Method, device and system for monitoring position and safety state of mobile robot, medium and program product
By combining an IMU and a positioning module with a standard encoder, the function of a safety encoder is realized, solving the high cost problem, providing reliable position and safety status monitoring, and reducing the monitoring cost of mobile robots.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2026-03-10
AI Technical Summary
Existing safety encoders are expensive and require additional installation space, making it difficult to effectively reduce the cost of position monitoring for mobile robots.
A combination of an inertial measurement unit (IMU) and a positioning module is used to implement one channel of the safety encoder, and a standard encoder is used to implement the other channel. The IMU measures linear acceleration and angular velocity, and the positioning module is used for position correction. The safety status is monitored by combining differential calculation and kinematic model.
It implements the functions of a safety encoder, significantly reduces costs, and provides reliable location and safety status monitoring through a combination of IMU and positioning module, meeting the safety requirements of ISO and EN standards.
Smart Images
Figure CN121632103A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of industrial technology, and in particular to a method, apparatus and system for position monitoring of a safe mobile robot, a method, apparatus and system for safety status monitoring of a safe mobile robot, as well as electronic devices, computer-readable storage media and program products. Background Technology
[0002] Currently, Automated Guided Vehicles (AGVs), Autonomous Mobile Robots (AMRs), and other driverless vehicles such as forklifts are increasingly used for material handling in industrial environments. ISO 3691-4:2020 (Safety requirements and validation for industrial trucks – Part 4: Unmanned industrial trucks and systems thereof) and EN 1525:1997 (Safety of industrial trucks – Unmanned industrial vehicles and systems thereof) both establish specifications for protecting personnel in the environment, requiring mobile robots, including AGVs, AMRs, and forklifts, to be equipped with safety control systems.
[0003] A safety control system typically includes safety detection elements, safety control mechanisms, and safety actuators. Safety detection elements, such as safety area scanners, safety mats, and safety light curtains, detect whether personnel have entered a potentially hazardous area of the robot. Safety control mechanisms, such as safety controllers and relays, process the system's safety logic, identify potential hazards faced by personnel, and issue corresponding safety action commands to the safety actuators according to preset safety strategies. Safety actuators, such as safety inverters, safety servo drives, and safety pneumatic or hydraulic components, execute the required safety actions according to the commands issued by the safety controller, such as deceleration, speed limiting, stopping, or cutting off power output. To determine whether the safety actuators have responded appropriately and whether the execution results meet requirements (e.g., whether they have stopped or are within speed limits), a safety encoder is needed to provide reliable position feedback, including speed and steering angle, for the mobile robot's safe movement, working in conjunction with the safety control system to complete the required safety functions.
[0004] However, safety encoders are typically very expensive, usually about three times the price of a regular encoder, and require additional installation space.
[0005] Therefore, those skilled in the art are also working to find other solutions for location monitoring of mobile robots for safety. Summary of the Invention
[0006] In view of this, this application proposes, on the one hand, a method, apparatus and system for position monitoring of a safe mobile robot, and on the other hand, a method, apparatus and system for monitoring the safety status of a safe mobile robot, as well as electronic devices, computer-readable storage media and program products, in order to reduce costs.
[0007] This application proposes a method for position monitoring of a mobile robot, comprising: receiving linear acceleration and angular velocity measured by an inertial measurement unit installed on the mobile robot; adding timestamps to the linear acceleration and angular velocity and performing anti-interference processing including filtering; processing the angular velocity including time integration to obtain steering angle information; processing the linear acceleration including quadratic time integration to obtain corresponding distance information; converting the distance information and the steering angle information from the carrier coordinate system to the geographic coordinate system to obtain the mobile robot's position information with timestamps in the geographic coordinate system; and, upon receiving position information from a positioning module, utilizing the positioning... The module's position information corrects the timestamped position information of the mobile robot in the geographic coordinate system; the corrected position information of the mobile robot in the geographic coordinate system is converted into distance information and turning angle information in the carrier coordinate system; the distance information is processed including the second derivative of time to obtain the corrected linear acceleration, and the turning angle information is processed including the derivative of time to obtain the corrected angular velocity; the corrected linear acceleration and corrected angular velocity are used to correct the received linear acceleration and angular velocity from the inertial measurement unit, and then the corrected linear acceleration and angular velocity are used to calculate the distance information and the turning angle information.
[0008] In one embodiment, the plurality of positioning modules include: a plurality of positioning tags disposed on the movement path; each positioning tag is identified by a tag reader disposed on the mobile robot.
