Sensor positioning anomaly determination method and device, storage medium and electronic device

Abstract

The application discloses a kind of sensor positioning exception determination method and device, storage medium and electronic device, wherein the above-mentioned method includes: by radar sensor determines the first position change of mobile robot in preset time interval;And by inertia measuring unit and wheeled odometry determines the second position change of mobile robot in preset time interval;And by wheel speed sensor determines the third position change of mobile robot in preset time interval;According to first position change, second position change and third position change, determine whether radar sensor exists positioning exception.Using the above technical solution, it is solved in the process that mobile robot uses radar sensor to construct map, since it is unclear whether radar sensor exists positioning exception, the problem that the map constructed is inaccurate.

Description

[Technical Field]

[0001] This invention relates to the field of communications, and more specifically, to a method and apparatus for determining sensor positioning anomalies, a storage medium, and an electronic device. [Background Technology]

[0002] With the development of technology, mobile robots are becoming more and more common in daily life. However, mobile robots may encounter many problems during use, such as a lack of intelligence. For example, when a mobile robot is building a map of its home, it uses radar sensors to construct the map. However, during the map construction process, the radar sensors may malfunction, causing positioning errors and resulting in a disordered map, which in turn affects the normal operation of the mobile robot.

[0003] Regarding the relevant technologies, in the process of mobile robots using radar sensors to build maps, there is currently no effective solution to the problem of inaccurate maps due to the uncertainty of whether the radar sensors have positioning anomalies. [Summary of the Invention]

[0004] This invention provides a method and apparatus for determining sensor positioning anomalies, a storage medium, and an electronic device, to at least solve the problem that in the process of a mobile robot using radar sensors to build maps, the inaccuracy of the constructed map is caused by the uncertainty of whether the radar sensor has a positioning anomaly.

[0005] According to one aspect of the present invention, a method for determining sensor positioning anomalies is provided, comprising: determining a first position change of a mobile robot within a preset time interval using a radar sensor; determining a second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheel odometer; determining a third position change of the mobile robot within the preset time interval using a wheel speed sensor; and determining whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change.

[0006] Further, determining the first position change of the mobile robot within a preset time interval using a radar sensor includes: acquiring a first set of measurement data obtained from a first set of electromagnetic waves emitted by the radar sensor of the mobile robot at a first time; acquiring a second set of measurement data obtained from a second set of electromagnetic waves emitted by the radar sensor of the mobile robot at a second time, wherein the preset time interval is the difference between the second time and the first time; determining a second position of the mobile robot based on the first set of measurement data and the second set of measurement data; and determining a first directional change and a first distance change of the mobile robot within the preset time interval based on the first position and the second position of the mobile robot at the first time, wherein the first position change includes: a first directional change and a first distance change.

[0007] Further, determining the second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheel odometer includes: determining the angular rate of movement of the mobile robot within the preset time interval using the inertial measurement unit, and determining the number of tire rotations of the mobile robot within the preset time interval using the wheel odometer; determining the second directional change of the mobile robot within the preset time interval based on the angular rate of movement of the mobile robot and the preset time interval; and determining the second distance change of the mobile robot within the preset time interval by multiplying the number of tire rotations by the circumference of the tire; wherein the second position change includes: the second directional change and the second distance change.

[0008] Further, determining the third position change of the mobile robot within the preset time interval using wheel speed sensors includes: determining the first rotational speed of the first motor and the second rotational speed of the second motor of the mobile robot using the wheel speed sensors, wherein the first motor drives the first tire and the second motor drives the second tire, and the tires of the mobile robot include: the first tire and the second tire; when the first rotational speed and the second rotational speed are equal, determining the third distance change of the mobile robot within the preset time interval based on the first rotational speed and the preset time interval, or determining the third distance change of the mobile robot within the preset time interval based on the second rotational speed and the preset time interval, and determining that the third directional change of the mobile robot within the preset time interval is zero; when the first rotational speed and the second rotational speed are not equal, determining the third directional change and the third distance change of the mobile robot within the preset time interval based on the first rotational speed, the second rotational speed, the distance between the first tire and the second tire, and the preset time interval; wherein the third position change includes: the third directional change and the third distance change.

[0009] Further, determining whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change includes: determining that the radar sensor has a positioning anomaly if the difference between the direction changes of any two of the first, second, and third position changes is greater than a first preset threshold; or determining that the radar sensor has a positioning anomaly if the difference between the distance changes of any two of the first, second, and third position changes is greater than a second preset threshold.

