State detection method and apparatus for mobile robot, and mobile robot and device

Abstract

A state detection method and apparatus for a mobile robot, and a mobile robot and a device. The mobile robot (10) comprises a body (11) and a laser ranging assembly (12) disposed at a top end of the body (11) in a liftable manner. The state detection method for a mobile robot (10) comprises: during the switching between lifted and lowered states of a laser ranging assembly (12), controlling the laser ranging assembly (12) to collect point cloud data (S201); determining features of the point cloud data (S202); and on the basis of the features of the point cloud data, determining the lifted or lowered state of the laser ranging assembly (S203).

Description

Mobile robot state detection method, device, mobile robot and equipment Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202411655618.1, filed on November 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to, but is not limited to, the field of mobile robot technology, and in particular to a mobile robot state detection method, apparatus, mobile robot, and equipment. Background Technology

[0003] With the rapid development of technology, mobile robots are being used more and more widely. Some mobile robots are equipped with retractable laser rangefinders on their tops to detect the surrounding environment while moving. Summary of the Invention

[0004] In view of the above, the present disclosure provides at least one method, apparatus, mobile robot and device for detecting the state of a mobile robot.

[0005] The technical solution of this disclosure embodiment is implemented as follows:

[0006] This disclosure provides a method for detecting the state of a mobile robot. The mobile robot includes a body and a laser ranging component that can be raised and lowered and mounted on the top of the body. The method for detecting the state of the mobile robot includes:

[0007] Control the laser ranging component to switch between lifting and lowering states, and during the switching between lifting and lowering states, control the laser ranging component to collect point cloud data;

[0008] Determine the characteristics of point cloud data; and

[0009] Based on the characteristics of the point cloud data, determine the lifting and lowering status of the laser ranging component.

[0010] This disclosure provides a state detection device for a mobile robot, the device comprising:

[0011] The first control module controls the laser ranging component to switch between lifting and lowering states, and during the switching between lifting and lowering states, controls the laser ranging component to collect point cloud data.

[0012] The feature determination module determines the features of the point cloud data; and

[0013] The status judgment module determines the lifting status of the laser ranging component based on the characteristics of the point cloud data. The laser ranging component is mounted on the body of the mobile robot in a lifting manner.

[0014] This disclosure provides a mobile robot, including:

[0015] The main body, a laser rangefinder assembly that can be raised and lowered to the top of the main body; and

[0016] A controller; wherein the controller is used to implement some or all of the steps in the above-described mobile robot state detection method.

[0017] This disclosure provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements some or all of the steps in the above-described method.

[0018] This disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above-described method.

[0019] This disclosure provides a computer program, including computer-readable code, which, when run in a computer device, implements some or all of the steps in the above-described method.

[0020] This disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0021] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this disclosure. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0023] Figure 1 is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure;

[0024] Figure 2 is a schematic diagram of the implementation process of a mobile robot state detection method provided in an embodiment of this disclosure;

[0025] Figure 3 is a schematic diagram of the composition structure of a state detection device for a mobile robot provided in an embodiment of this disclosure;

[0026] Figure 4 is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure;

[0027] Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this disclosure. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this disclosure. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0029] In the following description, references to "some embodiments" describe a subset of all possible embodiments; however, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this disclosure.

[0031] To better understand the solutions of the embodiments of this disclosure, the following describes the lifting and lowering state detection scheme of mobile robots in related technologies.

[0032] In related technologies, for mobile robots equipped with height-adjustable laser ranging components, the height-adjustment status of the laser ranging component is typically determined by a height-adjustment switch. However, when the height-adjustment switch is damaged or malfunctioning, the height-adjustment status of the laser ranging component cannot be determined.

[0033] In this embodiment of the disclosure, a mobile robot refers to a robot capable of autonomous movement. For example, a mobile robot may include, but is not limited to, at least one of cleaning robots (such as sweeping robots, floor scrubbers, mopping robots, and combined washing and mopping machines), guiding robots, and service robots. In implementation, the composition and structure of the mobile robot may be determined according to actual circumstances, and this embodiment of the disclosure does not limit this.

[0034] Figure 1 is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure. As shown in Figure 1, the mobile robot 10 includes a body 11 and a laser ranging component 12 that can be raised and lowered and is mounted on the top of the body 11.

[0035] Based on this, the present disclosure provides a mobile robot state detection method, which can be executed by a processor of a computer device. The computer device refers to a mobile robot, server, laptop computer, tablet computer, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or other device with data processing capabilities.

[0036] Figure 2 is a schematic flowchart illustrating the implementation of a mobile robot state detection method according to an embodiment of this disclosure. As shown in Figure 2, the method includes the following steps S201 to S203.

[0037] Step S201: Control the laser ranging component to switch between lifting and lowering states, and during the switching between lifting and lowering states, control the laser ranging component to collect point cloud data.

[0038] Here, switching the lifting state refers to controlling the laser ranging component to switch the lifting state to the raised position or the lowered position according to the needs of the business scenario.

