Robot cabin door state detection method and device, robot and medium

Abstract

The application discloses a robot cabin door state detection method and device, a robot and a medium. The robot is provided with a first detector and a second detector, the first detector comprises a spring type photoelectric detector, the method comprises the following steps: in response to an opening and closing door instruction of a cabin door, a first detection signal of the first detector is acquired; according to the acquisition result of the first detection signal, a second detection signal of the second detector is selectively acquired; and according to at least one of the first detection signal, the second detection signal and a control motor parameter value of the cabin door, the cabin door state is determined. The cabin door state is identified through at least one of the first detection signal, the second detection signal and the control motor parameter value, the mutual matching of multiple methods can better improve the efficiency and accuracy of cabin door state identification, multiple identification methods can assist each other, thereby improving the robustness and applicability of the robot in identifying the cabin door, and further improving the working efficiency and working capacity of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a robot hatch state detection method and device, a robot, and a medium. BACKGROUND

[0002] With the development of social productivity, more and more industries use automation technology to improve productivity. Among them, robots, as products of automation technology, have greatly improved the efficiency of production and work in various industries. However, due to the complex structure of robots, some structures or components are prone to failure.

[0003] Currently, service robots with cargo holds are used in many industries. In order to meet the needs of delivery and picking up goods, the hatch of the cargo hold needs to be completely opened or closed, so the detection of the opening and closing state of the robot hatch is particularly important. In the prior art, limit switches for opening and closing the hatch are used to detect the opening and closing state of the hatch. However, due to structural reasons, a single limit switch is prone to jamming or abnormality, making it difficult for the robot to normally recognize the opening and closing state of the hatch. SUMMARY

[0004] The present application provides a robot hatch state detection method, device, robot and medium to improve the accuracy of hatch opening and closing state recognition results.

[0005] According to an aspect of the present application, a robot hatch state detection method is provided, the robot being provided with a first detector and a second detector, the first detector comprising a spring-type photoelectric detector, the method comprising:

[0006] in response to a hatch opening and closing instruction, obtaining a first detection signal of the first detector;

[0007] selectively obtaining a second detection signal of the second detector according to the obtaining result of the first detection signal;

[0008] determining the hatch state according to at least one of the first detection signal, the second detection signal and a control motor parameter value of the hatch.

[0009] According to another aspect of the present application, a robot hatch state detection device is provided, the robot comprising a first detector and a second detector, the first detector comprising a spring-type photoelectric detector, the device comprising:

[0010] a first signal acquisition module for obtaining a first detection signal of the first detector in response to a hatch opening and closing instruction;

[0011] a second signal acquisition module for selectively obtaining a second detection signal of the second detector according to the obtaining result of the first detection signal;

[0012] The cabin door state determination module is configured to determine the cabin door state according to at least one of the first detection signal, the second detection signal, and the parameter value of the control motor of the cabin door.

[0013] According to another aspect of the present application, a robot is provided, which comprises:

[0014] at least one processor; and

[0015] a memory connected to the at least one processor in communication; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the robot cabin door state detection method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the robot cabin door state detection method according to any one of the embodiments of the present application when executed.

[0018] The technical scheme of the embodiments of the present application can identify the cabin door state through at least one of the first detection signal, the second detection signal, and the parameter value of the control motor, and the mutual matching of multiple methods can better improve the efficiency and accuracy of cabin door state identification. Multiple identification methods can assist each other, thereby improving the robustness and applicability of the robot in identifying the cabin door, and further improving the working efficiency and working ability of the robot.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is a flowchart of a robot cabin door state detection method according to an embodiment of the present application;

[0022] Figure 2a is a schematic diagram of a robot according to an embodiment of the present application;

[0023] Figure 2b is a local schematic view of a robot cabin door state according to the second embodiment of the present application;

[0024] Figure 3 is a structural schematic view of a robot cabin door state detection device according to the third embodiment of the present application;

[0025] Figure 4 is a structural schematic view of a robot according to the robot cabin door state detection method of the present application. DETAILED DESCRIPTION

[0026] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment One

[0029] Figure 1 A flowchart of a robot cabin door state detection method according to the first embodiment of the present application is provided, and the present embodiment can be applied to detect the opening and closing state of the robot cabin door. The method can be executed by a robot cabin door state detection device, which can be realized in the form of hardware and / or software and can be configured in a robot. The robot is provided with a first detector and a second detector, the first detector includes a spring-type photoelectric detector for detecting door closing and detecting door opening.

