Mobile robot vented floor fall detection apparatus and method

Abstract

The application discloses a mobile robot ventilation floor anti-falling detection device and method. The device comprises: a plurality of single-point lasers for detecting the distance from the laser to the horizontal ground along the light beam direction; the installation height of each single-point laser is consistent; the installation angle of the left first laser L1 and the right first laser R1 is obtained based on the installation height and the distance of the cliff in front of the robot to be detected; the installation angle of the left second laser L2 and the right second laser R2 is obtained based on the installation height, the distance of the cliff in front of the robot to be detected and the opening width of the ventilation floor; and a controller is used for calibrating the distance from the laser of each single-point laser to the normal horizontal plane to obtain the laser normal distance threshold; and used for comparing the real-time laser distance detected by the laser with the laser normal distance threshold to determine whether there is a cliff in front, so as to realize anti-falling detection. The application solves the problem of anti-falling detection of the robot running on the ventilation floor with openings.

Description

Technical Field

[0001] This invention relates to the field of mobile robot safety operation technology, and in particular to a mobile robot ventilated floor anti-fall detection device and method. Background Technology

[0002] Ventilation floors have various openings beneath them, forming ventilation channels. These channels are typically at least 5 centimeters deep, and their width is roughly the same as the size of the openings. The openings are usually square. If the ventilation floor is lifted and the robot doesn't detect it beforehand, its wheels may fall into the exposed ventilation channels (like off a cliff), causing the entire robot to tip over and resulting in an accident. Furthermore, the numerous openings in the ventilation floor can easily be mistaken for cliff edges using conventional methods, leading to false triggers that stop the robot and impacting its operational smoothness and efficiency.

[0003] The following methods are commonly used in existing technologies for drop detection:

[0004] Option 1: Installing an ultrasonic sensor on the bottom of the robot for detection. However, the ultrasonic sensor has a low output frequency, and since it is installed on the bottom of the robot, when a cliff is detected, the robot body has already come into contact with the cliff, and the robot's center of gravity is very close to the cliff. If the robot is moving fast and has a large mass, it may not be able to stop in time and fall off the cliff, causing the robot to tip over. If the ultrasonic sensor is installed on a ventilated floor, there are various openings in the floor, which may lead to false detection of cliffs, causing the robot to stop due to false triggering, affecting the smoothness and efficiency of operation.

[0005] Option 2: Install a single laser on the bottom of the robot for detection. However, since it's a single laser, it cannot be used for fall detection on ventilated floors. On ventilated floors, it can easily pass through openings, potentially leading to false detections of cliff edges, thus failing to meet the requirements for cliff detection on ventilated floors. Summary of the Invention

[0006] The purpose of this invention is to provide a fall prevention detection device and method for mobile robots operating on ventilated floors, thereby solving the fall prevention detection problem for robots running on perforated ventilated floors.

[0007] To solve the above technical problems, the technical solution of the present invention is as follows:

[0008] In a first aspect, a fall detection device for a ventilated floor on a mobile robot is provided, comprising:

[0009] Multiple single-point lasers are used to detect the distance from the laser beam to the horizontal ground. The lasers include: a left-side first laser L1, a left-side second laser L2, a right-side first laser R1, and a right-side second laser R2. The left-side first laser L1 and left-side second laser L2 are mounted on the upper left side of the front end of the mobile robot; the right-side first laser R1 and right-side second laser R2 are mounted on the upper right side of the front end of the mobile robot. All single-point lasers are mounted at the same height. The mounting angles of the left-side first laser L1 and right-side first laser R1 are obtained based on the mounting height and the distance to the cliff in front of the robot to be detected. The mounting angles of the left-side second laser L2 and right-side second laser R2 are obtained based on the mounting height, the distance to the cliff in front of the robot to be detected, and the width of the opening in the ventilation floor.

[0010] The controller is used to calibrate the laser distance of each individual laser to obtain the normal laser distance threshold; it is also used to compare the real-time laser distance detected by the laser with the normal laser distance threshold to determine whether there is a cliff ahead, thus achieving fall prevention detection.