[0039] The laser ranging component can emit a laser beam into the surrounding environment. When the laser beam encounters an obstacle, it will be reflected back and received by the laser ranging sensor in the laser ranging component. By measuring the time difference between the emission and reception of the laser beam, the distance between the mobile robot and the obstacle can be calculated, thereby collecting point cloud data.

[0040] Point cloud data includes the three-dimensional coordinates of multiple points in three-dimensional space. The three-dimensional coordinates can reflect the position of each point relative to the laser ranging component in three-dimensional space.

[0041] In some implementations, the laser ranging component can be controlled to switch between lifting and lowering states based on the instruction type of the state switching command.

[0042] In some implementations, when the instruction type is an ascending instruction, the laser ranging component is controlled to ascend until it reaches its designated position.

[0043] In some implementations, when the instruction type is a descent instruction, the laser ranging component is controlled to descend until it reaches its designated position.

[0044] Step S202: Determine the characteristics of the point cloud data.

[0045] In some implementations, the features of point cloud data can characterize the location range of each point in the point cloud data.

[0046] During the ascent or descent of the laser ranging component, point cloud data is collected sequentially in chronological order. Therefore, the ascent and descent states of the laser ranging component can be determined based on the sequential characteristics of the point cloud data.

[0047] In some implementations, the distribution of points in the point cloud data is represented by the three-dimensional coordinates of the points in the point cloud data relative to the laser ranging component in three-dimensional space. The position of the points in the point cloud data in three-dimensional space can be represented by the three-dimensional coordinates, thereby determining the characteristics of the point cloud data.

[0048] In some implementations, when the laser ranging component is fully raised, i.e. in its raised position, the point cloud data collected by the laser ranging component is a 360-degree environmental point cloud, i.e., points outside the robot body. As the laser ranging component descends, the points in the point cloud data collected by the laser ranging component gradually hit the upper cover of the mobile robot and the lifting cavity of the mobile robot. Finally, when the laser ranging component descends to its final position, the collected point cloud data includes the point cloud inside the lifting cavity and the environmental point cloud of about 90 degrees observed through the slot at the rear of the robot body.

[0049] Step S203: Based on the features of the point cloud data, determine the lifting and lowering state of the laser ranging component.

[0050] In some implementations, the lifting state may include, but is not limited to, at least one of the following: fully raised, not fully raised, fully lowered, not fully lowered.

[0051] In some implementations, the point cloud data collected sequentially in chronological order during the ascent or descent of the laser ranging component have different characteristics, and the corresponding ascent and descent states of the laser ranging component are also different.

[0052] In this embodiment, the mobile robot includes a body and a laser ranging component that can be raised and lowered at the top of the body. The laser ranging component is controlled to switch between rising and falling states, and during this process, it collects point cloud data. The rising and falling state of the laser ranging component is determined based on the characteristics of the point cloud data. Because the detection field of view of the laser ranging component differs in different rising and falling states, the rising and falling state of the laser ranging component can be conveniently and accurately determined based on the changes in the characteristics of the point cloud data collected during the state switching process. Furthermore, the detection process does not rely on an additional hardware rising and falling position detection switch. Therefore, even if the rising and falling position detection switch malfunctions or malfunctions during the state switching process, the rising and falling state of the laser ranging component can still be accurately determined, thereby improving the working performance of the mobile robot.

[0053] In some embodiments, the features of point cloud data may include a first feature, a second feature, and a third feature, wherein:

[0054] The first characteristic is that there are more points located outside the fuselage than points located inside the fuselage in the point cloud data;

[0055] The second characteristic is that there are more points inside the fuselage than points outside the fuselage in the point cloud data;

[0056] The third characteristic refers to the fact that there are more points located inside the lifting cavity than points located outside the lifting cavity in the point cloud data.

[0057] The point cloud data possesses a first feature, a second feature, or a third feature. It is understandable that the point cloud features change as the laser ranging component rises or falls; at any given moment, the point cloud data possesses one of the first, second, or third features.

[0058] In some implementations, when the laser ranging component is at its highest point, the point cloud data shows more points outside the current location range of the fuselage than points within the fuselage, indicating that the point cloud data has a first characteristic. As the laser ranging component continues to descend, the number of points outside the fuselage decreases while the number of points inside the fuselage increases. When the number of points inside the fuselage exceeds the number of points outside the fuselage, the point cloud data has a second characteristic. When the laser ranging component continues to descend, resulting in more points inside the lifting cavity than outside the lifting cavity, the point cloud data has a third characteristic.

[0059] In some implementations, a collision avoidance strip is provided in front of the mobile robot, and the height of the collision avoidance strip is higher than the body. Therefore, the laser ranging component can collect point cloud data located on the body. That is, the points located inside the body can include the point cloud data located on the body.