[0030] The robot can be any autonomous mobile device with a hatch, such as a logistics robot, a food delivery robot, etc., and the embodiments of the present application are not limited in this regard. The spring-type photoelectric detector is divided into a spring end and a photoelectric sensing end. When the hatch is completely closed, the spring end of the spring-type photoelectric detector is pressed away from the hatch shaft, driving the internal structure of the spring end to block the photoelectric sensing end, so that the robot obtains a triggered photoelectric signal, thereby determining that the hatch is completely closed in place. Similarly, when the hatch is completely opened, the spring end of the spring-type photoelectric detector is pressed close to the hatch shaft, driving the internal structure of the spring end to block the photoelectric sensing end, so that the robot obtains a triggered photoelectric signal, thereby determining that the hatch is completely opened in place. Of course, the installation position of the spring-type photoelectric detector described above is only for illustration, and in theory, the positions where the hatch opening and closing in place detection can be installed. It should not be understood as a limitation of the embodiments of the present application.

[0031] As shown in Figure 1 , the method comprises:

[0032] S110, in response to the opening and closing door instruction of the hatch, obtaining a first detection signal of a first detector.

[0033] The opening and closing door instruction can be a signal for controlling the opening and closing of the hatch of the robot, which can be determined by a preset program of the robot (for example, a food delivery robot determines to automatically open the door when reaching the delivery point, or determines to automatically close the door when completing the meal taking, etc.); it can also be obtained according to the unified control of the background server; it can also be obtained by obtaining the manual opening and closing door instruction signal of the user through human-computer interaction between the user and the robot, and the embodiments of the present application are not limited in this regard.

[0034] The first detector refers to a "first type" detector, rather than the "first". The first detector can be a detector for preferentially determining whether the hatch is opened and closed in place, and its detection order priority is higher (for example, the highest). The first detector can be the spring-type photoelectric detector proposed in the foregoing. The contact sensitivity of the spring is strong, the photoelectric signal is accurately determined, and the limit position of the hatch can be quickly detected, so that the opening and closing state of the hatch can be preferentially detected. Similarly, the first detection signal is a first type detection signal, and the first detection signal is a signal of the opening or closing of the hatch triggered by the first detector. For example, if the first detector is a spring-type photoelectric detector, the robot can obtain the first detection signal of the spring-type photoelectric detector according to the opening and closing door instruction of the hatch.

[0035] S120, selectively obtaining a second detection signal of a second detector according to the acquisition result of the first detection signal.

[0036] The acquisition result of the first detection signal can include that the first detection signal has been acquired and the second detection signal has not been acquired. The second detector can be a sensor for assisting the first detector to detect the opening and closing state of the cabin door, for example, can include but is not limited to a contact type metal sheet detector; accordingly, the second detection signal can be a signal generated by the second detector to reflect the opening or closing of the cabin door. According to the acquisition result of the first detection signal, the detection signal of the second detector is selectively acquired. When the first detection signal is normal, the second detection signal does not need to be acquired, and when the first detection signal is abnormal, the second detection signal is acquired to assist the judgment.

[0037] It should be noted that the number of the first detector and the second detector mounted on the robot is not limited in the embodiments of the present application, and in different cases, whether the first detection signal is acquired determines whether the second detector is turned on and the second detection signal is acquired, and the specific implementation manner is as follows:

[0038] In an optional embodiment, the first detection signal includes a first door opening to position signal and a first door closing to position signal, and the second detection signal of the second detector is selectively acquired according to the acquisition result of the first detection signal, which can include that if the first detection signal is inconsistent with the door opening and closing instruction, the second detection signal is acquired.

[0039] Preferably, the first detector can be provided with two, respectively used for acquiring the first detection signal when the door is opened and the first detection signal when the door is closed, and therefore, the first detection signal can include a first door opening to position signal and a first door closing to position signal. The first door opening to position signal can be triggered when the cabin door is opened to position; similarly, the first door closing to position signal can be triggered when the cabin door is closed to position. It can be understood that the cabin door cannot complete both opening to position and closing to position actions at the same time, and therefore, the first door opening to position signal and the first door closing to position signal cannot be triggered at the same time. For example, the first detection signal corresponding to the door opening and closing instruction should be triggered but has not been triggered, for example, the first door opening to position signal corresponding to the door opening instruction has not been triggered all the time, which indicates that the detection of the first door opening to position signal can have a problem.