[0011] Furthermore, the mounting angles of the left first laser L1 and the right first laser R1 are as follows:

[0012]

[0013] in, The angle between the laser emission direction of the first laser L1 on the left and the first laser R1 on the right and the horizontal plane is represented by h, which represents the installation height of each single-point laser; r represents the preset stopping distance of the robot, that is, the preset distance at which the cliff in front is detected.

[0014] The mounting angles of the second laser L2 on the left and the second laser R2 on the right are:

[0015]

[0016] in, 'b' represents the angle between the laser emission direction of the second laser L2 on the left and the second laser R2 on the right and the horizontal plane, and 'b' represents the preset opening width parameter in the ventilation floor, which is 3-4 times the opening width.

[0017] Secondly, a method for detecting fall prevention on a ventilated floor for a mobile robot is provided, employing the aforementioned fall prevention detection device for a ventilated floor on a mobile robot; the fall prevention detection method includes the following steps:

[0018] S100: Calibrates the normal laser distance threshold for each individual laser, i.e., the distance from each laser along the beam direction to the horizontal ground;

[0019] S200: Each laser collects its own laser distance in real time, and the controller compares the real-time laser distance with the normal laser distance threshold to determine whether there is a cliff ahead.

[0020] Further, in step S100: the laser distance detected by the current single-point laser on the normal horizontal ground is obtained multiple times, and the average value is taken to obtain the normal laser distance threshold.

[0021] Further, step S100 includes:

[0022] S110: The distances from the lasers of the left-side first laser L1 and the right-side first laser R1 to the normal horizontal ground are obtained multiple times, and the average value is taken to obtain the normal distance threshold D1 for the first laser.

[0023]

[0024] in, S120: The angle between the laser emission directions of the left-side first laser L1 and the right-side first laser R1 and the horizontal plane is represented; S120: The distances from the lasers of the left-side second laser L2 and the right-side second laser R2 to the normal horizontal ground are obtained multiple times, and the average value is taken to obtain the normal distance threshold D2 for the second laser.

[0025]

[0026] in, This indicates the angle between the laser emission direction of the second laser L2 on the left and the second laser R2 on the right and the horizontal plane.

[0027] Further, step S200 includes:

[0028] S210: The controller acquires the robot's motion state;

[0029] S220: If the robot's motion state is rotating in place or stopped, then laser distance acquisition and fall detection will not be performed; if the robot's motion state is in a straight line or curve, then step S230 will be executed.

[0030] S230: Perform laser distance acquisition and compare the real-time laser distance with the normal laser distance threshold to determine whether there is a cliff ahead.

[0031] Furthermore, step S230 specifically includes:

[0032] The first laser L1 and the second laser L2 on the left side are a group on the left side, and the first laser R1 and the second laser R2 on the right side are a group on the right side.

[0033] The controller first acquires the laser distance of the first laser L1 on the left. Laser distance from the second laser L2 on the left Compared with the first laser normal distance threshold D1, Compare with the second laser normal distance threshold D2; if the laser distance and If the distance suddenly increases and exceeds the corresponding normal laser distance threshold, the area at a distance of r ahead is determined to be a cliff. The controller sends a stop command to the robot and issues an audible and visual alarm, requiring manual release of the triggered fall prevention emergency stop state.

[0034] If the laser distance of the left group is normal in real time, then continue to collect the laser distance of the right group, that is, the laser distance of the first laser R1 on the right. Laser distance to the second laser on the right, R2 Compared with the first laser normal distance threshold D1, The same method is used to determine whether there is a cliff ahead, by comparing the normal distance threshold D2 of the second laser.

[0035] If both sets of laser distance data are normal, then continue to collect the laser distance data from the left side, and repeat the process of collecting data and performing cliff detection.

[0036] The present invention has the following beneficial effects: When the robot is running on a ventilated floor, it can detect the actual cliff a certain distance in advance, while minimizing the probability of false cliff detection and ensuring smooth and efficient operation of the robot. Attached Figure Description

[0037] Figure 1 The attached diagram is a schematic diagram of the installation structure of the detection device and the robot of the present invention;

[0038] Figure 2 This is a schematic diagram illustrating the principle of detection by a set of single-point lasers on the right side of the detection device of the present invention.

