Robot wheel feedback speed line breakage detection method, device and equipment

Abstract

The invention discloses a robot wheel feedback speed line breakage detection method, device and equipment, and relates to the technical field of robot control, and the method comprises the steps: obtaining the actual angular speed of a target robot and the feedback speed of each moving wheel in the target robot; and determining a wheel feedback velocity line detection result of the target robot according to the ideal angular velocity and the actual angular velocity corresponding to the feedback velocity of each moving wheel. Compared with an existing method for detecting wheel feedback speed line breakage only based on the wheel speed of the robot, comprehensive judgment can be carried out by combining the ideal angular speed and the actual angular speed which are determined according to the feedback wheel speed of the robot, so that the wheel feedback speed line breakage is accurately detected, and the detection accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a robot wheel feedback speed line breakage detection method, device and equipment. BACKGROUND

[0002] The robot vacuum cleaner has entered millions of families, automatically cleaning and mopping the floor for people, and providing a clean and comfortable living environment. However, as the robot vacuum cleaner works continuously in the home environment, there is a small amount of hardware problem that the wheel speed feedback line may break. When this problem occurs, the robot cannot perform normal cleaning work, which often leads to abnormal behavior of the robot, on the one hand, it is easy to cause random collision, and on the other hand, it is easy to fall near the cliff and cause safety hazards. Therefore, from the aspects of avoiding safety hazards and timely discovering the wheel speed feedback line breakage problem for after-sales maintenance, it is very important to accurately detect the wheel speed feedback line breakage hardware problem.

[0003] At present, whether the wheel feedback speed is zero is usually used to judge whether the wheel feedback speed line is broken, but the wheel feedback speed being zero corresponds to multiple fault conditions, so it is easy to cause wheel feedback line breakage false detection, and further unnecessary after-sales service and delay of user use time.

[0004] Therefore, how to accurately detect the wheel speed feedback line breakage has become a problem to be solved. SUMMARY

[0005] The main purpose of the present application is to provide a robot wheel feedback speed line breakage detection method, device and equipment, aiming at the technical problem of how to accurately detect the wheel speed feedback line breakage.

[0006] To achieve the above purpose, the present application provides a robot wheel feedback speed line breakage detection method, which comprises: obtaining the actual angular velocity of a target robot and the feedback speed of each mobile wheel in the target robot; determining the wheel feedback speed line detection result of the target robot according to the ideal angular velocity corresponding to the feedback speed of each mobile wheel and the actual angular velocity.

[0007] In an embodiment, the step of determining the wheel feedback speed line detection result of the target robot according to the ideal angular velocity corresponding to the feedback speed of each mobile wheel and the actual angular velocity comprises: in the case that the feedback speed of each mobile wheel is not zero, determining the ideal angular velocity of the target robot based on the feedback speed; determining the wheel feedback speed line detection result of the target robot according to the actual angular velocity and the ideal angular velocity.

[0008] In an embodiment, the step of determining the wheel feedback speed line detection result of the target robot based on the ideal angular velocity and the actual angular velocity comprises: determining a current motion state of the target robot according to the actual speed direction of each moving wheel; determining a target comparison mode based on the current motion state; determining the wheel feedback speed line detection result of the target robot according to the target comparison mode, the actual angular velocity and the ideal angular velocity.

[0009] In an embodiment, the step of determining the wheel feedback speed line detection result of the target robot according to the target comparison mode, the actual angular velocity and the ideal angular velocity comprises: obtaining an abnormal moving wheel that has a zero current feedback speed for a preset abnormal time in an abnormal state; determining the wheel feedback speed line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity and the ideal angular velocity.

[0010] In an embodiment, the target comparison mode comprises a translation comparison mode; The step of determining the wheel feedback speed line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity and the ideal angular velocity comprises: determining a target angular velocity according to the moving direction of the abnormal moving wheel when it is detected that the target robot is in the translation comparison mode; obtaining a first comparison result between the actual angular velocity and the target angular velocity; obtaining a second comparison result between a preset angular velocity and the ideal angular velocity; determining that the wheel feedback speed line of the abnormal moving wheel is broken when it is detected that the first comparison result and the second comparison result meet a preset translation fault condition and last for a preset fault duration.

[0011] In an embodiment, the step of determining a target angular velocity according to the moving direction of the abnormal moving wheel when it is detected that the target robot is in the translation comparison mode comprises: obtaining a preset angular velocity setting table; obtaining a target angular velocity from the preset angular velocity setting table based on the position identifier of the abnormal moving wheel and the moving direction of the abnormal moving wheel.

[0012] In an embodiment, the target comparison mode comprises a steering comparison mode; The step of determining the wheel feedback speed line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity and the ideal angular velocity comprises: In a case where it is detected that the target robot is in the turning comparison mode, determining a target angular velocity according to the ideal angular velocity; obtaining a third comparison result between the actual angular velocity and the target angular velocity; In a case where it is detected that the third comparison result meets a preset turning fault condition and lasts for a preset fault duration, determining that the wheel feedback speed line of the abnormal moving wheel is broken.

[0013] In an embodiment, the step of determining the wheel feedback speed line detection result of the target robot based on the ideal angular velocity corresponding to the feedback speed of each moving wheel and the actual angular velocity comprises: In a case where the feedback speed of each moving wheel is zero, taking a preset fault angular velocity as the ideal angular velocity; obtaining a broken line lasting duration corresponding to a case where the actual angular velocity is greater than the ideal angular velocity; In a case where the broken line lasting duration is greater than or equal to a preset fault duration, determining that the wheel feedback speed line of all moving wheels of the target robot is broken.

[0014] In addition, to achieve the above object, the present application further provides a robot wheel feedback speed line breakage detection device, which comprises: a data acquisition module, which acquires real-time motion data of a target robot, the real-time motion data comprising an actual angular velocity of the target robot and feedback speeds of each moving wheel of the target robot; a broken line judgment module, which is configured to determine a wheel feedback speed line detection result of the target robot based on an ideal angular velocity corresponding to the feedback speed of each moving wheel and the actual angular velocity.

