CN111857154A - Robot calibration detection method, chip and robot - Google Patents

Abstract

The invention discloses a robot calibration detection method, a chip and a robot, wherein the method comprises the following steps: the robot takes the obtained initial infrared signal value as a reference value and then starts to walk; the robot judges whether an obstacle exists in the self advancing direction based on the difference value between the infrared signal value detected in real time and the reference value; when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors; and when the difference value does not exceed the deceleration threshold value, the robot judges that no obstacle exists in the advancing direction and updates the reference value through the comparison result of the infrared signal value and the reference value. When the robot adopts the method to detect, the robot can independently detect and calibrate the reference value of the infrared sensor in real time when working every time, so that the detection precision of the robot is improved, and the robot is prevented from triggering a deceleration or obstacle avoidance threshold value to decelerate or avoid an obstacle in an open place without accident.

Description

Robot calibration detection method, chip and robot

technical field

The invention relates to the technical field of intelligent robots, in particular to a robot calibration and detection method, a chip and a robot.

Background technique

In the existing technology, most robots use infrared sensors to detect obstacles. When the infrared sensors are detecting, problems such as filter wear, dust entry, and internal interference in the structure will cause the value received by the infrared sensor to be different from the actual value. There is an unfixed reference value between them, and there is no good solution for this reference value, and this reference value may become larger due to the longer use time, which will eventually affect the normal operation of infrared detection.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a robot calibration detection method, a chip and a robot, which greatly improve the detection accuracy of the robot. The concrete technical scheme of the present invention is as follows:

A robot calibration detection method, the method includes the following steps: the robot takes the acquired initial infrared signal value as an initial reference value, and then starts to walk; during the walking process, the robot judges based on the difference between the infrared signal value detected in real time and the reference value Whether there is an obstacle in the forward direction of the robot; when the difference exceeds the deceleration threshold or obstacle avoidance threshold, the robot judges that there is an obstacle in the forward direction and executes the corresponding response; when the difference does not exceed the deceleration threshold, the robot judges that there is no obstacle in the forward direction The infrared signal value is compared with the reference value, and if the infrared signal value is smaller than the reference value, the infrared signal value is used as the reference value to continue walking; wherein the obstacle avoidance threshold is greater than the deceleration threshold. When the robot adopts this method for detection, the robot can independently detect and calibrate the reference value of the infrared sensor in real time every time it works, which improves the detection accuracy of the robot and avoids the robot from triggering the deceleration threshold or avoiding obstacles in an open place without cause. Threshold, decelerate or avoid obstacles.

In one or more solutions of the present invention, when the difference exceeds the deceleration threshold, the robot determines that it is approaching an obstacle, and reduces the walking speed until the difference is within the deceleration threshold range.

In one or more solutions of the present invention, when the difference exceeds the obstacle avoidance threshold, the robot determines that there is an obstacle in front of itself, and performs obstacle avoidance. The robot sets a deceleration threshold and an obstacle avoidance threshold. The robot decelerates when approaching an obstacle, so that the robot has enough time to deal with the follow-up situation, improves the robot's coping ability, and allows the robot to have sufficient time to avoid obstacles at a low speed. Reduce robot collisions.

In one or more solutions of the present invention, before the robot starts walking, the initial reference value is determined by a deceleration threshold or an obstacle avoidance threshold. When the robot determines the initial reference value, it first determines the reference value to prevent obstacles from affecting the robot's acquisition of the initial reference value, and reduce errors caused by the robot using the reference value to judge.

In one or more solutions of the present invention, the step of setting the initial reference value according to the deceleration threshold is as follows: the robot compares the initial reference value with the deceleration threshold, and if the initial reference value is greater than the deceleration threshold, the robot rotates, and then obtains the infrared signal value. The initial reference is compared with the deceleration threshold until the initial reference is less than the deceleration threshold. The robot uses the deceleration threshold to determine the initial reference value, preventing the robot from colliding with obstacles due to the initial reference value, and reducing the number of times the robot changes the reference value.

In one or more solutions of the present invention, the step of setting the initial reference value according to the obstacle avoidance threshold is: the robot compares the initial reference value with the obstacle avoidance threshold, and if the initial reference value is greater than the obstacle avoidance threshold, the robot rotates, and then obtains the The infrared signal value is compared with the obstacle avoidance threshold as the initial reference value until the initial reference value is less than the obstacle avoidance threshold. The robot adopts the obstacle avoidance threshold to determine the initial reference value, which increases the value range of the reference value and reduces the influence of the reference value on the normal operation of the robot.

In one or more solutions of the present invention, the rotation angle of the robot is any angle between 90° and 270°. The robot can rotate at a corresponding angle according to the actual situation to improve the flexibility of the robot.