[0010] Furthermore, the method further includes: determining whether the radar sensor is obstructed by a target object; determining that the radar sensor has a positioning anomaly if the radar sensor is obstructed by a target object; and acquiring the first position change, the second position change, and the third position change if the radar sensor is not obstructed by the target object.

[0011] Further, determining whether the radar sensor is blocked by the target object includes: emitting a third set of electromagnetic waves through the radar sensor of the mobile robot to obtain a third set of measurement data; if there are measurement data in the third set of measurement data that are greater than the target number, it is determined that the radar sensor is blocked by the target object, wherein the value of the measurement data is less than a preset distance.

[0012] According to another aspect of the present invention, a device for determining sensor positioning anomalies is also provided. The device includes: a first determining module, configured to determine a first position change of a mobile robot within a preset time interval using a radar sensor; a second determining module, configured to determine a second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheel odometer; a third determining module, configured to determine a third position change of the mobile robot within the preset time interval using a wheel speed sensor; and a fourth determining module, configured to determine whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, wherein the computer program is configured to execute the above-described method for determining sensor positioning anomalies when it is run.

[0014] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the sensor positioning anomaly determination method via the computer program.

[0015] This invention uses a radar sensor, an inertial measurement unit, a wheeled odometer, and a wheel speed sensor to determine the first, second, and third position changes of a mobile robot within a preset time interval, respectively. Furthermore, by comparing the position changes determined by these three different methods, it can be determined whether the radar sensor exhibits a positioning anomaly. This solves the problem of inaccurate maps constructed by mobile robots using radar sensors due to uncertainty about whether the radar sensor exhibits a positioning anomaly. [Attached Image Description]

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a hardware structure block diagram of a mobile robot for determining sensor positioning anomalies according to an embodiment of the present invention.

[0018] Figure 2 This is a flowchart of a method for determining sensor positioning anomalies according to an embodiment of the present invention;

[0019] Figure 3This is a structural block diagram (a) of a sensor positioning anomaly determination device according to an embodiment of the present invention;

[0020] Figure 4 This is a structural block diagram (II) of a sensor positioning anomaly determination device according to an embodiment of the present invention.

Detailed Implementation Methods

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] The methods and embodiments provided in this application can be executed in a mobile robot or a similar computing device. Taking running on a mobile robot as an example, Figure 1 This is a hardware structure block diagram of a mobile robot using a sensor positioning anomaly determination method according to an embodiment of the present invention. Figure 1 As shown, a mobile robot may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the mobile robot may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile robot described above. For example, the mobile robot may also include components that are larger than... Figure 1The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0024] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the sensor positioning anomaly determination method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile robot via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0025] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile robot's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0026] It should be noted that the technical solutions of the embodiments of this application can be applied to mobile robots, especially a sweeping robot. That is, by adopting the technical solutions of the embodiments of this application, the sweeping robot can make the final constructed map consistent with the actual house layout.

[0027] This embodiment provides a method for determining sensor positioning anomalies. Figure 2 This is a flowchart of a method for determining sensor positioning anomalies according to an embodiment of the present invention. The flowchart includes the following steps:

[0028] Step S202: Determine the first position change of the mobile robot within a preset time interval using a radar sensor;

[0029] Step S204: Determine the second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheeled odometer;

[0030] Step S206: Determine the change in the third position of the mobile robot within the preset time interval using the wheel speed sensor;

[0031] It should be noted that the radar sensor, the inertial measurement unit, the wheeled odometer, and the wheel speed sensor can be installed in the mobile robot;

[0032] It should be noted that the execution of steps S202-S206 above is not in any particular order.

[0033] It should be noted that the above-mentioned preset time interval is set by the developer. Specifically, it can be 1 second, 0.5 seconds, 1.5 seconds, etc. Of course, it can also be set to other times. This specification does not limit this embodiment.

[0034] Step S208: Determine whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change.

[0035] It should be noted that the aforementioned changes in position specifically include changes in direction and changes in distance.

[0036] Through the above steps, the first, second, and third position changes of the mobile robot within a preset time interval are determined by radar sensors, inertial measurement units, wheel odometers, and wheel speed sensors, respectively. Then, by comparing the position changes determined by the three methods, it can be determined whether there is a positioning anomaly in the radar sensor. This solves the problem that the map constructed by the mobile robot using radar sensors is inaccurate because it is unclear whether there is a positioning anomaly in the radar sensor.

