Detection Method and Device for Ultrasonic Sensor of a Robot

Abstract

The present invention relates to the technical field of robots, and particularly to a detection method for an ultrasonic sensor of a robot. The method includes: during the relative rotational movement between a rotating table on which the robot is placed and the robot, obtaining the total set of ranging values of each of the M ultrasonic sensors of the robot and the relative rotational speed of the robot, wherein N obstacle blocks for ranging by the M ultrasonic sensors are provided on the rotating table; for each of the M ultrasonic sensors, obtaining the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor; obtaining the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot; if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, determining that the ultrasonic sensor meets the set performance. This method improves the detection efficiency and detection accuracy of the ultrasonic sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method and device for detecting an ultrasonic sensor of a robot. Background Art

[0002] The ultrasonic sensor of a robot plays an important role in the process of robot detection and fusion to make up for the deficiencies of the robot's detection by optical-related sensors. Therefore, it is necessary to detect the ultrasonic sensor of the robot. The existing ultrasonic detection method for robots is realized by detecting the model of obstacle detection by the robot, which causes the problem of low detection accuracy. Summary of the Invention

[0003] By providing a method and device for detecting an ultrasonic sensor of a robot in an embodiment of the present application, the technical problem of low detection accuracy of the ultrasonic sensor of the robot in the prior art is solved, and the technical effects of improving the detection efficiency and detection accuracy of the ultrasonic sensor of the robot and ensuring that the robot performs refined work through the ultrasonic sensor are achieved.

[0004] In a first aspect, an embodiment of the present invention provides a method for detecting an ultrasonic sensor of a robot, including:

[0005] During the relative rotational movement between a turntable on which a robot is placed and the robot, obtaining the total set of ranging values of each of the M ultrasonic sensors of the robot, and the relative rotational speed of the robot, where N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1;

[0006] For each of the M ultrasonic sensors, obtaining the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor;

[0007] Obtaining the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot;

[0008] For each of the M ultrasonic sensors, if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, it is determined that the ultrasonic sensor meets the set performance.

[0009] Preferably, before the relative rotational movement between the turntable on which the robot is placed and the robot, the method further includes:

[0010] Control the robot to be located at the center point of the rotating table, where the vertical distance from each of the N obstacle vertical blocks to the center point of the rotating table is the same, and the arc length of each of the obstacle vertical blocks is the same.

[0011] Preferably, obtaining the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor includes:

[0012] For each ranging value subset in the total set of ranging values, obtain the historical recognition rate of the ultrasonic sensor according to the ranging value subset, where the ranging subset is a set of ranging values obtained by the ultrasonic sensor detecting a certain obstacle vertical block among the N obstacle vertical blocks;

[0013] After performing the above operations on each ranging value subset, obtain the target recognition rate.

[0014] Preferably, obtaining the historical recognition rate of the ultrasonic sensor according to the ranging value subset includes:

[0015] Obtain the effective value threshold range according to the vertical distance and the circumradius of the circumcircle of the robot;

[0016] Screen out the effective values from the ranging value subset, where the effective values are within the effective value threshold range;

[0017] Obtain the historical recognition rate according to the effective values.

[0018] Preferably, obtaining the target detection angle of each ultrasonic sensor according to the relative rotation speed of the robot includes:

[0019] For the historical duration corresponding to each ranging value subset in the total set of ranging values, obtain the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotation speed, where the corresponding historical duration is the duration obtained by the ultrasonic sensor detecting a certain obstacle vertical block among the N obstacle vertical blocks;

[0020] After performing the above operations on the historical duration corresponding to each ranging value subset, obtain the target detection angle.

[0021] Preferably, obtaining the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotation speed includes:

[0022] Obtain the length ratio according to the obtained vertical distance, the arc length, and the circumradius of the circumcircle of the robot;

[0023] Based on the length ratio, the corresponding historical duration, and the relative rotation speed, the historical detection angle is obtained.

[0024] Preferably, for each of the M ultrasonic sensors, the method further includes:

[0025] If the target recognition rate is less than the recognition rate threshold, or the target detection angle is not within the detection angle threshold range, the number of the ultrasonic sensor is reported.

