Intelligent robot slip detection method and system

Abstract

The application discloses a kind of intelligent robot slip detection method and system, and slip detection is divided into rotation slip and walking slip, for rotation slip, according to the angular velocity of robot setting execution and the angular velocity of gyroscope actual detection compared to judge;For walking slip, the actual linear velocity is detected using GNSS module, and then compared with the linear velocity of robot setting execution to judge, or according to the angular velocity change amount measured by gyroscope on the pitch direction of robot, to judge;The application distinguishes between the rotation and walking behavior of robot, and carries out corresponding slip detection, which is beneficial to the later slip escape treatment and obtains more explicit fault cause;Simple structure, low cost, and high slip detection accuracy.

Description

Technical Field

[0001] This invention relates to intelligent robots, and in particular to a method and system for detecting slippage in intelligent robots. Background Technology

[0002] Intelligent robots are prone to slippage during movement and operation. When slippage occurs, immediate action or fault reporting is crucial; otherwise, the robot may be damaged by impact or become trapped, rendering it unable to continue working. Therefore, a fast and accurate detection mechanism is essential. Existing technologies utilize the current characteristics of the drive motor to determine if the drive wheels are slipping. While this method can detect slippage faults to some extent, its accuracy is limited, and false positives or false negatives are possible. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a method and system for detecting slippage in intelligent robots that features high detection efficiency and low error.

[0004] Therefore, the technical solution of the present invention is: a method for detecting slippage in an intelligent robot, comprising the following steps:

[0005] 1) When the robot is in a rotational motion state, perform rotational slippage detection and execute step 2); when the robot is in a walking motion state, perform walking slippage detection and execute step 3) or step 4).

[0006] 2) Rotation slippage detection: includes the following steps:

[0007] 2.1) Obtain the angular velocity value of the robot in the actual yaw direction, and compare the actual obtained angular velocity value with the angular velocity value set for execution by the robot. If the actual obtained angular velocity value is less than the angular velocity value set for execution by the robot, and the absolute value of the difference between the two is less than the first difference threshold β, proceed to step 2.2); otherwise, proceed to step 2.3).

[0008] 2.2) The first counter S1 starts counting. When the count value of the first counter S1 is greater than the first preset value N1, it is determined that the robot has rotated and slipped. When the count value of the first counter S1 is less than or equal to the first preset value N1, step 2.3) is executed.

[0009] 2.3) Set the first counter S1 to zero and return to step 2.1);

[0010] 3) Walking slippage detection: includes the following steps:

[0011] 3.1) Obtain the ground velocity scalar of the GNSS module on the robot, calculate the difference B between the ground velocity scalar of the GNSS module and the linear velocity of the robot. If the difference B is less than the second difference threshold Ω, proceed to step 3.2); otherwise, proceed to step 3.3).

[0012] 3.2) The second counter S2 starts counting. When the count value of the second counter S2 is greater than the second preset value N2, it is determined that the robot has slipped while walking. When the count value of the second counter S2 is less than or equal to the second preset value N2, step 3.3) is executed.

[0013] 3.3) Set the second counter S2 to zero and return to step 3.1);

[0014] 4) Walking slippage detection: includes the following steps:

[0015] 4.1) Obtain the pitch angular velocity values ​​C1 and C2 of the robot at time T and time T+Δt, and calculate the difference C between the pitch angular velocity values ​​C1 and C2. If the pitch angular velocity difference C < the third difference threshold γ, proceed to step 4.2); otherwise, proceed to step 4.3).

[0016] 4.2) The third counter S3 starts counting. When the count value of the third counter S3 is greater than the third preset value N3, it is determined that the robot has slipped while walking. When the count value of the third counter S3 is less than or equal to the third preset value N3, step 4.3) is executed.

[0017] 4.3) Set the third counter S3 to zero and return to step 4.1).

[0018] Preferably, in step 1), the actual angular velocity of the robot is obtained and compared with a set angular velocity threshold α. When the actual angular velocity ≤ the angular velocity threshold α, the robot is determined to be in a rotational motion state, and step 2) is executed; when the actual angular velocity > the angular velocity threshold α, the robot is determined to be in a walking motion state, and step 3) or step 4) is executed.