[0009] In one embodiment, the positioning tag is a radio frequency identification (RFID) system tag with positioning data or a QR code tag with positioning data; the tag reader is an RFID system reader or a QR code reader.
[0010] This application proposes a mobile robot position monitoring device, comprising: a data processing module for receiving linear acceleration and angular velocity from the inertial measurement unit, adding timestamps to the linear acceleration and angular velocity, and performing anti-interference processing such as filtering; an integration calculation module for performing time integration on the angular velocity to obtain the change in steering angle, adding the obtained change in steering angle to the initial angle to obtain the corresponding steering angle information; and performing a second time integration on the linear acceleration to obtain the corresponding distance information; a coordinate system transformation module for transforming the distance information and the steering angle information from the carrier coordinate system to the geographic coordinate system to obtain the mobile robot's time-stamped position information in the geographic coordinate system; and a position calibration module. The system includes a positive module for correcting the timestamped position information of the mobile robot in the geographic coordinate system using the position information received from a positioning module; an inverse coordinate system transformation module for converting the corrected position information of the mobile robot in the geographic coordinate system into distance and turning angle information in the carrier coordinate system; a differential calculation module for performing a second time derivative on the distance information to obtain the corrected linear acceleration and a time derivative on the turning angle information to obtain the corrected angular velocity; and a measurement information compensation module for using the corrected linear acceleration and corrected angular velocity to correct the received linear acceleration and angular velocity from the inertial measurement unit.
[0011] The mobile robot position monitoring system proposed in this application includes: an inertial measurement unit for mounting on the mobile robot to measure the linear acceleration and angular velocity of the mobile robot; multiple positioning modules for being respectively set at different positions on the mobile robot's movement path, each positioning module providing its own position information based on a geographic coordinate system as the mobile robot passes by; and the mobile robot position monitoring device as described above.
[0012] In one embodiment, the plurality of positioning modules includes: a plurality of positioning tags disposed on the movement path; the system further includes: a tag reader disposed on the mobile robot for identifying each positioning tag.
[0013] In one embodiment, the positioning tag is a radio frequency identification (RFID) system tag with positioning data or a QR code tag with positioning data; the tag reader is an RFID system reader or a QR code reader.
[0014] This application proposes a method for monitoring the safety status of a mobile robot, comprising: the mobile robot position monitoring method described above; acquiring the timestamped position information of the mobile robot in a geographic coordinate system, and performing differential processing on the timestamped position information of the mobile robot in the geographic coordinate system to obtain the first linear velocity and first angular velocity of the mobile robot in the horizontal x and y directions; receiving incremental data from a standard encoder installed on the wheel motor shaft of the mobile robot, adding a timestamp to the incremental data, calculating the rotational speed of the wheel motor based on the incremental data, and then converting the rotational speed of the wheel motor into the rotational speed of the mobile robot in the horizontal x and y directions according to different kinematic models. The first linear velocity and the second angular velocity in the y-direction are measured. Based on the timestamps of the first linear velocity and the first angular velocity, as well as the second linear velocity and the second angular velocity, the first linear velocity and the first angular velocity are time-matched with the second linear velocity and the second angular velocity. The first linear velocity and the second linear velocity in the time-matched sequence are compared to determine whether the first difference is within a preset first allowable range. The first angular velocity and the second angular velocity in the time-matched sequence are compared to determine whether the second difference is within a preset second allowable range. If both are within the allowable range, the current safety status of the mobile robot is confirmed to be normal.
[0015] This application proposes a mobile robot safety status monitoring device, comprising: a mobile robot position monitoring device as described above; and a differential calculation module, used to acquire the timestamped position information of the mobile robot in a geographic coordinate system, perform differential processing on the timestamped position information of the mobile robot in the geographic coordinate system to obtain the first linear velocity and first angular velocity of the mobile robot in the horizontal x and y directions; and a speed monitoring algorithm module, used to receive incremental data from the standard encoder, add a timestamp to the incremental data, calculate the rotational speed of the wheel motor based on the incremental data, and then convert the rotational speed of the wheel motor into the rotational speed of the mobile robot in the horizontal x and y directions according to different kinematic models. The system includes a second linear velocity and a second angular velocity in the y-direction; and a safety strategy module, used to perform time matching of the first linear velocity and the first angular velocity with the second linear velocity and the second angular velocity based on the timestamps of the first linear velocity and the first angular velocity, and to compare the time-matched first linear velocity and the second linear velocity to determine whether the obtained first difference is within a preset first allowable range, and to compare the time-matched first angular velocity and the second angular velocity to determine whether the obtained second difference is within a preset second allowable range. If both are within the allowable range, the current safety status of the mobile robot is confirmed to be normal.