[0037] In an exemplary embodiment, step S202 described above can be implemented in the following manner:

[0038] Step S1: Obtain the first set of measurement data from the first set of electromagnetic waves emitted by the radar sensor of the mobile robot at the first moment;

[0039] In other words, the mobile robot, at its first location, will send a set of electromagnetic waves through its radar sensor, and the radar sensor will then calculate the first set of measurement data based on the reflected electromagnetic waves.

[0040] For example, the radar sensor determines from the first set of measurement data that the mobile robot is 5 meters away from the wall on the right and 4 meters away from the wall in front at its first position.

[0041] Step S2: Obtain the second set of measurement data from the second set of electromagnetic waves emitted by the radar sensor of the mobile robot at the second time, wherein the preset time interval is the difference between the second time and the first time; determine the second position of the mobile robot based on the first set of measurement data and the second set of measurement data;

[0042] Similarly, when the mobile robot moves to the second position at the second time, it will use the radar sensor to emit another set of electromagnetic waves to obtain a second set of measurement data.

[0043] For example, the radar sensor determined from the second set of measurement data that the mobile robot was 4 meters away from the wall on the right and 3 meters away from the wall in front at the second position.

[0044] Assuming the right side is the positive X-axis and the front is the positive Y-axis, and assuming the coordinates of the first position are (0, 0), then the coordinates of the second position can be determined as (1, 1).

[0045] Step S3: Determine the first directional change and the first distance change of the mobile robot within the preset time interval based on the first position and the second position of the mobile robot at the first time. The first position change includes the first directional change and the first distance change.

[0046] Assuming the coordinates of the first position are (0, 0) and the coordinates of the second position are (1, 1), then mathematical calculations show that the change in the first direction is +45 degrees and the change in the first distance is √2.

[0047] In an exemplary embodiment, step S204 described above can be implemented in the following manner:

[0048] Step S1: Determine the angular rate of the mobile robot's movement within the preset time interval using the inertial measurement unit, and determine the number of tire rotations of the mobile robot within the preset time interval using the wheel odometer;

[0049] Step S2: Determine the amount of change in the second direction of the mobile robot within the preset time interval based on the angular velocity of the mobile robot and the preset time interval;

[0050] It should be noted that the angular velocity of the mobile robot can be integrated within the preset time interval to obtain the angle of movement of the mobile robot within the preset time interval, and thus obtain the change in the second direction within the preset time interval.

[0051] Step S3: The product of the number of rotations of the tire and the circumference of the tire is determined as the second distance change of the mobile robot within the preset time interval; wherein, the second position change includes: the second direction change and the second distance change.

[0052] Since the mobile robot moves forward by rotating its tires, it is only necessary to determine the number of rotations of the tires to determine the distance the mobile robot has traveled, thus obtaining the second distance change within a preset time interval.

[0053] In an exemplary embodiment, step S206 above can be implemented in the following way:

[0054] Step S1: Determine the first rotational speed of the first motor of the mobile robot and the second rotational speed of the second motor of the mobile robot through the wheel speed sensor, wherein the first motor is used to drive the first tire and the second motor is used to drive the second tire, and the tires of the mobile robot include: the first tire and the second tire;

[0055] It should be noted that the first tire is the left tire of the mobile robot, and the second tire is the right tire of the mobile robot.

[0056] Step S2: When the first rotation speed is equal to the second rotation speed, determine the third distance change of the mobile robot within the preset time interval based on the first rotation speed and the preset time interval, or determine the third distance change of the mobile robot within the preset time interval based on the second rotation speed and the preset time interval, and determine that the third directional change of the mobile robot within the preset time interval is zero;

[0057] In other words, if the rotational speed of the first and second tires are equal, it means the mobile robot is moving in a straight line. This is because if the mobile robot is not moving in a straight line, the rotational speeds of the left and right tires will be unequal, which in turn will cause the motors driving the left and right tires to rotate at unequal speeds.

[0058] Step S3: When the first rotation speed and the second rotation speed are not equal, determine the third position change and the third distance change of the mobile robot within the preset time interval based on the first rotation speed, the second rotation speed, the distance between the first tire and the second tire, and the preset time interval; wherein, the third position change includes: the third position change and the third distance change.

[0059] Specifically, once the rotational speed of the motors driving the left and right tires, the distance between the left and right tires, and the travel time (preset time interval) are known, the third-direction change and the third-distance change of the mobile robot within the preset time interval can be calculated using kinematic formulas.