[0060] In some implementations, no anti-collision strip higher than the body is set in front of the mobile robot. During the normal lifting and lowering process of the laser ranging component, the laser ranging component will not collect point cloud data located on the body. That is, the points inside the body do not include the point cloud data located on the body.

[0061] In some embodiments, a horizontally outward opening is provided at the top of the fuselage. The size and position of this opening can be determined by those skilled in the art based on the actual situation, and the embodiments disclosed herein are not limited in this regard. For example, the opening can be located in front of, behind, and / or on the side of the lifting cavity of the laser ranging component.

[0062] When the laser ranging component descends to its final position, environmental point clouds can be collected through the rear opening of the lifting cavity.

[0063] In the point cloud data, the points in front of the lifting cavity are located inside the lifting cavity, while the points behind the lifting cavity are environmental point clouds collected through the rear opening of the lifting cavity.

[0064] In the above embodiments, the first feature refers to the fact that there are more points located outside the fuselage than points located inside the fuselage in the point cloud data; the second feature refers to the fact that there are more points located inside the fuselage than points located outside the fuselage in the point cloud data; and the third feature refers to the fact that there are more points located inside the lifting cavity than points located outside the lifting cavity in the point cloud data. The point cloud data possesses the first, second, or third feature. Thus, by accurately determining the characteristics of the point cloud data based on the location range of each point, the lifting state of the laser ranging component can be intuitively observed through these characteristics.

[0065] In some embodiments, step S203 may include at least one of steps S221 and S222.

[0066] Step S221: When the point cloud data switches from having a third feature to having a second feature, or from having a second feature to having a first feature, determine that the laser ranging component is in an ascending state.

[0067] In one embodiment, when the laser ranging component is in its descending position, the number of points in the point cloud data located inside the rising and falling cavity is greater than the number of points located outside the rising and falling cavity, meaning the point cloud data possesses a third characteristic. As the laser ranging component rises, the number of points inside the rising and falling cavity decreases, while the number of points outside the rising and falling cavity increases, until the point cloud data possesses a second characteristic. Therefore, when the point cloud data successively possesses the third characteristic and then the second characteristic, it is determined that the laser ranging component is in an ascending state.

[0068] In one embodiment, as the laser ranging component rises, fewer points are located inside the lifting cavity, while more points are located outside the lifting cavity. Gradually, the number of points inside the lifting cavity becomes less than the number of points outside the lifting cavity, and the point cloud data exhibits the second feature. Points outside the fuselage gradually appear in the point cloud data. As the laser ranging component continues to rise, more and more points are located outside the fuselage, while fewer and fewer points are located inside the fuselage, until the number of points outside the fuselage exceeds the number of points inside the fuselage. Therefore, when the point cloud data successively exhibits both the second and first features, it can be determined that the laser ranging component is in an ascending state.

[0069] In one embodiment, when the point cloud data sequentially possesses the third feature, the second feature, and the first feature, it is more certain that the laser ranging component is in an ascending state. Specifically, when the laser ranging component is in its descending position, the number of points located inside the rising and falling cavity in the point cloud data exceeds the number of points located outside the rising and falling cavity, i.e., the point cloud data possesses the third feature. As the laser ranging component ascends, the number of points inside the rising and falling cavity decreases, while the number of points outside the rising and falling cavity increases. Points outside the fuselage appear in the point cloud data. As the laser ranging component continues to ascend, the number of points outside the fuselage increases, while the number of points inside the fuselage decreases, until the number of points outside the fuselage exceeds the number of points inside the fuselage. Therefore, when the point cloud data sequentially possesses the third feature, the second feature, and the first feature, it is more certain that the laser ranging component is in an ascending state.

[0070] Step S222: When the point cloud data switches from having a first feature to having a second feature, or from having a second feature to having a third feature, determine that the laser ranging component is in a falling state.

[0071] In one embodiment, when the laser ranging component is in its raised position, the point cloud data contains more points outside the fuselage than inside, indicating that the point cloud data possesses a first characteristic. As the laser ranging component descends, the number of points outside the fuselage decreases, while the number of points inside the fuselage increases. When the number of points inside the fuselage exceeds the number of points outside the fuselage, the point cloud data possesses a second characteristic. Therefore, when the point cloud data successively possesses both the first and second characteristics, it is determined that the laser ranging component is in a descending state.

[0072] In one embodiment, the laser ranging component is also considered to be in a descent state when the point cloud data switches from having a second feature to having a third feature. Specifically, as the laser ranging component descends, the number of points outside the fuselage in the point cloud data decreases, while the number of points inside the fuselage increases. When the number of points inside the fuselage exceeds the number of points outside the fuselage, the point cloud data exhibits the second feature. As the laser ranging component continues to descend, points appear inside the lifting cavity in the point cloud data, and the number of points inside the lifting cavity increases while the number of points outside the lifting cavity decreases, until the number of points inside the lifting cavity exceeds the number of points outside the lifting cavity, i.e., the point cloud data exhibits the third feature. Therefore, the laser ranging component is also considered to be in a descent state when the point cloud data switches from having the second feature to having the third feature.

