A cliff detection method, a terminal device and a storage medium

Abstract

The application is suitable for the technical field of robots, and provides a cliff detection method, a terminal device and a storage medium. The method comprises the following steps: a distance sensor is installed on a robot, the distance sensor is used for measuring a measurement distance between the distance sensor and a target area, and the target area is a front ground area that can be irradiated by a measurement signal emitted by the distance sensor; a measurement distance collected by the distance sensor is acquired; and if the measurement distance is greater than or equal to a reference distance, it is determined that the target area is a cliff, wherein the reference distance is determined based on a maximum slope angle that can be passed by the robot. According to the application, the reference distance is set in advance based on the maximum slope angle that can be passed by the robot, and the measurement distance between the target area detected by the distance sensor and the distance sensor can be used to accurately determine whether the target area is a cliff. The application provides a new method for measuring a cliff, and enables the robot to accurately detect whether a cliff exists on a front road surface.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a cliff detection method, terminal equipment and storage medium. Background Technology

[0002] With the development of technology, robots have entered all walks of life. For robots that walk on the ground, they mainly perceive external obstacles through laser navigation or visual navigation. However, due to the limitations of the perception capabilities of laser navigation and visual navigation, robots cannot accurately detect whether there is a cliff on the road ahead, causing the robots to fall. Summary of the Invention

[0003] This application provides a cliff detection method, terminal device, and storage medium, which can solve the problem that robots cannot accurately detect cliffs.

[0004] In a first aspect, embodiments of this application provide a cliff detection method, wherein a distance sensor is mounted on a robot at a preset installation height and a preset installation angle. The distance sensor is used to measure the distance between the distance sensor and a target area, where the target area is the ground area in front illuminated by the measurement signal emitted by the distance sensor, and the installation angle characterizes the angle between the optical axis of the distance sensor and the horizontal road surface; the method includes:

[0005] Obtain the maximum slope angle that the robot can traverse, the installation height, and the installation angle;

[0006] Based on the maximum slope angle, the installation height, and the installation angle, a reference distance is determined, wherein the reference distance is the maximum distance that the distance sensor can detect when the robot is on a non-cliff section;

[0007] During the robot's movement, the measured distance collected by the distance sensor is acquired;

[0008] If the measured distance is greater than or equal to the reference distance, then the target area is determined to be a cliff.

[0009] Secondly, embodiments of this application provide a robot, including: a distance sensor and a processor. The distance sensor is mounted on the robot at a preset installation height and a preset installation angle. The distance sensor is used to measure the distance between the distance sensor and a target area. The target area is the ground area in front that can be illuminated by the measurement signal emitted by the distance sensor. The installation angle represents the angle between the optical axis of the distance sensor and the horizontal road surface. The processor includes:

[0010] The parameter acquisition module is used to acquire the maximum slope angle that the robot can traverse, the installation height, and the installation angle;

[0011] The reference distance calculation module is used to determine a reference distance based on the maximum slope angle, the installation height, and the installation angle, wherein the reference distance is the maximum distance that the distance sensor can detect when the robot is on a non-cliff section;

[0012] A distance acquisition module is used to acquire the measured distance collected by the distance sensor during the robot's movement.

[0013] The cliff detection module is used to determine that the target area is a cliff if the measured distance is greater than or equal to the reference distance.

[0014] Thirdly, embodiments of this application provide a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the cliff detection method described in any one of the first aspects above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the cliff detection method described in any one of the first aspects above.

[0016] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the cliff detection method described in any one of the first aspects.

[0017] The beneficial effects of the first aspect of this application compared with the prior art are as follows: This application installs a distance sensor on a robot, detects the measured distance between the target area in front and the distance sensor through the distance sensor; obtains the maximum slope angle that the robot can traverse; determines a reference distance based on the maximum slope angle, the installation height and the installation angle; during the robot's movement, if the measured distance is greater than or equal to the reference distance, the target area is determined to be a cliff, wherein the reference distance is determined based on the maximum slope angle that the robot can traverse.