[0040] Therefore, when the first door opening to position signal and the first door closing to position signal are triggered at the same time, or the first detection signal corresponding to the door opening and closing instruction has not been triggered, it indicates that the first detector has a problem, and at this time, the second detector needs to assist in detecting the state of the cabin door of the robot, and therefore, the second detection signal needs to be acquired.

[0041] Optionally, the first detector and the second detector are arranged close to each other, the second detector includes a contact type metal sheet detector, and along the movement direction of the spring type photoelectric detector, in a natural state, the spring type photoelectric detector is higher than the contact type metal sheet detector.

[0042] The second detector is auxiliary to the first detector to detect. Taking the door closed to position detection as an example, when being set, the spring type photoelectric detector on the door frame of the robot main body can be in contact with the surface higher than the contact type metal sheet detector when not being forced, that is, the spring type photoelectric detector protrudes from the surface of the door frame of the robot main body in the natural state, and the protruding height is greater than the contact type metal sheet. Further, when the spring type photoelectric detector is normal, when the door is closed, the first deformation amount is generated at the spring end of the hatch door, at this time, the photoelectric detection end can detect the door closed to position signal, and then the hatch door stops continuing to compress the spring. When the spring type photoelectric detector is abnormal, for example, the first deformation amount is generated at the compression spring, but the photoelectric detection end does not detect the door closed to position signal, at this time, the hatch door continues to compress the spring to reach the second deformation amount, the second deformation amount is greater than the first deformation amount, and the second deformation amount is sufficient to make the contact type metal sheet detector contact each other. At this time, the second detector can be used to determine that the hatch door has been closed to position, thereby solving the misjudgment of the door opening and closing to position detection caused by the abnormality of the first detector.

[0043] The technical scheme of the embodiment ensures that the first detector triggers before the second detector in the normal state. Therefore, in the natural state without triggering the first detector, along the movement direction of the spring type photoelectric detector, that is, the spring deformation direction, the spring type photoelectric detector is higher than the contact type metal sheet detector in the natural state. Through the technical scheme, the second detector can not only reflect the abnormality of the first detector, but also provide a basis for the door opening and closing to position judgment of the hatch door when the first detector is abnormal, thereby improving the detection accuracy.

[0044] Further, the first detector is a spring type photoelectric detector, and before the second detection signal is acquired, the method can further include: controlling the hatch door to repeatedly open and close, and impacting the spring end of the spring type photoelectric detector to remove the jamming of the spring end.

[0045] The control power of the hatch door movement is increased, the hatch door is controlled to repeatedly open and close, so that the hatch door compresses the spring end of the spring type photoelectric detector with greater pressure, so that the first detection signal is normal, or reaches a preset number or a preset time. The slight jamming of the spring end is removed, thereby automatically solving the slight abnormality of the spring end and restoring the normal detection of the hatch door. If it is still abnormal, the second detection signal can be acquired.

[0046] It can be understood that due to the particularity of the spring mechanism, the spring end of the spring photoelectric detector can be stuck. Therefore, if the robot simultaneously acquires the first door opening to position signal and the first door closing to position signal before acquiring the second detection signal, it indicates that the spring photoelectric detector may be malfunctioning, which may be due to the sticking of the spring end, for example, one end of the spring is stuck after being compressed. When the cabin door no longer applies pressure, it cannot recover to the natural state. Therefore, by repeatedly opening and closing the cabin door within a preset time, the pressure on the spring end is increased, and the spring end is released from the stuck state. Of course, if the preset time or number of times is exceeded and the stuck state of the spring end cannot be released by impact, the acquisition of the second detection signal can be used to determine the opening and closing state of the cabin door.

[0047] In the above embodiments, when the first door closing to position signal and the first door opening to position signal are triggered at the same time (i.e., when the first detector fails), the second detection signal is acquired, which can help the robot to identify the cabin door state in time, improve the robot's perception of the cabin door opening and closing, and further enhance the robot's fault tolerance and adaptability. At the same time, before the second detection signal is acquired, the first detector is provided with self-recovery capability by increasing the pressure to release the spring from the stuck state, further improving the robustness of the robot cabin door when opening and closing.

[0048] S130, determining the cabin door state according to at least one of the first detection signal, the second detection signal, and the control motor parameter value of the cabin door.

[0049] The control motor parameter value of the cabin door can be the parameter value of the cabin door motor of the robot in operation, for example, can include but is not limited to the current value, voltage value of the cabin door motor, and the motor step value recorded by the encoder of the cabin door motor, etc. According to at least one of the first detection signal, the second detection signal, and the control motor parameter value obtained in the foregoing steps, the opening and closing of the cabin door state can be determined.

