A sound-based robot early warning method and system

Abstract

The present invention discloses a sound-based robot early warning method and system, which belongs to the field of robot control. In view of the problems that the existing robots have a high working damage rate and poor control strength, the present invention provides a sound-based robot early warning method, including the following steps: the distance measuring device on the robot transmits the obstacle distance information to the control end; the control end partitions the obstacle distance information according to a specific angle, and confirms the obstacle distance information with the smallest data in the partition as the target obstacle distance; for each target obstacle distance, the prompt sound coefficient is calculated according to the formula; the prompt sound decibel is determined according to the prompt sound coefficient, and then it is played to the staff according to the prompt sound decibel. The present invention can effectively reduce the number of robot collisions and increase the service life of the robot; at the same time, it avoids the inertia of the human ear to the prompt sound, plays it at different decibels, and effectively ensures the operator's control over the robot. At the same time, the system structure of the present application is simple and the operation is stable.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot control, and more specifically, relates to a sound-based robot early warning method and system. Background Art

[0002] Nowadays, many fields involve manual remote control of robots, such as drone control, dangerous environment detection and other tasks. After investigation and research, it was found that the hearing aid used in manual remote control of robots can only output the sounds around the robot. At the same time, when the robot is manually controlled remotely, the camera has a blind spot in the field of view, which makes the robot prone to collision and difficult to effectively avoid obstacles. When the robot is manually controlled remotely, it is easy to collide and scratch, causing damage to the robot; and the existing robot hearing aid output content is single and cannot effectively assist in controlling the robot.

[0003] Corresponding improvements have also been made to the above problems, such as Chinese patent application number CN201880004168.6, published on June 18, 2019, which discloses a robot avoidance control method and related devices, wherein the method includes: when the robot receives a trigger from an external object, obtaining the position where the robot is triggered by the external object; determining the position information of the external object according to the position where the robot is triggered by the external object; determining the avoidance movement strategy according to the position information of the external object and the pre-acquired environmental map of the environment where the robot is located, the avoidance movement strategy is determined according to the position information and the environmental map, and is used to control the robot to move within the environmental map to avoid the external object that is emitted at the position indicated by the position information and triggers the robot; generating movement instructions according to the avoidance movement strategy, and the movement instructions are used to control the movement of the robot. Although this patent can effectively avoid, it does not introduce much about the sound warning.

[0004] Another example is Chinese patent application number CN202110578824.7, which was published on August 31, 2021. The patent discloses an intelligent patrol robot system, which is applied to security robots. It includes dynamic monitoring components, control components, strong sound dispersal components, alarm components, navigation components and thermal imaging components. The dynamic monitoring components include communication modules, storage modules, optical components and acoustic components. Among them, the optical components include surround cameras and face recognition modules, and the acoustic components include monitoring devices, voice recognition modules, sound amplification devices and audio modules. The surround cameras and face recognition modules are used to actively identify faces and compare them. The surrounding sounds are monitored and compared by monitoring devices and voice recognition modules. When suspicious situations are found, the alarm is triggered in time. The system can automatically identify suspicious persons, automatically warn of special events and other security capabilities, monitor in all directions, comprehensively collect security data, and has multiple functions to help handle special events and improve the level of social intelligent security. The shortcomings of this patent are: the cost is too high, and many modules are integrated on the robot, which are easy to interfere with each other and unstable. Summary of the invention

[0005] 1. Problems to be solved

[0006] In view of the high damage rate and poor control of existing robots, the present invention provides a sound-based robot early warning method and system. The present invention can effectively reduce the number of robot collisions and increase the service life of the robot; at the same time, it can prevent the human ear from being inert to the prompt sound, play it at different decibels, and effectively ensure the operator's control over the robot. The system structure of the present invention is simple and stable.

[0007] 2. Technical solution

[0008] To solve the above problems, the present invention adopts the following technical solutions.

