Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments of the present application is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
In a more common existing implementation manner, a robot acquires a position range of a forbidden zone in a map, the robot acquires own position information through global positioning in moving operation, and the position information of the robot is compared with the position range of the forbidden zone to judge whether the robot enters the forbidden zone. The problem of position drift caused by inaccurate positioning or positioning failure exists in global positioning, namely, the position information of the robot is deviated, and at the moment, whether the robot moves into a forbidden zone is difficult to accurately judge, so that accidents are caused because the robot moves after entering the forbidden zone, or the robot stops working when entering the forbidden zone by mistake in a safe working zone, and the working efficiency of the robot is influenced.
In order to solve the above problems, the present embodiment provides a robot control method to ensure the operation safety and the operation efficiency of the robot.
The robot control method provided in this embodiment may be performed by a robot control device, which may be implemented in software and/or hardware, and may be configured by two or more physical entities or may be configured by one physical entity. For example, the robot control device may be the robot itself or a processor of the robot.
The robot control device is provided with at least one type of operating system, wherein the operating system comprises, but is not limited to, an android system, a Linux system and a Windows system. The robot control device may install at least one application program based on the operating system, and the application program may be an application program carried by the operating system, or may be an application program downloaded from a third party device or a server. In this embodiment, the robot control device has at least an application program that can execute the robot control method.
For ease of understanding, the present embodiment will be described taking a main body of a robot that performs a robot control method as an example.
Fig. 1 shows a flowchart of a robot control method according to an embodiment of the present application. Referring to fig. 1, the robot control method specifically includes:
s110, receiving first signals sent by at least two signal sending terminals, wherein the signal category of the first signals comprises invalid signals and valid signals.
The first signal is a wireless signal transmitted between the signal transmitting end and the signal receiving end, and when the signal receiving end receives the first signal, the position relative to the signal transmitting end can be determined based on the characteristic information and/or carried information of the first signal. For example, the first signal may be a bluetooth signal, a wifi (WIRELESS FIDELITY ) signal, a UWB (Ultra Wide Band) signal, or other wireless signals that may enable positioning through characteristic information and/or carried information of the signals. In an embodiment, the characteristic information of the first signal includes a signal strength, and the distance between the signal transmitting end and the signal receiving end may be determined according to the signal strength of the first signal sent from the signal transmitting end and the signal strength of the first signal received by the signal receiving end. In another embodiment, the information carried by the first signal includes a time stamp sent by the first signal from the signal sending end and a time stamp received by the signal receiving end, and the distance between the signal sending end and the signal receiving end is determined based on a difference between the two time stamps.
In this embodiment, the first signal is a UWB signal, the signal transmitting end is an ultra wideband base station, and the signal receiving end is an ultra wideband tag. The robot is provided with an ultra-wideband tag, at least two ultra-wideband base stations are arranged in an activity scene of the robot, the robot can receive first signals sent by the ultra-wideband base stations through the ultra-wideband tag, and the characteristic information and/or carried information of the first signals are processed to obtain the distance between the robot and the ultra-wideband base stations.
In one embodiment, the process of processing the first signal to obtain the distance between the robot and the ultra-wideband base station includes that the robot is provided with an ultra-wideband tag, the ultra-wideband tag simultaneously transmits a plurality of radio frequency signals to the ultra-wideband base station, the ultra-wideband base station calculates the distance between the ultra-wideband tag and the ultra-wideband base station based on the time of receiving the radio frequency signals and the transmission time analyzed from the radio frequency signals, and writes the distance and the equipment identification in the radio frequency signals and returns the distance and the equipment identification to the ultra-wideband tag. In a batch of radio frequency signals which are transmitted simultaneously by the ultra-wideband tag and received by the same ultra-wideband base station, the stronger or the earlier the intensity of the radio frequency signals returned by the ultra-wideband base station are received by the ultra-wideband tag, the closer the distance between the ultra-wideband tag obtained by processing the radio frequency signals by the ultra-wideband base station and the ultra-wideband base station is to the actual distance between the ultra-wideband base station and the ultra-wideband tag. When receiving a batch of radio frequency signals which are returned by the same ultra-wideband base station and are simultaneously transmitted by the ultra-wideband base station, the ultra-wideband tag screens out radio frequency signals with signal strength exceeding a preset strength threshold value, takes the optimal radio frequency signal with earliest receiving time in the screened radio frequency signals as a first signal, and analyzes a distance value carried by the first signal as the distance between the robot and the ultra-wideband base station which transmits the first signal. In another embodiment, when the ultra-wideband base station receives the radio frequency signal, after the radio frequency signal is marked with a receiving time stamp and a device identifier, the radio frequency signal is returned to the ultra-wideband tag, the ultra-wideband tag acquires the receiving time stamp and the transmitting time stamp from the first signal after screening the first signal from the received radio frequency signal, and the distance between the robot and the ultra-wideband base station transmitting the first signal is determined according to the time difference value and the light speed of the receiving time stamp and the transmitting time stamp.
Because the transmission speed or the signal strength of the wireless signal can change due to external interference in the transmission process of the wireless signal, the distance between the signal receiving end and the signal transmitting end calculated based on the received wireless signal is larger than the actual distance. In this embodiment, the first signal is divided into an effective signal and an ineffective signal, so that a distance value obtained by effective signal characterization processing is approximately equal to a wireless signal of an actual distance between the signal receiving and transmitting ends, and a distance value obtained by ineffective signal characterization processing is greater than the wireless signal of the actual distance between the signal receiving and transmitting ends. For example, when the first signal is a wireless signal with low anti-interference capability, such as a bluetooth signal or a wifi signal, the first signal is easily interfered by noise of nearby devices to affect the transmission rate or the signal attenuation degree, so that the distance value obtained by processing the first signal is larger than the actual distance between the signal receiving and transmitting ends. Therefore, when the first signal is a wireless signal with low anti-interference capability, such as a bluetooth signal or a wifi signal, whether the first signal is interfered by noise of nearby equipment can be judged, if the first signal is interfered, the first signal is determined to be an invalid signal, and if the first signal is not interfered, the first signal is determined to be an valid signal.