[0015] In addition, to achieve the above object, the present application further provides a robot wheel feedback speed line breakage detection device, which comprises:

[0016] The application provides a robot wheel feedback speed line disconnection detection method, device and equipment. The method comprises the following steps: acquiring the actual angular velocity of a target robot and the feedback speed of each mobile wheel in the target robot; and determining the wheel feedback speed line detection result of the target robot according to the ideal angular velocity corresponding to the feedback speed of each mobile wheel and the actual angular velocity. Compared with the prior art, the method can comprehensively judge the ideal angular velocity and the actual angular velocity determined according to the feedback wheel speed of the robot, so as to accurately detect the disconnection of the wheel feedback speed line and improve the detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0019] Figure 1 The first flowchart of the first embodiment of the robot wheel feedback speed line disconnection detection method of the application is shown in the figure. Figure 2 The speed information relationship diagram of the first embodiment of the robot wheel feedback speed line disconnection detection method of the application is shown in the figure. Figure 3 The second flowchart of the first embodiment of the robot wheel feedback speed line disconnection detection method of the application is shown in the figure. Figure 4 The first flowchart of the second embodiment of the robot wheel feedback speed line disconnection detection method of the application is shown in the figure. Figure 5 The second flowchart of the second embodiment of the robot wheel feedback speed line disconnection detection method of the application is shown in the figure. Figure 6 The module structure diagram of the robot wheel feedback speed line disconnection detection device of the embodiment of the application is shown in the figure. Figure 7 The device structure diagram of the hardware running environment related to the robot wheel feedback speed line disconnection detection method in the embodiment of the application is shown in the figure.

[0020] The purpose implementation, functional features and advantages of the application will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0022] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0023] The main solution of the present application is: obtaining the actual angular velocity of the target robot and the feedback speed of each mobile wheel in the target robot; determining the wheel feedback speed line detection result of the target robot according to the ideal angular velocity corresponding to the feedback speed of each mobile wheel and the actual angular velocity.

[0024] At present, the judgment is mainly based on the fact that the wheel feedback speed line is disconnected, and the response wheel feedback speed is 0 under the given driving speed. The main disadvantage is that in addition to the wheel feedback speed line being disconnected, the wheel feedback speed being 0 can also occur when the wheel is stuck and the wheel driving ic enters the hardware protection. The wheel driving ic hardware protection can be determined by the positive and negative rotation of the wheel speed, and the wheel stuck can be removed by the user's appropriate intervention. Therefore, the false detection of the speed feedback line hardware disconnection will cause unnecessary after-sales service, and will also delay the user's use time.

[0025] Therefore, in order to solve the problem of inaccurate detection of wheel speed disconnection in the existing algorithm, a method for accurately detecting the hardware disconnection of the wheel speed feedback line is provided. The present application can more accurately determine whether the wheel feedback speed line is disconnected by introducing the ideal angular velocity determined according to the feedback speed and the actual angular velocity for comprehensive judgment, effectively avoiding the false detection problem caused by a single judgment condition, and timely discovering the disconnection problem. It can prevent the robot from appearing from the disconnection phenomenon, and avoid hitting the furniture and other articles in the family.

[0026] It should be noted that the execution subject of the present embodiment can be a robot wheel feedback speed line disconnection detection system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a robot capable of realizing the above functions, or a controller module of a robot, or a robot wheel feedback speed line disconnection detection device with remote communication function with the robot, etc. The present embodiment does not make specific limitation hereon. The following will take the robot wheel feedback speed line disconnection detection device (referred to as detection device for short) as an example to illustrate the present embodiment and each of the following embodiments.

[0027] Based on this, the present application embodiment provides a robot wheel feedback speed line disconnection detection method, which refers to Figure 1 , Figure 1The first flowchart of the first embodiment of the robot wheel feedback speed line disconnection detection method of the present application.

[0028] In this embodiment, the robot wheel feedback speed line disconnection detection method comprises steps S10-S20: Step S10, acquiring the actual angular velocity of the target robot and the feedback speed of each mobile wheel in the target robot; It is easy to understand that the above-mentioned target robot can be a robot vacuum cleaner in this embodiment which needs to perform wheel feedback speed line disconnection detection, which has left and right mobile wheels (left and right wheels; or left one wheel, left two wheels, and right one wheel, right two wheels), is also equipped with an IMU (inertial measurement unit, which can be a gyroscope in particular) for detecting the actual angular velocity and an odometer for calculating the ideal angular velocity, can realize automatic cleaning and mopping function, and is a common cleaning device in current families. It needs to be understood that the premise of the subsequent wheel feedback speed line disconnection detection method proposed in this embodiment is that the original set wheel speed of the target robot is not zero, that is, the wheel feedback speed line disconnection detection needs to be performed if the original set wheel speed of the target robot (or any mobile wheel of the target robot) is not zero.

[0029] Therefore, the above-mentioned actual angular velocity can be detected by the IMU and denoted as , unit: degree / second, used to reflect the actual rotation speed and direction of the robot; and the feedback speed of each mobile wheel is the actual rotation speed signal of the wheel speed feedback line transmission, the feedback speed of the left wheel can be denoted as , and the feedback speed of the right wheel can be denoted as , the unit can be set as centimeter / second, used to reflect the rotation of the wheel itself.

[0030] Step S20, determining the wheel feedback speed line detection result of the target robot according to the ideal angular velocity corresponding to the feedback speed of each mobile wheel and the actual angular velocity.

[0031] It needs to be understood that the above-mentioned ideal angular velocity can be the theoretical rotation angular velocity of the robot according to the feedback speed of each mobile wheel, which can be denoted as , unit: degree / second. In this embodiment, different ideal angular velocities can be set according to different situations of the collected feedback speed, and then the accurate wheel feedback speed line state judgment is performed based on the comparison result between the actual angular velocity and the ideal angular velocity determined by classification.