[0018] This application calculates a reference distance based on the maximum slope angle the robot can traverse, the installation height of the distance sensor, and the installation angle of the distance sensor. Since the measured distance detected by the distance sensor is greater in cliff sections than in non-cliff sections, the target area is determined to be a cliff when the measured distance is greater than or equal to the reference distance. This application provides a novel method for cliff measurement, enabling the robot to accurately detect the presence of cliffs on the road ahead.

[0019] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a robot structure and a scene when the robot travels across a horizontal road surface, according to an embodiment of this application.

[0022] Figure 2 This is a schematic flowchart of a cliff detection method provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of a robot detecting a cliff according to an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of a robot detecting a cliff according to another embodiment of this application;

[0025] Figure 5 This is a schematic diagram of a robot traversing an uphill road according to an embodiment of this application. Figure 1 ;

[0026] Figure 6 This is a schematic diagram of a robot traversing an uphill road according to an embodiment of this application. Figure 2 ;

[0027] Figure 7 This is a schematic diagram of a robot traversing a downhill road according to an embodiment of this application. Figure 1 ;

[0028] Figure 8 This is a schematic diagram of a robot traversing a downhill road according to an embodiment of this application. Figure 2 ;

[0029] Figure 9 This is a schematic diagram of the change in the measured distance detected by the robot when it travels uphill, according to an embodiment of this application.

[0030] Figure 10 This is a schematic diagram of the change in the measured distance detected by the robot when it travels down a slope, according to an embodiment of this application.

[0031] Figure 11This is a schematic diagram of the measured distance detected by a robot when it travels uphill, according to an embodiment of this application.

[0032] Figure 12 This is a schematic diagram of the measured distance detected by a robot when it travels down a slope, according to an embodiment of this application.

[0033] Figure 13 This is a schematic diagram of the measured distance detected by the robot when it crosses a hurdle, according to an embodiment of this application;

[0034] Figure 14 This is a schematic diagram of the measured distance detected by the robot when it travels on an uphill road, according to another embodiment of this application;

[0035] Figure 15 This is a flowchart illustrating a method for determining a reference distance according to an embodiment of this application;

[0036] Figure 16 This is a flowchart illustrating a method for determining the installation range of the installation angle according to an embodiment of this application;

[0037] Figure 17 This is a schematic diagram of the structure of a processor in a robot provided in an embodiment of this application;

[0038] Figure 18 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0039] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0040] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0041] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0043] Currently, to prevent robots from entering areas with cliffs, the main method is to manually restrict their movement area. This can be achieved by using virtual fences or geomagnetic detection. However, using virtual fences requires manual on-site inspection of the terrain, increasing labor costs. Geomagnetic detection requires laying geomagnetic sensors on the ground, which is costly, difficult to maintain, and has limited application space.

[0044] Based on the above factors, this application proposes a cliff detection method that determines whether a cliff exists in front of the robot by measuring the distance using a distance sensor installed on the robot. The detection method of this application is simple, highly accurate, widely applicable, and relatively low in cost.

[0045] This application involves installing a distance sensor in front of the robot. The distance sensor detects the distance between a target area on the road surface ahead and the sensor itself. The target area is the ground area in front that can be illuminated by the measurement signal emitted by the distance sensor. Figure 1 As shown in the figure, 1 is the distance sensor and 2 is the target area.

[0046] Distance sensors can be infrared distance sensors, laser sensors, or ultrasonic distance sensors, etc.

[0047] The mounting height of the distance sensor on the robot is preset, and in this application, the mounting height of the robot is denoted as H1. The mounting height can also characterize the distance between the distance sensor and the horizontal surface when the robot is on a horizontal surface.

[0048] The installation angle of the distance sensor is denoted as θ, which represents the angle between the optical axis of the distance sensor and the horizontal road surface.

[0049] Figure 2 A schematic flowchart of the cliff detection method provided in this application is shown, with reference to... Figure 2 The method is described in detail below:

[0050] S101, obtain the maximum slope angle that the robot can traverse, the installation height, and the installation angle.