However, for UWB signals, the anti-interference capability is relatively strong, that is, when the first signal is selected to be a wireless signal with relatively strong anti-interference capability such as UWB signal, it is less prone to noise interference from accessory devices, unless a high-power wireless transmitter, such as a mobile communication base station, is disposed near the ultra wideband base station, but such devices are typically avoided when the ultra wideband base station is deployed. However, in the implementation process of this embodiment, it is found that, when such a wireless signal encounters an obstacle with a larger thickness or a stronger signal isolation capability during the transmission process, the transmission rate or the signal attenuation degree of the wireless signal will be affected, so that the distance value obtained by processing the first signal will be greater than the actual distance between the signal receiving and transmitting ends. Fig. 2 and fig. 3 are schematic diagrams of a robot and an ultra-wideband base station according to an embodiment of the present application. As shown in fig. 2, when the ultra-wideband tag 13 and the linear path 15 of the ultra-wideband base station 11 have no obstacle 14, at least one of the plurality of radio frequency signals transmitted by the ultra-wideband tag 13 is transmitted to the ultra-wideband base station 11 based on the linear path 15. The first signal is used as an optimal radio frequency signal received by the ultra-wideband tag 13 from the ultra-wideband base station 11, the radio frequency signal corresponding to the first signal is transmitted to the ultra-wideband base station 11 based on the linear path 15, and the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the ultra-wideband base station 11. As shown in fig. 3, when the ultra-wideband tag 13 has an obstacle 14 with the straight line path 15 of the ultra-wideband base station 11, the obstacle is transmitted to the ultra-wideband base station 11 based on the obstacle detouring path 16. At this time, the radio frequency signal corresponding to the first signal is not transmitted to the ultra-wideband base station 11 based on the linear path 15, and the distance value obtained by processing the first signal is greater than the actual distance between the robot 12 and the ultra-wideband base station 11. It should be noted that, the case where the radio frequency signal corresponding to the first signal is transmitted to the ultra wideband base station 11 through the obstacle on the straight line path 15 is not excluded. If the thickness of the obstacle 14 on the straight path 15 is small and the signal isolation capability is poor, the radio frequency signal can quickly pass through the obstacle 14, and accordingly, the error between the distance value obtained by processing the first signal and the actual distance is negligible, and the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the ultra-wideband base station 11. If the thickness of the obstacle 14 on the linear path 15 is larger or the signal isolation capability of the material is stronger, the time required for the radio frequency signal corresponding to the first signal to pass through the obstacle 14 is longer, and correspondingly, the error between the distance value obtained by processing the first signal and the actual distance is larger, that is, the distance value obtained by processing the first signal is larger than the actual distance between the robot 12 and the ultra-wideband base station 11.
Therefore, under the condition that the first signal is a wireless signal with stronger anti-interference capability such as a UWB signal and the like, whether the first signal meets an obstacle with larger thickness or stronger signal isolation capability in the transmission process can be judged to determine that the first signal is an invalid signal or an effective signal. In this embodiment, the first signal is determined as an invalid signal in the case where there is a first obstacle on the straight line transmission path of the first signal, the first signal is determined as an effective signal in the case where there is no obstacle or there is a second obstacle on the straight line transmission path of the first signal, and the signal passing capability of the second obstacle is greater than the signal passing capability of the first obstacle. Referring to fig. 2 and 3, the linear transmission path of the first signal refers to a linear path 15 between the ultra-wideband tag 13 and the ultra-wideband base station 11, the first obstacle may be understood as an object having a relatively large thickness or a relatively strong signal isolation capability of a material, and the second obstacle may be understood as an object having a relatively small thickness and a relatively poor signal isolation capability of a material. It should be noted that, for the understanding of the signal passing capability of the obstacle, it is not limited by a specific condition, as long as the obstacle 14 placed on the straight path 15 makes the robot 12 perform the safety operation in the second area after receiving the first signal under the same condition (such as environment, signal, device performance, etc.), the signal passing capability of the obstacle may be understood as the signal passing capability of the first obstacle, and similarly, if the obstacle 14 placed on the straight path 15 makes the robot 12 still move along the preset path after receiving the first signal and perform the cleaning operation, the signal passing capability of the obstacle may be understood as the signal passing capability of the second obstacle.
Then, when the first obstacle exists on the straight path 15, the radio frequency signal corresponding to the first signal is transmitted to the ultra-wideband base station 11 through the obstacle detouring path 16, or it takes a longer time to pass through the first obstacle to be transmitted to the ultra-wideband base station 12, in either case, the first signal is processed to obtain a distance value larger than the actual distance between the robot 12 and the ultra-wideband base station 11. When there is a second obstacle or no obstacle on the straight path 15, the radio frequency signal corresponding to the first signal is quickly transmitted to the ultra-wideband base station 11 along the straight path 15 through the second obstacle, and the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the ultra-wideband base station 11.
