiment, the robot is a three-wheeled robot, and the left and right wheels only include the left and right rear wheels, and the left and right rear wheels include the left rear wheel and the right rear wheel. From the left and right positions of the wheels, the left rear wheel can also be called the left wheel, and the right rear wheel can also be called the right wheel. At this time, a single-point laser 1 is installed at a position close to the left rear wheel just behind the left rear wheel; a single-point laser 2 is installed at a position close to the left rear wheel just in front of the left rear wheel; a single-point laser 3 is installed at a position far away from the left rear wheel just in front of the left rear wheel; a single-point laser 4 is installed just in front of the robot; a single-point laser 5 is installed at a position far away from the right rear wheel just in front of the right rear wheel; a single-point laser 6 is installed at a position close to the right rear wheel just in front of the right rear wheel; and a single-point laser 7 is installed just behind the right rear wheel and close to the right rear wheel.

[0070] S2. Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet. If so, brake; otherwise, determine whether to perform a bump-crossing operation based on the height of the detected obstacle, and the left and right wheels include the left and right rear wheels.

[0071] Wherein, judging whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detects a human foot comprises:

[0072] The single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels respectively detect the height of obstacles in front of and below the robot to obtain a continuous height array of the obstacles;

[0073] Calculating a height variation curve and a width of the obstacle according to a continuous height array of the obstacle;

[0074] Determine whether the width of the obstacle is within the width of a human foot and whether the height change curve conforms to a numerical change trend of first increasing and then decreasing and whether the highest point of the height change curve is within the height range of a human foot. If so, the detected obstacle is a human foot; otherwise, the detected obstacle is not a human foot.

[0075] For details, please refer to Figure 4 and Figure 5 When the single-point laser is installed vertically, the actual height of the collection point is h=Hl; when the single-point laser is installed obliquely, the actual height of the collection point is h=H-(l*sinα); where α represents the installation inclination angle of the single-point laser; H represents the installation height of the single-point laser; l represents the distance data collected by the single-point laser.

[0076] When detecting human feet, it is known that the width of a normal human foot after wearing shoes is between 90mm and 130mm, the height is between 40mm and 70mm, and the upper surface of the shoe is an irregular arc-shaped bulge. Therefore, based on these shape characteristics, a more accurate judgment of the human foot can be made, thereby avoiding misjudgment. Common misjudgments that can be avoided include but are not limited to Figure 4 and Figure 5 Obstacles listed in;

[0077] In one embodiment, the parallel position of the two feet can be detected. Assuming that the robot is moving, a set of continuous height data h1, h2, ..., h i ,…,h j ,…,h k , where h i ,…,h j This set of data is highly abnormal. The number of abnormal data is b = ji, and the time the abnormal data exists is (1 / f)*(b-1). It can be calculated that the width of the obstacle is approximately w = (1 / f)*(b-1)*s; where w represents the width of the obstacle, f represents the detection frequency, b represents the number of a set of continuous abnormal data detected, and s represents the driving speed of the robot;

[0078] Compare the data w with the width of a person's foot. If w is not within the width of a person's foot, it is considered to be another obstacle. If w is within the width of a person's foot, h i ,…,h j This set of data is used for judgment; please refer to Figure 6 If the height data changes gradually, first increasing and then decreasing, and the maximum height is within the height range of human feet, then it is determined to be a human foot, otherwise it is determined to be other obstacles.

[0079] In another embodiment, the parallel position of the two feet can be detected, the height change curve and width w of the obstacle can be calculated, and the data w can be compared with the width of the parallel position of the two feet. If w is not within the width range, it is determined to be another obstacle. If w is within the width range of the human foot, h i ,…,h j This set of data is used for judgment. Please refer to Figure 7 If the change of height data satisfies the condition that it first gradually increases, then gradually decreases, then gradually increases, and then gradually decreases, and the maximum height is within the height range of human feet, it is determined to be a human foot, otherwise it is determined to be other obstacles.