[0009] A sound-based robot early warning method comprises the following steps:

[0010] S1: A distance measuring device is installed on the robot, and the distance measuring device transmits data to the control end. The distance measuring device can measure the distance information of obstacles around the robot at a full angle of 360°.

[0011] S2: The control end divides the data transmitted by the distance measuring device into partitions according to specific angles, and in each partition, the obstacle distance information with the smallest data is confirmed as the target obstacle distance;

[0012] S3: Calculate the prompt tone coefficient for each target obstacle distance according to the formula, and the formula is as follows:

[0013]

[0014] Where: radius is the inner diameter of the robot chassis; distance is the distance to the target obstacle;

[0015] S4: Determine the decibel of the prompt sound according to the prompt sound coefficient, and then play it to the staff according to the decibel of the prompt sound.

[0016] Furthermore, the step S4 specifically includes the following steps:

[0017] S41: classifying the plurality of prompt tone coefficients into levels, and setting corresponding prompt tone decibels according to the corresponding levels;

[0018] S42: The decibel of the prompt sound is played to the staff controlling the robot through the audio playback device, and the staff adjusts the robot accordingly.

[0019] Furthermore, in step S42, the audio playback device is a multi-speaker 3D headset, which is connected to the control end. The multi-speaker 3D headset includes a shell, and the two ends of the shell are respectively provided with a left ear and a right ear, and a speaker and a microphone are arranged inside the left and right ears, and a plurality of speakers are arranged on the shell.

[0020] Furthermore, before using the multi-speaker 3D headset, HRTF function matching is performed first.

[0021] A system using any of the above-mentioned sound-based robot early warning methods comprises: a robot and a control system, wherein the robot is provided with a distance measuring device, and the robot and the distance measuring device are electrically connected to the control system respectively, and the control system comprises:

[0022] Receiving component: used to receive data fed back by the ranging device;

[0023] Partitioning and determining target obstacle distance component: used to partition the received obstacle distance information according to a specific angle and determine the minimum data in each partition as the target obstacle distance;

[0024] Prompt tone coefficient calculation component: used to calculate the prompt tone coefficient of each target obstacle distance;

[0025] Prompt sound decibel component: determines different prompt sound decibels according to different prompt sound coefficients;

[0026] Audio playback component: used to play prompt sounds to the staff who control the robot;

[0027] Control component: used to control the robot.

[0028] Furthermore, the control system also includes a path planning component: used to plan the path of the robot.

[0029] 3. Beneficial effects

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) The present invention measures the obstacle distance information of 360° around the robot through the distance measuring device on the robot. The full-angle measurement avoids the existence of blind spots and ensures the accuracy and comprehensiveness of the obstacle data information; at the same time, the obstacle data is partitioned according to specific angles, and the minimum value of the obstacle data in each partition is used as the target obstacle distance, which reduces the calculation pressure, ensures the data reliability and improves the calculation efficiency; the prompt sound coefficient is calculated for each target obstacle distance, and the prompt sound decibel is determined by the prompt sound coefficient, and finally the obstacle warning reminder is given to the staff who control the robot according to the prompt sound decibel; the whole method is simple to operate, reduces the operating difficulty of the staff, and can effectively reduce the number of robot collisions and increase the service life of the robot. The use of different prompt sound decibels to remind the staff can avoid the inertia of the human ear to the continuous prompt sound, and further effectively overcome the robot collision phenomenon caused by the field of view limitation during the manual remote control of the robot;

[0032] (2) The present invention classifies several prompt sound coefficients into different levels and determines the prompt sound decibel according to different levels, thereby avoiding the waste of resources and high calculation cost caused by one prompt sound coefficient corresponding to one prompt sound decibel; different prompt sound decibels are determined according to different levels, further avoiding the inertia of the human ear to the prompt sound and improving the safety of the whole process; at the same time, a multi-speaker 3D headset is used as an audio playback device to increase the operator's three-dimensional spatial sense, so that the operator can determine the relative position of the obstacle, further ensuring the accuracy of the remote operation of the robot and avoiding the robot from colliding with the obstacle and causing damage;