[0060] In an exemplary embodiment, step S208 is implemented in the following manner:

[0061] If the difference between the direction change of any two of the first position change, the second position change, and the third position change is greater than a first preset threshold, it is determined that the radar sensor has a positioning anomaly; or if the difference between the distance change of any two of the first position change, the second position change, and the third position change is greater than a second preset threshold, it is determined that the radar sensor has a positioning anomaly.

[0062] In other words, only when the difference between the change in direction and the change in distance among the position changes determined by the three different methods is less than the corresponding preset threshold can it be determined that the radar sensor positioning of the mobile robot is normal; otherwise, it is determined that the radar sensor positioning is abnormal.

[0063] It should be noted that before performing steps S202-S208 above, it is necessary to first determine whether the radar sensor is obstructed by a target object; if the radar sensor is obstructed by a target object, it is determined that the radar sensor has a positioning anomaly; if the radar sensor is not obstructed by the target object, the first position change, the second position change, and the third position change are obtained. Then, based on the first position change, the second position change, and the third position change, it is determined whether the radar sensor has a positioning anomaly. Specifically, the target object includes, but is not limited to, a tissue.

[0064] In an exemplary embodiment, determining whether the radar sensor is blocked by a target object can be achieved by: emitting a third set of electromagnetic waves through the radar sensor of the mobile robot to obtain a third set of measurement data; if there are measurement data in the third set of measurement data that are greater than the target number, it is determined that the radar sensor is blocked by the target object, wherein the value of the measurement data is less than a preset distance.

[0065] In other words, if multiple distance data points obtained by the radar sensor show zero distances or very small distances, it indicates that the radar sensor is being blocked by the target object.

[0066] Obviously, the embodiments described above are merely some embodiments of the present invention, and not all embodiments. To better understand the above method for determining sensor positioning anomalies, the process is described below with reference to embodiments, but this is not intended to limit the technical solutions of the embodiments of the present invention. Specifically:

[0067] In an optional embodiment, this can be achieved through the following steps:

[0068] Step 1: Detect whether the radar sensor is blocked. If it is blocked, the radar sensor will directly enter a positioning anomaly state.

[0069] Step 2: If the radar is not obstructed, the pose increment P1 in the radar coordinate system (equivalent to the first position change in the above embodiment) is calculated using multiple frames of radar data. The pose increment P2 in the odometry coordinate system (equivalent to the second position change in the above embodiment) is calculated using the wheel odometry and IMU (equivalent to the inertial measurement unit in the above embodiment). The pose increment P3 in the machine coordinate system (equivalent to the third position change in the above embodiment) is calculated using the wheel speed fed back by the wheel speed sensor.

[0070] Step 3: Confirm whether the changes of any two of the three pose increments calculated in Step 2 are within the error range. If they are within the error range, the radar sensor is determined to be in normal positioning and enters the normal state. If they are not within the error range, the positioning is determined to be abnormal and the radar sensor enters the abnormal state.

[0071] Step 4: If Step 3 indicates that the radar sensor is in a positioning anomaly, proceed to the positioning anomaly module; otherwise, proceed to the mapping mode.

[0072] Step 5: After locating the anomaly, proceed to the location recovery module. If the location recovery is successful, return to the normal state and proceed to Step 1.

[0073] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0074] This embodiment also provides a device for determining sensor positioning anomalies. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0075] Figure 3 This is a structural block diagram (I) of a sensor positioning anomaly determination device according to an embodiment of the present invention, the device comprising:

[0076] The first determining module 32 is used to determine the first position change of the mobile robot within a preset time interval by using a radar sensor;

[0077] The second determining module 34 is used to determine the second position change of the mobile robot within the preset time interval by means of an inertial measurement unit and a wheeled odometer;

[0078] The third determining module 36 is used to determine the third position change of the mobile robot within the preset time interval by using the wheel speed sensor;

[0079] The fourth determining module 38 is used to determine whether the radar sensor has a positioning abnormality based on the first position change, the second position change, and the third position change.

[0080] The aforementioned device uses a radar sensor, an inertial measurement unit, a wheeled odometer, and a wheel speed sensor to determine the first, second, and third position changes of the mobile robot within a preset time interval, respectively. By comparing the position changes determined by the three methods, it can be determined whether there is a positioning anomaly in the radar sensor. This solves the problem that when a mobile robot uses a radar sensor to build a map, the map is inaccurate because it is unclear whether there is a positioning anomaly in the radar sensor.