[0080] Wherein, judging whether to perform a step-over operation according to the detected height of the obstacle includes:

[0081] Determine whether the obstacle height is greater than the maximum bump-crossing height, and if so, brake; otherwise, control the vehicle to cross the bump.

[0082] Specifically, in this embodiment, if the single-point laser 4 installed obliquely downward and the single-point lasers 3 and 5 away from the left and right wheels detect human feet, the brakes are applied; otherwise, it is determined whether the height of the detected obstacle is greater than the maximum bump-crossing height; if so, the brakes are applied; otherwise, the vehicle is controlled to cross the bump.

[0083] S3. Perform height detection through a single-point laser close to the left and right wheels. If the height of the detected obstacle is within the height range of a human foot and the single-point laser far from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot that suddenly extends under the vehicle and the brakes are applied. Otherwise, determine whether to perform a bump-crossing operation based on the height of the detected obstacle.

[0084] Specifically, on a three-wheeled robot, close to the left and right wheels are close to the left and right rear wheels. Therefore, single-point lasers 1, 2, 6, and 7 close to the left and right rear wheels are used for height detection. If the detected obstacle height is within the height range of a human foot and the single-point laser away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot suddenly extending under the vehicle and the brakes are applied. Otherwise, whether to perform a bump-crossing operation is determined based on the height of the detected obstacle.

[0085] S4. When turning left while moving forward, use the single-point laser installed obliquely downward to detect human feet in front of the robot, use the single-point laser directly in front of the left wheel and away from the left wheel to detect human feet in front of the left wheel, and use the single-point laser directly in front of the left rear wheel and close to the left wheel to perform height detection;

[0086] When turning right while moving forward, the single-point laser installed obliquely downward is used to detect human feet in front of the robot, the single-point laser directly in front of the right wheel and away from the right wheel is used to detect human feet in front of the right wheel, and the single-point laser directly in front of the right rear wheel and close to the right wheel is used to detect height;

[0087] When moving backward or turning backward, only a single-point laser located in the backward direction of the left and right wheels of the robot is used for height detection.

[0088] Among them, the single-point lasers located in the backward direction of the left and right wheels of the three-wheeled robot are single-point lasers 1 and 7.

[0089] Specifically, the installation positions of single-point lasers 1, 2, 6, and 7 are relatively close to the left and right wheels and are all installed vertically. In order to reduce the time for data collection and data processing and ensure that the robot can stop in time, these single-point lasers only judge the height of the obstacle. If the height is within the height range of a human foot, it is judged to be a human foot; otherwise, it is judged to be another obstacle. Although single-point lasers 3 and 5 are installed vertically, they are far away from the left and right wheels. Therefore, they are single-point lasers far away from the left and right wheels. After data collection and data processing, there is still enough distance for braking. Therefore, human foot detection is performed, that is, it is necessary to judge the width, height, and height change of the obstacle. Although single-point laser 4 is installed close to the universal wheel, it is installed at an angle and has a long detection distance. During the human foot detection process, there is still enough distance for braking after data collection and data processing. Therefore, human foot detection is performed.

[0090] Specifically, when moving forward, single-point laser 4 is used to determine the situation of human feet in front of the front wheel; single-point laser 3 is used to detect human feet in front of the left wheel; single-point laser 2 is used to detect human feet not detected by single-point laser 3, such as those suddenly extended under the vehicle; single-point laser 5 is used to detect human feet in front of the right wheel; single-point laser 6 is used to detect human feet not detected by single-point laser 5, such as those suddenly extended under the vehicle.

[0091] When moving forward and turning left, the ground where the right wheel walks is covered by the chassis, so there is no risk of the right wheel crushing the foot, and only the front wheel and the left wheel need to be judged: single-point laser 4 is used to judge the human foot in front of the front wheel; single-point laser 3 is used to detect the human foot in front of the left wheel; single-point laser 2 is used to detect the human foot that is not detected by single-point laser 3, such as the human foot that suddenly extends under the vehicle.

