A travel control method for a garbage carrying robot and a medium

Abstract

A method for controlling the movement of a garbage-carrying robot, wherein the garbage-carrying robot is equipped with a retractable and adjustable drive device, the method includes the following steps: detecting the load status of the garbage bin and confirming that the garbage bin lid is closed; calculating the two-dimensional center of gravity N of the garbage bin based on the weighing, and calculating the overall center of gravity (N2) based on the robot's center of gravity (N1); adjusting the relative position (eyQ) of the drive device based on the overall center of gravity (N2); setting the initial speed V1 and acceleration / deceleration a1 based on the current drive position (eyQ), and officially starting the walking task; during the movement, monitoring the integral of the pressure sensor fluctuation value in real time, if the integral of the pressure sensor fluctuation value exceeds a specified threshold, adjusting the speed and acceleration to: V = V1 * 0.7, a = a1 * 0.5; reaching the destination, completing the walking task. By adjusting the relative position of the drive device through the overall center of gravity, it is ensured that the drive device does not slip, and the real-time detection of the pressure sensor fluctuation value effectively ensures operating efficiency.

Description

Technical Field

[0001] This invention relates to the field of handling robots, and in particular to a method and medium for controlling the movement of a waste handling robot. Background Technology

[0002] In the current research and development of garbage handling robots, most researchers focus their efforts on the design of the machine body, such as structural improvements to increase capacity, structural improvements to address excessive size, and battery improvements to extend battery life. Although there are many directions for improvement, garbage handling robots often experience problems such as jamming, tipping over, or slow garbage handling speed during actual operation, resulting in less than ideal performance. The reason for this is the lack of research and development on the "software" of garbage handling robots, such as the development of driving control systems. Therefore, this aspect is a technical problem that urgently needs to be solved. Summary of the Invention

[0003] The first objective of this invention is to overcome the shortcomings of the prior art and provide a driving control method for a garbage handling robot that walks quickly and stably and is not prone to tipping over.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A method for controlling the movement of a garbage-carrying robot, wherein the garbage-carrying robot is equipped with a retractable and adjustable drive device, the method comprising the following steps: detecting the load status of the garbage bin and determining that the garbage bin lid is closed; determining the two-dimensional center of gravity N of the load based on the load and combining it with the robot's center of gravity (N1) to determine the overall center of gravity (N2); adjusting the relative position (eyQ) of the drive device based on the robot's overall center of gravity (N2); setting the initial speed V1 and acceleration / deceleration a1 based on the current drive position (eyQ), and officially starting the walking task; monitoring the integral of the pressure sensor fluctuation value in real time during the movement, if the integral of the pressure sensor fluctuation value exceeds a specified threshold, adjusting the speed and acceleration to: V = V1 * 0.7, a = a1 * 0.5; reaching the destination and completing the walking task.

[0006] Preferably, when the trash can lid is open, the system identifies and acquires material information, detects the protruding state of the material, and determines whether it is within the weight range for open-lid transport. If so, it waits for the host computer to issue a handling instruction; otherwise, it reports to the user that the handling has failed.

[0007] Preferably, the system also includes a scene detection step. The scene includes at least indoor and outdoor environments, sloping roads, slippery roads, and wading roads. Specific detection includes: real-time monitoring of the scene in which the garbage transport robot is located; if the garbage transport robot is in an indoor scene, adjusting the speed V to V = V1 * 0.5; if the garbage transport robot is in a sloping road scene, adjusting the speed V to V = V1 * 0.7; if the garbage transport robot is in a slippery road scene, adjusting the relative position (eyQ) of the drive unit to eyQ = 1.3 * ey2 * 0.9, or adjusting the speed to V = V1 * 0.8, or adjusting the acceleration to a = a1 * 0.8; if the garbage transport robot is in a wading road scene, detecting whether the water level exceeds the wading safety threshold; if so, reversing the travel path or stopping operation with an alarm; if not, adjusting the vehicle speed according to the wading depth: v = v1 * 0.8.

[0008] Preferably, the system detects whether the water level exceeds the limit threshold. If so, it issues an alarm, shuts down all controls, and cuts off power. If not, it issues an alarm signal and reverses its route to request processing from the higher-level system.