[0051] In this embodiment, the maximum slope angle can be determined based on the robot's performance or the maximum height of the cliff that the user wants the robot to detect. The maximum slope angle can be either the maximum uphill angle or the maximum downhill angle.

[0052] S102, based on the maximum slope angle, the installation height and the installation angle, a reference distance is determined, wherein the reference distance is the maximum distance that the distance sensor can detect when the robot is on a non-cliff section.

[0053] In this embodiment, the reference distance is determined by looking up a table. The table is set in advance and contains reference distances corresponding to different maximum slope angles, different installation angles, and different installation heights.

[0054] It should be noted that steps S101 and S102 can be calculated when the robot is used for the first time, and the calculated reference distance can be saved so that it does not need to be calculated again during subsequent uses. Alternatively, steps S101 to S102 can be executed every time the robot is started.

[0055] S103, during the robot's movement, the measured distance collected by the distance sensor is acquired.

[0056] In this embodiment, the distance sensor emits a measurement signal, which is reflected back after illuminating the ground in front of it. The measurement distance between the target area and the distance sensor is calculated based on the time of emission of the measurement signal and the time of receipt of the reflected signal.

[0057] S104, if the measured distance is greater than or equal to the reference distance, then the target area is determined to be a cliff. In this embodiment, since the measured distance detected by the distance sensor is greater when there is a cliff section than when there is no cliff section, when the measured distance is less than the reference distance, it is determined that there is no cliff in the target area, and the robot can pass through the target area. When the target area is determined to be a cliff, the robot needs to detour.

[0058] In this embodiment, a distance sensor is installed on the robot to detect the measured distance between the target area ahead and the sensor. If the measured distance is greater than or equal to a reference distance, the target area is determined to be a cliff. The reference distance is determined based on the maximum slope angle that the robot can traverse. This application calculates the reference distance based on the maximum slope angle that the robot can traverse, the installation height of the distance sensor, and the installation angle of the distance sensor. Since the measured distance detected by the distance sensor is greater when there is a cliff section than when there is no cliff section, the target area is determined to be a cliff when the measured distance is greater than or equal to the reference distance. This application provides a new method for cliff measurement, enabling the robot to accurately detect whether a cliff exists on the road ahead.

[0059] In one possible implementation, the process of determining the reference distance may include:

[0060] The principles of cliff detection include:

[0061] Scenario 1: The robot travels across a level surface, such as... Figure 1 As shown, the distance detected by the distance sensor is the standard distance. The standard distance is calculated as follows: The D normal H1 is the standard distance, H1 is the installation height, and θ is the installation angle.

[0062] Scenario 2: The robot is crossing a cliff. There is a height difference between the cliff and the horizontal road surface. The distance measured by the distance sensor is: D H H is the distance measured in the current scenario. i This refers to the height difference between the cliff and the horizontal road surface. For example... Figure 3 As shown, when the height difference between the cliff and the horizontal road surface is 100mm, H i It is 100. like Figure 4 As shown, when the height difference between the cliff and the horizontal road surface is 300mm, H i It is 300.

[0063] From the above scenario, it can be concluded that the measured distance when the robot passes over a cliff is greater than the distance when the robot passes over a horizontal road. Moreover, the greater the height difference between the cliff and the horizontal road, the greater the measured distance detected by the distance sensor.

[0064] Therefore, it was concluded that when the measured distance is greater than the standard distance on a level surface, a cliff is confirmed to exist in the target area. However, research has shown that due to uneven road surfaces or changes in the robot's posture, the robot's measured distance may also exceed the standard distance in non-cliff areas. Therefore, to reduce the error in cliff identification and improve its accuracy, it is necessary to consider the robot's measured distance from the distance sensor under different road conditions and postures, thereby determining a more accurate reference distance.

[0065] Scenario 3: The robot is traversing an uphill section of road, such as... Figure 5 and Figure 6 The image shows the robot going uphill.

[0066] Depend on Figure 5 From ①, we can obtain: When the robot travels on a level surface, the distance D measured by the distance sensor is... normal .