[0081] In an exemplary embodiment, the first determining module 32 is further configured to acquire a first set of measurement data obtained from a first set of electromagnetic waves emitted by the radar sensor of the mobile robot at a first time; acquire a second set of measurement data obtained from a second set of electromagnetic waves emitted by the radar sensor of the mobile robot at a second time, wherein the preset time interval is the difference between the second time and the first time; determine a second position of the mobile robot based on the first set of measurement data and the second set of measurement data; and determine a first directional change and a first distance change of the mobile robot within the preset time interval based on the first position and the second position of the mobile robot at the first time, wherein the first position change includes: the first directional change and the first distance change.

[0082] In an exemplary embodiment, the second determining module 34 is further configured to determine the angular rate of movement of the mobile robot within the preset time interval by means of the inertial measurement unit, and to determine the number of rotations of the tires of the mobile robot within the preset time interval by means of the wheel odometer; to determine the second directional change of the mobile robot within the preset time interval based on the angular rate of movement of the mobile robot and the preset time interval; and to determine the second distance change of the mobile robot within the preset time interval by multiplying the number of rotations of the tires by the circumference of the tires; wherein the second position change includes: the second directional change and the second distance change.

[0083] In an exemplary embodiment, the third determining module 36 is further configured to determine, via the wheel speed sensor, a first rotational speed of the first motor of the mobile robot and a second rotational speed of the second motor of the mobile robot, wherein the first motor is used to drive a first tire, the second motor is used to drive a second tire, and the tires of the mobile robot include: the first tire and the second tire; when the first rotational speed and the second rotational speed are equal, determining, based on the first rotational speed and the preset time interval, a third distance change of the mobile robot within the preset time interval, or based on the second rotational speed and the preset time interval, determining, and determining, that the third position change of the mobile robot within the preset time interval is zero; when the first rotational speed and the second rotational speed are not equal, determining, based on the first rotational speed, the second rotational speed, the distance between the first tire and the second tire, and the preset time interval, the third position change of the mobile robot within the preset time interval and the third distance change; wherein, the third position change includes: the third position change and the third distance change.

[0084] In an exemplary embodiment, the fourth determining module 38 is further configured to determine that the radar sensor has a positioning anomaly when the difference between the direction change of any two of the first position change, the second position change, and the third position change is greater than a first preset threshold; or to determine that the radar sensor has a positioning anomaly when the difference between the distance change of any two of the first position change, the second position change, and the third position change is greater than a second preset threshold.

[0085] Figure 4 This is a structural block diagram (II) of a sensor positioning anomaly determination device according to an embodiment of the present invention. The device includes: a fifth determination module 40.

[0086] In an exemplary embodiment, the fifth determining module 40 is configured to determine whether the radar sensor is obstructed by a target object; if the radar sensor is obstructed by a target object, determine that the radar sensor has a positioning anomaly; if the radar sensor is not obstructed by the target object, acquire the first position change, the second position change, and the third position change.

[0087] In an exemplary embodiment, the fifth determining module 40 is further configured to transmit a third set of electromagnetic waves through the radar sensor of the mobile robot to obtain a third set of measurement data; if there are measurement data in the third set of measurement data that are greater than the target number, determine that the radar sensor is blocked by the target object, wherein the value of the measurement data is less than a preset distance.

[0088] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0089] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0090] S1, determine the first position change of the mobile robot within a preset time interval using radar sensors; and

[0091] S2, the second position change of the mobile robot within the preset time interval is determined by the inertial measurement unit and the wheeled odometer; and

[0092] S3, determine the third position change of the mobile robot within the preset time interval using the wheel speed sensor;

[0093] S4. Based on the first position change, the second position change, and the third position change, determine whether the radar sensor has a positioning anomaly.

[0094] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0095] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0096] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0097] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0098] S1, determine the first position change of the mobile robot within a preset time interval using radar sensors; and

[0099] S2, the second position change of the mobile robot within the preset time interval is determined by the inertial measurement unit and the wheeled odometer; and

[0100] S3, determine the third position change of the mobile robot within the preset time interval using the wheel speed sensor;

[0101] S4. Based on the first position change, the second position change, and the third position change, determine whether the radar sensor has a positioning anomaly.