[0032] Therefore, in one implementable manner, in this embodiment, step S20 comprises steps A1-A2: Step A1, in the case that the feedback speed of each mobile wheel is not all zero, determining the ideal angular velocity of the target robot based on the feedback speed; It is easy to understand that the above feedback speed difference is not zero, which represents that the left wheel feedback speed of the target robot and the right wheel feedback speed at least one of them is not zero, that is, the feedback speed of both wheels is not zero. In this case, in the present embodiment, the ideal angular velocity can be calculated according to the difference between the left and right wheel feedback speeds and the wheel spacing, etc. according to the preset kinematics calculation formula or kinematics model according to the odometer equipped on the robot. The relationship between the wheel speed and the angular velocity of the target robot in the present embodiment can be referred to Figure 2 , Figure 2 is the speed information relationship diagram of the first embodiment of the robot wheel feedback speed line break detection method of the present application. Figure 2 , may be the originally set left wheel speed, may be the originally set right wheel speed.

[0033] As shown in Figure 2 , the IMU can detect the rotational angular velocity of the robot in real time, and send the actual angular velocity data to the detection device once every 10ms (which can be adjusted according to actual needs); while the wheel speed sensor of the target robot can detect the rotational speed of the left and right wheels and , and the left wheel feedback speed and the right wheel feedback speed data are also transmitted to the control module at an interval of 10ms through the wheel speed feedback line, and the detection device can receive these data to complete the acquisition of the above real-time motion data. At this time, if the left wheel feedback speed and the right wheel feedback speed are not zero (i.e. not zero at the same time), the detection device (in the odometer) can generate an ideal angular velocity according to the two for subsequent angular velocity comparison and break detection.

[0034] Exemplarily, when the left wheel feedback speed of the target robot is , the right wheel feedback speed is , and the wheel spacing is d, the calculation method of the ideal angular velocity of the target robot can be: =( - ) / d×(180 / π), which can convert the linear velocity difference into angular velocity through unit conversion, which is used for comparison with the actual angular velocity to judge whether the wheel feedback speed line has a break problem. For example, if the left wheel feedback speed = 30cm / s, the right wheel feedback speed = 30cm / s, and the wheel spacing d = 50cm, then the ideal angular velocity = (30-30) / 50x(180 / π)=0 degree / s, which represents that the robot should theoretically travel in a straight line at this time, without rotating motion.

[0035] Step A2, determining the wheel feedback speed line detection result of the target robot according to the actual angular velocity and the ideal angular velocity.

[0036] It is easy to understand that the detection device can compare the calculated ideal angular velocity with the actual angular velocity detected by the IMU for comparative analysis, and determine whether the wheel feedback speed line is broken according to the comparison result. The detection result includes two cases of “not broken” and “broken”, if the difference is within a reasonable range, it is determined that the line is not broken; if the difference exceeds the preset threshold and meets other specific conditions, it is determined that there is a broken line problem.

[0037] In another possible implementation, referring to Figure 3 , Figure 3 is a second flowchart of the first embodiment of the robot wheel feedback speed line broken detection method of the present application. In this embodiment, step S20 can further include steps A3-A5: Step A3, in the case that the feedback speed of each moving wheel is zero, the preset fault angular velocity is taken as the ideal angular velocity; Step A4, obtaining the broken line duration corresponding to the case that the actual angular velocity is greater than the ideal angular velocity; Step A5, in the case that the broken line duration is greater than or equal to the preset fault duration, it is determined that the wheel feedback speed line of all moving wheels of the target robot is broken.

[0038] It is understood that the above feedback speed being zero can correspond to the case that the left wheel feedback speed and the right wheel feedback speed of the target robot are both zero, i.e. =0 and =0, at this time, no matter what kind of set speed instruction the robot control module sends to the left and right wheels (whether the originally set and are zero or not), the wheel feedback speed is zero.

[0039] It is easy to understand that the above preset fault angular velocity can be a preset angular velocity threshold value for judging whether all the moving wheels of the robot simultaneously have the wire breakage problem, which can be based on the motion characteristics of the robot when the left and right wheels are simultaneously broken, and can be represented as w1, which can belong to (0, 100) degrees / second, such as w1 = 30 degrees / second. It is understood that when the left and right wheels of the target robot are simultaneously broken, the wheels cannot rotate at the set speed, and the target robot will appear irregular rotation due to factors such as ground friction, wheel jamming, etc., resulting in that the actual angular velocity will be larger than the preset fault angular velocity, so this embodiment can be used as the overall fault condition.

[0040] It is understood that the above wire breakage duration can be the duration when the target robot satisfies the conditions that the feedback speed is zero and the actual angular velocity is greater than the ideal angular velocity, that is, the time interval from when both conditions are satisfied to when either condition is no longer satisfied. Specifically, it can be that the set speed of the left and right wheels is not zero (ωL ≠ 0 and ωR ≠ 0), and the absolute value of the actual angular velocity ωL detected by the IMU is greater than the ideal angular velocity ωL (|ωL| > ωL) and the absolute value of the actual angular velocity ωR detected by the IMU is greater than the ideal angular velocity ωR (|ωR| > ωR).

[0041] At this time, the detection device determines that the feedback speed lines of the left and right wheels have wire breakage problems when it detects that the wire breakage duration is greater than or equal to the preset fault duration t2 (such as 8 seconds, which can be set according to the specific situation), and the feedback speed lines of the two wheels need to be repaired and replaced at the same time, so it can be determined that the feedback speed lines of all the moving wheels of the target robot are broken. At this time, a fault alarm information (such as an alarm sound through the buzzer of the robot itself, or an alarm notification pushed through the connected mobile phone APP) can be immediately sent to the user, prompting the user that the target robot has a serious fault and needs to be stopped for use immediately and contacted for maintenance.

[0042] Therefore, the embodiment also considers the special case of simultaneous wire breakage of the left and right wheels, and solves the problem of undetectable simultaneous wire breakage of the left and right wheels by setting the preset overall fault condition and the wire breakage duration.