[0067] Depend on Figure 5 From ②, we can conclude that when the robot detects an uphill road surface, the measured distance detected by the distance sensor is less than D when the robot detects a horizontal road surface. normal .

[0068] Depend on Figure 5 From ③, we can conclude that when the robot's front wheels reach the starting point of the uphill climb, the distance measured by the distance sensor reaches its minimum value D. 上坡sub .

[0069] Depend on Figure 5 From ④, we can conclude that before the robot's rear wheels enter the starting point of the uphill slope, the measured distance detected by the distance sensor starts to increase from its minimum value.

[0070] Depend on Figure 6 From ⑤, we can obtain: When the uphill section is long enough (greater than the robot's body length) and the robot is completely on the uphill surface, the distance D measured by the distance sensor is... normal .

[0071] Depend on Figure 6 From ⑥, we can conclude that when the robot is on an uphill surface and the distance sensor detects a horizontal surface, the measured distance detected by the distance sensor is greater than D. normal .

[0072] Depend on Figure 6 From ⑦, we can conclude that when the robot's front wheels reach the end of the uphill section, the distance measured by the distance sensor reaches its maximum value D. 上坡up .

[0073] Depend on Figure 6 From ⑧, we can conclude that before the robot's rear wheels reach the end of the uphill road, the distance measured by the distance sensor is less than D. 上坡upAnd the measured distance is greater than D normal .

[0074] Depend on Figure 6 From ⑨, we can conclude that after the robot's rear wheels reach the end of the uphill section (the robot returns to the level surface), the distance measured by the distance sensor is D. normal .

[0075] Scenario 4: The robot passes through a downhill section, such as... Figure 7 and Figure 8 The image shows the robot descending a slope.

[0076] Depend on Figure 7 From ①, we can obtain: When the robot travels on a level surface, the distance D measured by the distance sensor is... normal .

[0077] Depend on Figure 7 From ②, we can conclude that when the robot detects a downhill road surface, the measured distance from the sensor to the other side is greater than D when the robot detects a horizontal road surface. normal .

[0078] Depend on Figure 7 From ③, we can conclude that when the robot's front wheels reach the starting point of the downhill slope, the distance measured by the distance sensor reaches its maximum value D. 下坡up .

[0079] Depend on Figure 7 From ④, we can conclude that before the robot's rear wheels reach the starting point of the downhill slope, the measured distance detected by the distance sensor begins to decrease from its maximum value, and the measured distance is greater than D. normal .

[0080] Depend on Figure 8 From ⑤, we can obtain: When the downhill section is long enough (greater than the robot's body length) and the robot is completely on the downhill surface, the distance D measured by the distance sensor is... normal .

[0081] Depend on Figure 8 From ⑥, we can conclude that when the robot is on a downhill slope and the distance sensor detects a horizontal surface, the measured distance detected by the distance sensor is less than D. normal .

[0082] Depend on Figure 8 From ⑦, we can conclude that when the robot's front wheels reach the end of the downhill slope, the distance measured by the distance sensor reaches its minimum value D. 下坡sub .

[0083] Depend on Figure 8 From ⑧, we can conclude that before the robot's rear wheels reach the end of the downhill slope, the measured distance detected by the distance sensor increases from its minimum value, and the measured distance is less than D. normal .

[0084] Depend on Figure 8 From ⑨, we can conclude that after the robot's rear wheels reach the end of the downhill section (the robot returns to the level surface), the distance measured by the distance sensor is D. normal .

[0085] From scenarios three and four above, we can deduce the changes in the measured distance detected by the distance sensor as the robot goes uphill and downhill. Specifically, for example... Figure 9 The image shows the change in the measured distance detected by the distance sensor as the robot ascends a slope. The measured distance decreases from a large value, then increases again after reaching its minimum value, and then decreases again after reaching its maximum value. Figure 10 The image shows the change in the measured distance detected by the distance sensor as the robot descends the slope. The measured distance increases from small to large, then decreases when it reaches its maximum value, and then increases again when it reaches its minimum value.

