Trapped state detection method and mobile platform

Abstract

The present application discloses a trapped state detection method and a mobile platform. The trapped state detection method is applied to a mobile platform including an actuator, and includes: selectively acquiring a first signal feature or a second signal feature of an external environment in the process of the actuator driving the mobile platform to operate; judging whether an abnormality occurs according to the first signal feature acquired within a first default time interval; when an abnormality is judged to occur according to the first signal feature within the first default time interval, controlling the actuator to perform a default verification behavior to change the position or posture of the mobile platform; after the actuator performs the default verification behavior, judging whether an abnormality occurs according to the first signal feature or the second signal feature acquired within a second default time interval; when an abnormality is judged to occur according to the first signal feature or the second signal feature within the second default time interval, confirming that the mobile platform is in a trapped state. Therefore, whether the mobile platform is trapped can be detected by the signal features existing in the external environment.

Description

Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a trapped state detection method and a mobile platform. Background Art

[0002] During the operation of the existing mobile platform, the distance moved by the mobile platform is calculated by a rotary encoder that converts the angle position into an output signal. However, during the operation, when the mobile platform is in a trapped state (for example, encountering an obstacle or moving on a relatively wet and smooth ground), the wheels slip due to idling, causing the distance detected by the rotary encoder to not match the actual movement distance of the mobile platform. If the mobile platform cannot detect that it is in a trapped state, it cannot correct the error caused by the trapped state, so that cumulative errors may occur during the operation, which in turn causes the positioning function of the mobile platform to fail.

[0003] Therefore, relevant industry players have proposed adding complex calculations or using other sensors (such as inertial measurement unit (IMU), RGB-D camera, optical radar (LiDAR), etc.) to determine whether the mobile platform is in a trapped state, but these methods have greatly increased the cost of hardware and software. Summary of the invention

[0004] The embodiments of the present application provide a method for detecting a trapped state and a mobile platform, which can effectively solve the problem in the prior art that the cost of hardware and software is greatly increased due to the addition of complex calculations and sensors to determine whether the mobile platform is in a trapped state.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, a method for detecting a trapped state is provided, which includes the following steps: selectively acquiring a first signal feature or a second signal feature of an external environment during a process in which an actuator drives a mobile platform to operate; determining whether an abnormality occurs based on the first signal feature acquired within a first default time interval; when an abnormality is determined to occur based on the first signal feature within the first default time interval, controlling the actuator to perform a default verification behavior to change a position or posture of the mobile platform; after the actuator performs the default verification behavior, determining whether an abnormality occurs based on the first signal feature or the second signal feature acquired within a second default time interval; and when an abnormality is determined to occur based on the first signal feature or the second signal feature within the second default time interval, confirming that the mobile platform is in a trapped state.

[0007] In the second aspect, a mobile platform is provided, which includes: an actuator, a sensor module and a processing module, and the processing module connects the actuator and the sensor module. The actuator is used to drive the mobile platform to move; the sensor module is used to selectively obtain the first signal feature or the second signal feature of the external environment during the process of the actuator driving the mobile platform to operate. The processing module is used to receive and determine whether an abnormality occurs according to the first signal feature within the first default time interval; when an abnormality is determined to occur according to the first signal feature within the first default time interval, the actuator is controlled to perform a default verification behavior to change the position or posture of the mobile platform; after the actuator performs the default verification behavior, it is determined whether an abnormality occurs according to the first signal feature or the second signal feature within the second default time interval; and when an abnormality is determined to occur according to the first signal feature or the second signal feature within the second default time interval, it is confirmed that the mobile platform is in a trapped state.

[0008] In the embodiment of the present application, whether the mobile platform is in a trapped state can be detected by the signal characteristics existing in the external environment, without the need for complex calculations and sensors that greatly increase the cost. In addition, after the mobile platform executes the default verification behavior, it can be confirmed again whether the mobile platform is really in a trapped state, thereby improving the accuracy of the trapped state detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0010] Figure 1 is a block diagram of a first embodiment of a mobile platform according to the present application;

[0011] Figure 2 for Figure 1 A method flow chart of an embodiment of a method for detecting a trapped state of a mobile platform application;

[0012] Figure 3 for Figure 2 A method flow chart of an embodiment of step 210 in FIG.