[0026] Based on the same inventive concept, in a second aspect, the present invention further provides a detection device for an ultrasonic sensor of a robot, including:

[0027] An acquisition module, configured to acquire a total set of ranging values of each of the M ultrasonic sensors of the robot, and the relative rotation speed of the robot during the relative rotation movement between a turntable on which the robot is placed and the robot, wherein N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1;

[0028] A first target module, configured to obtain the target recognition rate of each of the M ultrasonic sensors according to the total set of ranging values of the ultrasonic sensors;

[0029] A second target module, configured to obtain the target detection angle of each of the ultrasonic sensors according to the relative rotation speed of the robot;

[0030] A determination module, configured to determine that each of the M ultrasonic sensors meets the set performance if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range.

[0031] Based on the same inventive concept, in a third aspect, the present invention provides a robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of the detection method for the ultrasonic sensor of the robot are implemented.

[0032] Based on the same inventive concept, in a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the detection method for the ultrasonic sensor of the robot are implemented.

[0033] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0034] In an embodiment of the present invention, during the relative rotational movement between the rotating table with the robot placed thereon and the robot, first obtain the total set of ranging values of each of the M ultrasonic sensors of the robot and the relative rotational speed of the robot. Here, N obstacle blocks for ranging by the M ultrasonic sensors are provided on the rotating table, where M≥1 and N≥1. Here, through the relative rotational movement between the rotating table and the robot, the total set of ranging values of each ultrasonic sensor and the relative rotational speed of the robot are collected, so as to facilitate the ranging function of the ultrasonic sensor through its own distance sensing frequency, providing a solid foundation for subsequent detection of the ultrasonic sensor and improving the detection efficiency of the ultrasonic sensor of the robot.

[0035] Then, for each of the M ultrasonic sensors, according to the total set of ranging values of the ultrasonic sensor, obtain the target recognition rate of the ultrasonic sensor, and according to the relative rotational speed of the robot, obtain the target detection angle of the ultrasonic sensor. Here, based on the total set of ranging values of the ultrasonic sensor and the relative rotational speed of the robot, the target recognition rate and the target detection angle of the ultrasonic sensor are obtained, further improving the detection efficiency and detection accuracy of the ultrasonic sensor of the robot. For each of the M ultrasonic sensors, after obtaining the target recognition rate and the target detection angle of the ultrasonic sensor, it is necessary to judge the target recognition rate and the target detection angle of the ultrasonic sensor. If the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, it is determined that the ultrasonic sensor meets the set performance, so as to ensure accurate judgment of the ultrasonic sensor of the robot, improve the detection efficiency and accuracy, and ensure that the robot performs refined work through the ultrasonic sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0037] Figure 1 It shows a schematic flow chart of the steps of the detection method of the ultrasonic sensor of the robot in the embodiment of the present invention;

[0038] Figure 2 It shows a schematic structural diagram of the relative rotational movement between the robot and the rotating table in the embodiment of the present invention;

[0039] Figure 3 It shows a schematic module diagram of the detection device of the ultrasonic sensor of the robot in the embodiment of the present invention;

[0040] Figure 4 The structural schematic diagram of a robot in an embodiment of the present invention is shown. Specific implementation manners

[0041] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0042] Embodiment 1

[0043] The first embodiment of the present invention provides a detection method for an ultrasonic sensor of a robot, as Figure 1 shown, including:

[0044] S101, during the relative rotational movement between the turntable on which the robot is placed and the robot, obtain the total set of ranging values of each of the M ultrasonic sensors of the robot, and the relative rotational speed of the robot, wherein N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1;

[0045] S102, for each of the M ultrasonic sensors, obtain the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor;

[0046] S103, obtain the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot;

[0047] S104, for each of the M ultrasonic sensors, if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, determine that the ultrasonic sensor meets the set performance.