[0086] For example Figure 11 As shown, the method for calculating the distance when the robot travels on an uphill road is as follows: D1 represents the increased distance detected by the distance sensor, α represents the slope angle of the uphill road surface, θ represents the installation angle of the distance sensor, L = H1 × cot(θ), and H1 represents the installation height of the distance sensor. 上坡up =D normal +D1.

[0087] like Figure 12 As shown, the method for calculating the distance when the robot travels downhill is as follows: D2 is the increased distance detected by the distance sensor, α is the slope angle of the uphill road, θ is the installation angle of the distance sensor, L = H1 × cot(θ), and H1 is the installation height of the distance sensor. 下坡up =D normal +D2.

[0088] When the uphill angle and the downhill angle are the same, D 上坡up =D 下坡up In this application, D 上坡up =D 下坡up Collectively referred to as D up .

[0089] Based on the above analysis, in order to reduce the error in cliff identification, when the measured distance is greater than or equal to D... up At that time, it was determined that a cliff existed in the target area. Therefore, given a fixed maximum slope angle α that the robot can traverse, the reference distance should be greater than or equal to D. 上坡up =D 下坡up .

[0090] Scenario 5: For situations where the robot needs to overcome obstacles, such as... Figure 13 The diagram shows the robot crossing obstacles.

[0091] When the robot crosses a hurdle, the maximum distance detected by the distance sensor is determined by the height of the hurdle.

[0092] Specifically, the distance detected by the distance sensor when crossing the obstacle is:

[0093] Wherein, D4 detects the increased distance, F is the horizontal distance between the center point of the robot's front wheel and the distance sensor, and α1 is the tilt angle of the robot when crossing the obstacle. Where M is the height of the obstacle crossing, and W b This is the distance (wheelbase) between the center points of the robot's front and rear wheels. For example... Figure 13 As shown, when M = 50 mm,

[0094] like Figure 14 As shown, for D up Perform the conversion.

[0095] Under normal circumstances, a robot's ability to cross obstacles is less than its ability to climb slopes; therefore, α1 is less than α, and thus, D0 is less than D. up When the measured distance is greater than D up The alarm target area has a cliff, which avoids false alarms when crossing the cliff.

[0096] Therefore, when the measured distance is greater than or equal to D... up At that time, it was determined that a cliff existed in the target area. Therefore, given the maximum slope angle α that the robot could traverse, the reference distance should be greater than or equal to D. 上坡up =D 下坡up .

[0097] like Figure 15 As shown, the method for determining the reference distance in step S102 includes:

[0098] S201, based on the maximum slope angle, the installation height, and the installation angle, calculate the distance difference. The distance difference represents the distance difference between the maximum distance measured by the distance sensor in the first scenario and the standard distance measured by the distance sensor in the second scenario. The first scenario is the scenario where the robot passes through the maximum slope angle, and the second scenario is the scenario where the robot passes through the horizontal road surface.

[0099] In this embodiment, the distance difference is calculated using a first model, wherein the first model is... The D CThe distance difference is α, the maximum slope angle is θ, the installation angle is L = H1 × cot(θ), and H1 is the installation height.

[0100] In this embodiment, the maximum slope angle, installation height, and installation angle are input into a preset convolutional neural network to calculate the distance difference. Alternatively, the distance difference can be determined by looking up a table, which pre-sets the distance differences corresponding to different maximum slope angles, installation heights, and installation angles.

[0101] S202, Calculate the standard distance based on the installation height and the installation angle.

[0102] In this embodiment, the standard distance is calculated using a second model, wherein the second model is... The D normal H1 is the standard distance, H1 is the installation height, and θ is the installation angle.

[0103] In this embodiment, the standard distance is determined by looking up a table, which stores the standard distances corresponding to different installation angles and installation heights in advance.

[0104] S203, calculate the sum of the standard distance and the distance difference to obtain the maximum distance measured by the distance sensor in the first scenario.

[0105] S204, determine the reference distance based on the maximum distance.