A chip with a built-in control program, the control program being used to control a robot to execute the above-mentioned robot calibration and detection method. By loading in different robots, the robot can perform obstacle detection by calibrating the detection method, with strong applicability

A robot is equipped with a main control chip, and the main control chip is the above-mentioned chip. The robot adopts the calibration detection method for obstacle detection, which reduces the influence of the reference value of the infrared sensor on the detection result and improves the detection accuracy of the robot.

Description of drawings

FIG. 1 is a flow chart of the robot calibration detection method of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

In the description of the present invention, it should be noted that, for orientation words, such as the terms "center", "horizontal", "longitudinal", "length", "width", "thickness", "upper", "lower" , "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise" ” etc. indicating the orientation and positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or a specific orientation. The structure and operation should not be construed as limiting the specific protection scope of the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or indicating the number of technical features. Thus, the definition of "first" and "second" features may expressly or implicitly include one or more of the features, and in the description of the present invention, "at least" means one or more than one, unless otherwise expressly specified. limit.

In the present invention, unless otherwise expressly specified and limited, the terms "assembled", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated It can be connected to the ground; it can also be a mechanical connection; it can be directly connected, or it can be connected through an intermediate medium, or the two components can be connected internally. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the invention, unless otherwise specified and limited, a first feature "on" or "under" a second feature may include the first and second features being in direct contact, or may include that the first feature and the second feature are not directly in contact contact but through additional features between them. Also, the first feature being "above", "below" and "above" the second feature includes the first feature being directly above and diagonally above the second feature, or simply denoting that the first feature is at a higher level than the second feature the height of. The first feature being "above", "below" and "below" the second feature includes that the first feature is directly or diagonally below the second feature, or simply means that the first feature is level below the second feature.

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings in the specification to make the technical solutions of the present invention and its beneficial effects more clear and definite. The embodiments described below by referring to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

Referring to FIG. 1, it can be seen that a robot calibration and detection method includes the following steps: the robot takes the obtained initial infrared signal value as a reference value, and then starts to walk; during the walking process, the robot uses the real-time detected infrared signal value and reference value. When the difference exceeds the deceleration threshold or obstacle avoidance threshold, the robot judges that there is an obstacle in the forward direction and executes the corresponding response; when the difference does not exceed the deceleration threshold, the robot judges There is no obstacle in the forward direction and the infrared signal value is compared with the reference value. If the infrared signal value is smaller than the reference value, the infrared signal value is used as the reference value to continue walking; wherein the obstacle avoidance threshold is greater than the deceleration threshold. When the robot adopts this method for detection, the robot can independently detect and calibrate the reference value of the infrared sensor in real time every time it works, which improves the detection accuracy of the robot and avoids the robot from triggering the deceleration threshold or avoiding obstacles in an open place without cause. Threshold, decelerate or avoid obstacles, decelerate or avoid obstacles. When the difference exceeds the deceleration threshold, the robot judges that it is approaching the obstacle, and reduces the walking speed until the difference is within the deceleration threshold. When the difference exceeds the obstacle avoidance threshold, the robot judges that there is an obstacle in front of it, and avoids the obstacle. The robot sets a deceleration threshold and an obstacle avoidance threshold. The robot decelerates when approaching an obstacle, so that the robot has enough time to deal with the follow-up situation, improves the robot's coping ability, and allows the robot to have sufficient time to avoid obstacles at a low speed. Reduce robot collisions.

As an example, before the robot starts to walk, the infrared sensor of the robot may be facing an open place or an obstacle. If the infrared sensor of the robot is facing an open place to obtain the initial infrared signal value, the infrared signal value obtained by the robot is The closest value to the actual reference value can improve the detection accuracy of the robot; if the robot's infrared sensor points to the obstacle to obtain the initial infrared signal value, the infrared signal value obtained by the robot as the reference value will only affect the robot's detection and make the robot close to the obstacle. The obstacle avoidance judgment is not triggered by the collision or collision with the obstacle, so the initial reference value needs to be determined by the deceleration threshold or the obstacle avoidance threshold. When the robot determines the initial reference value, it first determines the reference value to prevent obstacles from affecting the robot's acquisition of the initial reference value, and reduce errors caused by the robot using the reference value to judge. Determine the initial reference value according to the deceleration threshold. The robot compares the initial reference value with the deceleration threshold. If the initial reference value is greater than the deceleration threshold, the robot rotates, and then obtains the infrared signal value as the initial reference value and compares it with the deceleration threshold to reach the initial reference value. less than the deceleration threshold. The robot uses the deceleration threshold to determine the initial reference value, preventing the robot from colliding with obstacles due to the initial reference value, and reducing the number of times the robot changes the reference value. Determine the initial reference value according to the obstacle avoidance threshold. The robot compares the initial reference value with the obstacle avoidance threshold. If the initial reference value is greater than the obstacle avoidance threshold, the robot rotates, and then obtains the infrared signal value as the initial reference value to compare with the obstacle avoidance threshold. until the initial reference value is less than the obstacle avoidance threshold. The robot adopts the obstacle avoidance threshold to determine the initial reference value, which increases the value range of the reference value and reduces the influence of the reference value on the normal operation of the robot. The rotation angle of the robot is any angle from 90° to 270°. The robot can rotate at a corresponding angle according to the actual situation to improve the flexibility of the robot.

