CN-121989218-A - Robot tunnel avoidance control method and robot

CN121989218ACN 121989218 ACN121989218 ACN 121989218ACN-121989218-A

Abstract

The application discloses a robot tunnel avoidance control method and a robot, which comprise the steps of collecting horizontal movement information of the robot in the moving process of the robot, acquiring elongation information of a designated wheel at the bottom of the robot, judging whether the robot is in a downward movement state according to the horizontal movement information of the robot, judging whether the elongation information of the designated wheel at the bottom of the robot meets a first avoidance condition if the elongation information meets the first avoidance condition, controlling the robot to execute tunnel avoidance behavior if the elongation information meets the first avoidance condition, controlling the robot to continue moving if the elongation information does not meet the first avoidance condition, judging whether the elongation information of the designated wheel at the bottom of the robot meets a second avoidance condition if the elongation information does not meet the second avoidance condition, and controlling the robot to execute tunnel avoidance behavior if the elongation information does not meet the second avoidance condition. According to the application, the problem that the robot tilts forward due to excessive downward detection of the designated wheel in the robot tunnel identification process is optimized, physical detection of the tunnel is realized by utilizing the elongation information of the designated wheel, and the technical problem that the depth measurement distance of the tunnel is limited is solved.

Inventors

JIN RUBIN
XIA BAOJUN
LEI DONGRUI

Assignees

珠海一微科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (10)

1. The robot tunnel avoidance control method is characterized by comprising the following steps of: Acquiring horizontal movement information of the robot based on a horizontal detection sensor in the moving process of the robot, and acquiring elongation information of a designated wheel at the bottom of the robot; judging whether the robot is in a downward motion state according to the horizontal movement information of the robot; If the robot is in a downward motion state, judging whether the elongation information of the designated wheel at the bottom of the robot accords with a first avoidance condition, if so, controlling the robot to execute the tunnel avoidance behavior, and if not, controlling the robot to continue moving; if the robot is not in the downward movement state, judging whether the elongation information of the designated wheel at the bottom of the robot meets the second avoidance condition, if so, controlling the robot to execute the tunnel avoidance behavior, and if not, controlling the robot to continue moving.
2. The robot tunnel avoidance control method according to claim 1, characterized in that the judging whether the robot is in a downward movement state according to the robot horizontal movement information, specifically comprises: acquiring a horizontal inclination angle of the robot in the horizontal movement information of the robot; and calculating the difference between the horizontal inclination angle of the robot and the horizontal inclination angle of the preset robot, wherein if the difference is greater than or equal to zero, the robot is not in a downward movement state, and if the difference is less than zero, the robot is in a downward movement state.
3. The method for controlling the avoidance of a robot tunnel according to claim 1, wherein the determining whether the elongation information of the bottom-designated wheel of the robot meets the first avoidance condition specifically includes: acquiring the extension length of the robot bottom designated wheel from the extension information of the robot bottom designated wheel; Judging whether the extension length of the bottom designated wheel of the robot reaches a first avoidance length or not; if the extension length of the designated wheel at the bottom of the robot reaches the first avoidance length, determining that the extension information of the designated wheel at the bottom of the robot meets the first avoidance condition; If the elongation length of the designated wheel at the bottom of the robot is smaller than the first avoidance length, determining that the elongation information of the designated wheel at the bottom of the robot does not accord with the first avoidance condition; the first avoidance length is set based on the longest extendable length of the robot bottom designated wheel and the horizontal movement information of the robot.
4. The method for controlling the avoidance of a robot tunnel according to claim 1, wherein the determining whether the elongation information of the bottom-designated wheel of the robot meets the second avoidance condition specifically includes: acquiring the extension length of the robot bottom designated wheel from the extension information of the robot bottom designated wheel; Judging whether the extension length of the bottom designated wheel of the robot reaches a second avoidance length or not; if the extension length of the designated wheel at the bottom of the robot reaches the second avoidance length, determining that the extension information of the designated wheel at the bottom of the robot meets the second avoidance condition; if the elongation length of the designated wheel at the bottom of the robot is smaller than the second avoidance length, determining that the elongation information of the designated wheel at the bottom of the robot does not accord with the second avoidance condition; Wherein the second evasion length is equal to the longest extendable length of the robot bottom designated wheel.
5. The method for controlling avoidance of a robot tunnel according to claim 4, characterized by a method for setting a longest extendable length of a robot bottom specifying wheel, comprising: acquiring an extreme value of the angle of the robot body triggering dumping; acquiring the horizontal distance between the bottom designated wheel of the robot and the gravity center point of the robot; The horizontal distance between the robot bottom designated wheel and the center of gravity of the robot is used as a dividend, the tangent value of the angle extremum of the robot body triggering dumping is used as a divisor, and the longest extensible length of the robot bottom designated wheel is set to be equal to the quotient of the dividend and the divisor.
6. The robot-tunnel avoidance control method according to claim 1, characterized in that the control robot performs a tunnel avoidance behavior, specifically comprising: Controlling the robot to linearly retract a first distance; Controlling the robot to execute a cyclic detection avoidance process until the robot searches a passable route to finish the tunnel avoidance; Wherein the first distance is equal to one half of the diameter of the robot body.
7. The method for controlling the avoidance of a robot tunnel according to claim 6, wherein the controlling the robot performs a loop detection avoidance process until the robot finds a passable route, specifically comprising: after the robot is controlled to rotate ninety degrees towards the first direction, the robot is controlled to advance for a first distance; After the robot is controlled to rotate ninety degrees towards the second direction, the robot moves forwards, horizontal movement information of the robot is collected based on the horizontal detection sensor, and elongation information of a designated wheel at the bottom of the robot is obtained; Judging whether the robot is in a downward movement state according to the horizontal movement information of the robot, if the robot is in the downward movement state, judging whether the elongation information of the designated wheel at the bottom of the robot accords with a first avoidance condition, if so, controlling the robot to linearly retract by a first distance, re-executing a cyclic detection avoidance process, and if not, controlling the robot to continue moving; When the robot still accords with the continuous moving condition of the robot after moving forwards for a first distance, the robot is confirmed to find a passable route for the robot, and the circulation detection evasion flow is exited.
8. The robot tunnel avoidance control method according to claim 7, characterized in that the first distance is set based on a work purpose of the robot, specifically comprising: Judging whether the working purpose of the robot is environment detection or not; If the working purpose of the robot is environment detection, the first direction is set to point to the direction of the area where the robot does not traverse; when the working purpose of the robot is not environment detection, the first direction is configured to point to the direction in which the robot has traversed the area.
9. The method of claim 8, further comprising configuring the first direction to be directed toward the obstacle-free area when the purpose of the robot is not environmental detection if all areas surrounding the robot are areas not traversed by the robot.
10. A robot characterized in that a robot bottom is provided with an elastically stretchable wheel body configured as a robot bottom specifying wheel for detecting a ground tunnel depth by an elongation length, wherein the robot performs the robot tunnel avoidance control method according to any one of claims 1 to 9.