[0048] It should be noted that the detection method of this embodiment is implemented based on the relative rotational movement between the turntable on which the robot is placed and the robot. Before the relative rotational movement between the turntable and the robot, the robot and the N obstacle blocks are both placed on the turntable, as Figure 2As shown, the large circle represents the rotating table, the small circle represents the robot, the shape of the small circle represents the circumcircle of the robot, the small black dots on the small circle represent ultrasonic sensors, and the square represents the obstacle block. The control robot is located at the center point of the rotating table, and N obstacle blocks are placed around the robot. Among them, the block distance from each of the N obstacle blocks to the center point of the rotating table is the same, and the arc length of each obstacle block is the same. The block distance of the obstacle block is set within the ranging range of the ultrasonic sensor of the robot. The ranging range is set according to the actual requirements of the ultrasonic sensor. For example, if the ranging range of the ultrasonic sensor of the robot is from 3 meters to 6 meters, the block distance can be set to 4 meters or 5 meters to ensure that the ultrasonic sensor can detect each obstacle block.

[0049] In order to enable the ultrasonic sensor of the robot to detect each obstacle block, it is also necessary to control the height of each obstacle block within the detection height range of the ultrasonic sensor of the robot. The detection height range is set according to the actual requirements of the ultrasonic sensor. In order to enable the ultrasonic sensor of the robot to intermittently detect each obstacle block, it is also necessary to control the distance between two adjacent obstacle blocks within the recognition range of the ultrasonic sensor of the robot. The recognition range is set according to the actual requirements of the ultrasonic sensor. If the distance between two adjacent obstacle blocks is too small, the ultrasonic sensor will not be able to recognize these two obstacle blocks and will recognize these two obstacle blocks as one obstacle block, resulting in recognition errors, which is not conducive to the detection method of this embodiment.

[0050] After setting the positions of the robot and N obstacle blocks on the rotating table, control the relative rotational movement of the robot and the rotating table. For example, the rotating table and N obstacle blocks remain stationary, and the robot rotates at a certain rotational speed, or the robot remains stationary, and the rotating table rotates at a certain rotational speed, and the rotating table drives the N obstacle blocks to also rotate.

[0051] Next, in combination with Figure 1 to introduce in detail the specific implementation steps of the detection method of the ultrasonic sensor of the robot provided in this embodiment:

[0052] First, execute step S101. During the relative rotational movement of the rotating table with the robot placed on it and the robot, obtain the total set of ranging values of each of the M ultrasonic sensors of the robot and the relative rotational speed of the robot, where N obstacle blocks for ranging by the M ultrasonic sensors are provided on the rotating table, M≥1, N≥1.

[0053] Specifically, due to the distance sensing frequency of the ultrasonic sensor, after a certain ultrasonic sensor of the robot detects an obstacle block, a subset of ranging values of this ultrasonic sensor will be obtained. Among them, the distance sensing frequency represents the number of times the ultrasonic sensor detects the distance from itself to the obstacle block within 1 second, that is, the number of ranging values detected by the ultrasonic sensor from itself to the obstacle block within 1 second. The distance sensing frequency is denoted as f, and the unit is Hertz (Hz). For example, if the ultrasonic sensor detects the distance from itself to the obstacle block 15 times within 1 second, it also means that the ultrasonic sensor detects 15 ranging values within 1 second. The ranging value represents the distance value detected by the ultrasonic sensor from itself to the obstacle block.

[0054] Then, during the relative rotational movement of the turntable and the robot, after this ultrasonic sensor detects multiple obstacle blocks, multiple subsets of ranging values of this ultrasonic sensor will be obtained, that is, the total set of ranging values of this ultrasonic sensor. For example, during the relative rotational movement of the turntable and the robot, after this ultrasonic sensor detects 7 obstacle blocks, 7 subsets of ranging values of this ultrasonic sensor will be obtained, and these 7 subsets of ranging values constitute the total set of ranging values of this ultrasonic sensor.

[0055] During the relative rotational movement of the turntable and the robot, each of the M ultrasonic sensors of the robot will detect multiple obstacle blocks and obtain multiple subsets of ranging values for each ultrasonic sensor. After obtaining multiple subsets of ranging values for each ultrasonic sensor, the total set of ranging values for each ultrasonic sensor is obtained.