[0033] (3) The system of the present invention can determine the distance of the target obstacle by partitioning the received data; then, the prompt sound coefficient is calculated according to the target obstacle distance, and then the decibel of the prompt sound is determined, and the staff who control the robot is prompted according to the decibel of the prompt sound, which effectively provides obstacle avoidance warning for the robot, and changes the prompt sound of the same decibel as in the past, thereby avoiding inertia of the staff's ears, improving the staff's attention, and then improving the safety of robot control. The overall structure is simple, and the components are closely connected to each other, which effectively improves the problem of blind spots in the field of vision of remote-controlled robots in the past, which can easily cause damage to the robot or malfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 For the robot's workflow;

[0035] Figure 2To control the workflow of the system. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with specific embodiments and drawings.

[0037] Example 1

[0038] In view of the increasing use of robots, there are often blind spots in the field of vision when operating robots remotely, which may cause the operation of robots to be difficult. Robots are prone to collision or scratches, which may cause damage to the robots. Figure 1 and Figure 2 As shown, the present invention particularly proposes a sound-based robot early warning method, comprising the following steps:

[0039] S1: A distance measuring device is installed on the robot, and the distance measuring device transmits data to the control end. The distance measuring device can measure the obstacle distance information of 360° around the robot; specifically, the distance measuring device can measure the distance information of all obstacles around the robot, and can measure the distance information of all obstacles within 360° of the robot, and transmit the measured distance information of several obstacles to the control end to ensure the comprehensiveness and accuracy of the measurement data, avoid the existence of measurement blind spots, and thus improve the control accuracy of the robot; in this embodiment, the distance measuring device can be a 360° laser ranging radar, which has a simple structure and accurate measurement results, and is easy to install on the robot;

[0040] S2: The control end partitions the data transmitted by the ranging device according to a specific angle, and in each partition, the smallest piece of obstacle distance information is confirmed as the target obstacle distance; it is explained here that since the ranging device feeds back to the terminal a number of obstacle distance information data corresponding to different angles, the control end partitions these data according to a specific angle. In this embodiment, the data are partitioned into 8 partitions at intervals of 45°, that is, 0° to 45° is the first partition, and the obstacle distance information data within this angle range is uniformly classified into the first partition; 45° to 90° is the second partition, and the obstacle distance information data within this angle range is uniformly classified into the second partition, and so on, until 315° to 360° is the eighth partition, and the obstacles within this angle range are uniformly classified into the second partition. The object distance information data is uniformly classified into the eighth partition; after partitioning, the obstacle distance information data in each partition is compared, because the smallest data in each partition represents that the obstacle in the partition is closest to the robot, so the smallest obstacle distance information data is selected as the target obstacle distance; a number of data are partitioned and controlled, which is convenient for classification and control and improves work efficiency; secondly, it reduces calculation pressure and avoids waste of resources; of course, it is worth noting that this embodiment is partitioned at intervals of 45°, which can not only ensure that the partitions are more detailed but also reduce the number of target obstacle distances, thereby reducing subsequent calculation pressure; of course, this application does not specifically limit the specific angle, which can be specifically selected according to the actual situation. Of course, the smaller the specific angle is, the more detailed the partition is and the more accurate the measurement is;

[0041] S3: Calculate the prompt tone coefficient for each target obstacle distance according to the formula, and the formula is as follows:

[0042]

[0043] In the formula, radius is the inner diameter of the robot chassis; distance is the distance to the target obstacle; it is worth noting that the inspiration of this formula comes from the function curve of the cost value in the ROS system. The inventor has continuously explored and transformed it on this basis, and has put a lot of brainpower into obtaining this formula, which makes the formula change more rapidly than the function curve in the ROS system.