[0019] Preferably, in step 1), when the robot is in a walking motion state, if the robot has a GNSS module, then step 3) is executed; if the robot does not have a GNSS module, then step 4 is executed.

[0020] Preferably, in step 2.2), the first preset value N1 is the count value within a set time T1. When the count value of the first counter S1 is greater than the first preset value N1, it indicates that the duration for which the absolute value A of the angular velocity difference is less than the first difference threshold β is greater than the set time T1, and it is determined that the robot has experienced rotational slippage.

[0021] Preferably, in step 3.2), the second preset value N2 is the count value within a set time T2. When the count value of the second counter S2 is greater than the second preset value N2, it indicates that the duration for which the difference B is less than the second difference threshold Ω is greater than the set time T2, and it is determined that the robot has slipped while walking.

[0022] Preferably, in step 4.2), the value of the third preset value N3 is the count value within a set time T3. When the count value of the third counter S3 is greater than the third preset value N3, it indicates that the duration for which the pitch angular velocity difference C is less than the third difference threshold γ is greater than the set time T3, and it is determined that the robot has slipped while walking.

[0023] The second technical solution of the present invention is: an intelligent robot slip detection system, including a main control module and a gyroscope. The main control module is equipped with an angular velocity calculation unit, an angular velocity comparison unit, a pitch angular velocity calculation unit, a pitch angular velocity comparison unit, a duration comparison unit, and multiple counters.

[0024] The gyroscope is used to acquire the robot's pitch, roll, and yaw angular velocities and send the acquired angular velocity values ​​to the main control module.

[0025] The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit.

[0026] The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and send the comparison result to the main control module.

[0027] The pitch rate calculation unit is used to calculate the difference C of pitch rate over time Δt and send the difference C to the pitch rate comparison unit.

[0028] The pitch rate comparison unit is used to compare the pitch rate difference C with the third difference threshold γ and send the comparison result to the main control module.

[0029] The main control module controls the counter to work. The first counter is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit.

[0030] The third counter is used to record the duration for which the pitch angular velocity difference C is less than the third difference threshold γ, and sends the duration to the duration comparison unit;

[0031] The duration comparison unit is used to compare the duration of the counter with the preset duration and send the duration comparison result to the main control module.

[0032] The third technical solution of the present invention is: an intelligent robot slip detection system, including a main control module, a gyroscope and a GNSS module. The main control module is equipped with an angular velocity calculation unit, an angular velocity comparison unit, a linear velocity calculation unit, a linear velocity comparison unit, a duration comparison unit and multiple counters.

[0033] The gyroscope is used to acquire the robot's pitch, roll, and yaw angular velocities and send the acquired angular velocity values ​​to the main control module.

[0034] The GNSS module is used to acquire the robot's ground velocity scalar and send the ground velocity scalar to the main control module;

[0035] The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit.

[0036] The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and send the comparison result to the main control module.

[0037] The linear velocity calculation unit is used to calculate the difference B between the GNSS module's ground velocity scalar and the robot's linear velocity, and then send the difference B to the linear velocity comparison unit.

[0038] The linear velocity comparison unit is used to compare the difference B with the second difference threshold Ω and send the comparison result to the main control module.

[0039] The main control module controls the counter to work. The first counter is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit.

[0040] The second counter is used to record the duration for which the difference B is less than the second difference threshold Ω, and sends the duration to the duration comparison unit;

[0041] The duration comparison unit is used to compare the duration of the counter with the preset duration and send the duration comparison result to the main control module.

[0042] This invention categorizes slippage detection into rotational slippage and walking slippage based on the robot's motion behavior. For rotational slippage, the detection is determined by comparing the robot's preset angular velocity with the actual angular velocity detected by the gyroscope. For walking slippage, an appropriate detection method can be selected based on the specific situation. If the robot has a built-in GNSS module, the actual linear velocity can be detected using the GNSS module and then compared with the robot's preset linear velocity. If the robot does not have a GNSS module, the detection can be based on the change in angular velocity measured by the gyroscope in the robot's pitch direction; thus satisfying slippage detection requirements for different types of robots.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] 1. Differentiating between the robot's rotation and walking behaviors and performing corresponding slippage detection is beneficial for subsequent slippage recovery and helps to obtain a clearer cause of the fault.