[0056] Next, step S102 is executed. For each of the M ultrasonic sensors, according to the total set of ranging values of the ultrasonic sensor, the target recognition rate of the ultrasonic sensor is obtained; and step S103 is executed to obtain the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot.

[0057] Specifically, for each of the M ultrasonic sensors, the methods for obtaining the target recognition rate and the target detection angle of the ultrasonic sensor are the same. Next, the specific processes for obtaining the target recognition rate and the target detection angle of the ultrasonic sensor are elaborated in detail for a single ultrasonic sensor.

[0058] The specific process for obtaining the target recognition rate of the ultrasonic sensor is as follows. First step, for each subset of ranging values in the total set of ranging values of the ultrasonic sensor, according to the subset of ranging values, the historical recognition rate of the ultrasonic sensor is obtained, where the ranging subset is a set of ranging values obtained by the ultrasonic sensor detecting a certain obstacle block among N obstacle blocks.

[0059] Specifically, for each subset of ranging values in the total set of ranging values of the ultrasonic sensor, within the subset of ranging values, an effective value threshold range is obtained based on the vertical block distance mR and the circumradius mr of the circumcircle of the robot. The effective value threshold is mR - mr, and the effective value threshold range is the range of ±5% of the effective value threshold, denoted as (mR - mr) ±5%. Here, ±5% is an empirical value, and other empirical values can also be set according to actual requirements. For example, if the effective value threshold is 3 meters, the effective value threshold range is from 2.85 meters to 3.15 meters.

[0060] Then, effective values are screened out from the subset of ranging values, where the effective values are within the effective value threshold range. The specific process of screening effective values is to judge each ranging value in the subset of ranging values. If the ranging value is within the effective value threshold range, the ranging value is determined as an effective value.

[0061] After obtaining the effective values, the historical recognition rate is obtained based on the effective values. The specific process is as follows: Divide the number of effective values by the number of all ranging values in the subset of ranging values to obtain the historical recognition rate.

[0062] For example, there are 10 ranging values in a certain subset of ranging values, denoted as the subset of ranging values Q{q1, q2, q3,..., q10}. First, based on the vertical block distance mR and the circumradius mr of the circumcircle of the robot, the effective value threshold range [(mR - mr) - 5%, (mR - mr) + 5%] is obtained. The effective values are screened out from Q, and the effective values are q2, q5, and q9 respectively. Among them, q2, q5, and q9 are all within the effective value threshold range. Since the number of effective values is 3 and the number of ranging values in the subset of ranging values is 10, the historical recognition rate is 30%, that is, (3 / 10)×100% = 30%.

[0063] In the second step, after performing the above operations on each subset of ranging values, the target recognition rate is obtained.

[0064] Specifically, after performing the above first step on each subset of ranging values in the total set of ranging values of the ultrasonic sensor, the historical recognition rate corresponding to each subset of ranging values is obtained, that is, the historical recognition rate of the ultrasonic sensor. Perform an average operation on the historical recognition rates corresponding to each subset of ranging values, that is, perform an average operation on the historical recognition rate of the ultrasonic sensor, and the target recognition rate of the ultrasonic sensor is obtained.

[0065] For example, the total set of ranging values Q of the ultrasonic sensor 总 contains Z subsets of ranging values, that is, Q 总 {Q1, Q2,..., QZ}, and Q 总After performing the above operation of obtaining the historical recognition rate for each subset of ranging values in , the historical recognition rate Freq1 corresponding to Q1, the historical recognition rate Freq2 corresponding to Q2, and so on, the historical recognition rate FreqZ corresponding to QZ are obtained. Based on Freq1, Freq2, …, and FreqZ, the target recognition rate TFreq is obtained, that is, TFreq = (Freq1 + Freq2 + … + FreqZ) / Z.