[0013] Figure 4 is a block diagram of a second embodiment of a mobile platform according to the present application;

[0014] Figure 5 for Figure 4 A method flow chart of an embodiment of a method for detecting a trapped state of a mobile platform application;

[0015] Figure 6 A block diagram of a third embodiment of a mobile platform according to the present application; and

[0016] Figure 7for Figure 6 A method flow chart of an embodiment of a method for detecting a trapped state of a mobile platform application. DETAILED DESCRIPTION

[0017] The embodiments of the present invention will be described below with reference to the accompanying drawings. In these drawings, the same reference numerals represent the same or similar components or method flows.

[0018] It must be understood that the words "comprise", "include" and the like used in this specification are used to indicate the existence of specific technical features, values, method steps, job processing, components and / or assemblies, but do not exclude the addition of more technical features, values, method steps, job processing, components, assemblies, or any combination of the above.

[0019] It should be understood that when a component is described as being "connected" or "coupled" to another component, it may be directly connected or coupled to the other component, and intermediate components may be present. Conversely, when a component is described as being "directly connected" or "directly coupled" to another component, there are no intermediate components.

[0020] See also Figure 1 and Figure 2 , Figure 1 is a block diagram of a first embodiment of a mobile platform according to the present application, Figure 2 for Figure 1 A flowchart of an embodiment of a method for detecting a trapped state of a mobile platform application. Figure 1 As shown, the mobile platform 100 includes: an actuator 110, a sensor module 120 and a processing module 130, wherein the processing module 130 is connected to the actuator 110 and the sensor module 120. The actuator 110, the sensor module 120 and the processing module 130 may be connected wirelessly or wiredly.

[0021] In this embodiment, the actuator 110 can be used to drive the mobile platform 100 to operate, that is, to change the position and posture of the mobile platform 100. In one example, the actuator 110 can be, but is not limited to, a stepper motor, a servo motor, a piezoelectric motor, a voice coil motor, or a linear motor.

[0022] In this embodiment, the sensing module 120 can be used to obtain the first signal feature or the second signal feature of the external environment; the processing module 130 can be used to determine whether the mobile platform 100 is in a trapped state based on the first signal feature and / or the second signal feature and control the actuator 110 to drive the mobile platform 100 to run. Therefore, the trapped state detection method applied by the mobile platform 100 is executed by the sensing module 120 and the processing module 130 during the operation of the mobile platform 100, and the relevant description will be described in detail later. Among them, the first signal feature and the second signal feature are different.

[0023] In this embodiment, the processing module 130 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete component gates or transistor logic devices, discrete hardware components.

[0024] See also Figure 2 The trapped state detection method described in this embodiment includes the following steps: selectively obtaining a first signal feature or a second signal feature of an external environment during the process of the actuator 110 driving the mobile platform 100 to operate (step 210); judging whether an abnormality occurs according to the first signal feature obtained within a first default time interval (step 220); when an abnormality is judged to occur according to the first signal feature within the first default time interval, controlling the actuator 110 to perform a default verification behavior to change the position or posture of the mobile platform 100 (step 230); after the actuator 110 performs the default verification behavior, judging whether an abnormality occurs according to the first signal feature or the second signal feature obtained within a second default time interval (step 240); and when an abnormality is judged to occur according to the first signal feature or the second signal feature within the second default time interval, confirming that the mobile platform 100 is in a trapped state (step 250). Step 210 is performed by the sensor module 120, and steps 220 to 250 are performed by the processing module 130. It should be noted that the second default time interval is located after the first default time interval, and there is no overlap between the first default time interval and the second default time interval. The first default time interval and the second default time interval can be adjusted according to actual needs.

[0025] In one embodiment, step 210 includes: continuously acquiring the first signal feature or the second signal feature while the actuator 110 drives the mobile platform 100 to operate. However, in order to avoid consuming too much power by continuously acquiring the first signal feature or the second signal feature, the sensor module 120 may be set to acquire the first signal feature in the first default time interval and acquire the first signal feature or the second signal feature in the second default time interval when the actuator 110 drives the mobile platform 100 to operate.