[0044] More sensitive response to obstacles; further ensuring the accuracy of the entire measurement results;

[0045] S4: Determine the decibel of the prompt sound according to the prompt sound coefficient, and then play it to the staff according to the decibel of the prompt sound; specifically, this step includes the following steps:

[0046] S41: Divide the plurality of prompt tone coefficients into levels, and set corresponding prompt tone decibels according to the corresponding levels; the level division standard is shown in Table 1 below:

[0047] Table 1 Prompt tone level table

[0048] Prompt tone coefficient range Beep Level Prompt sound decibel >253 1 65 128-253 2 30 1-128 3 10 0-1 4 0

[0049] Through continuous experiments and summarization, the inventor of this application found that when the prompt sound coefficient is greater than 253, it means that the robot has theoretically hit an obstacle, and 253-128 is an empirical value, which means that the robot is relatively close to the obstacle, 128-1 means that there is an obstacle but it is far away from the robot, and 0-1 means that it is very open and there is no obstacle near the robot. More specifically, if you want to control the prompt sound coefficient within 254-0, you multiply it by 253 in the front, where 254 is 11111110 in binary. If there is a carry phenomenon caused by a problem with the decimal storage method, there will be no memory overflow. Later, the prompt sound coefficient range is divided into four levels: 254-253; 254-128; 128-1; 1-0.

[0050] S42: The decibel of the prompt sound is played to the staff controlling the robot through the audio playback device, and the staff adjusts the robot accordingly through the control terminal. In this step, different decibels of the prompt sound are played to the staff, which can effectively prevent the staff's ears from being inert to the prompt sound, and can better remind the staff. Different prompt sounds are played according to the distance of the obstacle from the robot, which better ensures the timeliness of the reminder to the staff, so that the robot can be controlled more safely.

[0051] Furthermore, in step S432, the audio playback device in this step is a multi-speaker 3D headset, which can reflect a sense of stereo, increase the operator's sense of stereo space, enable the staff to determine the relative position of the obstacle, further ensure the accuracy of the remote operation of the robot, and avoid the robot colliding with the obstacle and causing damage. The multi-speaker 3D headset is connected to the control end, and the multi-speaker 3D headset includes a shell, and the two ends of the shell are respectively provided with a left ear and a right ear, and a speaker and a microphone are arranged inside the left and right ears, and a plurality of speakers are arranged on the shell. More specifically, before using the multi-speaker 3D headset, HRTF function matching is performed first, and the specific steps are as follows: the speaker on the shell generates a sound signal; the speakers inside the left and right ears receive the sound signal, and record the relative position of the sound signal and the microphone; the HRTF function of the corresponding angle is calculated by the sound signal, the sound angle information and the head physiological parameters of the staff operating the robot. Since the HRTF function matching of the 3D headset is a relatively conventional technology, the present application does not involve the improvement of the matching, so it is not described in detail, and the HRTF function matching can be performed using the conventional matching method.

[0052] The present invention measures obstacle distance information of 360° around the robot through a distance measuring device on the robot, and the full-angle measurement avoids blind spots, thereby ensuring the accuracy and comprehensiveness of obstacle data information; at the same time, the obstacle data is partitioned according to specific angles, and the minimum value of the obstacle data in each partition is used as the target obstacle distance, thereby reducing the calculation pressure, ensuring the data credibility and improving the calculation efficiency; each target obstacle distance is calculated to obtain a prompt sound coefficient, and the prompt sound decibel is determined by the prompt sound coefficient, and finally an obstacle early warning reminder is given to the staff who controls the robot according to the prompt sound decibel; the whole method is simple to control, reduces the operation difficulty of the staff, and can effectively reduce the number of collisions of the robot and increase the service life of the robot. The use of different prompt sound decibels to remind the staff can avoid the inertia of the human ear to the continuous prompt sound, and further effectively overcome the robot collision phenomenon caused by the field of view limitation in the process of manual remote control of the robot.