[0073] In one embodiment, when the point cloud data sequentially possesses the first feature, the second feature, and the third feature, it is further determined that the laser ranging component is in a descending state. Specifically, when the laser ranging component is in its ascending position, the number of points outside the fuselage in the point cloud data is greater than the number of points inside the fuselage, i.e., the point cloud data possesses the first feature. As the laser ranging component descends, the number of points outside the fuselage decreases, while the number of points inside the fuselage increases. When the number of points inside the fuselage exceeds the number of points outside the fuselage, the point cloud data possesses the second feature. As the laser ranging component continues to descend, points appear inside the rising and falling cavity in the point cloud data, and the number of points inside the rising and falling cavity increases while the number of points outside the rising and falling cavity decreases, until the number of points inside the rising and falling cavity exceeds the number of points outside the rising and falling cavity, i.e., the point cloud data possesses the third feature. Therefore, when the point cloud data sequentially possesses the first feature, the second feature, and the third feature, it is determined that the laser ranging component is in a descending state.

[0074] In the above embodiments, when the point cloud data switches from having a third feature to having a second feature, or from having a second feature to having a first feature, it is determined that the laser ranging component is in an ascending state; and when the point cloud data switches from having a first feature to having a second feature, or from having a second feature to having a third feature, it is determined that the laser ranging component is in a descending state. Thus, by observing the sequential transformation of the features of the point cloud data, the movement process of the laser ranging component can be intuitively reflected, thereby simplifying the implementation difficulty of determining the ascending or descending state of the laser ranging component.

[0075] In some embodiments, the points located within the lifting cavity in the point cloud data include points on the rear side of the lifting cavity and points in the lifting cavity window.

[0076] In some implementations, the points on the rear side of the lifting cavity are environmental point clouds collected by the laser ranging component inside the lifting cavity through the rear opening of the lifting cavity, allowing observation of part of the environment.

[0077] In some implementations, the lifting cavity window is a transparent window located in front of or on both sides of the lifting cavity. The points in the lifting cavity window can be point clouds collected by the laser ranging component inside the lifting cavity through the lifting cavity window, allowing observation of part of the environment.

[0078] It is understandable that the point cloud data collected by the laser ranging component within the lifting cavity has a third characteristic.

[0079] In some embodiments, the above method may further include the following steps S231 and S232.

[0080] Step S231: Detect the operating current of the motor that drives the laser ranging component to switch between lifting and lowering states.

[0081] Here, the mobile robot also includes a motor, which is used to drive the laser ranging component to switch between lifting and lowering states.

[0082] In some implementations, as the laser ranging component ascends or descends, the load on the motor changes due to variations in factors such as gravity and friction, which is reflected in the motor's operating current.

[0083] Step S232: Based on the characteristics of the operating current and point cloud data, determine whether the laser ranging component has been raised or lowered into position.

[0084] In some implementations, the actual operating current of the laser ranging component during its ascent or descent can be compared with the theoretical operating current of the laser ranging component during its ascent or descent to determine whether the motor's operating current is overcurrent.

[0085] Based on the characteristics of the point cloud data and whether the operating current is overcurrent, determine whether the laser ranging component has risen to the correct position or fallen to the correct position.

[0086] In the above embodiments, the operating current of the motor driving the laser ranging component to switch between lifting and lowering states is detected; and based on the characteristics of the operating current and point cloud data, it is determined whether the laser ranging component has reached the lifting or lowering position. Thus, by simply acquiring and processing the current signal of the laser ranging component during its ascent or descent, real-time monitoring of the motor's operating current, i.e., the load borne by the motor, can be achieved without additional sensors or complex signal processing circuits.

[0087] In some embodiments, the above method may further include the following step S241.

[0088] Step S241: When the motor's operating current is greater than the first preset current, the laser ranging component is in the rising state, and the point cloud data has the first feature, it is determined that the laser ranging component has risen to the correct position.

[0089] In some implementations, the first preset current can be preset by those skilled in the art according to the actual situation, and is not limited here.

[0090] The first preset current can be the current required to overcome the load when the laser ranging component is raised to its raised position during the normal lifting and lowering process of the motor.

[0091] In some implementations, continuing to control the laser ranging component to rise after it has reached its position, or when an object obstructs the laser ranging component during its rise, will cause the motor's operating current to exceed the first preset current, i.e., the motor's operating current will be overcurrent.

[0092] It is understandable that when the motor is overcurrent, the laser ranging component is in the rising state, and the point cloud data has the first feature, indicating that the laser ranging component has risen to the correct position.

[0093] In this embodiment, when the motor's operating current is greater than a first preset current, the laser ranging component is in an ascending state, and the point cloud data possesses a first characteristic, it is determined that the laser ranging component has reached its ascending position. Thus, whether the laser ranging component has reached its ascending position can be determined simply and directly by whether the motor's operating current is overcurrent and whether the point cloud data possesses the first characteristic.