But the robot can determine that the first obstacle, the second obstacle or no obstacle exists on the straight line path between the robot and the ultra-wideband base station by means of a camera, a laser or other sensors. But installing these sensors increases the cost of the robot. In this regard, this embodiment proposes to determine whether the first signal currently received from the ultra-wideband base station is an effective signal or an ineffective signal based on the stability of the distance value corresponding to the first signal transmitted by the same ultra-wideband base station that has been received continuously recently and the attenuation corresponding to the intensity of the first signal currently received from the ultra-wideband base station.
It should be noted that, when the robot is moving or the obstacle is moving, the obstacle may relatively move to a straight line path between the ultra-wideband tag and the ultra-wideband base station, so that the ultra-wideband tag detects a sudden change in the distance. Generally, if no obstacle with large thickness or strong signal isolation capability of a material is relatively moved to a linear path between the ultra-wideband tag and the ultra-wideband base station in the recent time period, the distance value corresponding to the first signal which is continuously received recently is relatively stable, and the fluctuation range is small. Wherein if the robot is stationary, the fluctuation range is about ten cm, and if the robot moves, the signal transmission period is generally only moved by several cm, i.e., the fluctuation range is about tens of cm, due to the high signal transmission frequency of the ultra wideband tag. If an obstacle with large thickness or strong signal isolation capability of a material in the latest time period relatively moves to a linear path of the ultra-wideband tag and the ultra-wideband base station, the fluctuation of a plurality of distance values corresponding to the time sliding window is large and is up to tens of centimeters or even tens of meters according to the different material of the obstacle. Based on this, the stability of the distance value corresponding to the first signal that is received continuously recently may reflect whether an obstacle with a large thickness or a strong signal isolation capability of a material is moved relatively to the linear path of the ultra wideband tag and the ultra wideband base station in the period of time when the corresponding first signal is received.
It is not excluded that in the latest time period, the ultra wideband tag and the linear path of the ultra wideband base station always have an obstacle with a large thickness or a strong signal isolation capability of a material, and in this case, the distance value corresponding to the first signal which is received recently and continuously is also relatively stable, that is, whether the first signal is a valid signal cannot be independently determined based on the distance value corresponding to the first signal which is received recently and continuously. Therefore, the embodiment also combines the attenuation degree corresponding to the intensity of the currently received first signal to determine whether the first signal is a valid signal.
The degree of attenuation corresponding to the intensity of the first signal is understood to be the degree of attenuation of the intensity between the first signal and the second signal of the same batch. The radio frequency signals corresponding to the second signals and the radio frequency signals corresponding to the first signals in the same batch refer to radio frequency signals which are simultaneously sent by the ultra-wideband tags and reach the same ultra-wideband base station. The radio frequency signals sent by the ultra-wideband tag have the same identification, and when the ultra-wideband base station receives the radio frequency signals, the radio frequency signals are marked with self equipment identification and then returned to the ultra-wideband tag. Then for this end of the robot, it may screen out the second signals of the same batch as the first signals from the remaining received signals based on the signal identification and the device identification of the first signals. If no obstacle with large thickness or strong signal isolation capability of materials exists on the linear path of the current ultra-wideband tag and the ultra-wideband base station, the attenuation degree of the intensity between the first signal and the second signal of the same batch is smaller and is generally lower than 6db. If an obstacle with large thickness or strong signal isolation capability of materials exists on a linear path of the current ultra-wideband tag and the ultra-wideband base station, compared with a radio frequency signal corresponding to a first signal, other radio frequency signals transmitted simultaneously can reach the ultra-wideband base station through obstacle detouring or passing through the obstacle in a larger range, and the attenuation degree of the intensity between the first signal and a second signal in the same batch is larger, and generally exceeds 6db. Based on this, the attenuation degree corresponding to the intensity of the first signal may reflect whether an obstacle with a large thickness or a strong signal isolation capability of a material exists on the linear path of the ultra wideband tag and the ultra wideband base station. However, when an obstacle with a large thickness or a strong signal isolation capability of a material just moves to a linear path between the ultra wideband tag and the ultra wideband base station, the attenuation degree of the intensity between the first signal and the second signal in the same batch is also smaller, that is, whether the first signal is a valid signal cannot be independently judged only by the attenuation degree of the intensity between the first signal and the second signal in the same batch.
Fig. 4 is a flowchart of determining that a first signal is an inactive signal or an active signal according to an embodiment of the present application. As shown in fig. 4, the step of determining that the first signal is an inactive signal or an active signal specifically includes S1101-S1103:
S1101, processing the first signal to obtain a distance value between the robot and the corresponding signal transmitting end, and obtaining a plurality of continuous distance values between the previous robot and the corresponding signal transmitting end.
The method includes the steps that a preset time period is taken as the length of a time sliding window, the time when an ultra-wideband tag currently receives a first signal sent by a certain ultra-wideband base station is taken as the ending time point of the time sliding window, the starting time point of the time sliding window is determined according to the length and the ending time point of the time sliding window, the first signal sent by the ultra-wideband base station and received by the ultra-wideband tag in the time sliding window is determined according to the starting time point and the ending time point, and then distance values obtained by processing the first signals are obtained. For example, if the preset time period is Δt and the time when the ultra wideband tag currently receives the first signal sent by the ultra wideband base station a is T10, the time period from T10- Δt to T10 is taken as a time sliding window, and it is assumed that the ultra wideband tag within T10- Δt to T10 receives the first signal sent by the ultra wideband base station a at ten consecutive time points of T1, T2, i.e., T9 and T10 (where T1, T2, i.e., T9 corresponds to the historical first signal and T10 corresponds to the first signal currently received), and a distance value obtained by processing the first signals received at the ten time points is obtained. The plurality of distance values corresponding to the time sliding window comprise a distance value between the robot and the ultra-wideband base station A, which are obtained by processing the currently received first signal, and a continuous distance value between the robot and the ultra-wideband base station A, which are obtained by processing the robot before the first signal is received.