Description

Robot tunnel avoidance control method and robot Technical Field The application relates to the field of robot movement control, in particular to a robot tunnel avoidance control method and a robot. Background In the prior art, the robot usually detects cliff areas and tunnels on the ground based on infrared sensors, laser sensors and the like in the moving process, but only tunnels with depth reaching a deeper depth, such as 6cm, can be detected based on the lasers, and accurate detection can not be realized for shallower tunnels, so that the robot is limited in that the sensors can not detect in time when moving to the shallower tunnels, and the robot is likely to be trapped in the tunnels. The robot of tunnel can not discerned, adopts the control mode that directly passes through to pit or shallow pit generally, and this kind of removal mode leads to the robot card to lead to the condition that the robot tumbles forward in the tunnel easily, influences the removal security of robot. The Chinese patent application number is CN202010456875.8, the application name is an application method of the detection device capable of judging the condition of the walking surface of the robot, and the disclosed technical scheme utilizes far and near infrared emitters to detect the walking surface and has the technical problem that the detection distance limited by the infrared emitters cannot detect a ridge or pit with smaller drop. Disclosure of Invention The application provides a robot tunnel avoidance control method, which comprises the following specific technical scheme: The method comprises the steps of acquiring horizontal movement information of a robot based on a horizontal detection sensor in the moving process of the robot, acquiring elongation information of a designated wheel at the bottom of the robot, judging whether the robot is in a downward movement state according to the horizontal movement information of the robot, judging whether the elongation information of the designated wheel at the bottom of the robot meets a first avoidance condition if the robot is in the downward movement state, controlling the robot to execute tunnel avoidance behavior if the robot is in the downward movement state, controlling the robot to continue moving if the robot is not in the downward movement state, judging whether the elongation information of the designated wheel at the bottom of the robot meets a second avoidance condition if the robot is not in the downward movement state, controlling the robot to execute the tunnel avoidance behavior if the robot is not in the downward movement state, and controlling the robot to continue moving if the robot is not in the downward movement state. Further, judging whether the robot is in a downward motion state according to the horizontal movement information of the robot specifically comprises the steps of obtaining a horizontal inclination angle of the robot in the horizontal movement information of the robot, calculating a difference value between the horizontal inclination angle of the robot and a preset horizontal inclination angle of the robot, if the difference value of the horizontal inclination angle of the robot and the preset horizontal inclination angle of the robot is greater than or equal to zero, the robot is not in the downward motion state, and if the difference value of the horizontal inclination angle of the robot and the preset horizontal inclination angle of the robot is less than zero, the robot is in the downward motion state. The method comprises the steps of judging whether the elongation information of a robot bottom designated wheel meets first avoidance conditions or not, and specifically comprises the steps of obtaining the elongation length of the robot bottom designated wheel from the elongation information of the robot bottom designated wheel, judging whether the elongation length of the robot bottom designated wheel reaches the first avoidance length or not, determining that the elongation information of the robot bottom designated wheel meets the first avoidance conditions if the elongation length of the robot bottom designated wheel reaches the first avoidance length, determining that the elongation information of the robot bottom designated wheel does not meet the first avoidance conditions if the elongation length of the robot bottom designated wheel is smaller than the first avoidance length, and setting the first avoidance length based on the longest elongation length of the robot bottom designated wheel and the horizontal movement information of the robot. Further, judging whether the elongation information of the robot bottom designated wheel meets second avoidance conditions or not specifically comprises obtaining the elongation length of the robot bottom designated wheel from the elongation information of the robot bottom designated wheel, judging whether the elongation length of the robot bottom designated wheel reaches the second avoi