[0045] 2. When the robot performs slip detection, it can judge based solely on the angular velocity detected by the gyroscope, or it can add a GNSS module to detect the linear velocity. The structure is simple, the cost is low, and the slip detection accuracy is high. Attached Figure Description

[0046] The following detailed description, in conjunction with the accompanying drawings and embodiments of the present invention, will provide further information.

[0047] Figure 1 This is the overall flowchart of Example 1;

[0048] Figure 2 Here is a flowchart for determining the rotation type in Example 1;

[0049] Figure 3 Here is a flowchart of the rotational slippage detection process for Example 1;

[0050] Figure 4 Here is a flowchart of the walking slip detection process for Example 1;

[0051] Figure 5 This is a structural block diagram of Example 2;

[0052] Figure 6 This is a structural block diagram of Example 3. Detailed Implementation

[0053] In the description of this invention, it should be noted that the directional terms such as "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0055] Example 1

[0056] The motion control of an intelligent robot consists of angular velocity and linear velocity. The intelligent robot is equipped with a gyroscope, which is a three-axis gyroscope that can measure the angular velocities of the x, y, and z axes. The robot can sense pitch, roll, and yaw angular velocities.

[0057] During slippage detection, the gyroscope detects the robot's actual angular velocity and compares it with a set angular velocity threshold α. The angular velocity threshold α can be set by the user, for example, the range of the angular velocity threshold α is set to 20 degrees per second (deg / sec).

[0058] When the actual angular velocity of the robot measured by the gyroscope is less than or equal to the angular velocity threshold α, the robot is determined to be in a rotational motion state, and rotational slippage detection is required.

[0059] When the actual angular velocity of the robot measured by the gyroscope is greater than the angular velocity threshold α, the robot is determined to be in a walking motion state, and walking slippage detection is required.

[0060] During rotational slippage detection:

[0061] 2.1) Obtain the angular velocity value of the robot in the actual yaw direction, and compare the actual obtained angular velocity value with the angular velocity value set for the robot to execute. If the actual obtained angular velocity value is less than the angular velocity value set for the robot to execute, and the absolute value of the difference between the two is less than the first difference threshold β, proceed to step 2.2); otherwise, proceed to step 2.3). The value range of the first difference threshold β can be set to 5 degrees per second (deg / s).

[0062] 2.2) The first counter S1 starts counting. When the count value of the first counter S1 is greater than the first preset value N1, it is determined that the robot has rotated and slipped. When the count value of the first counter S1 is less than or equal to the first preset value N1, step 2.3) is executed.

[0063] The range of the first preset value N1 is the count value corresponding to a 10-second time period; that is, when the absolute value A of the angular velocity difference is less than the first difference threshold β for a duration greater than 10 seconds, it is determined that the robot has rotated and slipped.

[0064] 2.3) Set the first counter S1 to zero. If the actual acquired angular velocity value is greater than or equal to the angular velocity value set by the robot, or the absolute value of the difference between the two is greater than or equal to the first difference threshold β, or the duration of the absolute value A < the first difference threshold β is less than 10 seconds, then the adjustment of rotation slippage is not met. In this case, the first counter S1 is set to zero and the robot works normally.

[0065] When the robot is in a walking motion, if the robot has a GNSS module, the first type of walking slippage detection is performed; if the robot does not have a GNSS module, the second type of walking slippage detection is performed.

[0066] The first type of walking slip detection includes the following steps:

[0067] 3.1) Obtain the ground velocity scalar of the GNSS module on the robot, calculate the difference B between the ground velocity scalar of the GNSS module and the linear velocity of the robot. If the difference B is less than the second difference threshold Ω, proceed to step 3.2); otherwise, proceed to step 3.3).

[0068] 3.2) The second counter S2 starts counting. When the count value of the second counter S2 is greater than the second preset value N2, it is determined that the robot has slipped while walking. When the count value of the second counter S2 is less than or equal to the second preset value N2, step 3.3) is executed.