And S1102, determining the first signal as an invalid signal when the acquired stability corresponding to the distance value does not meet the stability condition and/or the attenuation corresponding to the strength of the first signal does not meet the attenuation condition.
And S1103, determining the first signal as an effective signal when the stability corresponding to the acquired distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition.
The stability condition judging process includes screening the maximum distance value and the minimum distance value from the obtained distance values, and judging whether the stability corresponding to the obtained distance values meets the stability condition or not through the fluctuation range between the maximum distance value and the minimum distance value. And when the fluctuation amplitude between the maximum distance value and the minimum distance value is smaller, determining that the stability corresponding to the acquired distance value meets the stability condition. Or judging whether the stability corresponding to the acquired distance value meets the stability condition according to the variance of the acquired distance value. And when the variance of the acquired distance value is large, determining that the stability corresponding to the acquired distance value does not meet the stability condition.
Because the relative movement of the obstacle to the linear path between the ultra-wideband tag and the ultra-wideband base station occurs instantaneously, the ultra-wideband tag detects that the distance changes suddenly at two adjacent time points, i.e. the distance values obtained by the two continuously received first signals are greatly different. The fluctuation amplitude between the maximum distance value and the minimum distance value or the variance of the acquired distance value represents the global change condition of the acquired distance value, which cannot accurately represent the change condition of the distance value correspondingly obtained by two continuously received first signals. In this embodiment, it is proposed that, based on the obtained distance values, a fluctuation range between every two consecutive distance values is determined, and in the case that each fluctuation range is smaller than or equal to a preset fluctuation threshold, it is determined that the stability corresponding to the obtained distance values satisfies a stability condition. Illustratively, the distance value obtained by corresponding to T10 in the time sliding window is differentiated from the distance value obtained by corresponding to T9, the distance value obtained by corresponding to T9 is differentiated from the distance value obtained by corresponding to T8, and so on, to obtain the fluctuation amplitude between the distance values obtained by corresponding to the front and rear two time points in ten consecutive time points of T1, T2,... The preset fluctuation threshold value can be understood as the maximum fluctuation amplitude of a distance value obtained by processing the currently received first signal and a distance value obtained by processing the last received first signal when an obstacle with large thickness or strong signal isolation capability of a material initially moves to a linear path between the ultra-wideband tag and the ultra-wideband base station. If the fluctuation amplitudes generated by the corresponding T1, T2, T9 and T10 are smaller than or equal to a preset fluctuation threshold value, the plurality of distance values corresponding to the time sliding window can be determined to be stable, and further the stability corresponding to the acquired distance values is determined to meet the stability condition, and if any one of the fluctuation amplitudes generated by the corresponding T1, T2, T9 and T10 is larger than the preset fluctuation threshold value, the plurality of distance values corresponding to the time sliding window can be determined to be unstable, and further the stability corresponding to the acquired distance values is determined to be not met the stability condition.
The method for judging the attenuation conditions comprises the steps of obtaining a second signal with highest intensity from a second signal of the same batch corresponding to the first signal, determining a difference value between the intensity of the first signal and the intensity of the second signal as attenuation degree corresponding to the intensity of the first signal, determining that the attenuation degree corresponding to the intensity of the first signal meets the attenuation conditions if the attenuation degree corresponding to the intensity of the first signal is smaller, and determining that the attenuation degree corresponding to the intensity of the first signal does not meet the attenuation conditions if the attenuation degree corresponding to the intensity of the first signal is larger.
The attenuation of the intensity between the first signal and the remaining second signals is not accurately characterized because of the intensity difference between the first signal and the highest intensity second signal. In this regard, the present embodiment proposes to determine an average value of intensities of the second signals in the same batch as the first signals, and determine the attenuation degree corresponding to the intensities of the first signals according to the difference between the average value of intensities and the intensity value of the first signals. Since the intensity average value characterizes the intensity conditions of all the second signals, the attenuation conditions of the intensities between the first signal and all the second signals can be accurately characterized by the difference value between the intensity average value and the intensity value of the first signal. In this embodiment, the difference between the intensity average value and the intensity value of the first signal may be directly determined as the attenuation degree corresponding to the intensity of the first signal, so as to improve the calculation efficiency. In another embodiment, the variance of the corresponding second signals can be determined by the intensity value of each second signal, and when the variance of the second signals is larger than a certain threshold value, the variance of each second signal indicates that the intensity change between each second signal is larger, that is, the probability that an obstacle with large thickness or strong signal isolation capability of a material exists on a straight line path between the robot and the ultra-wideband base station is larger. At this time, the difference between the intensity average value and the intensity value of the first signal may be multiplied by a weight coefficient greater than one, and the difference after being multiplied by the weight coefficient is determined as the attenuation degree corresponding to the intensity of the first signal. When the variance of the second signals is smaller than a certain threshold value, the variance of the second signals indicates that the intensity variation among the second signals is smaller, namely the probability that an obstacle with large thickness or strong signal isolation capability of materials exists on a straight line path between the robot and the ultra-wideband base station is smaller. At this time, the difference between the intensity average value and the intensity value of the first signal may be multiplied by a weight coefficient smaller than one, and the difference after being multiplied by the weight coefficient is determined as the attenuation degree corresponding to the intensity of the first signal. Further, after the attenuation degree corresponding to the intensity of the first signal is determined, the attenuation degree corresponding to the intensity of the first signal is compared with a preset signal attenuation threshold value, and whether the attenuation degree corresponding to the intensity of the first signal meets an attenuation condition is judged. The preset signal attenuation threshold is understood as the maximum difference between the intensity value of the first signal and the intensity of the second signal of the same batch when no obstacle exists on the straight line path or the thickness of the obstacle is small and the signal isolation capability of the material is poor. And determining that the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition under the condition that the attenuation degree corresponding to the intensity of the first signal is smaller than or equal to a preset signal attenuation threshold value. And under the condition that the attenuation degree corresponding to the intensity of the first signal is larger than a preset signal attenuation threshold value, determining that the attenuation degree corresponding to the intensity of the first signal does not meet the signal attenuation condition.