[0050] In an optional embodiment, the first detection signal includes a first door opening to position signal and a first door closing to position signal. Correspondingly, according to at least one of the first detection signal, the second detection signal, and the control motor parameter value of the cabin door, the cabin door state can be determined, which can include: if the door opening and closing instruction is a door opening instruction, the first door opening to position signal is triggered, and the first door closing to position signal is not triggered, the cabin door state is determined to be normally open; if the door opening and closing instruction is a door closing instruction, the first door opening to position signal is not triggered, and the first door closing to position signal is triggered, the cabin door state is determined to be normally closed.

[0051] The switch door instruction can include an open door instruction and a close door instruction, and can be obtained through a human-computer interaction interface of the robot, a manual instruction of a user, a control instruction of a background of the robot, etc., and the embodiments of the present application do not limit this.

[0052] Specifically, when the first open door to position signal is triggered and the first close door signal is not triggered after receiving the open door instruction, it indicates that the cabin door has been opened to position, and it can be determined that the cabin door state is normally opened. When the first close door to position signal is triggered and the first open door to position signal is not triggered after receiving the close door instruction, it indicates that the cabin door has been closed to position, and it can be determined that the cabin door state is not normally closed.

[0053] In another optional embodiment, the second detector includes a contact type metal sheet detector, the contact type metal sheet detector includes an open door pressure sheet and a close door pressure sheet, the open door pressure sheet and the close door pressure sheet are respectively arranged in groups and are correspondingly arranged on the body of the robot and the cabin door, and the second detection signal includes a second open door to position signal and a second close door to position signal. Correspondingly, according to at least one of the first detection signal, the second detection signal and the parameter value of the control motor of the cabin door, the cabin door state can be determined, which can include: if the switch door instruction is the open door instruction and the second open door to position signal is triggered, it is determined that the cabin door state is normally opened; if the switch door instruction is the close door instruction and the second close door to position signal is triggered, it is determined that the cabin door state is normally closed.

[0054] Among them, similar to the first detector, the second detector can also be provided in multiple, preferably two second detectors are provided, for detecting the open door to position and the close door to position of the cabin door respectively. Therefore, two second detection signals, i.e. the second open door to position signal and the second close door to position signal, can be generated. According to the foregoing embodiment, in the case of abnormality of the first detection signal, the second detection signal can be acquired, and the cabin door state can be judged through the triggering condition of the second detection signal.

[0055] Specifically, since the second detector is a contact type metal sheet detector, two types of open door pressure sheet (used to trigger the second open door in place signal) and close door pressure sheet (used to trigger the second close door in place signal) can be set, each group of contact type metal sheet detector (open door pressure sheet or close door pressure sheet) includes two metal contact sheets, one is placed on the hatch door and the other is placed on the door frame, and the corresponding groups are set. When the robot is in the open door in place and the close door in place, the two metal contact sheets can be pasted to trigger the second detection signal. Since the contact type metal sheet detector does not have a spring mechanism, it does not have the problem of simultaneously receiving the second open door in place signal and the second close door in place signal caused by the jamming of the spring. Therefore, when the robot receives an open door instruction, the second open door in place signal is triggered, and it can be determined that the hatch door state is normally open. Similarly, when the robot receives a close door instruction, the second close door in place signal is triggered, and it can be determined that the hatch door state is normally closed.

[0056] In the above two embodiments, the opening and closing state of the hatch door is determined by matching the instructions of the hatch door switch and the switch door signal, which can improve the accuracy of the robot in identifying the opening and closing state of the hatch door.

[0057] In an optional embodiment, the control motor parameter value can include the motor current value and the encoder data, and the method can further include: if the second detection signal is abnormal, determining the hatch door state according to the motor current value and the encoder data.

[0058] Wherein, the second detection signal abnormality can be that the second detector cannot normally provide the second open door in place signal and / or the second close door in place signal. For example, the metal sheet detection circuit is disconnected, the metal sheet is displaced, or the deformation amount of the hatch door compression spring is small, which cannot make the metal sheets contact each other. The motor current value can be the real-time current size of the hatch door motor, and the encoder data can be the value of the motor step number recorded by the encoder of the hatch door motor.