[0039] Figure 3 This is a flowchart of the detection method of the present invention;

[0040] Reference numerals: 1. Single-point laser; 2. Controller; 3. Robot; 4. Ventilated floor; 401. Opening. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Figure 1 and Figure 2 In the center, arrow F indicates the front direction. Please refer to... Figure 1 The present invention is a mobile robot ventilation floor anti-fall detection device, which includes: multiple single-point lasers 1 and controller 2;

[0043] Multiple point lasers 1 are used to detect the distance from the laser along the beam direction to the horizontal ground;

[0044] Controller 2 is used to calibrate the laser distance of each single-point laser 1, that is, the distance from the laser to the horizontal ground, and obtain the normal laser distance threshold; it is used to compare the real-time laser distance detected by the laser with the normal laser distance threshold to determine whether there is a cliff ahead, so as to realize fall prevention detection.

[0045] Combination Figure 1 and Figure 2 The laser includes four single-point lasers 1, specifically: a first laser L1 on the left, a second laser L2 on the left, a first laser R1 on the right, and a second laser R2 on the right; wherein, the first laser L1 and the second laser L2 on the left are installed on the upper left side of the front end of the mobile robot 3; the first laser R1 and the second laser R2 on the right are installed on the upper right side of the front end of the mobile robot 3.

[0046] Specifically, the installation height of each single-point laser 1 is the same; in this embodiment, the installation height of each single-point laser 1 is h.

[0047] Specifically, the installation angles of the left first laser L1 and the right first laser R1 are obtained based on the installation height and the distance to the cliff in front of the robot 3 to be inspected; the installation angles of the left second laser L2 and the right second laser R2 are obtained based on the installation height, the distance to the cliff in front of the robot 3 to be inspected, and the width of the opening 401 of the ventilation floor 4.

[0048] The laser beam emitted from a single point of ranging forms a certain angle with the horizontal ground, tilting to detect a downward-sloping cliff. The size of the angle determines the distance to the cliff in front of the robot 3, which is determined based on the installation height and the stopping distance of the robot 3. In this invention, it is not necessary for the single-point laser installation position and angle to be consistent on each robot 3. The main purpose is to measure the distance to a point within a certain range in front of the robot 3, which is determined based on the preset stopping distance requirement of the robot 3.

[0049] In this embodiment:

[0050] The mounting angles of the left-side first laser L1 and the right-side first laser R1 are:

[0051]

[0052] in, The angle between the laser emission direction of the first laser L1 on the left and the first laser R1 on the right and the horizontal plane is represented by h, which represents the installation height of each single-point laser; r represents the preset stopping distance of the robot, that is, the distance at which the robot needs to detect that there is a cliff in front of it.

[0053] The mounting angles of the second laser L2 on the left and the second laser R2 on the right are:

[0054]

[0055] in, 'b' represents the angle between the laser emission direction of the second laser L2 on the left and the second laser R2 on the right and the horizontal plane, and 'b' represents the preset opening width parameter in the ventilation floor. The opening width parameter is 3-4 times the opening width. In this embodiment, the opening size is 1-3 cm and the opening width parameter is 5-10 cm.

[0056] In another embodiment, the present invention also provides a method for detecting fall prevention on a ventilated floor using a mobile robot, employing the mobile robot fall prevention detection device described above; see also Figure 3 The steps of the drop test method include:

[0057] S100: Calibrates the normal laser distance threshold for each individual laser, i.e., the distance from each laser along the beam direction to the horizontal ground;

[0058] S200: Each laser collects its own laser distance in real time, and the controller compares the real-time laser distance with the normal laser distance threshold to determine whether there is a cliff ahead.

[0059] Specifically, in step S100, after determining the installation position and included angle of each single-point laser, the distance of each laser detection to the horizontal ground is calibrated; the robot is placed on the horizontal ground, the robot is moved slowly, and the distance of each laser along the beam direction to the horizontal ground is obtained multiple times. The average value of each distance is taken as the normal laser distance threshold for each laser to detect normal laser performance.