The judgment process of the damping condition and the judgment process of the stabilizing condition may be performed simultaneously, or one of the judgment processes may be preferentially executed and the other judgment process may be executed. For example, the judgment process of the damping condition is performed first and then the judgment process of the steady condition is performed, or the judgment process of the steady condition is performed first and then the judgment process of the linear damping condition is performed. If the first executed judging process does not meet the corresponding condition, the first signal can be directly determined to be an invalid signal without continuously executing the next judging process, and the first signal can be determined to be an valid signal when the two judging processes meet the corresponding condition.
S120, determining at least one detection coordinate according to a first signal, and determining a region where the robot is located according to the detection coordinate and a preset region range of a first region and a second region, wherein a connecting line between any two signal sending ends is at least partially located in the first region, the first region is adjacent to the second region, and the dangerous degree of the second region is smaller than that of the first region.
In this embodiment, the detection coordinates may be regarded as coordinates of the robot predicted based on the first signal, and when two ultra wideband base stations are provided in the robot activity scene, one or two detection coordinates may be determined based on the first signals transmitted by the two ultra wideband base stations. When more than three ultra wideband base stations are arranged in the robot activity scene, one or more than three detection coordinates can be determined based on the first signals sent by the more than three ultra wideband base stations, and two detection coordinates can be determined by combining the first signals sent by the more than three ultra wideband base stations two by two, so that more than two detection coordinates are obtained. It will be readily appreciated that the present embodiment provides two ways of determining the detection coordinates, one based on two first signals and the other based on more than three first signals.
The process of determining the detection coordinates based on more than three first signals comprises the steps of processing the received first signals to obtain the distance between the robot and the ultra-wideband base station which correspondingly transmits the first signals, forming an ultra-wideband base station corresponding circle by taking the installation coordinates of the ultra-wideband base station as the circle center and the distance between the ultra-wideband base station and the robot as the radius, determining the intersection point coordinates of the circles corresponding to the ultra-wideband base stations, and determining the intersection point coordinates as the detection coordinates. Fig. 5 and 6 are schematic diagrams of circles formed by three ultra wideband base stations according to embodiments of the present application. As shown in fig. 5, after the robot 12 receives the first signals sent by the ultra-wideband base station a, the ultra-wideband base station B, and the ultra-wideband base station C, the three first signals are processed to obtain distances a1, B1, and C1 between the robot and the ultra-wideband base station a, the ultra-wideband base station B, and the ultra-wideband base station C, respectively. If the three first signals are all effective signals, the distance a1, the distance B1 and the distance C1 can be regarded as actual distances between the robot and the ultra-wideband base stations a, B and C, respectively, and correspondingly, circles formed by the three ultra-wideband base stations intersect at a point, which is the coordinates of the robot 12, by taking the ultra-wideband base stations a, B and C as the centers of circles and taking the distance a1, the distance B1 and the distance C1 as the radii, respectively. The robot can thus determine a detection coordinate based on the installation coordinates of the ultra wideband base station a, the ultra wideband base station B and the ultra wideband base station C, and the distances a1, B1 and C1. As shown in fig. 6, if at least one invalid signal exists in the three first signals, the circles formed by the ultra-wideband base station a, the ultra-wideband base station B and the ultra-wideband base station C intersect at three points, and the coordinates of the three points are the detection coordinates calculated by the robot. Some of the three points may or may not be the coordinates of the robot. Similarly, if the detection coordinates are determined based on more than four first signals, the circle formed by the ultra-wideband base station corresponding to the installation coordinates of the ultra-wideband base station and the distance between the ultra-wideband base station and the robot can be determined, and the intersection point coordinates of the circles of the ultra-wideband base stations can be determined as the detection coordinates.
The process of determining the detection coordinates based on the two first signals comprises the steps of processing the two first signals to determine the distance between the robot corresponding to the two signal transmitting ends transmitting the two first signals, and determining one or two detection coordinates according to the distance between the robot corresponding to the two signal transmitting ends and the installation coordinates of the two signal transmitting ends. In an embodiment, after the two first signals are processed to obtain the distance between the robot and the two ultra-wideband base stations, an ultra-wideband base station corresponding circle is formed by taking the installation coordinates of the ultra-wideband base stations as the circle center and the distance between the ultra-wideband base stations and the robot as the radius, the intersection point coordinates of the two ultra-wideband base stations corresponding circles are determined, and the intersection point coordinates are determined to be detection coordinates. Fig. 7 is a schematic diagram illustrating a circle formed by two ultra-wideband base stations according to an embodiment of the present application. As shown in fig. 7, after the robot receives the first signals sent by the ultra wideband base station a and the ultra wideband base station B, the first signals are processed to obtain the distances between the robot and the ultra wideband base station a and the ultra wideband base station B. And the installation coordinates of the ultra-wideband base station A and the ultra-wideband base station B are used as circle centers, the distance between the robot and the ultra-wideband base station A and the ultra-wideband base station B is used as a radius, the circles formed by the two ultra-wideband base stations intersect at two points, and the coordinates of the two intersection points are determined to be detection coordinates. It should be noted that if the circles formed by the two ultra wideband base stations are tangential, the circles formed by the two ultra wideband base stations intersect at a point, and a detection coordinate can be calculated at this time.