[0059] When both the first detector and the second detector cannot normally identify the door state, the combination of the motor current value and the encoder data can be used for judgment. If the motor current value should remain relatively stable in the normal opening and closing door state, but when the door is hindered in the opening and closing process, the motor current value will rise. It can be understood that if the current cannot obtain the corresponding to the door signal (i.e. the first door opening to the signal, the first door closing to the signal, the second door opening to the signal and the second door closing to the signal), the robot will continue to control the motor to rotate the door, but when the door has reached the position and cannot continue to rotate, the motor will also rise due to the obstruction. Since the motor steps recorded by the encoder can deduce the rotation stroke of the door when the door is rotating, the encoder data can be used to determine whether the door is opened or closed to the position when the motor current value rises. For example, when the robot receives a door closing instruction, the door rotates, but there is an object between the door and the robot body, at this time the first detection signal and the second detection signal will both be abnormal, and the real state of the door cannot be obtained. At this time, according to the motor current value and the encoder data, it can be known how much the door rotates and whether it is hindered, so as to accurately determine whether the door is opened or closed to the position, and whether there is a blocking abnormality.

[0060] Further, if the second detection signal is abnormal, the door state is determined according to the motor current value and the encoder data, which can include: if the encoder data is consistent with the preset rotation stroke, it is determined that the door state is normally opened or normally closed; if the encoder data is inconsistent with the preset rotation stroke, it is determined that the door state is hindered.

[0061] The preset rotation stroke can be the rotation stroke of the door movement between the door closing limit and the door opening limit. Whether rotating from the door closed to position state to the door opened to position state, or rotating from the door opened to position state to the door closed to position state, the preset rotation stroke is fixed. When the second detection signal is abnormal and the motor current value rises, the encoder data is verified. If the encoder data is consistent with the preset rotation stroke, it means that the motor current rises because the door is in position and cannot continue to rotate. Based on the door opening and closing instruction, the door state can be determined to be opened to position or closed to position. If the encoder data is inconsistent with the preset rotation stroke, it means that the door is in the middle position between the door opened to position and the door closed to position. At this time, the motor current value rises, indicating that the door is blocked by foreign matter or human obstruction, etc. The door state can be determined to be hindered.

[0062] In the above embodiment, the motor current value and the encoder data are used to further determine the door opening and closing state, and the blocked state of the door during movement can also be identified, which further improves the recognition accuracy and reliability of the robot for the door state.

[0063] The technical solution of this application embodiment identifies the hatch status through at least one of the first detection signal, the second detection signal, and the control motor parameter value. The combination of multiple methods can better improve the efficiency and accuracy of hatch status identification. Multiple identification methods can assist each other, thereby improving the robustness and applicability of the robot in identifying hatches, and further improving the robot's working efficiency and working ability.

[0064] Example 2

[0065] Figure 2a This is a schematic diagram of a robot provided in Embodiment 2 of this application. This embodiment, based on the foregoing embodiments, provides a preferred embodiment for detecting the opening and closing status of a hatch. (See reference...) Figure 2a and Figure 2b As shown, taking the upper left cargo compartment of the robot in the figure as an example, the spring-type photoelectric detector of this cargo compartment includes a closing spring 201 and an opening spring 202 as spring ends, as well as a photoelectric detection end (not shown in the figure). The contact metal sheet detector includes a first closing pressure plate 205, a second closing pressure plate (not shown in the figure), a first opening pressure plate 207, and a second opening pressure plate (not shown in the figure). Both the closing spring 201 and the opening spring 202 are located on the top of the robot's cargo compartment, which can reduce the influence of external light and light from the cargo on the detection and improve the reliability of the detection. The use of a spring-type photoelectric detector for the first detector can improve the detection sensitivity, while the use of a contact metal sheet detector for the second detector can provide fault tolerance for possible failures of the spring-type photoelectric detector and improve the robustness of the compartment detection.

[0066] When a closing command is received, the hatch 203 rotates along the pivot 204 towards the robot. When the hatch is fully closed, the closing spring 201 is compressed, which is detected by the photoelectric sensor, confirming that the hatch 203 is closed. If the closing spring 201 is functioning correctly, the second closing pressure plate on the hatch 203, corresponding to the first closing pressure plate 205, is not yet in contact with the first closing pressure plate 205. If the closing spring 201 is faulty, the hatch 203 will continue to compress it, causing the second closing pressure plate to contact the first closing pressure plate 205. The pressure plate contact detection circuit then confirms that the hatch is fully closed. When an opening command is received, the hatch 203 opens, rotating along the pivot 204 away from the robot. When the hatch is fully open, the opening / closing linkage 206 compresses the opening spring 202. When the door opening spring 202 malfunctions, the second door opening pressure plate, which corresponds to the first door opening pressure plate 207 on the door opening linkage 206, will contact the first door opening pressure plate 207. The spring-type photoelectric detectors and contact-type metal sheet detectors in other item compartments can be configured similarly to those in this item compartment.