[0069] The range of the second preset value N2 is the count value corresponding to the 12-second time period; that is, when the duration of the linear velocity difference B being less than the second difference threshold Ω is greater than 12 seconds, it is determined that the robot has slipped while walking.

[0070] 3.3) If the difference B between the ground velocity scalar of the GNSS module and the linear velocity of the robot is greater than or equal to the second difference threshold Ω, or if the duration of the linear velocity difference B being less than the second difference threshold Ω is less than 12 seconds, then the walking slippage condition is not met. At this time, the second counter S2 is reset to zero and the robot works normally.

[0071] The second type of slip detection occurs in the working environment of intelligent robots, such as lawnmowers working on a lawn. When the robot walks, due to the terrain, there is a certain degree of pitch angle. Slip detection can be based on the change in the robot's pitch angular velocity, and includes the following steps:

[0072] 4.1) Obtain the pitch angular velocity values ​​C1 and C2 of the robot at time T and time T+Δt, and calculate the difference C between the pitch angular velocity values ​​C1 and C2. If the pitch angular velocity difference C < the third difference threshold γ, proceed to step 4.2); otherwise, proceed to step 4.3). The value range of the third difference threshold γ is 7 degrees per second (deg / sec).

[0073] 4.2) The third counter S3 starts counting. When the count value of the third counter S3 is greater than the third preset value N3, it is determined that the robot has slipped while walking. When the count value of the third counter S3 is less than or equal to the third preset value N3, step 4.3) is executed.

[0074] The range of the third preset value N3 is the count value corresponding to the 12-second time period. That is, when the duration of the pitch angular velocity difference C being less than the third difference threshold γ is greater than 12 seconds, it is determined that the robot has slipped while walking.

[0075] 4.3) The third counter S3 is set to zero. If the pitch angular velocity difference C is greater than or equal to the third difference threshold γ, or the duration of the pitch angular velocity difference C being less than the third difference threshold γ is less than 12 seconds, then the walking slippage condition is not met. At this time, the third counter S3 is set to zero and the robot works normally.

[0076] Example 2

[0077] This embodiment includes a main control module and a gyroscope. The main control module is equipped with an angular velocity calculation unit, an angular velocity comparison unit, a pitch angular velocity calculation unit, a pitch angular velocity comparison unit, a duration comparison unit, and multiple counters.

[0078] The gyroscope is a three-axis gyroscope, which can measure the angular velocities of the x, y, and z axes. On the robot, it senses the pitch, roll, and yaw angular velocities and sends the acquired angular velocity values ​​to the main control module.

[0079] The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit;

[0080] The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and sends the comparison result to the main control module; the value range of the first difference threshold β is 5 degrees per second (deg / s); when the absolute value A < the first difference threshold β, the main control module controls the first counter S1 to work;

[0081] The first counter S1 is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit;

[0082] The duration comparison unit is used to compare the duration of each counter with each preset duration, and sends the duration comparison result to the main control module. The first preset duration matched with the first counter S1 is 10 seconds. When the duration of the first counter S1 is greater than 10 seconds, the main control module determines that the robot has experienced rotational slippage.

[0083] The pitch rate calculation unit in this embodiment is used to calculate the difference C of pitch rate over time Δt, and send the difference C to the pitch rate comparison unit.

[0084] The pitch rate comparison unit compares the pitch rate difference C with the third difference threshold γ and sends the comparison result to the main control module; the third difference threshold γ has a value range of 7 degrees per second (deg / sec). When the pitch rate difference C < the third difference threshold γ, the main control module controls the third counter S3 to start counting;

[0085] The third counter S3 is used to record the duration for which the pitch angular velocity difference C is less than the third difference threshold γ, and sends the duration to the duration comparison unit. The third preset duration recorded in the duration comparison unit is 12 seconds. When the counting duration of the third counter S3 is greater than 12 seconds, the main control module determines that the robot has slipped while walking.

[0086] Example 3

[0087] This embodiment includes a main control module, a gyroscope, and a GNSS module. The main control module is equipped with an angular velocity calculation unit, an angular velocity comparison unit, a linear velocity calculation unit, a linear velocity comparison unit, a duration comparison unit, and multiple counters.