[0009] Preferably, it also includes real-time monitoring of the pressure value change of the transported items and dynamic adjustment of speed V and acceleration a. If speed V is less than V1, V = V * 1.1 is made, and if acceleration a is less than a1, a = a1 * 1.2 is made.

[0010] Compared with existing technologies, this invention calculates the overall center of gravity and adjusts the relative position of the drive device according to the overall center of gravity, ensuring that the drive device can output normally without slipping, while ensuring safety and stability during garbage handling. In addition, by detecting the fluctuation value of the pressure sensor in real time, the operating efficiency and safety of the garbage handling robot can be effectively ensured during operation.

[0011] The second objective of this invention is to provide a storage medium, characterized in that the storage medium stores a method for controlling the movement of a waste handling robot, wherein when the program of the method for controlling the movement of a waste handling robot is executed by a processor, the steps of the method for controlling the movement of a waste handling robot that achieve the first objective are implemented. Attached Figure Description

[0012] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0013] Example 1:

[0014] See Figure 1A method for controlling the movement of a garbage-carrying robot, wherein the garbage-carrying robot is equipped with a retractable and adjustable drive device, the method comprising the following steps: detecting the load status of the garbage bin; if an abnormal load is detected, further identification is needed to determine whether it is a bin-free state or an overloaded state; if it is a bin-free state, a bin-free warning is issued; if it is an overloaded state, an overload warning is issued; after processing the above, it is confirmed that the garbage bin lid is closed; calculating the two-dimensional center of gravity (N) of the garbage bin based on the load; deriving the comprehensive center of gravity (N2) based on the robot's center of gravity N1 and N; and determining the comprehensive center of gravity (N2) based on the comprehensive center of gravity (N2). 2) The reflected two-dimensional coordinate values ​​(ex2, ey2) adjust the relative position (eyQ) of the drive device along the y-axis. The two-dimensional coordinate values ​​are defined with the center of the universal wheel hinge point as 0, and the perpendicular line from the projection of the drive shaft onto the ground to the projection of the 0 point onto the ground as the y-axis direction, which is positive. Based on the current drive position (eyQ), the initial speed V1 and acceleration / deceleration a1 are set, and the walking task is officially started. During the driving process, the integral of the pressure sensor fluctuation value is monitored in real time. If the integral of the pressure sensor fluctuation value exceeds the specified threshold, the speed and acceleration are adjusted to: V = V1 * 0.7, a = a1 * 0.5. At the same time, the amplitude of the pressure sensor is monitored in real time during the driving process to detect whether N has deviated. If the deviation exceeds the specified value, N2 is recalculated, thereby resetting eyQ, the initial speed V1, and the acceleration / deceleration a1.

[0015] Arrive at the destination and complete the walking task.

[0016] As a preferred solution, when the trash can lid is open, the system identifies and acquires material information, detects the protruding state of the material, and determines whether it is within the weight range for open-lid transport. If so, it waits for the host computer to issue a handling instruction; otherwise, it reports to the user that the handling has failed.

[0017] As a preferred embodiment, a scene detection step is also included. The scene includes at least indoor and outdoor environments, sloping roads, slippery surfaces, and waterlogged surfaces. Specific detection includes: real-time monitoring of the scene in which the garbage-handling robot is located.

[0018] If the garbage handling robot is operating indoors, adjust its speed V to V = V1 * 0.5;

[0019] If the garbage handling robot is on a sloping road, then adjust the speed V to V = V1 * 0.7;

[0020] If the garbage handling robot is on a wet and slippery surface, adjust the relative position (eyQ) of the drive unit to: eyQ=1.3*ey2*0.9 or adjust the speed to V=V1*0.8 or adjust the acceleration to a=a1*0.8;

[0021] If the garbage handling robot is on a flooded road, it will detect whether the water level exceeds the safe water level threshold. If so, it will stop operating and sound an alarm. If not, it will adjust the speed according to the water level: v = v1 * 0.8.

[0022] As a preferred solution, the system detects whether the water level exceeds the limit threshold. If so, it issues an alarm, shuts down all controls, and cuts off power. If not, it issues an alarm signal and reverses its course to request processing from the higher-level system.