[0094] In some embodiments, the above method may further include the following step S251.

[0095] Step S251: When the motor's operating current is greater than the first preset current, the laser ranging component is in a descending state, and the point cloud data has the third feature, it is determined that the laser ranging component has descended to the correct position.

[0096] In some implementations, continuing to control the descent of the laser ranging component after it has descended to its position, or when an object obstructs the descent of the laser ranging component, will cause the motor's operating current to exceed the first preset current, i.e., the motor's operating current will be overcurrent.

[0097] It is understandable that when the motor is overcurrent, the laser ranging component is in a descending state, and the point cloud data has a third feature, indicating that the laser ranging component has descended to its designated position.

[0098] In this embodiment, when the motor's operating current exceeds a first preset current, the laser ranging component is in a descending state, and the point cloud data exhibits a third characteristic, it is determined that the laser ranging component has descended to its designated position. Thus, whether the laser ranging component has descended to its designated position can be determined simply and directly by whether the motor's operating current is overcurrent and whether the point cloud data exhibits the third characteristic.

[0099] In some embodiments, the above method may further include the following steps S261 and S262.

[0100] Step S261: When the motor's operating current is greater than the first preset current, the laser ranging component rises for more than the first preset time, and the point cloud data does not have the first feature, it is determined that the laser ranging component has not risen to the correct position.

[0101] In some implementations, a timer can be set in the mobile robot to determine the lifting status of the laser ranging component based on its lifting speed and expected travel time.

[0102] In some implementations, the first preset duration is the rising duration of the laser ranging component determined based on the rising speed of the laser ranging component and the preset rising stroke.

[0103] In some implementations, when the timer detects that the laser ranging component has been raised for an extended period and the point cloud data does not have the first feature, it indicates that the laser ranging component has not reached its designated position.

[0104] Step S262: When the motor's operating current is greater than the first preset current, the laser ranging component descends for more than the second preset time, and the point cloud data does not have the third feature, it is determined that the laser ranging component has not descended to its final position.

[0105] In some implementations, the first preset duration is the descent duration of the laser ranging component determined based on the descent speed of the laser ranging component and a preset descent distance.

[0106] In some implementations, if the timer detects that the laser ranging component has been descending for an extended period and the point cloud data does not have a third feature, it indicates that the laser ranging component has not descended to its intended position.

[0107] In the above embodiments, when the motor's operating current is greater than a first preset current, the laser ranging component rises for more than a first preset time, and the point cloud data does not have a first feature, it is determined that the laser ranging component has not reached its rising position; and when the motor's operating current is greater than a first preset current, the laser ranging component descends for more than a second preset time, and the point cloud data does not have a third feature, it is determined that the laser ranging component has not reached its descending position. Thus, by controlling the duration of the laser ranging component's rise or fall to determine its lifting or lowering state, the timing of the laser ranging component reaching its rising and descending positions can be accurately calculated, thereby reducing errors caused by human judgment or environmental factors.

[0108] In some embodiments, the above method may further include the following steps S271 and S272.

[0109] Step S271: When the laser ranging component has not risen to its final position, control the laser ranging component to descend to its final position.

[0110] In some implementations, the mobile robot has a built-in position sensor that can detect the current position of the laser ranging component. If the current position has not reached the preset position, it indicates that the laser ranging component has not risen to the correct position.

[0111] In some implementations, visual sensors (such as cameras) are installed on the mobile robot to identify whether the laser ranging component has risen to a preset position using image processing technology.

[0112] In some implementations, the point cloud data does not have a first feature, indicating that the laser ranging component is in the process of rising, but has not yet reached the final rising state.

[0113] Step S272: After controlling the mobile robot to move a first distance in the lowered position, control the laser ranging component to rise.

[0114] In some implementations, during the upward movement of the laser ranging component, if the motor's operating current is greater than the first preset current and the point cloud data does not have the first feature, there may be an object above obstructing the upward movement of the laser ranging component. Therefore, the laser ranging component can be lowered into position, and the mobile robot can be controlled to move a first distance in the lowered position before the laser ranging component is controlled to rise again.

[0115] In some implementations, in response to detecting that the laser ranging component is in a state of not being fully descended, the laser ranging component is controlled to rise into position; after the mobile robot moves a second distance in the state of being fully descended, the laser ranging component is controlled to descend again. However, in actual working scenarios, the laser ranging component can also work normally if it is in a state of not being fully descended. Therefore, the laser ranging component can remain in the state of not being fully descended and continue to work.

[0116] In the above embodiments, when it is detected that the laser ranging component is not in the ascending position, the laser ranging component is controlled to descend to the descending position. After the mobile robot moves a first distance, the laser ranging component is controlled to ascend. In this way, after the mobile robot moves a first distance, the laser ranging component is controlled to ascend again, changing the position of the laser ranging component to avoid temporary obstacles and allowing the laser ranging component to ascend smoothly.