[0016] This application proposes a mobile robot safety status monitoring system, comprising: a mobile robot safety status monitoring device as described above; an inertial measurement unit for mounting on the mobile robot to measure the linear acceleration and angular velocity of the mobile robot; multiple positioning modules for being respectively set at different positions on the mobile robot's movement path, each positioning module providing its own position information based on a geographic coordinate system as the mobile robot passes by; and a standard encoder for mounting on the wheel motor axle of the mobile robot to measure the incremental data of the wheel motor.
[0017] An electronic device proposed in this application includes: at least one memory storing a computer program; and at least one processor for reading and executing the computer program to implement the method as described in any of the above embodiments.
[0018] This application provides a computer-readable storage medium storing a computer program thereon; when the computer program is executed by a processor, it implements the method described in any of the above embodiments.
[0019] The program product proposed in this application includes a computer program; when the computer program is executed by a processor, it implements the method described in any of the above embodiments.
[0020] As can be seen from the above solutions, the technical solution in this application embodiment uses a combination of IMU and positioning module to realize one channel of the safety encoder, and uses a standard encoder to realize the other channel of the safety encoder, thus realizing the function of the safety encoder. Moreover, since the cost of the standard encoder, IMU and positioning module is relatively low, the cost is significantly reduced compared to the safety encoder. Attached Figure Description
[0021] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of this application, in which:
[0022] Figure 1 This is an exemplary structural diagram of a location monitoring system for a safe mobile robot, as described in this application.
[0023] Figure 2 For example in this application Figure 1 The diagram shows the structure of the position calculation and correction module in the system.
[0024] Figure 3 This is an exemplary flowchart of a location monitoring method for a safety-oriented mobile robot in the embodiments of this application.
[0025] Figure 4This is an exemplary structural diagram of a safety status monitoring system for a safety-oriented mobile robot, as described in this application.
[0026] Figure 5 This is an exemplary flowchart of a safety status monitoring method for a safety-oriented mobile robot in this application embodiment.
[0027] Figure 6 This is an exemplary structural diagram of an electronic device according to an embodiment of this application.
[0028] The reference numerals in the attached figures are as follows:
[0029] Detailed Implementation
[0030] In this embodiment, compared to ordinary encoders, safety encoders are called safety encoders not only because their mechanical structure has a higher protection level, but also because they typically provide two channels of position feedback in their signal output. This helps safety controllers or integrated safety drive systems perform CRC cyclic redundancy checks on the encoder data. Some safety encoders generate their dual-safety position feedback output by detecting two sets of redundant sensors and diagnostic elements internally, which makes safety encoders expensive and increases the cost of mobile robots using them.
[0031] Therefore, to reduce the cost of safety-oriented mobile robots, this embodiment considers using a combination of an IMU and a positioning module to implement one channel of the safety encoder, and using a conventional encoder or other implementation methods to implement the other channel. The reason for using a combination of IMU and positioning module is that IMU measurements typically have some errors, thus requiring the positioning module to correct their position.
[0032] To provide a clearer understanding of the purpose, technical solution, and effects of this application, the specific embodiments of this application are now described with reference to the accompanying drawings. In the drawings, the same reference numerals indicate components with the same or similar structures but the same function.
[0033] In this document, “exemplary” and “illustrative” mean “serving as an example, illustration or description”, and any illustration or implementation described herein as “exemplary” or “illustrative” should not be construed as a more preferred or more advantageous technical solution.
[0034] To keep the drawings simple, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product.
[0035] In this article, "one" can mean not only "only one" but also "more than one". In this article, "first", "second", etc., are used only to distinguish them from each other, not to indicate their importance or order.
[0036] Figure 1 This is an exemplary structural diagram of a location monitoring system for a safety-oriented mobile robot, as described in an embodiment of this application. Figure 1 As shown, the system may include: an inertial measurement unit (IMU) 11, multiple positioning modules 12, and a position calculation and correction module 13.
[0037] The inertial measurement unit 11 is used to be installed on the mobile robot to track the translation and rotation process of the mobile robot. For mobile robots such as AGVs or AMRs in the workshop environment, the two-dimensional planar motion is mainly considered. The linear acceleration and angular velocity of the mobile robot are measured and the linear acceleration and angular velocity are provided to the position calculation and correction module 13.