[0066] In this embodiment, multiple subsets of ranging values of the ultrasonic sensor, that is, the total set of ranging values, are obtained through the distance sensing frequency and ranging values of the ultrasonic sensor. For each subset of ranging values, the historical recognition rate corresponding to the subset of ranging values, that is, the historical recognition rate of the ultrasonic sensor, is obtained by screening valid values from the subset of ranging values. Then, after performing the operation of obtaining the historical recognition rate on each subset of ranging values, the historical recognition rate corresponding to each subset of ranging values is obtained. Furthermore, based on the historical recognition rate corresponding to each subset of ranging values, the target recognition rate of the ultrasonic sensor is obtained, so as to perform detection through the ranging function and distance sensing frequency of the ultrasonic sensor itself, improving the detection efficiency and detection accuracy of the ultrasonic sensor of the robot and ensuring the accuracy and effectiveness of the ultrasonic sensor.

[0067] The specific process of obtaining the target detection angle of the ultrasonic sensing is as follows. In the first step, for the historical duration corresponding to each subset of ranging values in the total set of ranging values, the historical detection angle of the ultrasonic sensor is obtained according to the corresponding historical duration and relative rotation speed, where the corresponding historical duration is the duration obtained by the ultrasonic sensor detecting a certain obstacle block among N obstacle blocks.

[0068] Specifically, when the ultrasonic sensor detects an obstacle block, not only a subset of ranging values of the ultrasonic sensor is obtained, but also the historical duration corresponding to the subset of ranging values is obtained. The historical duration is the duration of obtaining the subset of ranging values. For example, when the ultrasonic sensor detects an obstacle block, a subset of ranging values Q{q1, q2, q3, …, q1000} is obtained, and the measured duration of Q is 10 seconds, then this 10 seconds is called the historical duration.

[0069] For the historical duration corresponding to each subset of ranging values in the total set of ranging values, the length ratio BZ is obtained according to the obtained block distance mR, the arc length mO of the obstacle block, and the circumradius mr of the circumcircle of the robot, that is, BZ = mO / (mR - mr).

[0070] According to the length ratio BZ, the corresponding historical duration T (s), and the relative rotation speed ri (rad / s), the historical detection angle is obtained, that is, Fov = T × ri - BZ = × ri - mO / (mR - mr), and the unit of Fov is rad.

[0071] For example, the total set Q of ranging values of the ultrasonic sensor 总 contains Z subsets of ranging values, that is, Q 总 {Q1, Q2,..., QZ}, the historical duration corresponding to Q1 is T1, the historical duration corresponding to Q2 is T2, and so on, the historical duration corresponding to QZ is TZ. The historical detection angle Fov1 corresponding to Q1 = T1 × ri - BZ = × ri - mO / (mR - mr), the historical detection angle Fov2 corresponding to Q2 = T2 × ri - BZ = × ri - mO / (mR - mr), and so on, the historical detection angle FovZ corresponding to QZ = TZ × ri - BZ = × ri - mO / (mR - mr).

[0072] In the second step, after performing the above operations on the historical duration corresponding to each subset of ranging values, the target detection angle is obtained.

[0073] Specifically, after performing the operation of obtaining the historical detection angle on the historical duration corresponding to each subset of ranging values in the total set of ranging values of the ultrasonic sensor, the historical detection angle corresponding to each subset of ranging values is obtained, that is, the historical detection angle of the ultrasonic sensor. Perform an average value operation on the historical detection angles corresponding to each subset of ranging values, that is, perform an average value operation on the historical detection angles of the ultrasonic sensor to obtain the target detection angle of the ultrasonic sensor.

[0074] For example, the total set Q of ranging values of the ultrasonic sensor 总 contains Z subsets of ranging values, that is, Q 总 {Q1, Q2,..., QZ}, after performing the above operation of obtaining the historical detection angle on each subset of ranging values in Q 总 the historical detection angle Fov1 corresponding to Q1, the historical detection angle Fov2 corresponding to Q2, and so on, the historical detection angle FovZ corresponding to QZ are obtained. According to Fov1, Fov2,..., and FovZ, the target detection angle TFov is obtained, that is, TFov = (Fov1 + Fov2 +... + FovZ) / Z.

