State detection method and device based on LDS and current
Through the state detection method based on LDS and current, combined with the abnormal judgment of distance and current data, the accuracy of collision detection of robots during cleaning and cleaning is solved, and efficient collision detection effect is achieved.
Patent Information
- Application Number
- CN202111173229.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-10-08
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2041-10-08
AI Technical Summary
During the cleaning process, existing robots are difficult to accurately detect whether they collide with obstacles due to the complex environment. Existing methods such as laser ranging and wheel rotation monitoring are likely to lead to misidentification and misjudgment.
The state detection method based on LDS and current is adopted, and the distance data and current data are continuously acquired, and the threshold is set to determine whether the robot has collided, and comprehensively detects the abnormal situation of the distance and current data.
It realizes accurate judgment on whether the robot collides, improves detection efficiency and accuracy, and reduces the probability of misidentification and misjudgment.
Smart Images
Figure CN113885500B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robot collision detection, and in particular to a state detection method, device, computer equipment and memory based on LDS and current. Background Art
[0002] When existing robots are cleaning the floor, due to the complex surrounding environment, they often collide with surrounding obstacles when moving around. It is necessary to detect whether the robot collides with the surrounding environment. One existing solution is to determine the distance between the robot and the obstacle by laser ranging to determine whether the robot collides with other objects in the environment. In this process, because the laser signal data cannot guarantee absolute accuracy, it is easy to cause misidentification, which is easy to cause misidentification when the robot is close to the surrounding obstacles. Another solution is to track and monitor the rotation of the robot's wheels, and determine whether the robot is abnormal by detecting whether the robot's wheels have stopped. However, there are many reasons for the robot's wheels to stop, not all of which are due to collisions, which can also cause misjudgments. Summary of the invention
[0003] The purpose of the embodiments of the present application is to provide a method that can accurately detect whether a robot collides with the surrounding environment to determine the state of the robot.
[0004] In order to solve the above technical problems, the embodiment of the present application provides a state detection method based on LDS and current, which adopts the following technical solution:
[0005] A state detection method based on LDS and current, the method comprising:
[0006] Continuously acquire the distance data generated by LDS and the current data loaded on the robot wheels;
[0007] First, it is detected that the distance data is lower than the distance detection threshold, and then the current data is judged whether it exceeds the current judgment threshold to determine whether the robot has collided;
[0008] Alternatively, it is first detected that the current data is higher than the current detection threshold, and then it is determined whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided.
[0009] Furthermore, the method for obtaining the distance data is specifically to obtain a group of distance values by fixed-frequency sampling within a period of time, and to average the group of distance values to obtain the distance data;
[0010] Furthermore, the acquisition of the distance data includes sliding and updating the time period to acquire and update the distance data;
[0011] The sliding update period is a periodic update period, and the time length of each period is the same as the time length of the previous period, and the start time of each period is between the start and end time of the previous period.
[0012] Furthermore, the distance data is specifically obtained in a plurality of directions where LDS modules are set, and the minimum distance data is extracted.
[0013] Furthermore, the method for acquiring the current data specifically acquires a group of current values by fixed-frequency sampling within a time period, and calculates the average value of the group of current values to acquire the current data.
[0014] The acquisition of the current data, specifically sliding and updating the time period, to acquire and update the current data;
[0015] The sliding update period is a periodic update period, and the time length of each period is the same as the time length of the previous period, and the start time of each period is between the start and end time of the previous period.
[0016] Furthermore, the current data is obtained by detecting the current loaded on any set of wheel axles of the robot.
[0017] Furthermore, the current data is obtained by taking the maximum value of the current loaded on at least two sets of wheel axles of the robot.
[0018] Furthermore, the detection of whether the distance data is lower than a distance detection threshold and the detection of whether the current data is higher than a current judgment threshold are performed simultaneously.
[0019] Furthermore, the detection of whether the distance data is lower than a distance detection threshold and the detection of whether the current data is higher than a current judgment threshold are performed alternately.