[0043] ​​​​​In summary, existing methods that rely solely on a zero wheel feedback speed to determine if the wheel feedback speed line is broken are ineffective in distinguishing whether the zero feedback speed is due to a broken line, a stuck wheel, or a hardware protection activation of the wheel drive IC. This leads to false detections, unnecessary after-sales service, and wasted user time. This application introduces a comparison between the ideal angular velocity determined by the feedback speed and the actual angular velocity to accurately detect wheel feedback speed line breaks, avoiding unnecessary after-sales service due to misjudgments, reducing user inconvenience, and saving user time. Furthermore, this embodiment can differentiate between complete and partial breaks based on different feedback speed conditions, enabling timely detection of the breakage problem and its location. This effectively prevents the robot from erratically crashing due to a broken line, avoiding damage to furniture and other items in the home, and preventing the robot from falling near cliffs (such as stairwells), eliminating safety hazards and ensuring the safety of both the home environment and the robot itself.

[0044] This embodiment provides a method for detecting broken wheel feedback speed lines in a robot. The method includes: acquiring the actual angular velocity of the target robot and the feedback speed of each moving wheel in the target robot; determining the ideal angular velocity of the target robot based on the feedback speed when the feedback speeds of each moving wheel are not all zero; and determining the detection result of the wheel feedback speed lines of the target robot based on the actual angular velocity and the ideal angular velocity. When the feedback speeds of each moving wheel are all zero, a preset fault angular velocity is used as the ideal angular velocity; the duration of the broken line when the actual angular velocity is greater than the ideal angular velocity is acquired; and when the duration of the broken line is greater than or equal to the preset fault duration, it is determined that the wheel feedback speed lines of all moving wheels of the target robot are broken. This embodiment can more accurately determine whether the wheel feedback speed lines are broken, effectively avoiding the problem of false detection caused by a single judgment condition.

[0045] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment described above can be referred to the above description, and will not be repeated hereafter.

[0046] Based on the first embodiment, please refer to Figure 4 , Figure 4 This is a first flowchart illustrating the second embodiment of the robot wheel feedback speed line breakage detection method of this application. In this embodiment, step A2 includes steps A21 to A23: Step A21: Determine the current motion state of the target robot based on the actual speed direction of each moving wheel; Step A22: Determine the target comparison mode based on the current motion state; Step A23: Determine the wheel feedback velocity line detection result of the target robot based on the target comparison mode, the actual angular velocity, and the ideal angular velocity.

[0047] It is easy to understand that the actual speed direction of each of the aforementioned moving wheels can be the actual rotation direction of the left and right wheels of the target robot during its current operation, which can include forward and backward directions, with the forward direction recorded as positive and the backward direction as negative. In this embodiment, the current motion state of the robot can be determined based on the combination of the same or different actual speed directions of the left and right wheels, mainly including two translational motion states and two turning motion states. The translational motion states can be: both left and right wheels moving forward, or both left and right wheels moving backward; the two turning motion states can specifically be: left wheel moving forward, right wheel moving backward, or left wheel moving backward, right wheel moving forward. In this embodiment, different target comparison modes can be set for different motion states.

[0048] It should be noted that simply comparing the actual angular velocity with the ideal angular velocity to determine a broken line, without considering the reasonable range of angular velocity differences under different motion states of the robot, may lead to misjudgments in different motion states. For example, when the robot is turning, the reasonable range of difference between the actual angular velocity and the ideal angular velocity should be greater than the range of difference during translational motion. If a uniform threshold is used for judgment, normal differences are easily judged as broken lines during turning motion, and abnormal differences are easily judged as normal during translational motion.

[0049] To avoid this problem, in this embodiment, the target comparison mode can be a specific rule-based mode determined according to the robot's current motion state, used to compare the actual angular velocity and the ideal angular velocity. This mode is divided into a translation comparison mode and a steering comparison mode. The translation comparison mode is suitable for translational motion states where the left and right wheel speeds are in the same direction, while the steering comparison mode is suitable for steering motion states where the left and right wheel speeds are in different directions.

[0050] Therefore, this embodiment can determine different comparison modes by different motion states and set different judgment rules for different modes, which solves the problem of misjudgment caused by the inapplicability of judgment thresholds under different motion states and further reduces the probability of misjudgment.

[0051] In one feasible implementation, step A23 may include steps A231 to A232: Step A231: Obtain the abnormal movement wheel that continues for a preset abnormal time under the abnormal state where the current feedback speed is zero; Step A232: Determine the wheel feedback velocity line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity, and the ideal angular velocity.

[0052] It is important to understand that the aforementioned abnormal state of zero current feedback speed can refer to the target robot sending non-zero set speed commands to each of its moving wheels (i.e., ≠0 or In the case of (≠0), the feedback speed of any moving wheel is detected ( or The speed remains at zero. This state does not conform to normal motion logic and is an abnormal situation, which may be caused by reasons such as a broken wheel feedback speed line, wheel jamming, or wheel drive IC hardware protection.

[0053] In this case, the aforementioned preset abnormal time can be a time threshold set in the robot control module to determine whether any moving wheel is in a continuous abnormal state, for example, set to 10 seconds. Therefore, in this embodiment, if the duration of the zero feedback speed of any moving wheel reaches or exceeds the preset abnormal time, the moving wheel is considered to be an abnormal moving wheel; if the duration does not reach the preset abnormal time, it is considered to be a brief signal interference or other accidental situation, and is not judged as an abnormal moving wheel.

[0054] It is understood that the aforementioned abnormally moving wheel could be either the left or right wheel, but not both simultaneously. The situation where both wheels are simultaneously abnormal has already been described in the first embodiment above and will not be repeated here. For example, if the detection device sends a signal to the left wheel... The forward command was given at 25 cm / s, but within 10 seconds, the detected left wheel feedback speed was... If the value is always 0, then the left wheel can be determined to be an abnormally moving wheel.

[0055] Therefore, this embodiment can accurately locate the broken wheel in an abnormal state, and determine whether the feedback speed line is broken in the left or right wheel. This makes it easier for after-sales maintenance personnel to quickly find the fault location, improve maintenance efficiency, and reduce robot downtime for maintenance.

[0056] Meanwhile, this embodiment further distinguishes the reasons for the zero feedback speed by setting an abnormal time. By comparing the abnormal moving wheel with the target mode and making a comprehensive judgment based on the angular velocity, it eliminates non-disconnection factors such as wheel jamming and drive IC protection, thereby improving the accuracy of disconnection detection, avoiding unnecessary maintenance operations, and reducing maintenance costs.