[0075] In this embodiment, for the historical duration corresponding to each ranging value subset in the total ranging values of the ultrasonic sensor, according to the corresponding historical duration and relative rotation speed, the historical detection angle of the ultrasonic sensor is obtained. After performing the operation of obtaining the historical detection angle on each ranging value subset, the historical detection angle corresponding to each ranging value subset is obtained, and then the target detection angle of the ultrasonic sensor is obtained. Through the target detection angle of the ultrasonic sensor, the recognition function of the ultrasonic sensor is reflected, and the detection efficiency and detection accuracy of the ultrasonic sensor of the robot are improved.

[0076] Then, step S104 is executed. For each of the M ultrasonic sensors, if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, it is determined that the ultrasonic sensor meets the set performance.

[0077] Specifically, for each of the M ultrasonic sensors, after obtaining the target recognition rate and target detection angle of the ultrasonic sensor, it is necessary to judge the target recognition rate and target detection angle of the ultrasonic sensor. If the target recognition rate of the ultrasonic sensor is not less than the recognition rate threshold and the target detection angle of the ultrasonic sensor is within the detection angle threshold range, it is determined that the ultrasonic sensor meets the performance such as recognition rate and detection angle. Among them, the recognition rate threshold and the detection angle threshold range are both set according to actual requirements.

[0078] If the target recognition rate of the ultrasonic sensor is less than the recognition rate threshold, or the target detection angle of the ultrasonic sensor is not within the detection angle threshold range, it is determined that the ultrasonic sensor fails, and the number of the ultrasonic sensor is reported for maintenance personnel to perform maintenance.

[0079] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0080] In this embodiment, during the relative rotational movement between the turntable on which the robot is placed and the robot, first, the total ranging values of each of the M ultrasonic sensors of the robot and the relative rotation speed of the robot are obtained. Among them, N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1. Here, through the relative rotational movement between the turntable and the robot, the total ranging values of each ultrasonic sensor and the relative rotation speed of the robot are collected, so as to facilitate the ultrasonic sensor to implement its ranging function through its own distance sensing frequency, providing a solid foundation for subsequent detection of the ultrasonic sensor and improving the detection efficiency of the ultrasonic sensor of the robot.

[0081] Then, for each of the M ultrasonic sensors, based on the total set of ranging values of the ultrasonic sensor, the target recognition rate of the ultrasonic sensor is obtained, and based on the relative rotational speed of the robot, the target detection angle of the ultrasonic sensor is obtained. Here, based on the total set of ranging values of the ultrasonic sensor and the relative rotational speed of the robot, the target recognition rate and the target detection angle of the ultrasonic sensor are obtained, further improving the detection efficiency and detection accuracy of the ultrasonic sensor of the robot. For each of the M ultrasonic sensors, after obtaining the target recognition rate and the target detection angle of the ultrasonic sensor, it is necessary to judge the target recognition rate and the target detection angle of the ultrasonic sensor. If the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, it is determined that the ultrasonic sensor meets the set performance, so as to ensure accurate judgment of the ultrasonic sensor of the robot, improve the detection efficiency and accuracy, and ensure that the robot performs refined work through the ultrasonic sensor.

[0082] Embodiment 2

[0083] Based on the same inventive concept, the second embodiment of the present invention further provides a detection device for an ultrasonic sensor of a robot, as Figure 3 shown, including:

[0084] An acquisition module 201, configured to acquire the total set of ranging values of each of the M ultrasonic sensors of the robot and the relative rotational speed of the robot during the relative rotational movement between the turntable on which the robot is placed and the robot, where N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1;

[0085] A first target module 202, configured to obtain the target recognition rate of each of the M ultrasonic sensors according to the total set of ranging values of the ultrasonic sensor;

[0086] A second target module 203, configured to obtain the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot;

[0087] A determination module 204, configured to determine that each of the M ultrasonic sensors meets the set performance if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range.

[0088] As an alternative embodiment, an acquisition module 201 is configured to control the robot to be located at the center point of the rotating table before the relative rotational movement between the rotating table with the robot placed thereon and the robot, wherein the vertical block distance from each of the N obstacle vertical blocks to the center point of the rotating table is the same, and the arc length of each of the obstacle vertical blocks is the same.