[0020] Furthermore, in the normal state, the distance data generated by the LDS and the current data loaded on the robot wheels are continuously acquired;
[0021] Entering the first detection state according to the distance data being lower than the distance detection threshold until the distance data is higher than the distance detection threshold, jumping out of the first detection state and returning to the normal state, in the first detection state, judging whether the current data exceeds the current judgment threshold; the first detection state is a state of whether the current data exceeds the current judgment threshold;
[0022] According to the current data being higher than the current detection threshold, the second detection state is entered, and when the current data is lower than the current detection threshold, the second detection state is jumped out and returned to the normal state. In the second detection state, it is judged whether the distance data is lower than the distance judgment threshold; the second detection state is the state of whether the distance data is lower than the distance judgment threshold.
[0023] Furthermore, when the duration of time the robot is in the first state or the second state exceeds a time threshold, the robot jumps out and returns to the normal state.
[0024] In order to solve the above technical problems, the present application also provides a state detection device based on LDS and current, and the specific scheme is as follows:
[0025] The state detection device based on LDS and current includes:
[0026] The data acquisition module is used to continuously acquire the distance data generated by the LDS and the current data loaded on the robot wheels; the normal state is the state in which the robot walks normally without directly judging whether the robot has a collision;
[0027] The detection module is used to determine whether the current data exceeds the current judgment threshold according to the distance data being lower than the distance detection threshold, or to determine whether the distance data is lower than the distance judgment threshold according to the current data being higher than the current detection threshold, so as to determine whether the robot collides.
[0028] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects: obtaining data on the distance between the robot and the obstacle generated by the LDS, and the current data loaded on the wheels, wherein the distance data reflects whether the robot is close to the obstacle, and the current data reflects the rotation of the robot's wheels. When the robot's wheels are stuck and stop rotating, the current loaded on the wheels will suddenly increase.
[0029] Detect the distance data and current data at the same time, and set the corresponding distance detection threshold and current detection threshold for corresponding judgment. If the distance data is first detected to be lower than the distance detection threshold, it means that the robot may have collided. When the distance data is lower than the distance detection threshold, detect whether the current data exceeds the current judgment threshold, and judge whether the robot has collided by the current data. When the current exceeds the current judgment threshold, it means that the distance between the robot and the obstacle is lower than the preset value, and the robot's wheels have stopped. Determine that the robot has collided with the obstacle.
[0030] Similarly, if the current data is first detected to be higher than the current detection threshold, in this case the distance data is detected to be lower than the distance judgment threshold to determine whether the robot has collided;
[0031] This solution monitors the distance data and current data, and determines whether the robot is suspected of colliding through the current detection threshold and the distance detection threshold. Then, the robot is determined to have collided through the corresponding distance judgment threshold and the current judgment threshold. This solution can comprehensively detect abnormalities in the distance data and the current data, and accurately judge whether the robot has collided. The judgment of the robot collision is efficient. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0033] Figure 1 A flow chart of an embodiment of a state detection method based on LDS and current according to the present application;
[0034] Figure 2 is a structural schematic diagram of an embodiment of a state detection device based on LDS and current according to the present application; DETAILED DESCRIPTION
[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.
[0036] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.
[0038] refer to Figure 1, shows a flow chart of an embodiment of a state detection method based on LDS and current according to the present application. The state detection method based on LDS and current comprises the following steps:
[0039] A state detection method based on LDS and current, the method comprising:
[0040] Step S100: continuously acquiring distance data generated by LDS and current data loaded on the wheels of the robot;
[0041] Step S200: firstly detecting that the distance data is lower than the distance detection threshold, and then judging whether the current data exceeds the current judgment threshold to determine whether the robot collides;
[0042] Step S300: First, it is detected that the current data is higher than the current detection threshold, and then it is determined whether the distance data is lower than the distance judgment threshold to determine whether the robot collides.