[0057] At this point, after identifying the abnormally moving wheel, the detection device can combine the previously determined target comparison pattern with the actual angular velocity. and ideal angular velocity Further comprehensive judgment is then made. In a first feasible implementation, the target comparison mode includes a translation comparison mode; refer to Figure 5 , Figure 5 This is a second flowchart illustrating the second embodiment of the robot wheel feedback speed line breakage detection method of this application. In this embodiment, step A232 may include steps B1 to B4: Step B1: When the target robot is detected to be in the translation comparison mode, the target angular velocity is determined according to the movement direction of the abnormal moving wheel; It is important to understand that the above translation comparison mode corresponds to the motion state where the left and right wheels of the target robot have the same velocity direction. In this case, the robot should theoretically perform linear translational motion, with the ideal angular velocity determined based on the acquired real-time feedback velocity. It should be close to zero or fluctuate within a small range. In this mode, the determination of whether an abnormal moving wheel has broken its line is mainly based on the comparison between the actual angular velocity and the target angular velocity, and between the ideal angular velocity and the preset angular velocity.

[0058] At this time, the direction of movement of the abnormal moving wheel may include forward (denoted as positive) or backward (denoted as negative), and the target angular velocity may be a specific angular velocity value or angular velocity range determined in translation comparison mode based on the position (left wheel or right wheel) and direction of movement of the abnormal moving wheel, for comparison with the actual angular velocity.

[0059] In one feasible implementation, step B1 may include steps B11-B12: Step B11: Obtain the preset angular velocity setting table; Step B12: Based on the position identifier of the abnormal moving wheel and the moving direction of the abnormal moving wheel, obtain the target angular velocity from the preset angular velocity setting table.

[0060] It should be noted that the aforementioned preset angular velocity setting table can be a table that is pre-set in the detection device and contains the position identifier of the abnormal moving wheel, the relationship between the moving direction and the target angular velocity.

[0061] The position identifier can be a mark used to uniquely identify whether the abnormal moving wheel is the left wheel or the right wheel. Usually, the left and right wheels can be numbered or marked when the robot leaves the factory, such as using "L" to represent the left wheel and "R" to represent the right wheel; while the direction of movement is divided into forward and backward, such as using "F" to represent forward and "B" to represent backward.

[0062] Therefore, in this embodiment, the corresponding target angular velocity value can be obtained by looking up a table according to different positions and directions. For example, in this embodiment, the above-mentioned preset angular velocity setting table can be shown in Table 1 below. Table 1 is a preset angular velocity setting table. In Table 1, w2 belongs to (0, 50) and w3 belongs to (-50, 0). The specific values ​​of w2 and w3 can be set according to the actual situation.

[0063] Table 1 Preset Angular Velocity Settings

[0064] Step B2: Obtain the first comparison result between the actual angular velocity and the target angular velocity; Step B3: Obtain a second comparison result between the preset angular velocity and the ideal angular velocity; It is understandable that the first comparison result mentioned above could be the actual angular velocity. The results obtained by comparing with the target angular velocity include " "greater than the target angular velocity" "less than the target angular velocity" There are three cases: "equal to the target angular velocity". In this embodiment, based on the fault judgment requirements of the translation comparison mode, the focus is mainly on " "greater than the target angular velocity" or " In cases where the angular velocity is less than the target angular velocity, for example, if the target angular velocity is w2 = 20 degrees / second, if =25 degrees / second, then the first comparison result is " "Greater than the target angular velocity."

[0065] The aforementioned preset angular velocity can be a pre-set value used in translation comparison mode to compare with the ideal angular velocity determined in real time. The angular velocity threshold for comparison can be determined based on the normal range of the ideal angular velocity under translational motion, typically set to 0 degrees / second (since the ideal angular velocity is theoretically zero during translational motion), but can also be set to a smaller range (such as ±2 degrees / second). In this case, the ideal angular velocity... The result obtained by comparing with the preset angular velocity, which corresponds to the second comparison result mentioned above, may include " "greater than the preset angular velocity" "less than the preset angular velocity" and " Within the preset angular velocity range, there are three scenarios, for example, if the preset angular velocity is 0 degrees / second, if =3 degrees / second, then the second comparison result is " "Greater than the preset angular velocity"; or, if =-1 degree / second, and the preset angular velocity range is ±2 degrees / second, then the second comparison result is " Within the preset angular velocity range.

[0066] Step B4: When the first comparison result and the second comparison result are detected to meet the preset translation fault conditions and continue for a preset fault duration, it is determined that the wheel feedback speed line corresponding to the abnormal moving wheel is broken.

[0067] It should be understood that the aforementioned preset translation fault condition can be a condition pre-set in translation comparison mode to determine whether the wheel feedback speed line corresponding to the abnormally moving wheel is broken. This condition is composed of a first comparison result and a second comparison result. In this embodiment, different abnormally moving wheel positions and directions of movement can correspond to different preset translation fault conditions.

[0068] For example, in this embodiment, when the abnormally moving wheel is the left wheel and both left and right wheels are moving backward, the preset translation fault condition can be "the actual angular velocity determined by the inertial measurement unit". Greater than the target angular velocity w2, and the ideal angular velocity determined by the odometer. "Less than the preset angular velocity of 0 degrees / second"; when the abnormal moving wheel is the left wheel and both left and right wheels are moving forward, the preset translation fault condition can be "the actual angular velocity determined by the inertial measurement unit". Less than the target angular velocity w3, and the ideal angular velocity determined by the odometer. "Greater than the preset angular velocity of 0 degrees / second"; When the abnormally moving wheel is the right wheel and both wheels are moving backward, the preset translation fault condition can be "the actual angular velocity determined by the inertial measurement unit". Less than the target angular velocity w3 and the ideal angular velocity determined by the odometer "Greater than the preset angular velocity of 0 degrees / second"; when the abnormally moving wheel is the right wheel and both left and right wheels are moving forward, the preset translation fault condition can be "the actual angular velocity determined by the inertial measurement unit". The ideal angular velocity is greater than the target angular velocity w2 and determined by the odometer. "Less than the preset angular velocity of 0 degrees / second".