[0117] In some embodiments, the above method may further include the following steps S281 and S282.

[0118] Step S281: When the laser ranging component is in the raised position, control the laser ranging component to stop rising.

[0119] In some implementations, controlling the laser ranging component to stop rising when it has already reached its ascending position can reduce the power consumption of the laser ranging component during the rising process.

[0120] Step S282: When the laser ranging component is in the lowered position, control the laser ranging component to stop descending.

[0121] In some implementations, stopping the laser ranging component from descending when it has already reached its designated position can reduce the power consumption of the laser ranging component during the descent process.

[0122] In the above embodiments, when the laser ranging component is in the raised position, it is controlled to stop rising; when it is in the lowered position, it is controlled to stop falling. This timely control of the laser ranging component to stop rising or falling when it is in the raised or lowered position reduces damage to mechanical components due to excessive stress, extends the lifespan of the laser ranging component, reduces unnecessary power consumption, and lowers the overall energy consumption of the mobile robot.

[0123] The following describes the application of the mobile robot state detection method provided in this disclosure in a real-world scenario, using the method of determining the lifting and lowering state of the LDS module by observing the point cloud through a Laser Distance Sensor (LDS) as an example.

[0124] In related technologies, the lifting status of the LDS lifting mechanism is determined by the lifting position switch (light blocking, Hall effect, micro-motion, etc.). When the position switch is damaged or abnormal, this disclosure provides a method to determine the possible lifting status of the LDS by observing the changes in the LDS point cloud during the lifting process, as well as the corresponding processing method.

[0125] When the LDS lifting mechanism is fully raised, a 360-degree environmental point cloud can be observed. As the LDS lifting mechanism descends, the point cloud gradually impacts the machine's top cover and lifting cavity. Finally, when it reaches its final position, the LDS lifting mechanism can observe approximately a 90-degree environmental point cloud through the slot at the rear of the machine. Therefore, in this embodiment, the position and state of the LDS lifting mechanism can be determined based on the lifting command and the point cloud state observed by the LDS (corresponding to the point cloud data in the aforementioned embodiments).

[0126] The specific implementation of this method is as follows:

[0127] 1) During the lifting or lowering process, the LDS module determines the position and status of the LDS lifting mechanism based on the currently issued lifting command and the point cloud status observed by the LDS.

[0128] 2) Based on the lifting command, the operating current of the lifting motor (i.e., the operating current of the lifting motor), and the point cloud state observed by the LDS, it can be determined whether the LDS lifting mechanism is stuck and whether it has reached the lifting position. The LDS lifting mechanism will be stuck if there is a malfunction or an obstacle blocking it during lifting.

[0129] 3) Generally, during the lifting process, the LDS lifting mechanism can observe point clouds in three modes: Mode 1: The observed 360-degree point cloud is all environmental point cloud, and no point cloud within the robot's body range is hit, i.e., the field of view is unobstructed; Mode 2: When the LDS laser beam hits the anti-collision strip set above the robot's body, the point cloud within the robot's body range can be observed; if there is no anti-collision strip set above the robot's body, the LDS lifting mechanism does not experience Mode 2 during the ascent or descent; Mode 3: Only the point cloud inside the lifting cavity can be observed. In some embodiments, Mode 4 may also be included, i.e., during the lifting process, the LDS lifting mechanism observes the point cloud inside the lifting cavity from the front and the point cloud through the rear slot from the rear. In other embodiments, the point cloud inside the lifting cavity includes points on the rear side of the lifting cavity and points in the lifting cavity viewing window. In other embodiments, the point cloud inside the lifting cavity includes points inside the lifting cavity and points in the rear slot.

[0130] 4) When the LDS lifting mechanism reaches its designated position, the LDS point cloud is in Mode 1. Upon receiving a descent command, the LDS point cloud will sequentially go through Mode 1, Mode 2, Mode 3, and possibly Mode 4, at which point the LDS is in the descent position. Upon receiving an ascent command, the LDS point cloud will sequentially go through possibly Mode 4, Mode 3, Mode 2, and Mode 1. That is, during the lifting process, when three or four complete modes have been experienced, the LDS is determined to have reached its designated position and the lifting process stops.

[0131] 5) When the LDS lifting mechanism experiences an overcurrent in the lifting motor during lifting, but still reaches mode 1 or mode 3 (or possibly mode 4), the corresponding lifting operation can be stopped, indicating that the LDS lifting mechanism has reached the lifting position. If the lifting mechanism continues to rise after reaching the position, or if there is an obstruction, it will cause an overcurrent in the lifting motor. In this case, the sensor will detect that the LDS lifting mechanism has reached mode 1 or mode 4, and it will also be considered that the LDS lifting mechanism has reached the lifting position.

[0132] 6) If the LDS lifting mechanism has not completed 3 or 4 modes during the lifting process until the lifting time of the LDS lifting mechanism exceeds the limit or the working current of the lifting motor exceeds the limit, it is considered that the LDS lifting mechanism has not reached the lifting position.

