Slip state detection method, device and storage medium
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Solution Overview
Problem
Sweeping robots often enter a slipping state when encountering obstacles, leading to user experience issues due to the inefficiency of existing detection methods like SLAM, which require high accuracy in positioning and take too long to determine a slipping state.
Innovation Solution
A method using an odometer to measure distance and laser radar to obtain frame point clouds, analyzing these data to quickly and accurately detect a slipping state by comparing position changes and distance thresholds, enhancing perception efficiency and detection sensitivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM positioning method is used to detect slipping state, then positioning accuracy is improved, but detection time increases excessively
Solution Approach 1:
The patent segments the detection process into two independent parts: odometer-based distance measurement and laser radar-based position verification. This segmentation allows each component to perform its specialized function efficiently, avoiding the computational overhead of full SLAM while maintaining detection accuracy.
Solution Approach 2:
The patent replaces the complex computational SLAM system with a simpler sensor fusion approach combining odometer and laser radar. This substitution eliminates the need for sophisticated algorithmic positioning while achieving the same slipping detection goal through direct physical measurement comparison.
2Speed
If odometer alone is used for distance measurement, then detection speed is improved, but measurement accuracy deteriorates due to wheel slip
Solution Approach 1:
The patent implements feedback by continuously comparing odometer-measured distance with laser radar-measured position. When discrepancies exceed a threshold, the system identifies wheel slip and triggers corrective actions, creating a closed-loop control system that maintains accuracy despite using fast odometer measurements.
Solution Approach 2:
The laser radar acts as an intermediary verification mechanism that validates odometer measurements. It provides an independent position reference that mediates between the fast but inaccurate odometer and the accurate but slower positioning system, enabling both speed and precision.
Data Source
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AI summary
A slip state detection method, a device, and a storage medium. The slip state detection method comprises: during a walking process of an automatic cleaning device, acquiring a measurement distance value and a plurality of frame point clouds within a preset detection time period (S101); and quickly and accurately determining that the automatic cleaning device is in a slip state by means of the measurement distance value and the plurality of frame point clouds (S102). The present disclosure improves system sensing efficiency and detection sensitivity, thus improving user experience.