In another embodiment, the detection coordinates are determined by triangle geometry principles satisfied between two ultra wideband base stations and the robot. The detection process comprises the steps of determining the area of a triangle formed between a robot and two signal sending ends according to the distance between the two signal sending ends and the distance between the robot corresponding to the two signal sending ends, determining the height of the triangle according to the distance between the two signal sending ends and the area of the triangle, determining the distance between the foot corresponding to the triangle and the two signal sending ends according to the height of the triangle and the distance between the robot corresponding to the two signal sending ends, determining the foot hanging coordinates of the triangle according to the installation coordinates of the two signal sending ends, the unit direction vector between the two signal sending ends and the distance between the foot corresponding to the triangle and the two signal sending ends, and determining the two detection coordinates according to the foot hanging coordinates of the triangle, the height of the triangle and the unit vector perpendicular to the unit direction vector.
For ease of understanding, this embodiment is illustrated in conjunction with the schematic diagram of the triangle formed by the two ultra wideband base stations and the robot shown in fig. 8. As shown in fig. 8, P1 and P2 are detection coordinates to be determined, which can be regarded as a virtual robot. After the robot receives first signals sent by the ultra-wideband base station A and the ultra-wideband base station B, the distance between the robot and the ultra-wideband base station A and the distance between the robot and the ultra-wideband base station B are respectively a1 and B1 based on the first signals. It should be noted that, the distance used for determining the detection coordinate in this embodiment refers to a two-dimensional distance projected into a horizontal plane, and when the ultra wideband base station and the ultra wideband tag are installed in the same horizontal plane, the distance obtained by processing the first signal is the two-dimensional distance. When the ultra-wideband base station and the ultra-wideband tag are installed on different horizontal planes, the distance obtained by processing the first signal is a three-dimensional distance, and the three-dimensional distance can be projected into the horizontal plane to obtain a two-dimensional distance. The projection processing process is that a difference value between the installation height of the ultra-wideband base station and the installation height of the ultra-wideband tag is determined, the square of the difference value is subtracted from the square of the distance obtained through the first signal processing, and then the root is opened, so that the two-dimensional distance from the robot to the ultra-wideband base station is obtained. For example, if the distance obtained by processing the first signal sent by the ultra-wideband base station is a1, the installation height of the ultra-wideband base station a is z1, and the installation height of the ultra-wideband tag is z2, the two-dimensional distance from the robot to the ultra-wideband base station a is
The present embodiment will be described taking, as an example, a distance obtained by processing the first signal as a two-dimensional distance in a horizontal plane. The robot stores the installation coordinates (xa,ya) of the ultra-wideband base station a and the installation coordinates (xb,yb) of the ultra-wideband base station B in advance, and the distance d between the ultra-wideband base station a and the ultra-wideband base station B can be determined according to the installation coordinates (xa,ya) and the installation coordinates (xb,yb). Adding distance d, distance a1 and distance b1 gives the perimeter l of the triangle. The area calculation formula of the triangle is as follows: The area s of the triangle can be calculated by substituting the distance d, the distance a1, the distance b1, and the perimeter l of the triangle into the area calculation formula. The Q point is the vertical foot of the P1 point perpendicular to the connection line (line segment AB) of the ultra-wideband base station a and the ultra-wideband base station B, and after the area s of the triangle is calculated, the area s is divided by the length of the line segment AB, that is, the distance d, and then multiplied by 2, so as to obtain the height h of the triangle. According to Pythagorean theorem, based on the height h and distance a1 of the triangle, the length of the line segment AQ, i.e. the distance from the foot of the triangle to the ultra-wideband base station A, is calculatedBased on the height h and the distance B1 of the triangle, the length of the line segment BQ can be calculated, namely the distance from the foot of the triangle to the ultra-wideband base station B isThe installation coordinates (xa,ya) are subtracted from the installation coordinates (xb,yb) and divided by the distance d to obtain a unit direction vector (xab,yab) of the ultra wideband base station A pointing to the ultra wideband base station B. If a1> b1, the coordinate of the Q point isIf b1> a1, the coordinate of the Q point isSince the line segment P1Q and the line segment P2Q are perpendicular to the line segment AB, respectively, it can be deduced that the unit direction vectors of the line segment P1Q and the line segment P2Q are (-yab,xab) and (yab,-xab), respectively. Correspondingly, the coordinate of P1 can be calculated as the product of the coordinate of the Q point plus the height h and (-yab,xab), i.eThe coordinates of P2 are calculated as the product of the coordinates of the Q point plus the height h and (yab,-xab), i.e
It should be noted that if the distance a1 is equal to the sum of the distance B1 and the distance d, or if the distance B1 is equal to the sum of the distance a1 and the distance d, it may be determined that the robot, the ultra wideband base station a, and the ultra wideband base station B are collinear, and one detection coordinate may be determined based on the unit direction vector between the ultra wideband base station a and the ultra wideband base station B, the distance d, and the installation coordinates of the ultra wideband base station a or the ultra wideband base station B.