[0133] 7) When it is detected that the LDS lifting mechanism has not reached its designated position, and the LDS lifting mechanism has sequentially gone through possible modes 4, 3, 3, and 2; or sequentially gone through possible modes 4, 3, and 2, it indicates that the lifting motor is working, but there may be an object above the LDS lifting mechanism blocking its ascent. In this case, after lowering the LDS lifting mechanism to its designated position, the mobile robot can be controlled to continue moving a short distance to attempt to raise the LDS lifting mechanism again.

[0134] This disclosure provides a state detection device for a mobile robot, the mobile robot including a body and a laser ranging component that can be raised and lowered and mounted on the top of the body.

[0135] Figure 3 is a schematic diagram of the composition of a state detection device for a mobile robot provided in an embodiment of this disclosure. As shown in Figure 3, the state detection device 300 for the mobile robot includes: a first control module 310, a feature determination module 320, and a state judgment module 330. Wherein:

[0136] The first control module 310 is used to control the laser ranging component to switch between lifting and lowering states, and during the switching between lifting and lowering states, to control the laser ranging component to collect point cloud data.

[0137] Feature determination module 320 is used to determine the features of point cloud data;

[0138] The status judgment module 330 is used to determine the lifting status of the laser ranging component based on the characteristics of the point cloud data. The laser ranging component is vertically mounted on the body of the mobile robot.

[0139] In some embodiments, the point cloud data includes the following features: a first feature, wherein the point cloud data has more points located outside the fuselage than points located inside the fuselage; a second feature, wherein the point cloud data has more points located inside the fuselage than points located outside the fuselage; and a third feature, wherein the point cloud data has more points located inside the lifting cavity than points located outside the lifting cavity; wherein the point cloud data has the first feature, the second feature, or the third feature.

[0140] In some embodiments, the state determination module 330 includes: a first determining unit, configured to determine that the laser ranging component is in an ascending state when the point cloud data switches from having a third feature to having a second feature, or from having a second feature to having a first feature; and a second determining unit, configured to determine that the laser ranging component is in a descending state when the point cloud data switches from having a first feature to having a second feature, or from having a second feature to having a third feature.

[0141] In some embodiments, the points located within the lifting cavity in the point cloud data include points on the rear side of the lifting cavity and points in the lifting cavity window.

[0142] In some embodiments, the device 300 further includes: a current detection unit for detecting the operating current of the motor that drives the laser ranging component to switch between lifting and lowering states; and a third determination unit for determining whether the laser ranging component has reached the lifting or lowering position based on the characteristics of the operating current and point cloud data.

[0143] In some embodiments, the device 300 further includes a rising position determination module, used to determine that the laser ranging component has risen to the correct position when the operating current of the motor is greater than a first preset current, the laser ranging component is in a rising state, and the point cloud data has a first feature.

[0144] In some embodiments, the device 300 further includes a descent positioning determination module, used to determine that the laser ranging component has descended to the correct position when the operating current of the motor is greater than a first preset current, the laser ranging component is in a descent state, and the point cloud data has a third feature.

[0145] In some embodiments, the device 300 further includes: a rising not in position determination module, configured to determine that the laser ranging component has not risen in position when the operating current of the motor is greater than a first preset current, the laser ranging component rises for more than a first preset time, and the point cloud data does not have a first feature; and a falling not in position determination module, configured to determine that the laser ranging component has not fallen in position when the operating current of the motor is greater than a first preset current, the laser ranging component falls for more than a second preset time, and the point cloud data does not have a third feature.

[0146] In some embodiments, the device 300 further includes: a second control module for controlling the laser ranging component to descend to the correct position when the laser ranging component has not yet reached the correct position; and a third control module for controlling the mobile robot to move a first distance after it has descended to the correct position, and then controlling the laser ranging component to rise.

[0147] This disclosure provides a mobile robot. As shown in FIG4, the mobile robot 10 includes: a body 11, a laser ranging component 12 that can be raised and lowered and disposed on the top of the body, and a controller 13; the controller 13 is used to implement the above-described mobile robot state detection method.

[0148] The descriptions of the above device embodiments and mobile robots are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device and mobile robot embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0149] It should be noted that, in the embodiments of this disclosure, if the above-described mobile robot state detection method is implemented as a software functional module and sold or used as an independent product, the software functional module can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0150] This disclosure provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the method described above.

[0151] This disclosure provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method described above. The computer-readable storage medium can be transient or non-transient.

[0152] This disclosure provides a computer program, including computer-readable code, which, when run in a computer device, implements some or all of the steps in the above-described method.

[0153] This disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0154] This disclosure provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one embodiment, the computer program product is specifically embodied as a computer storage medium; in another embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0155] It should be noted that the descriptions of the above embodiments of storage media, computer programs, computer program products, and devices are similar to the descriptions of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of storage media, computer programs, computer program products, and devices of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0156] It should be noted that Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this disclosure. As shown in Figure 5, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502, and a memory 503, wherein:

[0157] Processor 501 typically controls the overall operation of computer device 500.