[0043] Obtain the data on the distance between the robot and the obstacle generated by LDS, as well as the current data loaded on the wheels. The distance data reflects whether the robot is close to the obstacle, and the current data reflects the rotation of the robot's wheels. When the robot's wheels are stuck and stop rotating, the current loaded on the wheels will suddenly increase.
[0044] Detect the distance data and current data at the same time, and set the corresponding distance detection threshold and current detection threshold for corresponding judgment. If the distance data is first detected to be lower than the distance detection threshold, it means that the robot may have collided. When the distance data is lower than the distance detection threshold, detect whether the current data exceeds the current judgment threshold, and judge whether the robot has collided by the current data. When the current exceeds the current judgment threshold, it means that the distance between the robot and the obstacle is lower than the preset value, and the robot's wheels have stopped. Determine that the robot has collided with the obstacle.
[0045] Similarly, if the current data is first detected to be higher than the current detection threshold, in this case the distance data is detected to be lower than the distance judgment threshold to determine whether the robot has collided;
[0046] This solution monitors the distance data and current data, and determines whether the robot is suspected of colliding through the current detection threshold and the distance detection threshold. Then, the robot is determined to have collided through the corresponding distance judgment threshold and the current judgment threshold. This solution can comprehensively detect abnormalities in the distance data and the current data, and accurately judge whether the robot has collided. The judgment of the robot collision is efficient.
[0047] Further, according to the distance data being lower than the distance detection threshold, it is determined whether the current data exceeds the current determination threshold. Specifically, when the distance data is less than 3 cm, it is determined whether the current data is greater than 140 mA.
[0048] In this embodiment, the distance data is the data between the robot and the obstacle detected by LDS. By detecting whether the distance data is lower than the preset distance detection threshold, it is judged whether the robot detected by LDS has collided with the obstacle. If the distance data is lower than the preset distance detection threshold, it means that the robot is very close to the obstacle and is suspected to be blocked by the obstacle. At this time, the current loaded on the robot is detected, and the rotation of the wheel is judged by the current judgment threshold. If the current loaded on the wheel increases significantly when the distance data is greater than the distance detection threshold, it means that the wheel of the sweeping robot is stuck. If the distance data is less than the preset distance detection threshold, the current loaded on the wheel increases significantly, and it is determined that the sweeping robot has collided with the obstacle. This scheme can combine current detection and distance detection. When the distance data is abnormal, the current judgment threshold is detected to determine whether the sweeping robot has collided. In this way, the data generated by the two detection means can be continuously detected on the premise that the state of the sweeping robot can be accurately determined by combining the two detection means. This scheme has a high success rate in detecting the robot state.
[0049] Further, according to the distance data being lower than the distance detection threshold, it is determined whether the current data exceeds the current determination threshold. Specifically, when the current data is greater than 170 mA, it is determined whether the distance data is less than 8 cm.
[0050] In this embodiment, the current data refers to the current loaded on the sweeping robot. The current controls the motor to drive the sweeping robot to rotate. When the sweeping robot is stuck, the motor cannot rotate normally, and the current loaded on the motor will passively increase significantly. By detecting the current data, it is determined whether the wheels of the sweeping robot rotate abnormally. If the current data exceeds the current detection threshold, the distance data is detected according to the distance judgment threshold. If the distance data is large, it means that the sweeping robot is in a stuck state rather than a collision. When the distance data is less than the distance judgment threshold, it is determined that the robot has collided. This scheme has a high success rate in detecting the robot status.
[0051] Furthermore, the method for obtaining the distance data is specifically to obtain a group of distance values by fixed-frequency sampling within a period of time, and to average the group of distance values to obtain the distance data;
[0052] The method for acquiring the current data specifically acquires a group of current values by fixed-frequency sampling within a period of time, and calculates the average value of the group of current values to acquire the current data.