[0088] The gyroscope is used to acquire the robot's pitch, roll, and yaw angular velocities and send the acquired angular velocity values ​​to the main control module.

[0089] The GNSS module is used to acquire the robot's ground velocity scalar and send the ground velocity scalar to the main control module;

[0090] The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit.

[0091] The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and send the comparison result to the main control module; the value range of the first difference threshold β is 5 degrees per second (deg / s); when the absolute value A < the first difference threshold β, the main control module controls the first counter S1 to work;

[0092] The first counter S1 is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit;

[0093] The duration comparison unit is used to compare the duration of each counter with each preset duration, and sends the duration comparison result to the main control module. The first preset duration matched with the first counter S1 is 10 seconds. When the duration of the first counter S1 is greater than 10 seconds, the main control module determines that the robot has experienced rotational slippage.

[0094] The linear velocity calculation unit is used to calculate the difference B between the GNSS module's ground velocity scalar and the robot's linear velocity, and sends the difference B to the linear velocity comparison unit; the linear velocity comparison unit is used to compare the difference B with the second difference threshold Ω, and sends the comparison result to the main control module; when the difference B < the second difference threshold Ω, the main control module controls the second counter S2 to start counting;

[0095] The second counter S2 is used to record the duration when the difference B is less than the second difference threshold Ω, and sends the duration to the duration comparison unit. The duration comparison unit corresponds to the second counter S2 and is the second preset duration. When the duration counted by the second counter S2 is greater than the second preset duration, the main control module determines that the robot has slipped while walking.

[0096] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for detecting slippage in an intelligent robot, characterized in that: Includes the following steps: 1) When the robot is in a rotational motion state, perform rotational slippage detection and execute step 2); when the robot is in a walking motion state, perform walking slippage detection and execute step 3) or step 4). 2) Rotation slippage detection: includes the following steps: 2.1) Obtain the angular velocity value of the robot in the actual yaw direction, and compare the actual obtained angular velocity value with the angular velocity value set for the robot to execute. If the actual obtained angular velocity value is less than the angular velocity value set for the robot to execute, and the absolute value of the difference A is less than the first difference threshold β, proceed to step 2.2); otherwise, proceed to step 2.3). 2.2) The first counter S1 starts counting. When the count value of the first counter S1 is greater than the first preset value N1, it is determined that the robot has experienced rotational slippage; when the count value of the first counter S1 is less than or equal to the first preset value N1, step 2.3) is executed. 2.3) Set the first counter S1 to zero and return to step 2.1). 3) Walking slippage detection: includes the following steps: 3.1) Obtain the ground velocity scalar of the GNSS module on the robot, calculate the difference B between the ground velocity scalar of the GNSS module and the linear velocity of the robot. If the difference B is less than the second difference threshold Ω, proceed to step 3.2); otherwise, proceed to step 3.3). 3.2) The second counter S2 starts counting. When the count value of the second counter S2 is greater than the second preset value N2, it is determined that the robot has slipped while walking; when the count value of the second counter S2 is less than or equal to the second preset value N2, step 3.3 is executed. 3.3) Set the second counter S2 to zero and return to step 3.1). 4) Walking slippage detection: includes the following steps: 4.1) Obtain the pitch angular velocity values ​​C1 and C2 of the robot at time T and T+Δt, and calculate the difference C between the pitch angular velocity values ​​C1 and C2. If the pitch angular velocity difference C < the third difference threshold γ, proceed to step 4.2); otherwise, proceed to step 4.3). 4.2) The third counter S3 starts counting. When the count value of the third counter S3 is greater than the third preset value N3, it is determined that the robot has slipped while walking; when the count value of the third counter S3 is less than or equal to the third preset value N3, step 4.3 is executed. 4.3) Set the third counter S3 to zero and return to step 4.1).