[0158] The communication interface 502 enables the computer device 500 to communicate with other terminals or servers via a network.

[0159] The memory 503 is configured to store instructions and applications executable by the processor 501, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) of the processor 501 and various modules in the computer device 500. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 501, the communication interface 502, and the memory 503 can be performed via bus 504.

[0160] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0161] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0162] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0163] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0164] In addition, each functional unit in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0165] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0166] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0167] The above are merely embodiments of this disclosure, but the scope of protection of this disclosure 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 disclosure should be included within the scope of protection of this disclosure.

Claims

1. A mobile robot state detection method, wherein, The mobile robot includes a body and a laser ranging component that can be raised and lowered to the top of the body. The mobile robot state detection method includes: Control the laser ranging component to switch between lifting and lowering states, and during the switching of the lifting and lowering states, control the laser ranging component to collect point cloud data; Determine the features of the point cloud data; and The lifting / lowering state of the laser ranging component is determined based on the characteristics of the point cloud data.

2. The mobile robot state detection method of claim 1, wherein, The characteristics of the point cloud data include: The first feature is that the number of points located outside the fuselage in the point cloud data is greater than the number of points located inside the fuselage; The second feature refers to the fact that the number of points located inside the fuselage in the point cloud data is greater than the number of points located outside the fuselage; and The third feature is that the number of points located inside the lifting cavity in the point cloud data is greater than the number of points located outside the lifting cavity; The point cloud data has the first feature, the second feature, or the third feature.

3. The mobile robot state detection method of claim 2, wherein, Based on the characteristics of the point cloud data, the lifting / lowering state of the laser ranging component is determined, including: When the point cloud data switches from having the third feature to having the second feature, or from having the second feature to having the first feature, it is determined that the laser ranging component is in an ascending state; and When the point cloud data switches from having the first feature to having the second feature, or from having the second feature to having the third feature, it is determined that the laser ranging component is in a descent state.

4. The mobile robot state detection method of claim 2 or 3, wherein, The points located within the lifting cavity in the point cloud data include points on the rear side of the lifting cavity and points in the lifting cavity viewport.

5. The mobile robot state detection method according to any one of claims 2 to 4, further comprising: Detect the operating current of the motor that drives the laser ranging component to switch between lifting and lowering states; as well as Based on the characteristics of the operating current and the point cloud data, determine whether the laser ranging component has been raised or lowered into position.

6. The mobile robot state detection method as described in claim 5, further comprising: When the operating current of the motor is greater than the first preset current, the laser ranging component is in an ascending state, and the point cloud data has the first feature, it is determined that the laser ranging component has ascended to the correct position.

7. The mobile robot state detection method as described in claim 5 or 6, further comprising: When the operating current of the motor is greater than the first preset current, the laser ranging component is in a descending state, and the point cloud data has the third feature, it is determined that the laser ranging component has descended to the correct position.

8. The mobile robot state detection method according to any one of claims 5 to 7, further comprising: When the operating current of the motor is greater than the first preset current, the laser ranging component rises for more than the first preset time, and the point cloud data does not have the first feature, it is determined that the laser ranging component has not risen to the correct position. as well as When the operating current of the motor is greater than the first preset current, the laser ranging component descends for more than the second preset time, and the point cloud data does not have the third feature, it is determined that the laser ranging component has not descended to its intended position.

9. The mobile robot state detection method of claim 8, wherein, When the laser ranging component has not risen to its designated position, it further includes: Control the laser ranging component to descend into position; and After controlling the mobile robot to move a first distance in the lowered position, the laser ranging component is controlled to rise.

10. A state detection device for a mobile robot, comprising: The first control module controls the laser ranging component to switch between lifting and lowering states, and during the switching of the lifting and lowering states, controls the laser ranging component to collect point cloud data. The feature determination module determines the features of the point cloud data; as well as The status determination module determines the lifting / lowering state of the laser ranging component based on the characteristics of the point cloud data. The laser ranging component is vertically mounted on the body of the mobile robot.

11. A mobile robot, comprising: body; A laser ranging component that can be raised and lowered and mounted on the top of the body; as well as A controller, wherein the controller is used to implement the mobile robot state detection method as described in any one of claims 1 to 9.

12. A computer device comprising a memory and a processor, wherein, The memory stores a computer program that can run on a processor, which, when executing the program, implements the mobile robot state detection method as described in any one of claims 1 to 9.

13. A computer readable storage medium having stored thereon a computer program, wherein, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 9.

14. A computer program comprising computer-readable code that, when executed in a computer device, implements the method as described in any one of claims 1 to 9.

15. A computer program product comprising a computer program or instructions which, when executed by a processor, implement the method as described in any one of claims 1 to 9.

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