In this embodiment, the first area refers to an area including or near a place where a dangerous accident occurs, and the second area refers to an area disposed adjacent to the first area and having a degree of danger smaller than that of the first area, and the second area does not include and is distant from the place where a dangerous accident occurs. The first region and the second region are regions divided by a coordinate range, and the first region and the second region may be of arbitrary shapes. The present embodiment will be described taking a robot as an example of a robot that performs a cleaning operation in a mall. The method comprises the steps of planning a coordinate range of a first area containing or approaching a dangerous accident place and a coordinate range of a second area attached to the first area based on dangerous accident places such as an escalator in a market in advance. Fig. 9 and 10 are schematic diagrams of a first region and a second region provided in an embodiment of the present application. As shown in fig. 9, the first region 22 includes the dangerous accident site 21, and the second region 23 entirely surrounds the first region 22 and is kept at a long distance from the dangerous accident site 21. As shown in fig. 10, the first area 22 is disposed close to the dangerous accident site 21, guardrails 24 are disposed at both sides of the dangerous accident site 21, and an area outside the guardrails 24 is inaccessible to the robot, so that the second area 23 is disposed to semi-surround the first area 22 and to be kept at a long distance from the dangerous accident site. Although the boundary lines of the first area and the second area shown in fig. 9 and 10 are straight lines, the boundary lines may be curved lines, the first area may be other shapes besides square, the shape and the position of the first area are set according to actual requirements, and after the shape and the position of the first area are set, the shape and the position of the second area are set at the periphery of the first area.
Fig. 11 and 12 are schematic diagrams of a first area and an ultra-wideband base station provided by an embodiment of the present application. As shown in fig. 11, a portion of a connection line between the ultra-wideband base station a and the ultra-wideband base station B is located in the first area. When the first signal sent to the robot by the ultra wideband base station a or the ultra wideband base station B is an invalid signal, the first signal is processed to obtain a distance greater than the actual distance between the ultra wideband base station and the robot, and correspondingly, the point P1' corresponding to the real coordinates of the robot is closer to the connecting line of the two ultra wideband base stations than the point P1 corresponding to the detection coordinates calculated based on the first signals sent by the ultra wideband base station a and the ultra wideband base station B, namely, is closer to the first area. Thus, for the same signal, the positional relationship of the detection coordinates calculated when it is an invalid signal and the detection coordinates calculated when it is an valid signal can be used to characterize the positional relationship between the second region and the first region. When the robot is located in the second area based on the first signal with the invalid signal of the signal type, the real position of the robot is located in the first area or the second area, and the robot can execute the safety operation and the like first, then determine whether to execute the cleaning operation or not based on the real position of the robot based on the valid signal. As shown in fig. 12, if the connection line of the two ultra wideband base stations is not located in the first area, the P1' point corresponding to the real coordinates of the robot is farther from the first area than the P1 point corresponding to the detected coordinates calculated based on the first signals transmitted from the ultra wideband base station a and the ultra wideband base station B. Therefore, the positional relationship between the detection coordinates calculated when it is an invalid signal and the detection coordinates calculated when it is an valid signal is not equivalent to the positional relationship between the second region and the first region for the same signal. When the robot is determined to be located in the first area based on the first signal whose signal class is the invalid signal, it may be that the real position of the robot is located in the second area, which does not conform to the logic of the second area as the buffer of the first area.
It should be noted that, when the more the portion of the connection line between the two ultra wideband base stations is located in the first area, that is, the closer the ultra wideband base stations are located in the first area, the more approximate the positional relationship between the detection coordinates calculated when the same signal is an invalid signal and the detection coordinates calculated when the same signal is an valid signal is to the positional relationship between the second area and the first area, that is, the higher the accuracy of the area where the calculated robot is located. Thus, all ultra wideband base stations may be located within the first area, as the environment within the first area allows. In this embodiment, the connection between two ultra wideband base stations is located in the first area, including not only the connection inside the first area but also the borderline that continuously coincides with the first area.
Further, the second area is adjacently provided with a third area, the risk degree of the third area is smaller than that of the second area, namely, the distance between the third area and the place where the dangerous accident happens is larger than that between the second area and the place where the dangerous accident happens, and the third area can be regarded as an area except the first area and the second area.
In the case of determining a detection coordinate, the detection coordinate is compared with the area ranges of the first area and the second area stored in advance, respectively. The robot is determined to be located in the first area if the detection coordinates fall within the area range of the first area, the robot is determined to be located in the second area if the detection coordinates fall within the area range of the second area, and the robot is determined to be located in the third area if the detection coordinates do not fall within the area ranges of the first area and the second area.
When a plurality of detection coordinates are determined, each detection coordinate is compared with the area ranges of the first area and the second area stored in advance. The robot is determined to be located in the first area in the case where at least one detection coordinate falls within the area range of the first area, in the case where any one detection coordinate does not fall within the area range of the first area and at least one detection coordinate falls within the area range of the second area, in the case where any one detection coordinate does not fall within the area ranges of the first area and the second area, in the third area. Fig. 13 is a schematic diagram of detection coordinates and a first area and a second area according to an embodiment of the present application. As shown in fig. 13, the point P1, the point P2, and the point P3 are position points corresponding to the detection coordinates, respectively, and when any one of the point P1, the point P2, and the point P3 falls within the area range of the first area, it can be determined that the robot is located within the first area, when the point P1, the point P2, and the point P3 all fall within the second area, or fall within the second area, and the third area, respectively, it can be determined that the robot is located within the second area, and when the point P1, the point P2, and the point P3 all fall within the third area. In this embodiment, referring to fig. 10, in a real situation, the robot cannot move beyond the guard rail 24 to the areas on both sides of the dangerous accident site 21, so that in the case of determining a plurality of detection coordinates, the detection coordinates can be compared with the areas on both sides of the dangerous accident site 21 to screen out the wrong detection coordinates, and then the area where the robot is located can be determined according to the remaining detection coordinates.