[0038] The inertial measurement unit 11 typically includes an accelerometer and a gyroscope. The accelerometer is used to measure the linear acceleration, and the gyroscope is used to measure the angular velocity.
[0039] Multiple positioning modules 12 are respectively set at different positions on the mobile robot's movement path. Each positioning module 12 provides its own position information based on the geographic coordinate system to the position calculation and correction module 13 when the mobile robot passes by.
[0040] In one embodiment, the plurality of positioning modules 12 may include: a plurality of positioning tags, such as Radio Frequency Identification (RFID) tags with positioning data or QR code tags with positioning data, disposed on the movement path, for example, on the movement path ( , ), ( , ...( , N positioning tags are set at locations such as [location name missing]. Accordingly, the system further includes a tag reader, such as an RFID reader or a QR reader, mounted on the mobile robot.
[0041] The position calculation and correction module 13 receives linear acceleration and angular velocity from the inertial measurement unit 11. After adding timestamps and performing anti-interference processing such as filtering on the linear acceleration and angular velocity, it performs time integration on the angular velocity to obtain the change in steering angle. It then adds the obtained change in steering angle to the initial angle to obtain the corresponding steering angle information. It performs a second time integration on the linear acceleration to obtain the corresponding distance information. The distance information and the steering angle information are transformed from the carrier coordinate system to the geographic coordinate system to obtain the position information of the mobile robot in the geographic coordinate system. Upon receiving data from a... After obtaining the position information from the positioning module 12, the position information of the mobile robot in the geographic coordinate system is corrected using the position information from the positioning module 12. The corrected position information of the mobile robot in the geographic coordinate system is then converted into distance information and turning angle information in the carrier coordinate system. The second derivative of the distance information over time is used to obtain the corrected linear acceleration, and the derivative of the turning angle information over time is used to obtain the corrected angular velocity. The corrected linear acceleration and corrected angular velocity are then used to correct the linear acceleration and angular velocity received from the inertial measurement unit 11.
[0042] In one embodiment, the position calculation and correction module 13 can be as follows: Figure 2 The module includes: a data processing module 131, an integral calculation module 132, a coordinate system transformation module 133, a position correction module 134, a coordinate system inverse transformation module 135, a differential calculation module 136, and a measurement information compensation module 137.
[0043] The data processing module 131 is used to receive linear acceleration and angular velocity from the inertial measurement unit 11, add timestamps to the linear acceleration and angular velocity, and perform anti-interference processing such as filtering.
[0044] The integral calculation module 132 is used to perform time integration on the angular velocity to obtain the change in steering angle, add the obtained change in steering angle to the initial angle to obtain the corresponding steering angle information; and perform a second time integration on the linear acceleration to obtain the corresponding distance information.
[0045] The coordinate system transformation module 133 is used to transform the distance information and the turning angle information from the carrier coordinate system to the geographic coordinate system to obtain the time-stamped location information of the mobile robot in the geographic coordinate system.
[0046] The position correction module 134 is used to correct the timestamped position information of the mobile robot in the geographic coordinate system using the position information from the positioning module 12 after receiving position information from the positioning module 12.
[0047] The coordinate system inverse transformation module 135 is used to convert the corrected position information of the mobile robot in the geographic coordinate system into distance information and turning angle information in the carrier coordinate system.
[0048] The differential calculation module 136 is used to perform a second time derivative on the distance information to obtain the corrected linear acceleration, and to perform a time derivative on the steering angle information to obtain the corrected angular velocity.
[0049] The measurement information compensation module 137 is used to correct the linear acceleration and angular velocity received from the inertial measurement unit 11 using the corrected linear acceleration and angular velocity.
[0050] The position calculation and correction module 13 can also be implemented independently as a position monitoring device for a safety-oriented mobile robot. Furthermore, the position calculation and correction module 13 can also be implemented within a single controller.
[0051] Figure 3 This is an exemplary flowchart of a location monitoring method for a safety-oriented mobile robot, as described in this application. This method can be used to implement... Figure 1 The aforementioned location monitoring system or device for safety-oriented mobile robots. For example... Figure 2 As shown, the method may include the following processing:
[0052] Step 301: Receive the linear acceleration and angular velocity measured by the inertial measurement unit 11 installed on the mobile robot, add timestamps to the linear acceleration and angular velocity and perform anti-interference processing such as filtering.