[0060] In this embodiment, combined with Figure 2 and Figure 3 Step S100 includes:

[0061] S110: The distances from the left-hand first laser L1 and the right-hand first laser R1 to the normal horizontal ground are obtained multiple times; this is the normal laser distance. The average value is then used to obtain the first laser normal distance threshold D1.

[0062]

[0063] in, S120: The angle between the laser emission directions of the left-side first laser L1 and the right-side first laser R1 and the horizontal plane is represented; S120: The distances from the lasers of the left-side second laser L2 and the right-side second laser R2 to the normal horizontal ground are obtained multiple times, and the average value is taken to obtain the normal distance threshold D2 for the second laser.

[0064]

[0065] in, This indicates the angle between the laser emission direction of the second laser L2 on the left and the second laser R2 on the right and the horizontal plane.

[0066] Specifically, step S200 includes:

[0067] S210: The controller acquires the robot's motion state, including: rotating in place, straight line / curve movement, and stopping. In this embodiment, the controller can be an MCU. The MCU is connected to the robot's host computer via a network cable and acquires the robot's motion state sent by the host computer through socket communication.

[0068] S220: If the robot's motion state is rotating in place or stopped, then laser distance acquisition and fall detection will not be performed; if the robot's motion state is in a straight line or curve, then step S230 will be executed.

[0069] S230: Perform laser distance acquisition and compare the real-time laser distance with the normal laser distance threshold to determine if there is a cliff ahead; specifically including:

[0070] The first laser L1 and the second laser L2 on the left side are a group on the left side, and the first laser R1 and the second laser R2 on the right side are a group on the right side.

[0071] The controller first acquires the laser distance of the first laser L1 on the left. Laser distance to the second laser L2 on the left Compared with the first laser normal distance threshold D1, Compare with the second laser normal distance threshold D2; if the laser distance and If the distance suddenly increases and exceeds the corresponding normal laser distance threshold, the area at a distance of r ahead is determined to be a cliff. The controller sends a stop command to the robot and issues an audible and visual alarm, requiring manual release of the triggered fall prevention emergency stop state.

[0072] If the laser distance of the left group is normal in real time, then continue to collect the laser distance of the right group, that is, the laser distance of the first laser R1 on the right. Laser distance to the second laser on the right, R2 Compared with the first laser normal distance threshold D1, The same method is used to determine whether there is a cliff ahead, by comparing the normal distance threshold D2 of the second laser.

[0073] If both sets of laser distance data are normal, then continue to collect the laser distance data from the left side, and repeat the process of collecting data and performing cliff detection.

[0074] The advantages of this invention are:

[0075] 1) This invention uses multiple single-point lasers with high precision and collects multiple laser distance data at the same time. In scenarios such as ventilation floors with various openings, it can not only detect real cliffs, but also greatly reduce the probability of false cliff detection, making the robot run more smoothly. At the same time, it can also accurately detect cliffs such as stairs or pits on other flat ground.

[0076] 2) The single-point laser of this invention has a high measurement frequency and a long measurement distance, which can quickly detect whether there is a cliff in front of it from a long distance in advance, giving the robot more response time and preventing the robot from falling off the cliff and tipping over.

[0077] 3) The fall detection results of this invention are combined with the current motion state of the mobile robot, resulting in high accuracy.

[0078] All parts not covered in this invention are the same as or implemented using existing technologies.

[0079] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A fall detection device for a ventilated floor on a mobile robot, characterized in that: Comprising a plurality of single-point lasers for detecting the distance of the laser along the beam direction to the horizontal ground; the lasers comprising: a left first laser L1, a left second laser L2, a right first laser R1 and a right second laser R2; wherein the left first laser L1 and the left second laser L2 are installed on the left side of the front end of the mobile robot; the right first laser R1 and the right second laser R2 are installed on the right side of the front end of the mobile robot; wherein the installation height of each single-point laser is consistent; the installation angle of the left first laser L1 and the right first laser R1 is obtained based on the installation height and the distance of the cliff in front of the robot to be detected; the installation angle of the left second laser L2 and the right second laser R2 is obtained based on the installation height, the distance of the cliff in front of the robot to be detected and the opening width of the ventilation floor; a controller for calibrating the laser distance of each single-point laser to obtain a laser normal distance threshold; for comparing the real-time laser distance detected by the laser with the laser normal distance threshold to determine whether there is a cliff in front, realizing anti-falling detection; the left first laser L1 and the left second laser L2 form a left group, and the right first laser R1 and the right second laser R2 form a right group; The controller collects the laser distance of the left first laser L1 and the laser distance of the left second laser L2 compared with the first laser normal distance threshold D1, compared with the second laser normal distance threshold D2; if the laser distance and suddenly becomes larger and is greater than the corresponding laser normal distance threshold, it is determined that the front is a cliff, and the right laser uses the same method to determine whether the front is a cliff.