[0026] In one embodiment, see Figure 3 , which is Figure 2 A method flow chart of an embodiment of step 210 in FIG. Figure 3 As shown, step 210 includes: continuously receiving an environmental signal from the external environment within a first default time interval and within a second default time interval (step 310); and collecting a first signal feature or a second signal feature according to the environmental signal (step 320). In more detail, the sensing module 120 may continuously receive an environmental signal from the external environment within the first default time interval and within the second default time interval, and the environmental signal includes a plurality of different signal features, so that the sensing module 120 may obtain the first signal feature within the first default time interval and the first signal feature or the second signal feature within the second default time interval. It should be noted that the first signal feature and the second signal feature included in the environmental signal need to have different feature values ​​at different locations of the external environment (i.e., the first signal feature and the second signal feature included in the environmental signal change with the location of the mobile platform 100).

[0027] In one example, the environmental signal may be a wifi signal, and the first signal feature and the second signal feature may be the signal strength of the wifi signal, the arrival angle of the wifi signal, or the arrival timestamp of the wifi signal, respectively. The first signal feature and the second signal feature may be the same. In another example, the first signal feature and the second signal feature may be different.

[0028] In another example, the environmental signal may be an electromagnetic wave signal, and the first signal feature and the second signal feature may be the signal strength of the electromagnetic wave signal, the arrival angle of the electromagnetic wave signal, or the arrival phase of the electromagnetic wave signal, respectively. The first signal feature and the second signal feature may be the same. In another example, the first signal feature and the second signal feature may be different.

[0029] In another example, the environmental signal may be a sound wave signal, and the first signal feature and the second signal feature may be the signal strength of the sound wave signal, the arrival angle of the sound wave signal, or the frequency of the sound wave signal, respectively. The first signal feature and the second signal feature may be the same. In another example, the first signal feature and the second signal feature may be different.

[0030] See also Figure 1 and Figure 2In one embodiment, step 220 may include: comparing the first signal feature acquired at the current moment within the first default time interval with one or more first signal features acquired at the previous moment to determine whether an abnormality occurs. Since the first signal feature changes with the position of the mobile platform 100, when the first signal feature acquired at the current moment within the first default time interval and one or more first signal features acquired at the previous moment do not change, the processing module 130 determines that an abnormality occurs.

[0031] In one example, step 220 may include: comparing the first signal feature acquired at the current moment and the first signal feature acquired at the previous moment within the first default time to determine whether an abnormality occurs. Since the first signal feature changes with different locations, when the first signal feature acquired at the current moment and the first signal feature acquired at the previous moment within the first default time interval do not change, the processing module 130 determines that an abnormality occurs.

[0032] In another example, step 220 may include: comparing a plurality of the first signal features within the first default time to determine whether an abnormality occurs. Since the first signal features change with the location of the mobile platform 100, when the plurality of the first signal features do not change within the first default time, the processing module 130 determines that an abnormality occurs.

[0033] See also Figure 1 and Figure 2 In one embodiment, step 230 of controlling the actuator 110 to execute a default verification behavior to change the position or posture of the mobile platform 100 includes: controlling the actuator 110 to make the mobile platform 100 move forward or rotate at any angle to change the position or posture of the mobile platform 100.

[0034] See also Figure 1 and Figure 2In one embodiment, the step 240 of determining whether an abnormality occurs according to the first signal feature or the second signal feature acquired in the second default time interval includes: comparing the first signal feature acquired at the current moment in the second default time interval with one or more first signal features acquired at the previous moment to determine whether an abnormality occurs; or comparing the second signal feature acquired at the current moment in the second default time interval with one or more second signal features acquired at the previous moment to determine whether an abnormality occurs. Since the first signal feature and the second signal feature change with the position of the mobile platform 100, when the first signal feature acquired at the current moment in the second default time interval and one or more first signal features acquired at the previous moment do not change, or when the second signal feature acquired at the current moment in the second default time interval and one or more second signal features acquired at the previous moment do not change, the processing module 130 determines that an abnormality occurs.

[0035] In one example, step 240 may include: comparing the first signal feature acquired at the current moment within the second default time with the first signal feature acquired at the previous moment to determine whether an abnormality occurs; or comparing multiple first signal features within the second default time to determine whether an abnormality occurs. Since the first signal feature changes with the position of the mobile platform 100, when multiple first signal features do not change within the second default time interval, the processing module 130 determines that an abnormality occurs.