[0053] Step 302: Integrate the angular velocity over time to obtain the change in steering angle, add the obtained change in steering angle to the initial angle to obtain the corresponding steering angle information; Integrate the linear acceleration twice over time to obtain the corresponding distance information.
[0054] Step 303: Convert the distance information and the turning angle information from the carrier coordinate system to the geographic coordinate system to obtain the time-stamped location information of the mobile robot in the geographic coordinate system.
[0055] Step 304: After receiving location information from a positioning module 12, the positioning information of the mobile robot in the geographic coordinate system is corrected using the location information of the positioning module 12. The positioning module 12 is set at a predetermined position on the mobile robot's movement path, and is used to provide its own location information based on the geographic coordinate system as the mobile robot passes by.
[0056] Step 305: Convert the corrected position information of the mobile robot in the geographic coordinate system into distance information and turning angle information in the carrier coordinate system.
[0057] Step 306: Perform a second time derivative on the distance information to obtain the corrected linear acceleration, and perform a time derivative on the steering angle information to obtain the corrected angular velocity.
[0058] Step 307: The received linear acceleration and angular velocity from the inertial measurement unit 11 are corrected using the corrected linear acceleration and angular velocity. Then, in step 302, the distance and steering angle information are calculated using the corrected linear acceleration and angular velocity. If there is no corrected linear acceleration and angular velocity currently available, for example, if linear acceleration and angular velocity are received in the initial state, then the linear acceleration and angular velocity are directly used to perform the calculation of distance and steering angle information in step 302.
[0059] Figure 4 This is an exemplary structural diagram of a safety status monitoring system for a safety-oriented mobile robot, as described in this application. Figure 4 As shown, the system may include: an inertial measurement unit (IMU) 11, multiple positioning modules 12, a position calculation and correction module 13, a differential calculation module 14, a standard encoder 15, a speed monitoring algorithm module 16, and a safety strategy module 17.
[0060] The functions of the inertial measurement unit 11, multiple positioning modules 12, and position calculation and correction module 13 are as follows: Figure 1 The results are basically consistent. Furthermore, the position calculation and correction module 13 is also used to provide the time-stamped position information of the mobile robot in the geographic coordinate system to the differential calculation module 14. In the above embodiment, the position correction module 134 can correct the time-stamped position information of the mobile robot in the geographic coordinate system using the position information of the positioning module 12, and then provide the corrected time-stamped position information to the differential calculation module 14. If it does not receive position information from the positioning module 12, it directly provides the time-stamped position information from the coordinate system transformation module 133 to the differential calculation module 14.
[0061] The differential calculation module 14 is used to obtain the time-stamped position information of the mobile robot in the geographic coordinate system, and to perform differential processing on the time-stamped position information of the mobile robot in the geographic coordinate system to obtain the first linear velocity and the first angular velocity of the mobile robot in the horizontal x and y directions.
[0062] A standard encoder 15 is used to be mounted on the wheel motor axle of a mobile robot to measure incremental data of the wheel motor.
[0063] The speed monitoring algorithm module 16 receives incremental data from the standard encoder, adds a timestamp to the incremental data, calculates the rotational speed of the wheel motor based on the incremental data, and then converts the rotational speed of the wheel motor into the second linear velocity and second angular velocity of the mobile robot in the horizontal x and y directions according to different kinematic models. The kinematic models may include: Ackerman model, differential wheel model, steering wheel model, Mecanum wheel model, etc.
[0064] The safety policy module 17 is used to perform time matching between the first linear velocity and the first angular velocity and the second linear velocity and the second angular velocity based on the timestamps of the first linear velocity and the first angular velocity, and the second linear velocity and the second angular velocity. It then compares the time-matched first linear velocity and the second linear velocity to determine if the resulting first difference is within a preset first allowable range, and compares the time-matched first angular velocity and the second angular velocity to determine if the resulting second difference is within a preset second allowable range. If both are within the allowable range, the current safety state of the mobile robot is confirmed to be normal; otherwise, the current safety state of the mobile robot is confirmed to be abnormal, and corresponding processing can be performed. That is, by comparing data from two different channels, if the speeds of the two channels are the same, it means the current state is safe; if the speeds of the two channels are different, it means the current state is unsafe.