[0053] Specifically, by sampling at a fixed frequency and averaging, data jitter of current data and distance data is prevented, and data accuracy is ensured, so as to prevent distance data from frequently jumping back and forth between the range and outside the range of the distance detection threshold, or current data from jumping back and forth between the range and outside the range of the current detection threshold, causing false detection of collision. This solution improves the accuracy of collision detection. Furthermore, the acquisition of the distance data specifically updates the time period by sliding to acquire and update the distance data;
[0054] The acquisition of the current data, specifically sliding and updating the time period, to acquire and update the current data;
[0055] The sliding update period is a periodic update period, and the time length of each period is the same as the time length of the previous period, and the start time of each period is between the start and end time of the previous period.
[0056] In one embodiment, the values in the previous cycle are not used after the sliding update period, and fixed-frequency sampling and averaging are performed again for the period after the sliding.
[0057] In another embodiment, the sliding distance of the time period is adapted to the frequency of the fixed-frequency sampling, and the sliding distance is an integer multiple of the above frequency. Therefore, after the sliding update period, part of the values in the previous cycle are used and part are discarded. On this basis, the fixed-frequency values of the data in the time period can replace the discarded part of the values in the previous cycle, and finally the values obtained in this cycle are averaged. This scheme can smoothly update the current data and distance data in real time, and maintain the real-time nature of the data by continuously and periodically collecting several signals and performing sliding updates in real time. This scheme obtains distance data with high accuracy.
[0058] Furthermore, the distance data is specifically obtained in a plurality of directions where LDS modules are set, and the minimum distance data is extracted.
[0059] Specifically, the robot may detect anomalies in distance data in multiple directions, and select the smallest distance data as the basis for judging whether the robot has collided. This solution can detect collisions in various directions and improve the efficiency of collision detection.
[0060] Furthermore, the current data is obtained by detecting the current loaded on any set of wheel axles of the robot.
[0061] Specifically, if the robot has only one set of driving wheels, it is only necessary to detect the current on one set of driving wheels as a basis for current detection.
[0062] Furthermore, the current data is obtained by taking the maximum value of the current loaded on at least two sets of wheel axles of the robot.
[0063] Specifically, if the robot has more than two sets of active wheels, the current is loaded on each active wheel or the axle of the active wheel. By selecting the current data with the largest value as the basis for current judgment, if the robot's wheel is stuck, it will definitely be detected. This solution has high detection accuracy for wheel stuck. In the specific implementation process, in the two-wheel drive state, the current size of each wheel during normal driving is 70mA to 80mA, and when the wheel collides and affects its rotation, the current size is 120mA to 160mA.
[0064] Furthermore, the detection of whether the distance data is lower than a distance detection threshold and the detection of whether the current data is higher than a current judgment threshold are performed simultaneously.
[0065] This solution can simultaneously detect distance data and current data in real time, reducing the probability of collision detection being missed.
[0066] Furthermore, the detection of whether the distance data is lower than a distance detection threshold and the detection of whether the current data is higher than a current judgment threshold are performed alternately.
[0067] The scheme can perform detection in time periods based on the current detection threshold and the distance detection threshold, and the reliability of the detection process is high.
[0068] Furthermore, in the normal state, the distance data generated by the LDS and the current data loaded on the robot wheels are continuously acquired;
[0069] Entering the first detection state according to the distance data being lower than the distance detection threshold until the distance data is higher than the distance detection threshold, jumping out of the first detection state and returning to the normal state, in the first detection state, judging whether the current data exceeds the current judgment threshold; the first detection state is a state of whether the current data exceeds the current judgment threshold;
[0070] According to the current data being higher than the current detection threshold, the second detection state is entered, and when the current data is lower than the current detection threshold, the second detection state is jumped out and returned to the normal state. In the second detection state, it is judged whether the distance data is lower than the distance judgment threshold; the second detection state is the state of whether the distance data is lower than the distance judgment threshold.