[0069] It should be noted that the aforementioned preset fault duration can be a time threshold set in the detection equipment to confirm whether the fault state continues. If the duration for which the abnormal moving wheel meets the preset translation fault condition reaches or exceeds the preset fault duration, the wheel feedback speed line corresponding to the abnormal moving wheel is determined to be broken; if the duration does not reach the preset fault duration, it is considered a brief abnormal fluctuation and is not determined to be a broken line.

[0070] Therefore, when the detection equipment detects an abnormal moving wheel that meets the preset translation fault conditions and the duration reaches the preset fault duration, the final fault judgment result output is that the feedback velocity line of the abnormal moving wheel has a broken wire problem and needs to be repaired or replaced. This embodiment provides a clear, quantifiable, and highly efficient method for determining broken wires in translation comparison mode by setting the target angular velocity, preset angular velocity, preset translation fault conditions, and preset fault duration, thus solving the problem of low judgment accuracy caused by unclear judgment criteria in translation comparison mode.

[0071] In a second feasible implementation, the target comparison mode includes a steering comparison mode; in this embodiment, step A232 may include steps C1~C3: Step C1: When the target robot is detected to be in the steering comparison mode, the target angular velocity is determined based on the ideal angular velocity; Step C2: Obtain a third comparison result between the actual angular velocity and the target angular velocity; Step C3: When the third comparison result is detected to meet the preset steering fault conditions and the fault lasts for a preset duration, it is determined that the wheel feedback speed line corresponding to the abnormally moving wheel is broken.

[0072] It is easy to understand that the above-mentioned steering comparison mode can correspond to the motion state of the target robot with different speed directions of the left and right wheels. In this case, the robot should theoretically perform a steering motion, with an ideal angular velocity. It has a large absolute value and a clear direction. In this mode, the rule for determining line breakage is mainly based on the comparison between the actual angular velocity and the target angular velocity.

[0073] At this point, the target angular velocity in steering comparison mode can be based on the ideal angular velocity. Determined, used for actual angular velocity The angular velocity values ​​are compared. In this embodiment, the target angular velocity and the ideal angular velocity may have a multiple relationship; for example, it may be set as the ideal angular velocity. Twice that, that is, the target angular velocity = 2 × If the ideal angular velocity =10 degrees / second, then the target angular velocity =20 degrees / second; ideal angular velocity = -8 degrees / second, then the target angular velocity = -16 degrees / second.

[0074] The third comparison result mentioned above can be the actual angular velocity. With the target angular velocity in steering mode (2× The results obtained after comparison mainly include " "greater than the target angular velocity" and " There are two cases: "less than the target angular velocity" (because the ideal angular velocity is not zero during turning, and the target angular velocity is twice the ideal angular velocity, the "equal to" case is extremely rare and can be ignored here). For example, if the target angular velocity = 20 degrees / second, if... =25 degrees / second, then the third comparison result is " "Greater than the target angular velocity"; if =15 degrees / second, then the third comparison result is " "Less than the target angular velocity".

[0075] It should be noted that the aforementioned preset steering fault conditions can be pre-set conditions in steering comparison mode to determine whether the feedback velocity line of the wheel corresponding to the abnormally moving wheel is broken. This condition is determined by the third comparison result, and different preset steering fault conditions correspond to different abnormally moving wheel directions and ideal angular velocity directions. Since if the wheel feedback velocity line is broken when the target robot is performing steering motion, the difference between its actual angular velocity and ideal angular velocity will increase significantly, usually exceeding the experimental conclusion of a 2:1 ratio.

[0076] For example, the aforementioned preset steering fault condition can be set as follows: when the abnormally moving wheel is the left wheel and the direction of movement is forward, the ideal angular velocity is... When the value is positive (robot turns right), the preset steering fault condition can be "the actual angular velocity determined by the inertial measurement unit". Less than the target angular velocity (ideal angular velocity determined by the odometer) (twice the value); when the abnormal moving wheel is the left wheel and the moving direction is backward, the preset steering fault condition can be "the actual angular velocity determined by the inertial measurement unit". Greater than the target angular velocity (ideal angular velocity determined by the odometer) (twice as much) When the abnormal moving wheel is the right wheel and the moving direction is backward, the ideal angular velocity is... When the value is negative (robot turns left), the preset steering fault condition is "the actual angular velocity determined by the inertial measurement unit". Less than the target angular velocity (ideal angular velocity determined by the odometer) (twice the value); when the abnormal moving wheel is the right wheel and the direction of movement is forward, the preset steering fault condition can be "the actual angular velocity determined by the inertial measurement unit". Greater than the target angular velocity (ideal angular velocity determined by the odometer) (twice as much).

[0077] At this point, if the detection equipment detects that the timing time for the steering fault condition has reached the preset fault duration, it can determine that the wheel feedback speed line corresponding to the abnormally moving wheel is broken and issue a fault alarm; if the timing has not reached the preset fault duration and the fault condition is not met midway, the timing is reset and monitoring continues, and it is not determined to be a broken line.

[0078] Therefore, this embodiment solves the problem of missing wire breakage detection during turning motion by clarifying the target angular velocity determination method, the third comparison result, and the preset turning fault conditions in the turning comparison mode. This further improves the coverage of wire breakage detection, ensuring that the robot can accurately detect wire breakage during turning motion, avoiding equipment damage and safety accidents caused by wire breakage during turning, and guaranteeing the safe and stable operation of the robot in various cleaning scenarios.

[0079] In summary, this embodiment can detect the hardware disconnection of the wheel speed feedback line of any target robot's moving wheel in a timely manner when the target robot is translating or turning, thus preventing the robot from damaging furniture and other items in the home, and also preventing it from falling near cliffs and causing safety hazards.