[0092] When moving forward and turning right, the ground where the left wheel walks is covered by the chassis, so there is no risk of the left wheel crushing the foot, and only the front wheel and the right wheel need to be judged: single-point laser 4 is used to judge the human foot in front of the front wheel; single-point laser 5 is used to detect the human foot in front of the right wheel; single-point laser 6 is used to detect the human foot that is not detected by single-point laser 5, such as the human foot that suddenly extends under the vehicle.

[0093] When backing up or turning backward, single-point laser 1 is used to determine whether there are human feet in the backward direction of the left wheel; single-point laser 7 is used to determine whether there are human feet in the backward direction of the right wheel; since the road surface in the backward direction of the front wheel is covered by the chassis during the backward process, there is no risk of foot crushing.

[0094] Embodiment 2

[0095] Please refer to Figure 1 , Figure 8The difference between this embodiment and the first embodiment is that this embodiment is a four-wheel robot, and the left and right wheels include left and right rear wheels and left and right front wheels. The left and right rear wheels include the left rear wheel and the right rear wheel, and the left and right front wheels include the left front wheel and the right front wheel. From the position of the wheels, the left rear wheel and the left front wheel can also be collectively referred to as the left wheel, and the right rear wheel and the right front wheel can also be collectively referred to as the right wheel.

[0096] S1', please refer to Figure 8 , install single-point laser 1 near the left rear wheel directly behind the left rear wheel; install single-point laser 2 near the left rear wheel directly in front of the left rear wheel; install single-point laser 3 near the left front wheel behind the left front wheel; install single-point laser 4 at the left front of the robot; install single-point laser 5 at the right front of the robot; install single-point laser 6 behind the right front wheel near the rear front wheel; install single-point laser 7 near the right rear wheel directly in front of the right rear wheel; install single-point laser 8 near the right rear wheel directly behind the right rear wheel. Therefore, there is no single-point laser far away from the left and right wheels in the four-wheeled robot.

[0097] Among the 8 single-point lasers, only single-point lasers 4 and 5 are installed at an angle. The purpose of this installation is to prevent the human foot from suddenly extending between the two wheels on the same side and causing foot pressure when the robot moves forward or backward.

[0098] S2', if the single-point lasers 4 and 5 installed obliquely downward detect human feet, brakes are applied; otherwise, it is determined whether the height of the detected obstacle is greater than the maximum height for crossing the ridge; if so, brakes are applied; otherwise, the vehicle is controlled to cross the ridge.

[0099] S3', use the single-point lasers 1, 2, 3, 6, 7, and 8 close to the left and right wheels to perform height detection. If the detected obstacle height is within the height range of a human foot and the single-point lasers far away from the left and right wheels do not detect a human foot, the obstacle is judged as a human foot that suddenly extends under the vehicle and the brakes are applied. Otherwise, determine whether to perform a bump-crossing operation based on the detected obstacle height.

[0100] Specifically, the installation positions of single-point lasers 1, 2, 3, 6, 7, and 8 are relatively close to the left and right wheels and are all installed vertically. In order to reduce the time for data collection and data processing, and ensure that the robot can stop in time. When detecting human feet, these single-point lasers only judge the height of the obstacle. If the height is within the height range of human feet, it is judged to be a human foot. Otherwise, it is judged to be another obstacle. Although single-point lasers 4 and 5 are installed relatively close to the left and right front wheels, they are installed at an angle and have a long detection distance. During the human foot detection process, there is still enough distance to brake after data collection and data processing, so human foot detection is performed.

[0101] S4', the single-point lasers on the left and right wheels of the four-wheeled robot in the backward direction are single-point lasers 1, 2, 3, 6, 7, and 8;

[0102] When the four-wheeled robot is in different motion states, the single-point laser participation logic in the anti-pressing foot function is as follows:

[0103] When moving forward, single-point lasers 4 and 5 are used to determine the situation of human feet in front of the left and right front wheels respectively; single-point lasers 2 and 3 are used to detect human feet in front of the left rear wheel, such as human feet suddenly extending between the left front wheel and the left rear wheel; single-point lasers 6 and 7 are used to detect human feet in front of the right rear wheel, such as human feet suddenly extending between the right front wheel and the right rear wheel.