[0065] The combination of the position calculation and correction module 13, the differential calculation module 14, the speed monitoring algorithm module 16, and the safety strategy module 17 can also be implemented individually as a safety status monitoring device for a safety-oriented mobile robot. Furthermore, the position calculation and correction module 13, the differential calculation module 14, the speed monitoring algorithm module 16, and the safety strategy module 17 can also be implemented in a single controller. Alternatively, some of these modules can be implemented in a safety PLC; for example, the safety strategy module 17 can be implemented in a safety PLC. Alternatively, some of these modules can be relayed by a safety PLC; for example, incremental data detected by the standard encoder 15 can be forwarded to the speed monitoring algorithm module 16 via the safety PLC.
[0066] Figure 5 This is an exemplary flowchart of a safety status monitoring method for a safety-oriented mobile robot, as described in this application. Figure 5As shown, this method can be used to implement Figure 3 The aforementioned safety status monitoring system or device for safety-oriented mobile robots. For example... Figure 5 As shown, the method may include the following processing:
[0067] Steps 301 to 307 and Figure 3 The process is basically the same. However, step 304 further includes: after correcting the timestamped position information of the mobile robot in the geographic coordinate system using the position information of the positioning module 12, the corrected timestamped position information is provided to the differential calculation module 14. If the position information is not received from the positioning module 12, the timestamped position information calculated in step 303 is directly output and provided to the differential calculation module 14.
[0068] Step 308: Obtain the timestamped position information of the mobile robot in the geographic coordinate system, and perform differential processing on the timestamped position information of the mobile robot in the geographic coordinate system to obtain the first linear velocity and the first angular velocity of the mobile robot in the horizontal x and y directions.
[0069] Step 309: Receive incremental data from a standard encoder mounted on the wheel motor shaft of the mobile robot, add a timestamp to the incremental data, calculate the rotational speed of the wheel motor based on the incremental data, and then convert the rotational speed of the wheel motor into the second linear velocity and second angular velocity of the mobile robot in the horizontal x and y directions according to different kinematic models. The kinematic models may include: Ackerman model, differential wheel model, steering wheel model, Mecanum wheel model, etc.
[0070] Step 310: Based on the timestamps of the first linear velocity and the first angular velocity, as well as the second linear velocity and the second angular velocity, perform time matching between the first linear velocity and the first angular velocity and the second linear velocity and the second angular velocity.
[0071] Step 311: Compare the first linear velocity and the second linear velocity in time matching, and determine whether the obtained first difference is within a preset first allowable range. Compare the first angular velocity and the second angular velocity in time matching, and determine whether the obtained second difference is within a preset second allowable range. If both are within the allowable range, the current safety status of the mobile robot is confirmed to be normal. Otherwise, the current safety status of the mobile robot is confirmed to be abnormal, and corresponding processing can be performed.
[0072] In fact, the location monitoring device and safety status monitoring device for safe mobile robots provided in this embodiment of the application can be implemented in various ways. For example, the location monitoring device or safety status monitoring device for safe mobile robots can be compiled into a plug-in that can be installed in a smart terminal by using an application programming interface that conforms to specific rules, or it can be packaged into an application to form a program product for users to download and use.
[0073] When compiled as a plugin, the position monitoring device and safety status monitoring device for a safety-oriented mobile robot can be implemented in various plugin forms, such as OCX, DLL, and CAB. The position monitoring device and safety status monitoring device for a safety-oriented mobile robot provided by this implementation method can also be implemented using specific technologies, such as Flash plugin technology, RealPlayer plugin technology, MMS plugin technology, MIDI personnel plugin technology, or ActiveX plugin technology.
[0074] The location monitoring method and safety status monitoring method for safety-oriented mobile robots provided by this implementation can be encapsulated into an application program as an instruction or instruction set for user download and use; or, it can be stored in various computer-readable storage media as an instruction storage or instruction set storage. These storage media include, but are not limited to: hard disks, flash memory, USB flash memory, CF cards, SD cards, SDHC cards, MMC cards, SM cards, Memory Sticks, and xD cards.
[0075] It should be clear that the operating system that operates in a computer can perform some or all of the actual operations not only by executing program code that the computer reads from the storage medium, but also by using instructions based on the program code, in order to achieve the functions of any of the embodiments described above.
[0076] For example, Figure 6 This is an exemplary structural diagram of an electronic device according to an embodiment of this application. The device can be used to perform... Figure 3 or Figure 5 The method shown, or used to implement Figure 1 or Figure 4 The device in the middle. For example... Figure 6 As shown, the electronic device may include at least one memory 61 and at least one processor 62. It may also include other components such as communication ports, input / output controllers, network communication interfaces, etc. These components communicate via a bus 63, etc.