[0080] This embodiment discloses a method for determining the current motion state of the target robot based on the actual speed direction of each moving wheel; determining a target comparison mode based on the current motion state; acquiring the abnormal moving wheel that remains abnormal for a preset time under an abnormal state where the current feedback speed is zero; and determining the wheel feedback speed line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity, and the ideal angular velocity. The target comparison mode includes a translation comparison mode; when the target robot is detected to be in the translation comparison mode, a preset angular velocity setting table is acquired; the target angular velocity is obtained by matching the position identifier and movement direction of the abnormal moving wheel from the preset angular velocity setting table; a first comparison result between the actual angular velocity and the target angular velocity is acquired; a second comparison result between the preset angular velocity and the ideal angular velocity is acquired; and when the first comparison result and the second comparison result meet the preset translation fault conditions and remain abnormal for a preset fault duration, the wheel feedback speed line corresponding to the abnormal moving wheel is determined to be broken. The target comparison mode includes a steering comparison mode. When the target robot is detected to be in steering comparison mode, the target angular velocity is determined based on the ideal angular velocity. A third comparison result between the actual angular velocity and the target angular velocity is obtained. When the third comparison result meets the preset steering fault conditions and continues for a preset fault duration, it is determined that the wheel feedback speed line corresponding to the abnormal moving wheel is broken. This embodiment can detect the hardware breakage of the wheel speed feedback line of any target robot's moving wheel in a timely manner when the target robot is translating or turning, preventing the robot from damaging furniture and other items in the home, and also preventing falls near cliffs that could pose a safety hazard.

[0081] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the robot wheel feedback speed line breakage detection method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0082] This application also provides a device for detecting broken wires in the feedback speed line of a robot wheel; please refer to [reference needed]. Figure 6 , Figure 6 This is a schematic diagram of the module structure of the robot wheel feedback speed line breakage detection device according to an embodiment of this application. In this embodiment, the robot wheel feedback speed line breakage detection device includes: The data acquisition module 601 acquires real-time motion data of the target robot, including the actual angular velocity of the target robot and the feedback speed of each moving wheel in the target robot. The line breakage detection module 602 is used to determine the wheel feedback velocity line detection result of the target robot based on the ideal angular velocity corresponding to the feedback velocity of each moving wheel and the actual angular velocity.

[0083] In a feasible implementation, in this embodiment, the disconnection judgment module 602 is further configured to determine the ideal angular velocity of the target robot based on the feedback velocity when the feedback velocities of each moving wheel are not all zero; and to determine the wheel feedback velocity line detection result of the target robot based on the actual angular velocity and the ideal angular velocity.

[0084] In a feasible implementation, in this embodiment, the disconnection judgment module 602 is further configured to determine the current motion state of the target robot based on the actual speed direction of each moving wheel; determine the target comparison mode based on the current motion state; and determine the wheel feedback speed line detection result of the target robot based on the target comparison mode, the actual angular velocity, and the ideal angular velocity.

[0085] In a feasible implementation, in this embodiment, the disconnection judgment module 602 is further used to acquire the abnormal moving wheel that continues for a preset abnormal time under the abnormal state where the current feedback speed is zero; and to determine the wheel feedback speed line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity and the ideal angular velocity.

[0086] In one feasible implementation, the target comparison mode includes a translation comparison mode; in this embodiment, the disconnection judgment module 602 is further configured to, when the target robot is detected to be in the translation comparison mode, determine the target angular velocity according to the movement direction of the abnormal moving wheel; obtain a first comparison result between the actual angular velocity and the target angular velocity; obtain a second comparison result between the preset angular velocity and the ideal angular velocity; and when the first comparison result and the second comparison result are detected to meet the preset translation fault conditions and continue for a preset fault duration, determine that the wheel feedback speed line corresponding to the abnormal moving wheel is disconnected.

[0087] In a feasible implementation, in this embodiment, the disconnection judgment module 602 is further used to obtain a preset angular velocity setting table; and to obtain the target angular velocity by matching the position identifier of the abnormal moving wheel and the moving direction of the abnormal moving wheel from the preset angular velocity setting table.

[0088] In one feasible implementation, the target comparison mode includes a steering comparison mode; in this embodiment, the disconnection judgment module 602 is further configured to determine the target angular velocity based on the ideal angular velocity when the target robot is detected to be in the steering comparison mode; obtain a third comparison result between the actual angular velocity and the target angular velocity; and determine that the wheel feedback speed line corresponding to the abnormal moving wheel is disconnected when the third comparison result is detected to meet the preset steering fault conditions and continue for a preset fault duration.

[0089] In this embodiment, the disconnection judgment module 602 is further configured to: take the preset fault angular velocity as the ideal angular velocity when the feedback speed of each moving wheel is zero; obtain the disconnection duration corresponding to the actual angular velocity being greater than the ideal angular velocity; and determine that the wheel feedback speed line of all moving wheels of the target robot is disconnected when the disconnection duration is greater than or equal to the preset fault duration.

[0090] The robot wheel feedback speed line breakage detection device provided in this application adopts the robot wheel feedback speed line breakage detection method in the above embodiments, which can solve the technical problem of robot wheel feedback speed line breakage detection. Compared with the prior art, the beneficial effects of the robot wheel feedback speed line breakage detection device provided in this application are the same as the beneficial effects of the robot wheel feedback speed line breakage detection method provided in the above embodiments, and other technical features in the robot wheel feedback speed line breakage detection device are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0091] This application provides a robot wheel feedback speed line breakage detection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the robot wheel feedback speed line breakage detection method in the above embodiment 1.

[0092] The following is for reference. Figure 7This document illustrates a structural schematic diagram of a robot wheel feedback speed line breakage detection device suitable for implementing embodiments of this application. The robot wheel feedback speed line breakage detection device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 7 The robot wheel feedback speed line breakage detection device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0093] like Figure 7 As shown, the robot wheel feedback speed line breakage detection device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM) 1004. The random access memory 1004 also stores various programs and data required for the operation of the robot wheel feedback speed line breakage detection device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the robot wheel feedback speed line breakage detection device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a robot wheel feedback speed line breakage detection device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented alternatively.