[0036] In another example, step 240 may include: comparing the second signal feature acquired at the current moment within the second default time with the second signal feature acquired at the previous moment to determine whether an abnormality occurs; or comparing multiple second signal features within the second default time to determine whether an abnormality occurs. Since the second signal feature changes with the location of the mobile platform 100, when multiple second signal features do not change within the second default time interval, the processing module 130 determines that an abnormality occurs.

[0037] Therefore, through the above steps 210 to 250, it is possible to detect whether the mobile platform 100 is in a trapped state through the first signal feature and the second signal feature in the external environment, and the sensor module 120 for obtaining the first signal feature and the second signal feature is relatively low in cost compared to the complex calculations and sensors required by the prior art. In addition, after the mobile platform executes the default verification behavior, it is possible to confirm again whether the mobile platform is really in a trapped state, thereby improving the accuracy of the trapped state detection.

[0038] In one embodiment, see Figure 4 and Figure 5 , Figure 4 is a block diagram of a second embodiment of a mobile platform according to the present application, Figure 5 for Figure 4 A flowchart of an embodiment of a method for detecting a trapped state of a mobile platform application. Figure 4 As shown, the difference between this embodiment and the first embodiment is that the sensor module 420 of the mobile platform 400 may include a first sensor unit 422 and a second sensor unit 424, so that the trapped state detection method applied by the mobile platform 400 can be Figure 2 Step 210 can be replaced by Figure 5 Step 510 and step 520 are performed by the first sensing unit 422 and the second sensing unit 424, respectively. Step 510 is to continuously receive the first environmental signal from the external environment within the first default time interval, and collect the first signal feature according to the first environmental signal; step 520 is to continuously receive the second environmental signal from the external environment within the second default time interval, and collect the second signal feature according to the second environmental signal. In other words, the first sensing unit 422 and the second sensing unit 424 are used to receive different environmental signals at different times, and the first signal feature and the second signal feature change with the different positions of the mobile platform 400.

[0039] In one example, the first environmental signal and the second environmental signal may be wifi signals, electromagnetic wave signals or sound wave signals, respectively, and the first environmental signal and the second environmental signal are different; and the first signal characteristic may be the signal strength, arrival angle, arrival timestamp, arrival phase or frequency of the first environmental signal, and the second signal characteristic may be the signal strength, arrival angle, arrival timestamp, arrival phase or frequency of the second environmental signal.

[0040] In one embodiment, see Figure 6 and Figure 7 , Figure 6 is a block diagram of a third embodiment of a mobile platform according to the present application, Figure 7 for Figure 6 A flowchart of an embodiment of a method for detecting a trapped state of a mobile platform application. Figure 6 As shown, the difference between this embodiment and the first embodiment is that the sensor module 620 of the mobile platform 600 may include a first sensor unit 622 and a second sensor unit 624, so that the trapped state detection method applied by the mobile platform 600 can be Figure 2 Step 210 can be replaced by Figure 7Step 710 and step 720 are performed, wherein step 710 is performed by the first sensing unit 622, and step 720 is performed by the second sensing unit 624. In particular, step 710 is to continuously receive the environmental signal from the external environment within the first default time interval, and collect the first signal feature according to the environmental signal; and step 720 is to continuously obtain the sensing signal within the second default time interval, and collect the second signal feature according to the sensing signal. In other words, the first sensing unit 622 is used to receive the environmental signal based on the external environment, and the second sensing unit 624 is used to obtain the sensing signal based on the external environment, and the first signal feature and the second signal feature change with the position of the mobile platform 600.

[0041] In one example, the environmental signal may be a wifi signal, an electromagnetic wave signal, or a sound wave signal, and the first signal feature may be the signal strength, arrival angle, arrival timestamp, arrival phase, or frequency of the environmental signal. The second sensing unit 624 may be an optical radar (LiDAR), so that the second signal feature may be depth information or positioning information; or the second sensing unit 624 may also be a camera, so that the second signal feature may be a feature point or positioning information; or the second sensing unit 624 may also be a TOF camera, so that the second signal feature may be depth information; or the second sensing unit 624 may also be an inertial measurement unit (IMU), so that the second signal feature may be linear acceleration information, angular velocity information, or magnetic field information.

[0042] In summary, the trapped state detection method and mobile platform of the embodiment of the present application can detect whether the mobile platform is in a trapped state through the signal characteristics existing in the external environment, without the need for complex calculations and sensors that greatly increase the cost. In addition, after the mobile platform executes the default verification behavior, it can be confirmed again whether the mobile platform is really in a trapped state, thereby improving the accuracy of the trapped state detection.