[0089] As an alternative embodiment, a first target module 202 is configured to obtain the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor, including:

[0090] For each ranging value subset in the total set of ranging values, obtain the historical recognition rate of the ultrasonic sensor according to the ranging value subset, wherein the ranging subset is a set of ranging values obtained by the ultrasonic sensor detecting a certain obstacle vertical block among the N obstacle vertical blocks;

[0091] After performing the above operations on each ranging value subset, obtain the target recognition rate.

[0092] As an alternative embodiment, obtaining the historical recognition rate of the ultrasonic sensor according to the ranging value subset includes:

[0093] Obtain an effective value threshold range according to the vertical block distance and the circumradius of the circumscribed circle of the robot;

[0094] Screen out effective values from the ranging value subset, wherein the effective values are within the effective value threshold range;

[0095] Obtain the historical recognition rate according to the effective values.

[0096] As an alternative embodiment, a second target module 203 is configured to obtain the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot, including:

[0097] For the historical duration corresponding to each ranging value subset in the total set of ranging values, obtain the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotational speed, wherein the corresponding historical duration is the duration obtained by the ultrasonic sensor detecting a certain obstacle vertical block among the N obstacle vertical blocks;

[0098] After performing the above operations on the historical duration corresponding to each ranging value subset, obtain the target detection angle.

[0099] As an alternative embodiment, obtaining the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotation speed includes:

[0100] Obtaining a length ratio according to the obtained vertical block distance, the arc length, and the circumradius of the circumcircle of the robot;

[0101] Obtaining the historical detection angle according to the length ratio, the corresponding historical duration, and the relative rotation speed.

[0102] As an alternative embodiment, the determination module 204 is configured to, for each ultrasonic sensor among the M ultrasonic sensors, report the number of the ultrasonic sensor if the target recognition rate is less than the recognition rate threshold, or the target detection angle is not within the detection angle threshold range.

[0103] Since the detection device of the ultrasonic sensor of the robot introduced in this embodiment is the device adopted for implementing the detection method of the ultrasonic sensor of the robot in Embodiment 1 of the present application, based on the detection method of the ultrasonic sensor of the robot introduced in Embodiment 1 of the present application, those skilled in the art can understand the specific implementation manners and various variations of the detection device of the ultrasonic sensor of the robot in this embodiment. Therefore, the specific implementation of how the detection device of the ultrasonic sensor of the robot implements the method in Embodiment 1 of the present application will not be described in detail here. As long as those skilled in the art implement the device adopted for the detection method of the ultrasonic sensor of the robot in Embodiment 1 of the present application, it falls within the scope of protection of the present application.

[0104] Embodiment 3

[0105] Based on the same inventive concept, the third embodiment of the present invention further provides a robot, as Figure 4 shown, including a memory 304, a processor 302, and a computer program stored on the memory 304 and executable on the processor 302. When the processor 302 executes the program, it implements the steps of any one of the methods in the above-mentioned detection method of the ultrasonic sensor of the robot.

[0106] Among them, in Figure 4In [the figure], there is a bus architecture (represented by bus 300). Bus 300 may include any number of interconnected buses and bridges. Bus 300 links together various circuits including one or more processors represented by processor 302 and a memory represented by memory 304. Bus 300 may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, etc., which are well known in the art and thus will not be further described herein. Bus interface 306 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same component, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 may be used to store data used by processor 302 when performing operations.

[0107] Embodiment 4

[0108] Based on the same inventive concept, the fourth embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, it implements the steps of any one of the detection methods of the ultrasonic sensor of the robot described in the foregoing Embodiment 1.

[0109] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0110] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0111] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means embodying the functionality specified in the flowchart(s) Figure 1 a flowchart or flowcharts and / or block(s) Figure 1 a block or blocks.

[0112] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functionality specified in the flowchart(s) Figure 1 a flowchart or flowcharts and / or block(s) Figure 1 a block or blocks.