[0071] When the robot enters the first detection state, it continuously detects the distance data, and when the distance data is always lower than the distance detection threshold, it maintains the first detection state, and detects the current data through the current judgment threshold. When the distance data is greater than the distance detection threshold, it jumps out of the first detection state and stops detecting the current judgment threshold. At the same time, the corresponding accumulated parameters (including accumulated values and count values) are reset. The scheme sets the state of the robot, detects the distance detection threshold and the current detection threshold of the robot according to the robot being in the normal state, detects the current judgment threshold of the robot according to the robot being in the first detection state, and similarly detects the distance judgment threshold of the robot in the second detection state. The scheme detects with corresponding thresholds according to different states, and the reliability of collision detection is stronger.
[0072] Furthermore, when the duration of time the robot is in the first state or the second state exceeds a time threshold, the robot jumps out and returns to the normal state.
[0073] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
[0074] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.
[0075] refer to Figure 2 In order to solve the above technical problems, the embodiment of the present application further provides a state detection device based on LDS and current, which adopts the following technical solution:
[0076] The state detection device based on LDS and current includes:
[0077] The data acquisition module 100 is used to continuously acquire the distance data generated by the LDS and the current data loaded on the robot wheels; the normal state is a state in which the robot walks normally without directly judging whether the robot has a collision;
[0078] The detection module 200 is used to determine whether the current data exceeds the current judgment threshold when the distance data is lower than the distance detection threshold, or to determine whether the distance data is lower than the distance judgment threshold when the current data is higher than the current detection threshold, so as to determine whether the robot collides.
[0079] Obtain the data on the distance between the robot and the obstacle generated by LDS, as well as the current data loaded on the wheels. The distance data reflects whether the robot is close to the obstacle, and the current data reflects the rotation of the robot's wheels. When the robot's wheels are stuck and stop rotating, the current loaded on the wheels will suddenly increase.
[0080] Detect the distance data and current data at the same time, and set the corresponding distance detection threshold and current detection threshold for corresponding judgment. If the distance data is first detected to be lower than the distance detection threshold, it means that the robot may have collided. When the distance data is lower than the distance detection threshold, detect whether the current data exceeds the current judgment threshold, and judge whether the robot has collided by the current data. When the current exceeds the current judgment threshold, it means that the distance between the robot and the obstacle is lower than the preset value, and the robot's wheels have stopped. Determine that the robot has collided with the obstacle.
[0081] Similarly, if the current data is first detected to be higher than the current detection threshold, in this case the distance data is detected to be lower than the distance judgment threshold to determine whether the robot has collided;
[0082] This solution monitors the distance data and current data, and determines whether the robot is suspected of colliding through the current detection threshold and the distance detection threshold. Then, the robot is determined to have collided through the corresponding distance judgment threshold and the current judgment threshold. This solution can comprehensively detect abnormalities in the distance data and the current data, and accurately judge whether the robot has collided. The judgment of the robot collision is efficient.
[0083] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.
[0084] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.
Claims
1. A state detection method based on LDS and current, characterized in that: The method includes: Continuously acquire the distance data generated by LDS and the current data loaded on the robot wheels; In normal state, the distance data generated by LDS and the current data loaded on the robot wheels are continuously acquired; First, it is detected that the distance data is lower than the distance detection threshold, and then the current data is judged whether it exceeds the current judgment threshold to determine whether the robot has collided; Specific: Entering the first detection state according to the distance data being lower than the distance detection threshold until the distance data is higher than the distance detection threshold, jumping out of the first detection state and returning to the normal state, in the first detection state, judging whether the current data exceeds the current judgment threshold; the first detection state is a state of whether the current data exceeds the current judgment threshold; When the current exceeds the current judgment threshold, it is determined that the robot has collided with an obstacle; Or first detect that the current data is higher than the current detection threshold, and then determine whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided; Specific: Entering the second detection state according to the current data being higher than the current detection threshold until the current data is lower than the current detection threshold, jumping out of the second detection state and returning to the normal state, in the second detection state, judging whether the distance data is lower than the distance judgment threshold; the second detection state is a state of judging whether the distance data is lower than the distance judgment threshold; If the distance data is larger, it means that the sweeping robot is in a stuck state. When the distance data is smaller than the distance judgment threshold, it is determined that the robot has collided.