[0102] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0103] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0104] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0105] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining sensor positioning anomalies, characterized in that, The method includes: The first position change of the mobile robot within a preset time interval is determined by radar sensors, wherein the first position change includes: a first direction change and a first distance change; and The second position change of the mobile robot within the preset time interval is determined by an inertial measurement unit and a wheeled odometer, wherein the second position change includes: a second direction change and a second distance change; and The third position change of the mobile robot within the preset time interval is determined by a wheel speed sensor, wherein the third position change includes: a third direction change and a third distance change; Based on the first position change, the second position change, and the third position change, it is determined whether the radar sensor has a positioning anomaly. The determination of whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change includes: If the difference between the directional changes of any two of the first position change, the second position change, and the third position change is greater than a first preset threshold, it is determined that the radar sensor has a positioning anomaly. Alternatively, if the difference between the distance changes of any two of the first, second, and third position changes is greater than a second preset threshold, it is determined that the radar sensor has a positioning anomaly.

2. The method according to claim 1, characterized in that, Determining the first position change of the mobile robot within a preset time interval using radar sensors includes: The first set of measurement data is obtained from the first set of electromagnetic waves emitted by the radar sensor of the mobile robot at the first moment; The second set of measurement data is obtained from the second set of electromagnetic waves emitted by the radar sensor of the mobile robot at a second time, wherein the preset time interval is the difference between the second time and the first time; The second position of the mobile robot is determined based on the first set of measurement data and the second set of measurement data; The first directional change and the first distance change of the mobile robot within the preset time interval are determined based on the first position and the second position of the mobile robot at the first time.

3. The method according to claim 1, characterized in that, Determining the second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheeled odometer includes: The inertial measurement unit determines the angular rate of movement of the mobile robot within the preset time interval, and the wheel odometer determines the number of tire rotations of the mobile robot within the preset time interval. The change in the second direction of the mobile robot within the preset time interval is determined based on the angular velocity of the mobile robot's movement and the preset time interval; and The product of the number of rotations of the tire and the circumference of the tire is determined as the second distance change of the mobile robot within the preset time interval.

4. The method according to claim 1, characterized in that, The third position change of the mobile robot within the preset time interval is determined by a wheel speed sensor, including: The first rotational speed of the first motor of the mobile robot and the second rotational speed of the second motor of the mobile robot are determined by the wheel speed sensor, wherein the first motor is used to drive the first tire and the second motor is used to drive the second tire, and the tires of the mobile robot include: the first tire and the second tire; When the first rotational speed is equal to the second rotational speed, the third distance change of the mobile robot within the preset time interval is determined based on the first rotational speed and the preset time interval, or the third distance change of the mobile robot within the preset time interval is determined based on the second rotational speed and the preset time interval, and the third directional change of the mobile robot within the preset time interval is determined to be zero; When the first rotational speed and the second rotational speed are not equal, the third directional change and the third distance change of the mobile robot within the preset time interval are determined based on the first rotational speed, the second rotational speed, the distance between the first tire and the second tire, and the preset time interval.

5. The method according to claim 1, characterized in that, The method further includes: Determine whether the radar sensor is blocked by the target object; If the radar sensor is blocked by the target object, it is determined that the radar sensor has a positioning anomaly. When the radar sensor is not obstructed by the target object, the first position change, the second position change, and the third position change are acquired.

6. The method according to claim 5, characterized in that, Determining whether the radar sensor is blocked by a target object includes: The mobile robot emits a third set of electromagnetic waves through its radar sensor to obtain a third set of measurement data. If there are measurement data in the third set of measurement data that are greater than the target number, it is determined that the radar sensor is blocked by the target object, wherein the value of the measurement data is less than a preset distance.

7. A device for determining sensor positioning anomalies, characterized in that, The device includes: The first determining module is used to determine the first position change of the mobile robot within a preset time interval by using a radar sensor, wherein the first position change includes: a first direction change and a first distance change. The second determining module is used to determine the second position change of the mobile robot within the preset time interval using an inertial measurement unit and a wheeled odometer, wherein the second position change includes: a second direction change and a second distance change; and The third determining module is used to determine the third position change of the mobile robot within the preset time interval by using a wheel speed sensor, wherein the third position change includes: a third direction change and a third distance change; The fourth determining module is used to determine whether the radar sensor has a positioning anomaly based on the first position change, the second position change, and the third position change. The fourth determining module is further configured to: If the difference between the directional changes of any two of the first position change, the second position change, and the third position change is greater than a first preset threshold, it is determined that the radar sensor has a positioning anomaly. Alternatively, if the difference between the distance changes of any two of the first, second, and third position changes is greater than a second preset threshold, it is determined that the radar sensor has a positioning anomaly.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 6 when it is run.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 6.

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