[0106] In this embodiment, the maximum distance is determined as the reference distance, or the reference distance is obtained by multiplying the maximum distance by a preset ratio. The preset ratio can be set as needed, for example, it can be 5% or 6%.

[0107] In this embodiment, the maximum slope angle is used to determine the reference distance, taking into account that the measurement distance detected by the robot when going uphill is greater than the measurement distance when on flat ground, so that the final determined reference distance is more accurate.

[0108] In one feasible approach, to ensure that the distance sensor can detect the maximum distance in step S204 when the robot is on a slope corresponding to the maximum slope angle, a minimum value for the installation angle of the distance sensor needs to be specified. Additionally, to ensure that the robot can safely brake at its maximum speed when a cliff is detected, a maximum value for the installation angle of the distance sensor also needs to be determined.

[0109] like Figure 16 As shown, specifically, methods for determining the minimum installation angle may include:

[0110] S301, obtain the installation height of the distance sensor on the robot, the maximum slope angle that the robot can traverse, the horizontal distance between the center point of the robot's front wheel and the distance sensor, and the maximum braking distance of the robot.

[0111] In this embodiment, the maximum braking distance is determined in advance based on the robot's braking performance.

[0112] S302, based on the installation height, the maximum slope angle, and the horizontal distance, determine the minimum value of the installation angle of the distance sensor, wherein the installation angle characterizes the angle between the optical axis of the distance sensor and the horizontal road surface.

[0113] Specifically, a first table is pre-set, containing the minimum values ​​of the installation angle corresponding to the installation height, the maximum slope angle, and the horizontal distance. The minimum installation angle of the distance sensor is obtained by searching the first table based on the installation height, the maximum slope angle, and the horizontal distance.

[0114] Alternatively, to ensure that the distance measured by the distance sensor when the robot is crossing a cliff is greater than the distance measured by the distance sensor when the robot is going uphill (e.g., ensuring D...), H >D up The minimum installation angle of the distance sensor needs to be calculated based on the third model, where the third model is... θ min H1 is the minimum value, F is the installation height, F is the horizontal distance, and α is the maximum slope angle.

[0115] S303, based on the installation height, the horizontal distance, and the maximum braking distance, determine the maximum value of the installation angle.

[0116] Specifically, a second table is pre-set, containing the maximum values ​​of the installation angles corresponding to the installation height, the horizontal distance, and the maximum braking distance. The maximum value of the installation angle for the distance sensor is obtained by searching the second table based on the installation height, the horizontal distance, and the maximum braking distance.

[0117] Alternatively, the maximum value of the installation angle can be calculated based on the fourth model, wherein the fourth model is... The θ max Where B is the maximum value, and B is the maximum braking distance. Specifically, After conversion

[0118] S304, Based on the minimum value and the maximum value, determine the installation range of the installation angle, wherein the installation range of the installation angle is used to guide the installation of the distance sensor.

[0119] In this embodiment, When installing a distance sensor, the installation angle of the distance sensor should be within the installation range to ensure the normal use of the distance sensor and the robot.

[0120] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0121] Corresponding to the cliff detection method described in the above embodiments, this application provides a robot, which includes a distance sensor and a processor. The distance sensor is used to measure the distance between the distance sensor and a target area, where the target area is the ground area in front that can be illuminated by the measurement signal emitted by the distance sensor. Figure 17 As shown, the processor 400 includes:

[0122] The parameter acquisition module is used to acquire the maximum slope angle that the robot can traverse, the installation height, and the installation angle;

[0123] The reference distance calculation module is used to determine a reference distance based on the maximum slope angle, the installation height, and the installation angle, wherein the reference distance is the maximum distance that the distance sensor can detect when the robot is on a non-cliff section;

[0124] The distance acquisition module 410 is used to acquire the measured distance collected by the distance sensor during the robot's movement.

[0125] Cliff determination module 420 is used to determine that the target area is a cliff if the measured distance is greater than or equal to the reference distance.