A chip with a built-in control program, the control program being used to control a robot to execute the above-mentioned robot calibration and detection method. By loading in different robots, the robot can perform obstacle detection by calibrating the detection method, with strong applicability

A robot is equipped with a main control chip, and the main control chip is the above-mentioned chip. The robot adopts the calibration detection method for obstacle detection, which reduces the influence of the reference value of the infrared sensor on the detection result and improves the detection accuracy of the robot.

The working process of the robot: After the robot receives the start signal, it turns on the infrared sensor to receive the initial infrared signal value, and uses the infrared signal value as the initial reference value. The robot also uses the deceleration threshold or obstacle avoidance threshold to determine whether the initial reference value can be As a reference value to help the robot detect. After the robot determines the reference value, it will start to work normally. During normal operation, the robot will obtain the infrared signal value through the infrared sensor in real time, and then use the value obtained by subtracting the reference value from the infrared signal value for obstacle detection. If the calculation result exceeds the deceleration rate Threshold, the robot will decelerate and walk until the difference is within the range of the deceleration threshold. During the process of decelerating and walking, the robot will continue to judge whether the calculation result exceeds the obstacle avoidance threshold. When the calculation result exceeds the obstacle avoidance threshold, the robot will avoid obstacles; if the calculation result If the deceleration threshold is not exceeded, the robot will compare the obtained infrared signal value with the reference value, and use the smaller value as the reference value, and the robot will continue to walk. The robot repeatedly performs obstacle avoidance detection and reference value update during the walking process. The robot can solve the problem that the machine triggers deceleration or obstacle avoidance actions in an open space due to the existence of the reference value, preventing the robot from being next to a wall or an obstacle and affecting the detection result when the robot starts.

In the description of the specification, description with reference to the terms "one embodiment", "preferably", "example", "specific example" or "some examples" etc. means the specific features, structures described in connection with the embodiment or example , materials, or features included in at least one embodiment or example of the present invention, and schematic representations of such terms in this specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Said connection means of connection in the description of the specification have obvious effect and practical effect.

Through the description of the above-mentioned structure and principle, those skilled in the art should understand that the present invention is not limited to the above-mentioned specific embodiments, and the improvement and substitution of the technology known in the art on the basis of the present invention all fall within the protection of the present invention The scope shall be defined by the respective claims.

Claims (9)

1. A robot calibration detection method is characterized by comprising the following steps:

the robot takes the obtained initial infrared signal value as an initial reference value and then starts to walk;

in the walking process, the robot judges whether an obstacle exists in the self advancing direction or not based on the difference value between the infrared signal value detected in real time and the reference value;

when the difference value exceeds a deceleration threshold or an obstacle avoidance threshold, the robot judges that an obstacle exists in the advancing direction and executes corresponding coping behaviors;

when the difference value does not exceed the deceleration threshold value, the robot judges that no barrier exists in the advancing direction and compares the infrared signal value with the reference value, and if the infrared signal value is smaller than the reference value, the robot takes the infrared signal value as the reference value to continue walking;

wherein the obstacle avoidance threshold is greater than the deceleration threshold.

2. The robot calibration detection method of claim 1, wherein when the difference exceeds the deceleration threshold, the robot determines that it is approaching an obstacle and reduces the walking speed until the difference is within the deceleration threshold.

3. The robot calibration detection method of claim 1, wherein when the difference exceeds an obstacle avoidance threshold, the robot determines that an obstacle exists in front of the robot and performs obstacle avoidance.

4. The robot calibration detection method of claim 1, wherein the initial reference value is determined by a deceleration threshold or an obstacle avoidance threshold before the robot starts walking.

5. The robot calibration detection method of claim 4, wherein the step of setting the initial reference value according to the deceleration threshold value is: the robot compares the initial reference value with the deceleration threshold value, if the initial reference value is larger than the deceleration threshold value, the robot autorotates, and then the infrared signal value is acquired and used as the initial reference value to be compared with the deceleration threshold value until the initial reference value is smaller than the deceleration threshold value.

6. The robot calibration detection method of claim 4, wherein the step of setting the initial reference value according to the obstacle avoidance threshold comprises: and the robot compares the initial reference value with the obstacle avoidance threshold value, and if the initial reference value is greater than the obstacle avoidance threshold value, the robot automatically rotates, and then an infrared signal value is acquired as the initial reference value to be compared with the obstacle avoidance threshold value until the initial reference value is smaller than the obstacle avoidance threshold value.

7. A robot calibration detection method according to claim 5 or 6, wherein the rotation angle of the robot is any one of 90 ° to 270 °.

8. A chip with a built-in control program for controlling a robot to perform the robot calibration detection method of any one of claims 1 to 7.

9. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 8.

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