[0113] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to cover the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0114] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A detection method for ultrasonic sensors of a robot, characterized in that, it includes: During the relative rotational movement between the turntable with the robot placed thereon and the robot, obtain the total set of ranging values of each of the M ultrasonic sensors of the robot, and the relative rotational speed of the robot, where N obstacle blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1; For each of the M ultrasonic sensors, obtain the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor; Obtain the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot; For each of the M ultrasonic sensors, if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range, determine that the ultrasonic sensor meets the set performance; The obtaining the target recognition rate of the ultrasonic sensor according to the total set of ranging values of the ultrasonic sensor includes: For each ranging value subset in the total set of ranging values, obtain the historical recognition rate of the ultrasonic sensor according to the ranging value subset, where the ranging subset is a set of ranging values obtained by the ultrasonic sensor detecting a certain obstacle block among the N obstacle blocks; After performing the above operations on each ranging value subset, obtain the target recognition rate; The obtaining the historical recognition rate of the ultrasonic sensor according to the ranging value subset includes: Obtain the effective value threshold range according to the block distance and the radius of the circumcircle of the circumcircle of the robot; Screen out the effective values from the ranging value subset, where the effective values are within the effective value threshold range; Obtain the historical recognition rate according to the effective values.

2. The method according to claim 1, characterized in that, Before the relative rotational movement between the turntable with the robot placed thereon and the robot, the method further includes: Control the robot to be located at the center point of the turntable, where the block distance from each of the N obstacle blocks to the center point of the turntable is the same, and the arc length of each obstacle block is the same.

3. The method according to claim 1, characterized in that, The obtaining the target detection angle of each ultrasonic sensor according to the relative rotational speed of the robot includes: For the historical duration corresponding to each ranging value subset in the total set of ranging values, obtain the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotational speed, where the corresponding historical duration is the duration obtained by the ultrasonic sensor detecting a certain obstacle block among the N obstacle blocks; After performing the above operations on the historical duration corresponding to each ranging value subset, obtain the target detection angle.

4. The method according to claim 2, characterized in that, Obtaining the historical detection angle of the ultrasonic sensor according to the corresponding historical duration and the relative rotation speed includes: Obtaining a length ratio according to the obtained distance to the vertical block, the arc length, and the radius of the circumscribed circle of the robot; Obtaining the historical detection angle according to the length ratio, the corresponding historical duration, and the relative rotation speed.

5. The method according to claim 1, wherein, for each of the M ultrasonic sensors, the method further includes: If the target recognition rate is less than the recognition rate threshold, or the target detection angle is not within the detection angle threshold range, report the number of the ultrasonic sensor.

6. A detection device for an ultrasonic sensor of a robot, characterized in that, it includes: An acquisition module, configured to acquire the total set of ranging values of each of the M ultrasonic sensors of the robot and the relative rotation speed of the robot during the relative rotational movement between the turntable on which the robot is placed and the robot, wherein N vertical blocks for ranging by the M ultrasonic sensors are provided on the turntable, M≥1, N≥1; A first target module, configured to obtain the target recognition rate of each of the M ultrasonic sensors according to the total set of ranging values of the ultrasonic sensors; The first target module is further configured to obtain the historical recognition rate of the ultrasonic sensor according to each ranging value subset in the total set of ranging values, wherein the ranging subset is a set of ranging values obtained by the ultrasonic sensor detecting a certain vertical block among the N vertical blocks; After performing the above operations on each ranging value subset, obtain the target recognition rate; Obtain an effective value threshold range according to the distance to the vertical block and the radius of the circumscribed circle of the robot; Screen out effective values from the ranging value subsets, wherein the effective values are within the effective value threshold range; Obtain the historical recognition rate according to the effective values; A second target module, configured to obtain the target detection angle of each ultrasonic sensor according to the relative rotation speed of the robot; A determination module, configured to determine that each of the M ultrasonic sensors meets the set performance if the target recognition rate is not less than the recognition rate threshold and the target detection angle is within the detection angle threshold range.

7. A robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, when the processor executes the program, the method steps described in any one of claims 1-5 are implemented.

8. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by the processor, the method steps described in any one of claims 1-5 are implemented.

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