[0104] When moving forward and turning left, the ground where the right rear wheel walks is covered by the chassis, so there is no risk of the right rear wheel crushing the foot. It is sufficient to judge the right front wheel, left front wheel, and left rear wheel: single-point lasers 4 and 5 are used to judge the human feet in front of the left and right front wheels respectively; single-point lasers 2 and 3 are used to detect human feet in front of the left rear wheel, such as a human foot suddenly inserted between the left front wheel and the left rear wheel.

[0105] When moving forward and turning right, the ground where the left rear wheel walks is covered by the chassis, so there is no risk of the left rear wheel crushing the foot. It is sufficient to judge the left front wheel, right front wheel, and right rear wheel: single-point lasers 4 and 5 are used to judge the human feet in front of the left and right front wheels respectively; single-point lasers 6 and 7 are used to detect human feet in front of the right rear wheel, such as a human foot suddenly inserted between the right front wheel and the right rear wheel.

[0106] When backing up or turning backward, single-point lasers 1 and 2 are used to determine the situation of human feet in the backward direction of the left and right rear wheels respectively; single-point lasers 2 and 3 are used to detect human feet in the backward direction of the left front wheel, such as human feet suddenly extending between the left front wheel and the left rear wheel; single-point lasers 6 and 7 are used to detect human feet in the backward direction of the right front wheel, such as human feet suddenly extending between the right front wheel and the right rear wheel.

[0107] With reference to the three-wheeled robot and the four-wheeled robot, this embodiment can also install a single-point laser on the chassis of the multi-wheeled robot, and use the installed single-point laser to perform corresponding height detection or human foot detection; and after detecting the human foot, the robot can only move in the direction where the human foot is not detected.

[0108] Embodiment 3

[0109] Please refer to Figure 2 , an anti-pressure foot detection terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements each step of an anti-pressure foot detection method of embodiment one or two when executing the computer program.

[0110] In summary, the present invention provides an anti-foot pressure detection method and terminal, which installs a single-point laser obliquely downward in front of the robot, and installs single-point lasers downward in the position close to the left and right rear wheels behind the left and right rear wheels, in the position close to the left and right rear wheels in the front, and in the position far away from the left and right rear wheels in the front, respectively. Human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels. Since the single-point laser for human foot detection has a certain distance from the left and right wheels, it is convenient to brake in time after the human feet are detected; wherein, the height change curve and width of the obstacle are calculated according to the detected obstacle height, which can effectively screen out obstacles other than human feet, greatly reduce the misjudgment rate, and improve the smoothness of equipment operation; in order to ensure anti-foot pressure, The single-point laser only detects the height of obstacles, which can reduce the time for data collection and data processing, and ensure that the robot can stop in time when encountering an obstacle that is close to the height of a human foot and the single-point laser far away from the left and right wheels does not detect the human foot, so as to avoid crushing the human foot that suddenly extends under the vehicle; the corresponding single-point laser can be selected for human foot detection and height detection according to the operating status of the vehicle, so that there is no need to obtain data from all single-point lasers for judgment, which reduces invalid data interference and improves data acquisition speed and data processing efficiency. Therefore, when the robot is driving, if there are pedestrians on the driving route and the pedestrian's feet are on the wheel travel path, the system can respond quickly and brake in time to minimize the occurrence of accidents and avoid the occurrence of foot crushing incidents caused by the vehicle's over-the-bumper mechanism.

[0111] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for detecting anti-pressure feet, characterized in that: Includes steps: Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels. Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels; The single-point laser close to the left and right wheels performs height detection. If the height of the obstacle detected is within the height range of a human foot and the single-point laser away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot that suddenly extends under the vehicle and the brakes are applied. Otherwise, it is determined whether to perform a bump-crossing operation based on the height of the detected obstacle. Determining whether the single-point laser installed obliquely downward and the single-point laser away from the left and right wheels detects a human foot includes: The single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels respectively detect the height of obstacles in front of and below the robot to obtain a continuous height array of the obstacles; Calculating a height variation curve and a width of the obstacle according to a continuous height array of the obstacle; Determine whether the width of the obstacle is within the width of a human foot and whether the height change curve conforms to a numerical change trend of first increasing and then decreasing and whether the highest point of the height change curve is within the height range of a human foot. If so, the detected obstacle is a human foot; otherwise, the detected obstacle is not a human foot.