[0067] That is, the first door closing pressure plate 205 and the second door closing pressure plate can be arranged in groups, the first door closing pressure plate 205 is arranged adjacent to the door closing spring 201, and the second door closing pressure plate is arranged on the door corresponding to the position of the first door closing pressure plate 205. Similarly, the first door opening pressure plate 207 and the second door opening pressure plate are arranged in groups, the first door opening pressure plate 207 is arranged adjacent to the door opening spring 202, and the second door opening pressure plate is arranged on the door opening and closing connecting rod 206 corresponding to the position of the first door opening pressure plate 207. The above installation position, installation method, etc. of the spring type photoelectric detector and the contact type metal sheet detector are only used to illustrate the embodiment, and can be flexibly arranged according to the specific structure and situation of the robot.

[0068] When the robot detects a door opening and closing instruction (such as a user clicking a screen or issuing remotely according to a background), the robot controls the door to rotate to open or close.

[0069] The robot first detects whether the spring type photoelectric detector is normal (for example, the two spring type photoelectric detectors for door opening and closing are not triggered at the same time, and the corresponding detector for door opening or closing is triggered. For example, if a door closing instruction is received, the spring type photoelectric detector for door closing is triggered at the same time, and the spring type photoelectric detector for door opening is not triggered, which is regarded as normal door closing), if normal, the detection result of the contact type metal sheet detector does not need to be checked.

[0070] If abnormal, the robot detects whether the contact type metal sheet detector is normal (the contact type metal sheet detector detects in the same way as the spring type photoelectric detector, that is, the two contact type metal sheet detectors for door opening and closing are not triggered at the same time, and the corresponding contact type metal sheet detector for door opening or closing is triggered according to the door opening and closing instruction, which is used as a backup for the spring type photoelectric detector).

[0071] If the contact type metal sheet detector is abnormal, the encoder data and the current current value are used to judge the state of the door. The motor steps in the process of the current door rotating are recorded by the Hall encoder attached to the motor, and the current door opening or closing position is judged by the motor steps. In theory, the motor steps of the door opening and closing are consistent each time, for example, the motor steps of the door from the door closing position to the door opening position are 500 steps, and the motor steps of the door from the door opening position to the door closing position are also 500 steps. Due to mechanical problems (difference between springs, mechanical wear, etc.), the motor steps may differ (such as errors, etc.) during the process of opening and closing the door. In addition, if the spring type photoelectric detector and the contact type metal sheet detector are both abnormal, the robot does not receive the signal corresponding to the door opening or closing position, at this time the door motor will not be controlled to stop rotating, even if the door has reached the opening or closing position, the door motor will continue to work, which leads to motor stall and causes the current to rise.

[0072] Therefore, it can be determined that the motor is blocked when the current rises, so that it is known that the cabin door cannot continue to rotate at this time. At this time, the motor steps recorded in the encoder data are used to determine whether they are consistent with the preset rotation stroke (such as 500 steps mentioned above) between the opening and closing of the door. If they are consistent, it can be determined that the cabin door is in the opening or closing position. If they are not consistent, it means that the cabin door has not been rotated to the opening or closing position. At this time, it can be determined that the cabin door is blocked by foreign matter in the rotation diagram.

[0073] Alternatively, it is first determined whether the motor steps in the encoder data meet the preset rotation stroke. When the motor steps and the preset rotation stroke differ, the detector signal and the motor steps are ignored in a short time (such as 100 ms) when the cabin door is in the opening or closing position, and the opening and closing actions are continuously performed. Due to the blocking of the limit (such as the door frame), the cabin door cannot continue to open or close. At this time, the motor is in a blocked state, and the current will become large. The current is used to determine whether the cabin door is blocked by the limit (has been successfully opened or closed) or blocked by other objects (manually blocked, etc.).

[0074] This way ensures that the cabin door can normally detect the opening and closing of the door to the position and can be normally used when the first detector and the second detector are faulty. However, any problem will be reported when it occurs, but it does not affect the continued use, giving sufficient maintenance time for subsequent technology, greatly improving the robustness and high adaptability of the robot itself when working.