[0126] In one possible implementation, the reference distance calculation module can specifically be used for:

[0127] The distance difference calculation module is used to calculate the distance difference based on the maximum slope angle, the installation height, and the installation angle. The distance difference represents the distance difference between the maximum distance measured by the distance sensor in the first scenario and the standard distance measured by the distance sensor in the second scenario. The first scenario is the scenario in which the robot passes through the maximum slope angle, and the second scenario is the scenario in which the robot passes through the horizontal road surface.

[0128] A standard distance calculation module is used to calculate the standard distance based on the installation height and the installation angle;

[0129] The maximum distance calculation module is used to calculate the sum of the standard distance and the distance difference to obtain the maximum distance measured by the distance sensor in the first scenario;

[0130] A reference distance determination module is used to determine the reference distance based on the maximum distance.

[0131] In one possible implementation, the distance difference calculation module can specifically be used for:

[0132] The distance difference is calculated using a first model, wherein the first model is... The D C The distance difference is α, the maximum slope angle is θ, the installation angle is L = H1 × cot(θ), and H1 is the installation height.

[0133] In one possible implementation, the standard distance calculation module can specifically be used for:

[0134] The standard distance is calculated using the second model, wherein the second model is: The D normal H1 is the standard distance, H1 is the installation height, and θ is the installation angle.

[0135] In one possible implementation, the reference distance determination module can specifically be used for:

[0136] The reference distance is obtained by multiplying the maximum distance by a preset ratio.

[0137] In one possible implementation, the distance acquisition module 410 also includes:

[0138] The information acquisition module is used to acquire the installation height of the distance sensor on the robot, the maximum slope angle that the robot can traverse, the horizontal distance between the center point of the robot's front wheel and the distance sensor, and the robot's maximum braking distance;

[0139] The minimum angle determination module is used to determine the minimum value of the installation angle of the distance sensor based on the installation height, the maximum slope angle and the horizontal distance, wherein the installation angle represents the angle between the optical axis of the distance sensor and the horizontal road surface;

[0140] The maximum angle determination module is used to determine the maximum value of the installation angle based on the installation height, the horizontal distance, and the maximum braking distance;

[0141] The installation range determination module is used to determine the installation range of the installation angle based on the minimum value and the maximum value, wherein the installation range of the installation angle is used to guide the installation of the distance sensor.

[0142] In one possible implementation, the minimum angle determination module can specifically be used for:

[0143] The minimum installation angle of the distance sensor is calculated based on the third model, wherein the third model is... θ min H1 is the minimum value, F is the installation height, F is the horizontal distance, and α is the maximum slope angle.

[0144] In one possible implementation, the maximum angle determination module can specifically be used for:

[0145] The maximum value of the installation angle is calculated based on the fourth model, wherein the fourth model is... The θ max B is the maximum value, and B is the maximum braking distance.

[0146] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0147] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0148] This application also provides a terminal device, see [link to relevant documentation] Figure 18The terminal device 500 may include: at least one processor 510, a memory 520, and a computer program stored in the memory 520 and executable on the at least one processor 510. When the processor 510 executes the computer program, it implements the steps in any of the above method embodiments, for example... Figure 2 Steps S101 to S102 in the illustrated embodiment. Alternatively, when the processor 510 executes the computer program, it implements the functions of each module / unit in the robot described above, for example... Figure 17 The distance acquisition module 410 and the cliff judgment module 420 are shown to have the same functions.

[0149] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 520 and executed by processor 510 to complete this application. The one or more modules / units may be a series of computer program segments capable of performing specific functions, which describe the execution process of the computer program in terminal device 500.

[0150] Those skilled in the art will understand that Figure 18 This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0151] The processor 510 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0152] The memory 520 can be an internal storage unit of the terminal device or an external storage device, such as a plug-in hard drive, a smart media card (SMC), a secure digital card (SD), or a flash card. The memory 520 is used to store the computer program and other programs and data required by the terminal device. The memory 520 can also be used to temporarily store data that has been output or will be output.