2. The state detection method based on LDS and current according to claim 1, characterized in that: The method for obtaining the distance data is specifically to obtain a group of distance values by fixed-frequency sampling within a period of time, and to average the group of distance values to obtain the distance data; And / or the method for obtaining the current data is specifically to obtain a group of current values by fixed-frequency sampling within a time period, and to average the group of current values to obtain the current data.
3. The state detection method based on LDS and current according to claim 2, characterized in that: Acquisition of the distance data, specifically sliding and updating the time period to acquire and update the distance data; The sliding update period is a periodic update period, and the time length of each period is the same as the time length of the previous period, and the start time of each period is between the start and end time of the previous period.
4. The state detection method based on LDS and current according to claim 2, characterized in that: The distance data is specifically obtained in a plurality of directions where LDS modules are set, and the minimum distance data is extracted.
5. The state detection method based on LDS and current according to claim 2 is characterized in that The acquisition of the current data, specifically sliding and updating the time period, to acquire and update the current data; The sliding update period is a periodic update period, and the time length of each period is the same as the time length of the previous period, and the start time of each period is between the start and end time of the previous period.
6. The state detection method based on LDS and current according to claim 5, characterized in that: The current data is obtained by detecting the current loaded on any set of wheel axles of the robot.
7. The state detection method based on LDS and current according to claim 5, characterized in that: The current data is obtained by obtaining the maximum value of the currents loaded on at least two sets of wheel axles of the robot.
8. The state detection method based on LDS and current according to claim 1, characterized in that: The detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed simultaneously.
9. The state detection method based on LDS and current according to claim 1, characterized in that: The detection of whether the distance data is lower than the distance detection threshold and the detection of whether the current data is higher than the current judgment threshold are performed alternately.
10. The state detection method based on LDS and current according to claim 9, characterized in that: When the duration of time the robot is in the first detection state or the second detection state exceeds a time threshold, the robot jumps out and returns to the normal state.
11. A state detection device based on LDS and current, characterized in that: include: A data acquisition module is used to continuously acquire the distance data generated by the LDS and the current data loaded on the robot wheels; The normal state is the state where the robot walks normally without directly judging whether the robot has a collision; A detection module, used to determine whether the current data exceeds the current judgment threshold according to the distance data being lower than the distance detection threshold, or to determine whether the distance data is lower than the distance judgment threshold according to the current data being higher than the current detection threshold, so as to determine whether the robot collides; Specific: In normal state, the distance data generated by LDS and the current data loaded on the robot wheels are continuously acquired; First, it is detected that the distance data is lower than the distance detection threshold, and then the current data is judged whether it exceeds the current judgment threshold to determine whether the robot has collided; Entering the first detection state according to the distance data being lower than the distance detection threshold until the distance data is higher than the distance detection threshold, jumping out of the first detection state and returning to the normal state, in the first detection state, judging whether the current data exceeds the current judgment threshold; the first detection state is a state of whether the current data exceeds the current judgment threshold; When the current exceeds the current judgment threshold, it is determined that the robot has collided with an obstacle; Or first detect that the current data is higher than the current detection threshold, and then determine whether the distance data is lower than the distance judgment threshold to determine whether the robot has collided; Entering the second detection state according to the current data being higher than the current detection threshold until the current data is lower than the current detection threshold, jumping out of the second detection state and returning to the normal state, in the second detection state, judging whether the distance data is lower than the distance judgment threshold; the second detection state is a state of judging whether the distance data is lower than the distance judgment threshold; If the distance data is larger, it means that the sweeping robot is in a stuck state. When the distance data is smaller than the distance judgment threshold, it is determined that the robot has collided.