[0075] Embodiment Three

[0076] Figure 3 A structural schematic diagram of a robot cabin door state detection device provided for Embodiment Three of the present application. The robot includes a first detector and a second detector. The first detector includes a spring-type photoelectric detection, which is used to detect the opening and closing of the cabin door to the position. As shown in the figure, the device 300 includes: Figure 3

[0077] The first signal acquisition module 310 is configured to acquire a first detection signal of the first detector in response to an opening and closing instruction of the cabin door.

[0078] The second signal acquisition module 320 is configured to selectively acquire a second detection signal of the second detector according to the acquisition result of the first detection signal.

[0079] The cabin door state determination module 330 is configured to determine the cabin door state according to at least one of the first detection signal, the second detection signal, and a control motor parameter value of the cabin door.

[0080] ​The technical scheme of the embodiment of the application identifies the cabin door state through at least one of the first detection signal, the second detection signal and the control motor parameter value, and the mutual matching of multiple methods can better improve the efficiency and accuracy of cabin door state identification. The multiple identification methods can assist each other, thereby improving the robustness and applicability of the robot in identifying the cabin door, and further improving the working efficiency and working capacity of the robot.

[0081] In an optional implementation, the first detection signal includes a first door opening in-place signal and a first door closing in-place signal. Correspondingly, the cabin door state determination module 330 can include:

[0082] a first door opening judgment unit, configured to determine that the cabin door state is normally opened if the opening and closing instruction is an opening instruction, the first door opening in-place signal is triggered, and the first door closing in-place signal is not triggered;

[0083] a first door closing judgment unit, configured to determine that the cabin door state is normally closed if the opening and closing instruction is a closing instruction, the first door opening in-place signal is not triggered, and the first door closing in-place signal is triggered.

[0084] In an optional implementation, the second signal acquisition module 320 can be specifically configured to acquire the second detection signal if the first detection signal is inconsistent with the opening and closing instruction.

[0085] In an optional implementation, the second detector includes a contact type metal sheet detector, the contact type metal sheet detector includes a door opening pressure sheet and a door closing pressure sheet, the door opening pressure sheet and the door closing pressure sheet are respectively arranged in groups and are correspondingly arranged on the body of the robot and the cabin door. The second detection signal includes a second door opening in-place signal and a second door closing in-place signal. Correspondingly, the cabin door state determination module 330 can include:

[0086] a second door opening judgment unit, configured to determine that the cabin door state is normally opened if the opening and closing instruction is an opening instruction and the second door opening in-place signal is triggered;

[0087] a second door closing judgment unit, configured to determine that the cabin door state is normally closed if the opening and closing instruction is a closing instruction and the second door closing in-place signal is triggered.

[0088] In an optional implementation, the control motor parameter value includes a motor current value and encoder data. The apparatus 300 can further include:

[0089] a cabin door state judgment unit, configured to determine the cabin door state according to the motor current value and the encoder data if the second detection signal is abnormal.

[0090] In an optional implementation, the cabin door state judgment unit can include:

[0091] The switch normality judging subunit is configured to determine that the cabin door is normally opened or normally closed if the encoder data is consistent with the preset rotation stroke.

[0092] The switch blocking judging subunit is configured to determine that the cabin door is blocked if the encoder data is inconsistent with the preset rotation stroke.

[0093] In an optional embodiment, the first detector and the second detector are arranged adjacently, the second detector comprises a contact type metal sheet detector, and in a natural state, the spring type photoelectric detector is higher than the contact type metal sheet detector along the movement direction of the spring type photoelectric detector.

[0094] In an optional embodiment, the first detector is a spring type photoelectric detector, and before the second detection signal is acquired, the device 300 further comprises:

[0095] The spring releasing module is configured to control the cabin door to repeatedly open and close within a preset time, and to hit the spring end of the spring type photoelectric detector, so as to release the jamming of the spring end.

[0096] The robot cabin door state detection device provided in the embodiments of the present application can execute the robot cabin door state detection method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing each robot cabin door state detection method.

[0097] Embodiment Four

[0098] Figure 4 A structural schematic diagram of a robot 10 that can be used to implement the embodiments of the present application is shown. The robot is intended to represent various forms of digital computers, such as laptops, desktops, tablets, servers, blade servers, mainframes, and other appropriate computers. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0099] As Figure 4As shown, the robot 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the robot 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] Various components in the robot 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0101] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the robot hatch status detection method.