2. The mobile robot raised access floor anti-fall detection apparatus of claim 1, wherein: the installation angle of the left first laser L1 and the right first laser R1 is: wherein, denotes the included angle between the laser light emitting direction of the left first laser L1 and the right first laser R1 and the horizontal plane, and h denotes the installation height of each single-point laser; r denotes the stop distance of the preset robot; the installation angle of the left second laser L2 and the right second laser R2 is: wherein, denotes the included angle between the laser light emitting direction of the left second laser L2 and the right second laser R2 and the horizontal plane, and b denotes a preset opening width parameter in the ventilation floor.

3. The mobile robot raised access floor anti-fall detection apparatus of claim 2, wherein: the opening width parameter b is 3-4 times the opening width.

4. A method for fall detection in mobile robot air floor, characterized in that: The mobile robot ventilation floor anti-falling detection device of claim 1 or 2; the anti-falling detection method steps include: S100: calibrate the laser normal distance threshold of each single-point laser, that is, the distance of each laser along the beam direction to the horizontal ground; S200: each laser real-time collects its own laser distance, and the controller compares the real-time laser distance with the laser normal distance threshold to determine whether there is a cliff in front.

5. The mobile robot raised access floor anti-fall detection method of claim 4, wherein: Step S100: multiple times obtain the laser distance of the current single-point laser to the normal horizontal ground, and take the average to obtain the laser normal distance threshold.

6. The mobile robot raised access floor anti-fall detection method of claim 5, wherein: Step S100 includes: S110: multiple times obtain the laser distance of the left first laser L1 and the right first laser R1 to the normal horizontal ground, take the average to obtain the first laser normal distance threshold D1: wherein, denotes the included angle between the laser light emitting direction of the left first laser L1 and the right first laser R1 and the horizontal plane; S120: multiple times obtain the laser distance of the left second laser L2 and the right second laser R2 to the normal horizontal ground, take the average to obtain the second laser normal distance threshold D2: wherein, denotes the angle between the laser light emitting direction of the left second laser L2 and the right second laser R2 and the horizontal plane.

7. The mobile robot raised access floor anti-fall detection method of claim 6, wherein: Step S200 includes: S210: the controller obtains the motion state of the robot; S220: if the motion state of the robot is stationary rotation or stop state, no laser distance collection and falling detection is performed; if the motion state of the robot is straight line or curve state, step S230 is executed; S230: collect the laser distance and compare the real-time laser distance with the laser normal distance threshold to determine whether there is a cliff in front.

8. The mobile robot raised access floor anti-fall detection method of claim 7, wherein: Step S230 specifically: The controller first collects the laser distance of the left first laser L1 and the laser distance of the left second laser L2 compared with the first laser normal distance threshold D1, compared with the second laser normal distance threshold D2; if the laser distance and suddenly becomes larger and is greater than the corresponding laser normal distance threshold, it is determined that the place with the distance r in front is a cliff, the controller issues a stop instruction to the robot, and an audible and light alarm is issued, and the triggered anti-falling emergency stop state needs to be manually released. If the left group of laser distances collected in real time is normal, continue to collect the right group of laser distances, i.e. the laser distance of the right first laser R1 and the laser distance of the right second laser R2 Compared with the first laser normal distance threshold D1, Compared with the second laser normal distance threshold D2, the same method is used to judge whether the front is a cliff; If both the left and right groups of laser distances are normal data, then continue to collect the left group of laser distances, and repeatedly collect data and detect cliffs in the subsequent loop.

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