[0043] Although the above-described components are included in the drawings of the present application, it does not exclude the use of more additional components to achieve better technical effects without violating the spirit of the invention.

[0044] Although the present invention is described using the above embodiments, it should be noted that these descriptions are not intended to limit the present invention. On the contrary, the present invention covers obvious modifications and similar arrangements that are obvious to those skilled in the art. Therefore, the scope of the claims should be interpreted in the broadest way to include all obvious modifications and similar arrangements.

Claims

1. A method for detecting a trapped state, applied to a mobile platform, wherein the mobile platform comprises an actuator, characterized in that: The trapped state detection method comprises the following steps: Selectively acquiring a first signal feature or a second signal feature of an external environment during the process of the actuator driving the mobile platform to operate; Determining whether an abnormality occurs according to the first signal feature acquired within a first default time interval; When it is determined that an abnormality occurs according to the first signal feature within the first default time interval, controlling the actuator to perform a default verification behavior to change the position or posture of the mobile platform; After the actuator executes the default verification behavior, determining whether an abnormality occurs according to the second signal feature acquired within a second default time interval; as well as When it is determined that an abnormality occurs according to the second signal feature within the second default time interval, confirming that the mobile platform is in a trapped state; Wherein, the step of controlling the actuator to perform a default verification behavior to change the position or posture of the mobile platform comprises: controlling the actuator to make the mobile platform move forward or rotate at any angle to change the position or posture of the mobile platform; Among them, the step of selectively acquiring the first signal characteristic or the second signal characteristic of the external environment during the process of the actuator driving the mobile platform to operate includes: continuously receiving the first environmental signal from the external environment within the first default time interval, and collecting the first signal characteristic based on the first environmental signal; and continuously receiving the second environmental signal from the external environment within the second default time interval, and collecting the second signal characteristic based on the second environmental signal.

2. The method for detecting a trapped state according to claim 1, characterized in that: The step of determining whether an abnormality occurs according to the first signal feature within the first default time interval includes: Compare the first signal feature acquired at the current moment within the first default time interval with one or more first signal features acquired at previous moments to determine whether an abnormality occurs.

3. The method for detecting a trapped state according to claim 1, wherein: The step of determining whether an abnormality occurs according to the second signal feature within the second default time interval includes: Compare the second signal feature acquired at the current moment within the second default time interval with one or more second signal features acquired at previous moments to determine whether an abnormality occurs.

4. A mobile platform, characterized in that: include: An actuator, used for driving the mobile platform to move; A sensing module, used for selectively acquiring a first signal feature or a second signal feature of an external environment when the actuator drives the mobile platform to operate; as well as a processing module connected to the actuator and the sensing module, configured to receive and determine whether an abnormality occurs according to the first signal feature within a first default time interval; when an abnormality is determined to occur according to the first signal feature within the first default time interval, control the actuator to perform a default verification behavior to change the position or posture of the mobile platform; After the actuator executes the default verification behavior, determining whether an abnormality occurs according to the second signal feature within a second default time interval; and when it is determined that an abnormality occurs according to the second signal feature within the second default time interval, confirming that the mobile platform is in a trapped state; Wherein, the actuator executes the default verification behavior to make the mobile platform move forward or rotate at any angle to change the position or posture of the mobile platform; Among them, the sensing module also includes a first sensing unit and a second sensing unit, the first sensing unit is used to continuously receive a first environmental signal from the external environment within the first default time interval, and collect the first signal characteristics based on the first environmental signal; the second sensing unit is used to continuously receive a second environmental signal from the external environment within the second default time interval, and collect the second signal characteristics based on the second environmental signal.

5. The mobile platform according to claim 4, characterized in that: The processing module is further configured to compare the first signal feature acquired at a current moment within the first default time interval with one or more first signal features acquired at a previous moment to determine whether an abnormality occurs.

6. The mobile platform according to claim 4, characterized in that: The processing module is further configured to compare the second signal feature acquired at the current moment within the second default time interval with one or more second signal features acquired at previous moments to determine whether an abnormality occurs.

7. The mobile platform according to claim 4, characterized in that: The first signal characteristic and the second signal characteristic are different.

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