[0102] In some embodiments, the robot hatch status detection method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot hatch status detection method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the robot hatch status detection method by any other appropriate means, such as by means of firmware.

[0103] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0104] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program

[0105] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0107] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0108] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0109] It should be understood that various forms of flow shown above can be used, with steps reordered, added, or removed. For example, the steps recited in the present application can be performed in parallel, in series, or in a different order, without limitation herein, as long as the desired results of the present application are achieved.

[0110] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the application. Any further modifications, changes, improvements, and equivalents that are within the spirit and principles of the application are intended to be covered by the following claims.

Claims

1. A method for detecting the state of a robot hatch, characterized in that, The robot is equipped with a first detector and a second detector, the first detector including a spring-type photoelectric detector, and the method includes: In response to the opening and closing command of the hatch, the first detection signal of the first detector is acquired; Based on the acquisition result of the first detection signal, the second detection signal of the second detector is selectively acquired; The state of the hatch is determined based on at least one of the first detection signal, the second detection signal, and the control motor parameter value of the hatch. The first detector and the second detector are arranged adjacent to each other. The second detector includes a contact metal sheet detector. In its natural state, the spring photodetector is higher than the contact metal sheet detector along the movement direction of the spring photodetector.

2. The method according to claim 1, characterized in that, The first detection signal includes a first door open signal and a first door close signal; Accordingly, determining the hatch status based on at least one of the first detection signal, the second detection signal, and the control motor parameter value of the hatch includes: If the door opening / closing command is an opening command, the first door opening signal is triggered, and the first door closing signal is not triggered, then the door status is determined to be normally open. If the door opening / closing command is a door closing command, the first door opening signal is not triggered, and the first door closing signal is triggered, then the door status is determined to be normally closed.

3. The method according to claim 2, wherein selectively acquiring the second detection signal of the second detector based on the acquisition result of the first detection signal comprises: If the first detection signal is inconsistent with the door opening / closing command, then the second detection signal is acquired.

4. The method according to claim 3, characterized in that, The second detector includes a contact metal sheet detector, which includes an opening pressure plate and a closing pressure plate. The opening pressure plate and the closing pressure plate are arranged in groups and are correspondingly arranged on the robot body and the hatch. The second detection signal includes a second door open position signal and a second door close position signal. Accordingly, determining the hatch status based on at least one of the first detection signal, the second detection signal, and the control motor parameter value of the hatch includes: If the door opening / closing command is an opening command and the second door opening signal is triggered, then the door status is determined to be normally open; If the door opening / closing command is a door closing command and the second door closing signal is triggered, then the door status is determined to be normally closed.

5. The method according to claim 3 or 4, characterized in that, The controlled motor parameter values ​​include motor current values ​​and encoder data, and the method further includes: If the second detection signal is abnormal, the door status is determined based on the motor current value and the encoder data.

6. The method according to claim 5, characterized in that, If the second detection signal is abnormal, the door status is determined based on the motor current value and the encoder data, including: If the encoder data is consistent with the preset rotation stroke, then the door status is determined to be either normally open or normally closed. If the encoder data is inconsistent with the preset rotation stroke, the door status is determined to be obstructed.

7. The method according to claim 1, characterized in that, The first detector is a spring-type photodetector, and before acquiring the second detection signal, it further includes: The hatch is controlled to open and close repeatedly, striking the spring end of the spring-type photodetector to release the jamming of the spring end.

8. A robot hatch status detection device, characterized in that, The robot includes a first detector and a second detector. The first detector includes a spring-type photoelectric detector, which is disposed on the inner side of the door frame corresponding to the hatch for detecting when the door is closed, and disposed on the outer side of the door frame corresponding to the hatch for detecting when the door is open. The device includes: The first signal acquisition module is used to acquire the first detection signal of the first detector in response to the opening and closing command of the hatch. The second signal acquisition module is used to selectively acquire the second detection signal of the second detector based on the acquisition result of the first detection signal; The hatch status determination module is used to determine the hatch status based on at least one of the first detection signal, the second detection signal, and the control motor parameter value of the hatch. The first detector and the second detector are arranged adjacent to each other. The second detector includes a contact metal sheet detector. In its natural state, the spring photodetector is higher than the contact metal sheet detector along the movement direction of the spring photodetector.

9. A robot, characterized in that, The robot includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot hatch state detection method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the robot hatch state detection method according to any one of claims 1-7.

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