2. The intelligent robot slippage detection method as described in claim 1, characterized in that: In step 1), the robot's actual angular velocity is obtained and compared with the set angular velocity threshold α. When the actual angular velocity is less than or equal to the angular velocity threshold α, the robot is determined to be in a rotational motion state, and step 2 is executed. When the actual angular velocity is greater than the angular velocity threshold α, the robot is determined to be in a walking motion state, and step 3) or step 4 is executed.

3. The intelligent robot slippage detection method as described in claim 1, characterized in that: In step 1), when the robot is in a walking motion state, if the robot has a GNSS module, then step 3) is executed; if the robot does not have a GNSS module, then step 4 is executed.

4. The intelligent robot slippage detection method as described in claim 1, characterized in that: In step 2.2), the first preset value N1 is the count value within a set time T1. When the count value of the first counter S1 is greater than the first preset value N1, it means that the duration for which the absolute value A of the angular velocity difference is less than the first difference threshold β is greater than the set time T1, and it is determined that the robot has experienced rotational slippage.

5. The intelligent robot slippage detection method as described in claim 1, characterized in that: In step 3.2), the second preset value N2 is the count value within a set time T2. When the count value of the second counter S2 is greater than the second preset value N2, it means that the duration of the difference B being less than the second difference threshold Ω is greater than the set time T2, and it is determined that the robot has slipped while walking.

6. The intelligent robot slippage detection method as described in claim 1, characterized in that: In step 4.2), the value of the third preset value N3 is the count value within the set time T3. When the count value of the third counter S3 is greater than the third preset value N3, it means that the duration of the pitch angular velocity difference C being less than the third difference threshold γ is greater than the set time T3, and it is determined that the robot has slipped while walking.

7. An intelligent robot slip detection system, comprising the slip detection method according to any one of claims 1 to 6, characterized in that: It includes a main control module and a gyroscope. The main control module contains an angular velocity calculation unit, an angular velocity comparison unit, a pitch angular velocity calculation unit, a pitch angular velocity comparison unit, a duration comparison unit, and multiple counters. The gyroscope is used to acquire the robot's pitch, roll, and yaw angular velocities and send the acquired angular velocity values ​​to the main control module. The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit. The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and send the comparison result to the main control module. The pitch rate calculation unit is used to calculate the difference C of pitch rate over time Δt and send the difference C to the pitch rate comparison unit. The pitch rate comparison unit is used to compare the pitch rate difference C with the third difference threshold γ and send the comparison result to the main control module. The main control module controls the counter to work. The first counter is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit. The third counter is used to record the duration for which the pitch angular velocity difference C is less than the third difference threshold γ, and sends the duration to the duration comparison unit; The duration comparison unit is used to compare the duration of the counter with the preset duration and send the duration comparison result to the main control module.

8. An intelligent robot slip detection system, comprising the slip detection method according to any one of claims 1 to 6, characterized in that: It includes a main control module, a gyroscope and a GNSS module. The main control module is equipped with an angular velocity calculation unit, an angular velocity comparison unit, a linear velocity calculation unit, a linear velocity comparison unit, a duration comparison unit and multiple counters. The gyroscope is used to acquire the robot's pitch, roll, and yaw angular velocities and send the acquired angular velocity values ​​to the main control module. The GNSS module is used to acquire the robot's ground velocity scalar and send the ground velocity scalar to the main control module; The angular velocity calculation unit is used to calculate the difference between the angular velocity value obtained by the gyroscope and the angular velocity value set by the robot, and sends the absolute value A of the difference to the angular velocity comparison unit. The angular velocity comparison unit is used to compare the absolute value A of the difference with the first difference threshold β, and send the comparison result to the main control module. The linear velocity calculation unit is used to calculate the difference B between the GNSS module's ground velocity scalar and the robot's linear velocity, and then send the difference B to the linear velocity comparison unit. The linear velocity comparison unit is used to compare the difference B with the second difference threshold Ω and send the comparison result to the main control module. The main control module controls the counter to work. The first counter is used to record the duration for which the absolute value A is less than the first difference threshold β, and sends the duration to the duration comparison unit. The second counter is used to record the duration for which the difference B is less than the second difference threshold Ω, and sends the duration to the duration comparison unit; The duration comparison unit is used to compare the duration of the counter with the preset duration and send the duration comparison result to the main control module.

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