[0153] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0154] The cliff detection method provided in this application can be applied to terminal devices such as computers, tablets, laptops, netbooks, and personal digital assistants (PDAs). This application does not impose any restrictions on the specific type of terminal device.

[0155] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0156] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0157] In the embodiments provided in this application, it should be understood that the disclosed terminal devices, apparatuses, and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0158] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0159] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0160] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0161] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0162] Similarly, as a computer program product, when the computer program product is run on a terminal device, it enables the terminal device to implement the steps in the above-described method embodiments.

[0163] The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0164] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A cliff detection method, characterized in that, Applied to robots, the robots are equipped with distance sensors at preset installation heights and preset installation angles. The distance sensors are used to measure the distance between the distance sensors and a target area. The target area is the ground area in front that can be illuminated by the measurement signal emitted by the distance sensors. The installation angle represents the angle between the optical axis of the distance sensors and the horizontal road surface. The method includes: Obtain the maximum slope angle that the robot can traverse, the installation height, and the installation angle; Based on the maximum slope angle, the installation height, and the installation angle, a distance difference is calculated. The distance difference represents the distance difference between the maximum distance measured by the distance sensor in the first scenario and the standard distance measured by the distance sensor in the second scenario. The first scenario is the scenario where the robot passes through the maximum slope angle, and the second scenario is the scenario where the robot passes through the horizontal road surface. The standard distance is calculated based on the installation height and the installation angle; Calculate the sum of the standard distance and the distance difference to obtain the maximum distance measured by the distance sensor in the first scenario; A reference distance is determined based on the maximum distance, wherein the reference distance is the maximum distance that the distance sensor can detect when the robot is on a non-cliff section of road; During the robot's movement, the measured distance collected by the distance sensor is acquired; If the measured distance is greater than or equal to the reference distance, then the target area is determined to be a cliff.

2. The cliff detection method as described in claim 1, characterized in that, The calculation of the distance difference based on the maximum slope angle, the installation height, and the installation angle includes: The distance difference is calculated using a first model, wherein the first model is... , The distance difference is... The maximum slope angle, The installation angle is... , The installation height is [the specified height].

3. The cliff detection method as described in claim 1, characterized in that, The calculation of the standard distance based on the installation height and the installation angle includes: The standard distance is calculated using the second model, wherein the second model is: The The standard distance is... The installation height is [the specified height]. The installation angle is mentioned above.

4. The cliff detection method as described in claim 1, characterized in that, Determining the reference distance based on the maximum distance includes: The reference distance is obtained by multiplying the maximum distance by a preset ratio.

5. The cliff detection method according to any one of claims 1 to 4, characterized in that, The method further includes: The installation height of the distance sensor on the robot, the maximum slope angle that the robot can traverse, the horizontal distance between the center point of the robot's front wheel and the distance sensor, and the robot's maximum braking distance are obtained. Based on the installation height, the maximum slope angle, and the horizontal distance, the minimum value of the installation angle of the distance sensor is determined, wherein the installation angle represents the angle between the optical axis of the distance sensor and the horizontal road surface; The maximum value of the installation angle is determined based on the installation height, the horizontal distance, and the maximum braking distance; Based on the minimum and maximum values, the installation range of the installation angle is determined, wherein the installation range of the installation angle is used to guide the installation of the distance sensor.

6. The cliff detection method as described in claim 5, characterized in that, Determining the minimum installation angle of the distance sensor based on the installation height, the maximum slope angle, and the horizontal distance includes: The minimum installation angle of the distance sensor is calculated based on the third model, wherein the third model is... , For the minimum value, The installation height is [the specified height]. The horizontal distance is... The maximum slope angle is denoted as .

7. The cliff detection method as described in claim 5, characterized in that, Determining the maximum value of the installation angle based on the installation height, the horizontal distance, and the maximum braking distance includes: The maximum value of the installation angle is calculated based on the fourth model, wherein the fourth model is... The The maximum value is... This refers to the maximum braking distance.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the cliff detection method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the cliff detection method as described in any one of claims 1 to 7.

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