[0077] At least one memory 61 is used to store a computer program. In one example, a computer program can be understood to include... Figure 1 or Figure 4The device shown includes various modules. Additionally, at least one memory 61 can store an operating system, etc. Operating systems include, but are not limited to: Android, Symbian, Windows, Linux, etc.
[0078] At least one processor 62 is used to invoke a computer program stored in at least one memory 61 to execute the position monitoring method and safety status monitoring method for a safety-oriented mobile robot described in the examples of this application. The processor 302 may be a CPU, processing unit / module, ASIC, logic module, or programmable gate array, etc., and it can receive and send data through a communication port.
[0079] It should be understood that the use of “and / or” in this document is intended to include any and all possible combinations of one or more of the associated listed items.
[0080] The number of embodiments in this application is for illustrative purposes only and does not represent the advantages of the embodiments.
[0081] The technical solution in this application embodiment uses a combination of IMU and positioning module to implement one channel of the safety encoder, and a standard encoder to implement the other channel of the safety encoder, thus realizing the function of the safety encoder. Furthermore, since the cost of the standard encoder, IMU, and positioning module is relatively low, the cost is significantly reduced compared to the safety encoder.
[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
[0083] In this patent application, nouns and pronouns relating to people are not limited to specific genders.
Claims
1. A method of position monitoring of a mobile robot, characterized by, The method comprises the following steps: receiving linear acceleration and angular velocity measured by an inertial measurement unit installed on a mobile robot, adding time stamp to the linear acceleration and angular velocity and performing anti-interference processing including filtering; performing processing including time integration on the angular velocity to obtain steering angle information, and performing processing including twice time integration on the linear acceleration to obtain corresponding distance information; converting the distance information and the steering angle information from a carrier coordinate system to a geographical coordinate system to obtain time-stamped position information of the mobile robot in the geographical coordinate system; after receiving position information from a positioning module, correcting the time-stamped position information of the mobile robot in the geographical coordinate system by using the position information of the positioning module; converting the corrected position information of the mobile robot in the geographical coordinate system into distance information and steering angle information in the carrier coordinate system; performing processing including twice time differentiation on the distance information to obtain corrected linear acceleration, and performing processing including time differentiation on the steering angle information to obtain corrected angular velocity; using the corrected linear acceleration and the corrected angular velocity, correcting the received linear acceleration and angular velocity from the inertial measurement unit, and then using the corrected linear acceleration and the corrected angular velocity to calculate the distance information and the steering angle information.
2. The position monitoring method of a mobile robot according to claim 1, wherein The plurality of positioning modules comprises: a plurality of positioning tags arranged on a moving path; each positioning tag is identified by a tag reader arranged on the mobile robot.
3. The position monitoring method of a mobile robot according to claim 2, wherein The positioning tag is a radio frequency identification system tag with positioning data or a two-dimensional code tag with positioning data; and the tag reader is a radio frequency identification system reader or a two-dimensional code reader.
4. The position monitoring apparatus for a mobile robot characterized by comprising: The method comprises the following steps: a data processing module (131) is configured to receive linear acceleration and angular velocity from the inertial measurement unit, add time stamp to the linear acceleration and angular velocity, and perform anti-interference processing such as filtering; an integral calculation module (132) is configured to perform time integration on the angular velocity to obtain steering angle change, add the obtained steering angle change to an initial angle to obtain corresponding steering angle information, and perform twice time integration on the linear acceleration to obtain corresponding distance information; a coordinate system conversion module (133) is configured to convert the distance information and the steering angle information from a carrier coordinate system to a geographical coordinate system to obtain time-stamped position information of the mobile robot in the geographical coordinate system; a position correction module (134) is configured to, after receiving position information from a positioning module, correct the time-stamped position information of the mobile robot in the geographical coordinate system by using the position information of the positioning module; a coordinate system inverse transformation module (135) is configured to convert the corrected position information of the mobile robot in the geographical coordinate system into distance information and steering angle information in the carrier coordinate system; a differential calculation module (136) is configured to perform twice time differentiation on the distance information to obtain corrected linear acceleration, and perform time differentiation on the steering angle information to obtain corrected angular velocity; and the data processing module (131) is configured to correct the received linear acceleration and angular velocity from the inertial measurement unit by using the corrected linear acceleration and the corrected angular velocity, and then use the corrected linear acceleration and the corrected angular velocity to calculate the distance information and the steering angle information. A measurement information compensation module (137) is configured to correct the linear acceleration and angular velocity received from the inertial measurement unit using the corrected linear acceleration and angular velocity.