[0023] As a preferred option, it also includes real-time monitoring of the pressure value changes of the transported items. When the integral of the fluctuation value exceeds the threshold, v = 0.7v and a = 0.5a are adjusted. If the pressure value is within the range after adjustment, and if the velocity V is less than V1, V = V * 1.1 and the acceleration a is less than a1, a = a1 * 1.2 are adjusted. After four steps of adjustment, v and a are finally restored to their original set values.

[0024] Compared with existing technologies, this invention calculates the overall center of gravity and adjusts the relative position of the drive device according to the overall center of gravity, ensuring that the drive device can output normally without slipping, while ensuring safety and stability during garbage handling. In addition, by detecting the fluctuation value of the pressure sensor in real time, the stability and safety of the garbage handling robot during operation can be effectively ensured.

[0025] Example 2:

[0026] A storage medium, characterized in that the storage medium stores a driving control method for a waste handling robot, wherein when the program of the driving control method for the waste handling robot is executed by a processor, the steps of the driving control method for the waste handling robot achieve a first objective.

[0027] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A method for controlling the movement of a garbage handling robot, wherein the garbage handling robot is equipped with a retractable and adjustable drive device, characterized in that, The driving control method includes the following steps: Check the weight of the trash can and make sure the lid is closed; The two-dimensional center of gravity N of the transported material is calculated based on the load, and the comprehensive center of gravity (N2) is derived by combining the robot's center of gravity (N1). Adjust the relative position (eyQ) of the drive device in the y-axis direction according to the two-dimensional coordinate values ​​(ex2, ey2) reflected by the comprehensive center of gravity (N2); Based on the current driving position (eyQ), set the initial speed V1 and acceleration / deceleration a1, and officially start the walking task; During driving, the pressure sensor fluctuation value integral is monitored in real time. If the pressure sensor fluctuation value integral exceeds the specified threshold, the speed and acceleration are adjusted to: V = V1 * 0.7, a = a1 * 0.

5. Simultaneously, the amplitude of the pressure sensor is monitored in real time during driving to detect whether N deviates from the specified value. If the deviation exceeds the specified value, N2 is recalculated, thereby resetting eyQ, the initial speed V1, and the acceleration / deceleration a1. Arrive at the destination and complete the walking task.

2. The method for controlling the movement of a waste handling robot according to claim 1, characterized in that, When the trash can lid is open, the system identifies and acquires material information, detects the protruding state of the material, and determines whether it is within the weight range for open-lid transport. If so, it waits for the host computer to issue a handling instruction; otherwise, it reports to the user that the handling has failed.

3. The method for controlling the movement of a waste handling robot according to claim 1, characterized in that, It also includes a scene detection step, wherein the scene includes at least indoor and outdoor, sloping roads, slippery roads and waterlogged roads, and the specific detection includes: Monitor the scene where the garbage handling robot is located in real time. If the garbage handling robot is indoors, adjust the speed V to V = V1 * 0.

5. If the garbage handling robot is on a sloping road, then adjust the speed V to V = V1 * 0.7; If the garbage handling robot is on a wet and slippery surface, adjust the relative position (eyQ) of the drive unit to: eyQ=1.3*ey2*0.9 or adjust the speed to V=V1*0.8 or adjust the acceleration to a=a1*0.8; If the garbage handling robot is on a flooded road, it will detect whether the water level exceeds the safe water level threshold. If so, it will stop operating and sound an alarm. If not, it will adjust the speed according to the water level: v = v1 * 0.

8.

4. The method for controlling the movement of a waste handling robot according to claim 3, characterized in that, The system detects whether the water level exceeds the limit threshold. If so, it issues an alarm, shuts down all controls, and cuts off power. If not, it issues an alarm signal and reverses its route to request processing from the higher-level system.

5. The method for controlling the movement of a garbage handling robot according to claim 1, characterized in that, It also includes real-time monitoring of changes in the pressure value of the transported items and dynamic adjustment of speed V and acceleration a. If the speed V is less than V1, make V = V * 1.1; if the acceleration a is less than a1, make a = a1 * 1.

2.

6. A storage medium, characterized in that, The storage medium stores a method for controlling the movement of a waste handling robot. When the program of the method for controlling the movement of a waste handling robot is executed by a processor, it implements the steps of the method for controlling the movement of a waste handling robot as described in any one of claims 1 to 5.

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