[0053] Example 2

[0054] A system using the sound-based robot early warning method in the above-mentioned embodiment 1 comprises: a robot and a control system, wherein a distance measuring device is provided on the robot, and a protective cover is provided on the outer surface of the distance measuring device to ensure the safety and measurement accuracy of the distance measuring device; the robot and the distance measuring device are electrically connected to the control system respectively, and the control system comprises:

[0055] Receiving component: used to receive data fed back by the ranging device;

[0056] Partitioning and determining target obstacle distance component: used to partition the received obstacle distance information according to a specific angle and determine the minimum data in each partition as the target obstacle distance;

[0057] Prompt tone coefficient calculation component: used to calculate the prompt tone coefficient of each target obstacle distance;

[0058] Prompt sound decibel component: determines different prompt sound decibels according to different prompt sound coefficients;

[0059] Audio playback component: used to play prompt sounds to the staff who control the robot;

[0060] Control component: used to control the robot.

[0061] The components of the system of the present invention have clear division of labor, and can determine the distance of the target obstacle by partitioning the received data; then calculate the prompt sound coefficient according to the target obstacle distance, and then determine the prompt sound decibel, and prompt the staff who control the robot according to the prompt sound decibel, effectively giving the robot an obstacle avoidance warning, and changing the previous prompt sound of the same decibel to avoid the staff's ears from being inert, improving the staff's attention, and then improving the safety of robot control, the overall structure is simple, and the components are closely connected to each other, effectively improving the problem of blind spots in the field of vision of remote-controlled robots in the past, which can easily cause damage to the robot or malfunction. At the same time, the control system also includes a path planning component: used to plan the robot's path, so as to facilitate timely guidance of the robot and improve the robot's travel efficiency.

[0062] The examples described in the present invention are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should all fall within the protection scope of the present invention.

Claims

1. A sound-based robot early warning method, characterized in that: The following steps are involved: S1: A distance measuring device is installed on the robot, and the distance measuring device transmits data to the control end. The distance measuring device can measure the distance information of obstacles around the robot at a full angle of 360°; S2: The control end divides the data transmitted by the distance measuring device into partitions according to specific angles, and in each partition, the obstacle distance information with the smallest data is confirmed as the target obstacle distance; S3: Calculate the prompt tone coefficient for each target obstacle distance according to the formula, and the formula is as follows: Where: radius is the inner diameter of the robot chassis; distance is the distance to the target obstacle; S4: Determine the decibel of the prompt sound according to the prompt sound coefficient, and then play it to the staff according to the decibel of the prompt sound.

2. The sound-based robot early warning method according to claim 1, characterized in that: The step S4 specifically includes the following steps: S41: classifying the plurality of prompt tone coefficients into levels, and setting corresponding prompt tone decibels according to the corresponding levels; S42: The decibel of the prompt sound is played to the staff controlling the robot through the audio playback device, and the staff adjusts the robot accordingly.

3. The sound-based robot early warning method according to claim 2, characterized in that: The audio playback device in step S42 is a multi-speaker 3D headset, which is connected to the control end. The multi-speaker 3D headset includes a shell, and the two ends of the shell are respectively provided with a left ear and a right ear, and a speaker and a microphone are arranged inside the left and right ears, and a plurality of speakers are arranged on the shell.

4. The sound-based robot early warning method according to claim 3, characterized in that: Before using multi-speaker 3D headphones, match the HRTF function first.

5. A system using the sound-based robot early warning method according to any one of claims 1 to 4, characterized in that: include: The robot and the control system are provided with a distance measuring device, and the robot and the distance measuring device are electrically connected to the control system respectively. The control system includes: Receiving component: used to receive data fed back by the ranging device; Partitioning and determining target obstacle distance component: used to partition the received obstacle distance information according to a specific angle and determine the minimum data in each partition as the target obstacle distance; Prompt tone coefficient calculation component: used to calculate the prompt tone coefficient of each target obstacle distance; Prompt sound decibel component: determines different prompt sound decibels according to different prompt sound coefficients; Audio playback component: used to play prompt sounds to the staff who control the robot; Control component: used to control the robot.

6. The sound-based robot early warning system according to claim 5, characterized in that: The control system also includes a path planning component: used for planning the path of the robot.

Images