2. The anti-pressure foot detection method according to claim 1, characterized in that: The step of judging whether to perform a step-over operation according to the height of the detected obstacle includes: Determine whether the obstacle height is greater than the maximum bump-crossing height, and if so, brake; otherwise, control the vehicle to cross the bump.

3. The anti-pressure foot detection method according to claim 1, characterized in that: Also includes: When turning left while moving forward, the single-point laser installed obliquely downward is used to detect human feet in front of the robot, the single-point laser directly in front of the left wheel and away from the left wheel is used to detect human feet in front of the left wheel, and the single-point laser directly in front of the left rear wheel and close to the left wheel is used to detect height; When turning right forward, the single-point laser installed at an angle downward is used to detect human feet in front of the robot, the single-point laser directly in front of the right wheel and away from the right wheel is used to detect human feet in front of the right wheel, and the single-point laser directly in front of the right rear wheel and close to the right wheel is used for height detection.

4. The anti-pressure foot detection method according to claim 1, characterized in that: Also includes: When moving backward or turning backward, only a single-point laser located in the backward direction of the left and right wheels of the robot is used for height detection.

5. A foot pressure prevention detection terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: Install a single-point laser at an angle downward in front of the robot, and install single-point lasers at positions directly behind and close to the left and right rear wheels, directly in front of and close to the left and right rear wheels, and directly in front of and away from the left and right rear wheels. Determine whether the single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels detect human feet, and if so, brake, otherwise, determine whether to perform a bump-crossing operation according to the height of the detected obstacle, the left and right wheels include left and right rear wheels; The single-point laser close to the left and right wheels performs height detection. If the height of the obstacle detected is within the height range of a human foot and the single-point laser away from the left and right wheels does not detect a human foot, the obstacle is judged as a human foot that suddenly extends under the vehicle and the brakes are applied. Otherwise, it is determined whether to perform a bump-crossing operation based on the height of the detected obstacle. Determining whether the single-point laser installed obliquely downward and the single-point laser away from the left and right wheels detects a human foot includes: The single-point laser installed obliquely downward and the single-point laser far away from the left and right wheels respectively detect the height of obstacles in front of and below the robot to obtain a continuous height array of the obstacles; Calculating a height variation curve and a width of the obstacle according to a continuous height array of the obstacle; Determine whether the width of the obstacle is within the width of a human foot and whether the height change curve conforms to a numerical change trend of first increasing and then decreasing and whether the highest point of the height change curve is within the height range of a human foot. If so, the detected obstacle is a human foot; otherwise, the detected obstacle is not a human foot.

6. The anti-pressure foot detection terminal according to claim 5, characterized in that: The step of judging whether to perform a step-over operation according to the height of the detected obstacle includes: Determine whether the obstacle height is greater than the maximum bump-crossing height, and if so, brake; otherwise, control the vehicle to cross the bump.

7. The anti-pressure foot detection terminal according to claim 5, characterized in that: Also includes: When turning left while moving forward, the single-point laser installed obliquely downward is used to detect human feet in front of the robot, the single-point laser directly in front of the left wheel and away from the left wheel is used to detect human feet in front of the left wheel, and the single-point laser directly in front of the left rear wheel and close to the left wheel is used to detect height; When turning right forward, the single-point laser installed at an angle downward is used to detect human feet in front of the robot, the single-point laser directly in front of the right wheel and away from the right wheel is used to detect human feet in front of the right wheel, and the single-point laser directly in front of the right rear wheel and close to the right wheel is used for height detection.

8. The anti-pressure foot detection terminal according to claim 5, characterized in that: Also includes: When moving backward or turning backward, only a single-point laser located in the backward direction of the left and right wheels of the robot is used for height detection.

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