5. A position monitoring system for a mobile robot, characterized by The application comprises: an inertial measurement unit (11) configured to be installed on a mobile robot to measure linear acceleration and angular velocity of the mobile robot; a plurality of positioning modules (12) configured to be arranged at different positions on a moving path of the mobile robot, each of the positioning modules (12) providing its own position information based on a geographic coordinate system when the mobile robot passes by; and a position monitoring device of a mobile robot according to claim 4.
6. The position monitoring system of the mobile robot according to claim 5, wherein The plurality of positioning modules (12) comprise a plurality of positioning tags arranged on the moving path; the system further comprises a tag reader arranged on the mobile robot to identify each positioning tag.
7. The position monitoring system of the mobile robot according to claim 6, wherein The positioning tag is a radio frequency identification system tag with positioning data or a two-dimensional code tag with positioning data; and the tag reader is a radio frequency identification system reader or a two-dimensional code reader.
8. A method of monitoring a safety state of a mobile robot, characterized by, The application comprises: a position monitoring method of a mobile robot according to any one of claims 1 to 3; and obtaining time-stamped position information of the mobile robot in a geographic coordinate system and differentiating the time-stamped position information of the mobile robot in the geographic coordinate system to obtain first linear velocity and first angular velocity of the mobile robot in horizontal x and y directions; receiving incremental data of a standard encoder installed on a wheel motor shaft of the mobile robot, adding a time stamp to the incremental data, calculating the rotation speed of the wheel motor according to the incremental data, and then converting the rotation speed of the wheel motor into second linear velocity and second angular velocity of the mobile robot in the horizontal x and y directions according to different kinematic models; time-matching the first linear velocity and first angular velocity with the second linear velocity and second angular velocity based on the time stamps of the first linear velocity and first angular velocity and the second linear velocity and second angular velocity; comparing the first linear velocity and second linear velocity after time-matching to determine whether a first difference obtained is within a preset first allowable range, and comparing the first angular velocity and second angular velocity after time-matching to determine whether a second difference obtained is within a preset second allowable range, and if both are within the allowable range, confirming that the current safety state of the mobile robot is normal.
9. A safety state monitoring apparatus for a mobile robot, characterized by comprising: The application comprises: a position monitoring device of a mobile robot according to claim 4; and a differentiation calculation module (14) configured to obtain time-stamped position information of the mobile robot in a geographic coordinate system and differentiate the time-stamped position information of the mobile robot in the geographic coordinate system to obtain first linear velocity and first angular velocity of the mobile robot in horizontal x and y directions. a speed monitoring algorithm module (16) configured to receive incremental data from the standard encoder, add a time stamp to the incremental data, and calculate a rotational speed of the wheel motor according to the incremental data, and then convert the rotational speed of the wheel motor into a second linear speed and a second angular speed of the mobile robot in the horizontal x direction and y direction according to different kinematic models; and a safety policy module (17) configured to time-match the first linear speed and the first angular speed with the second linear speed and the second angular speed based on the time stamps of the first linear speed and the first angular speed and the second linear speed and the second angular speed, compare the time-matched first linear speed and the second linear speed, and determine whether a first difference obtained by the comparison is within a preset first allowable range, compare the time-matched first angular speed and the second angular speed, and determine whether a second difference obtained by the comparison is within a preset second allowable range, and confirm that a current safety state of the mobile robot is normal if both the first difference and the second difference are within the allowable ranges.
10. A safety state monitoring system for a mobile robot, characterized by including: the safety state monitoring device of the mobile robot according to claim 9; an inertial measurement unit (11) configured to be installed on the mobile robot and measure linear acceleration and angular speed of the mobile robot; a plurality of positioning modules (12) configured to be respectively arranged at different positions on a moving path of the mobile robot, each of the positioning modules (12) providing its own position information based on a geographic coordinate system when the mobile robot passes by; and a standard encoder (15) configured to be installed on a wheel motor shaft of the mobile robot and measure incremental data of the wheel motor.
11. An electronic device, characterized by including: at least one memory having computer program stored therein; and at least one processor configured to read and execute the computer program to implement the method according to any one of claims 1-3 and 8.
12. A computer readable storage medium having stored thereon a computer program; characterized in that, The computer program is executed by the processor to implement the method according to any one of claims 1-3 and 8.
13. Computer program product comprising a computer program; characterized in that, The computer program is executed by the processor to implement the method according to any one of claims 1-3 and 8.