[0094] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment disclosed in this application includes a robot wheel feedback speed line breakage detection program product, which includes a robot wheel feedback speed line breakage detection program carried on a computer-readable medium, the robot wheel feedback speed line breakage detection program containing program code for performing the methods shown in the flowcharts. In such an embodiment, the robot wheel feedback speed line breakage detection program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the robot wheel feedback speed line breakage detection program is executed by processing device 1001, the functions defined in the methods of the embodiments disclosed in this application are performed.

[0095] The robot wheel feedback speed line breakage detection device provided in this application, employing the robot wheel feedback speed line breakage detection method described in the above embodiments, can solve the technical problem of robot wheel feedback speed line breakage detection. Compared with the prior art, the beneficial effects of the robot wheel feedback speed line breakage detection device provided in this application are the same as those of the robot wheel feedback speed line breakage detection method provided in the above embodiments, and other technical features in this robot wheel feedback speed line breakage detection device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0096] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0097] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and robot wheel feedback speed line breakage detection program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0099] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0100] The readable storage medium provided in this application is a storage medium that stores computer-readable program instructions (i.e., a robot wheel feedback speed line breakage detection program) for executing the above-described robot wheel feedback speed line breakage detection method, and can solve the technical problem of robot wheel feedback speed line breakage detection. Compared with the prior art, the beneficial effects of the storage medium provided in this application are the same as the beneficial effects of the robot wheel feedback speed line breakage detection method provided in the above embodiments, and will not be repeated here.

[0101] The above are only some embodiments of this application and do not limit the scope of the solution of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of this application.

Claims

1. A method for detecting a broken wire in the feedback speed line of a robot wheel, characterized in that, The method includes: Obtain the actual angular velocity of the target robot and the feedback velocity of each moving wheel in the target robot; The detection result of the wheel feedback velocity line of the target robot is determined based on the ideal angular velocity corresponding to the feedback velocity of each moving wheel and the actual angular velocity.

2. The method as described in claim 1, characterized in that, The step of determining the wheel feedback velocity line detection result of the target robot based on the ideal angular velocity corresponding to the feedback velocity of each moving wheel and the actual angular velocity includes: When the feedback speeds of each of the moving wheels are not all zero, the ideal angular velocity of the target robot is determined based on the feedback speeds. The wheel feedback velocity line detection result of the target robot is determined based on the actual angular velocity and the ideal angular velocity.

3. The method as described in claim 2, characterized in that, The step of determining the wheel feedback velocity line detection result of the target robot based on the ideal angular velocity and the actual angular velocity includes: The current motion state of the target robot is determined based on the actual speed direction of each moving wheel; Determine the target comparison mode based on the current motion state; The wheel feedback velocity line detection result of the target robot is determined based on the target comparison mode, the actual angular velocity, and the ideal angular velocity.

4. The method as described in claim 3, characterized in that, The step of determining the wheel feedback velocity line detection result of the target robot based on the target comparison mode, the actual angular velocity, and the ideal angular velocity includes: Get the abnormal movement wheel that continues for a preset abnormal time under the abnormal state where the current feedback speed is zero; The wheel feedback velocity line detection result of the target robot is determined based on the abnormal moving wheel, the target comparison mode, the actual angular velocity, and the ideal angular velocity.

5. The method as described in claim 4, characterized in that, The target comparison mode includes a translation comparison mode; The step of determining the wheel feedback velocity line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity, and the ideal angular velocity includes: When the target robot is detected to be in the translation comparison mode, the target angular velocity is determined according to the movement direction of the abnormal moving wheel; Obtain a first comparison result between the actual angular velocity and the target angular velocity; Obtain a second comparison result between the preset angular velocity and the ideal angular velocity; When the first comparison result and the second comparison result are detected to meet the preset translation fault conditions and continue for a preset fault duration, it is determined that the wheel feedback speed line corresponding to the abnormal moving wheel is broken.

6. The method as described in claim 5, characterized in that, The step of determining the target angular velocity based on the movement direction of the abnormal moving wheel when the target robot is detected to be in the translation comparison mode includes: Obtain the preset angular velocity setting table; The target angular velocity is obtained by matching the position identifier and movement direction of the abnormal moving wheel from the preset angular velocity setting table.

7. The method as described in claim 4, characterized in that, The target comparison mode includes a steering comparison mode; The step of determining the wheel feedback velocity line detection result of the target robot based on the abnormal moving wheel, the target comparison mode, the actual angular velocity, and the ideal angular velocity includes: When the target robot is detected to be in the steering comparison mode, the target angular velocity is determined based on the ideal angular velocity; Obtain a third comparison result between the actual angular velocity and the target angular velocity; When the third comparison result is detected to meet the preset steering fault conditions and the fault lasts for a preset duration, it is determined that the wheel feedback speed line corresponding to the abnormally moving wheel is broken.

8. The method as described in claim 1, characterized in that, The step of determining the wheel feedback velocity line detection result of the target robot based on the ideal angular velocity corresponding to the feedback velocity of each moving wheel and the actual angular velocity further includes: When the feedback speed of each moving wheel is zero, the preset fault angular velocity is taken as the ideal angular velocity; Obtain the duration of the broken line when the actual angular velocity is greater than the ideal angular velocity; If the duration of the disconnection is greater than or equal to a preset fault duration, it is determined that the wheel feedback speed lines of all moving wheels of the target robot are disconnected.

9. A device for detecting broken wires in the feedback speed line of a robot wheel, characterized in that, The robot wheel feedback speed line breakage detection device includes: The data acquisition module acquires real-time motion data of the target robot, including the actual angular velocity of the target robot and the feedback speed of each moving wheel in the target robot. The line breakage detection module is used to determine the wheel feedback velocity line detection result of the target robot based on the ideal angular velocity corresponding to the feedback velocity of each moving wheel and the actual angular velocity.

10. A device for detecting broken wires in the feedback speed line of a robot wheel, characterized in that, The device includes: a memory, a processor, and a robot wheel feedback speed line breakage detection program stored in the memory and executable on the processor, the robot wheel feedback speed line breakage detection program being configured to implement the steps of the robot wheel feedback speed line breakage detection method as described in any one of claims 1 to 8.

Images