After determining the area where the robot is located, whether the current area where the robot is located is the real position of the robot or not can be determined according to the signal type of the first signal used for determining the area where the robot is located. Referring to fig. 13, the detection coordinates of the P2 point and the P3 point fall within the range of the first region, the detection coordinates of the P2 point and the P3 point may be regarded as a first signal for determining the region where the robot is located, if the first signal for calculating the detection coordinates of the P2 point includes an invalid signal, the detection coordinates of the P2 point may not be the true position of the robot, and if the first signals for calculating the detection coordinates of the P2 point are valid signals, the detection coordinates of the P2 point may be the true position of the robot, and the P3 point may be the same. It can be understood that if the first signals for determining the detection coordinates of the P3 point and the P2 point both include invalid signals, the current area where the robot is located is not the real position of the robot, and if the first signals for determining the detection coordinates of the P3 point both are valid signals or the first signals for determining the detection coordinates of the P2 point both are valid signals, the current area where the robot is located is the real position of the robot.
In an embodiment, if the first signals sent by more than two ultra wideband base stations are valid signals, the detection coordinates may be determined based on at least two valid signals to determine the area where the robot is truly located according to the detection coordinates. In an exemplary case where the received first signal includes at least two valid signals, two detection coordinates are determined based on the at least two valid signals, and in a case where the received first signal includes at most one valid signal, a plurality of detection coordinates are determined based on each of the two first signals. If more than three ultra-wideband base stations are arranged in the market, the detection coordinates can be determined based on the first signals transmitted by the two ultra-wideband base stations if the first signals transmitted by the two ultra-wideband base stations are all effective signals, and one or two detection coordinates can be determined by randomly selecting the first signals transmitted by the two ultra-wideband base stations from the first signals transmitted by the three ultra-wideband base stations or only one detection coordinate can be determined by selecting the first signals transmitted by the three ultra-wideband base stations from the first signals. If only one ultra-wideband base station or no ultra-wideband base station transmits the first signals with the signal types being effective signals, the real position of the robot cannot be accurately determined no matter what the detection coordinates obtained by combining the first signals are. In order to use all the first signals, the received first signals may be combined two by two, and the detection coordinates are determined based on the first signals under each combination. The step of calculating the detection coordinates from the two first signals in this process is specifically referred to the above embodiment. It is easy to understand that if the area where the robot is located is determined first and then whether the area where the robot is located is accurate is determined according to the signal category of the first signal under the condition that more than three ultra-wideband base stations are arranged in the mall, corresponding detection coordinates need to be determined according to the combination of a plurality of first signals, the calculated amount is large, and the processing time is long. In the embodiment, the signal type of the first signal can be judged first, and the real position of the robot can be determined directly based on more than two effective signals under the condition that the received first signal comprises more than two effective signals, so that the processing efficiency is effectively improved.
And S130, controlling the robot to execute a safety operation when the robot is determined to be located in the second area through at least one invalid signal, and controlling the robot to move and execute a cleaning operation according to a preset path when the robot is determined to be located in the second area through at least two valid signals.
In this embodiment, in order to ensure the operation safety of the robot, the robot may be controlled to perform a safety operation when it is determined that the real position of the robot is located in the first area including the dangerous accident site, and in order to ensure the operation efficiency of the robot, the robot may be controlled to move and perform a cleaning operation according to a preset path when it is determined that the real position of the robot is located in the second area or the third area including no dangerous accident site.
In at least one detection coordinate used for determining that the robot is located in the second area, if the first signals corresponding to the detection coordinate are all valid signals, the area where the robot is located currently can be determined to be the real position. Therefore, when the robot is determined to be located in the second area through at least two effective signals, the fact that the real position of the robot is located in the second area without the dangerous accident place is indicated, the robot can move according to a preset path and execute cleaning operation to clean the second area, the problem that the dangerous area range is enlarged to cause that part of the area is not cleaned is avoided, and the cleaning effect of the robot is guaranteed.
In at least one detection coordinate used for determining that the robot is located in the second area, if the first signals corresponding to all detection coordinates comprise at least one invalid signal, it can be determined that the area where the robot is currently located is not a real position, that is, the real position of the robot may be in the first area or the second area. If the real position of the robot is located in the first area and the robot continues to perform the cleaning operation, the robot may move to a dangerous accident place to generate a safety accident, so when the real position of the robot is not determined to be located in the first area or the second area, the robot is controlled to perform the safety operation first, and a radio frequency signal is transmitted through the ultra-wideband tag to receive a new first signal, and the real position of the robot is determined again through the new first signal. In this embodiment, the robot may be controlled to temporarily stop moving or move reversely, and a radio frequency signal is transmitted through the ultra wideband tag to receive a new first signal, and if it is determined that the robot is located in the second area based on the new at least two effective signals, it may be determined that the real position of the robot is located in the second area, and then the cleaning operation of the robot is resumed, so that the range of the dangerous area is prevented from being enlarged, and the cleaning effect of the robot is ensured. If the robot is determined to be located in the first area, the real position of the robot can be determined to be in the first area, movement is stopped, and warning information of the robot entering the forbidden area is reported, so that a worker can manually control the robot to be far away from the dangerous area.
It should be noted that, if at least two valid signals have been screened out by the signal class of the first signal to determine the detection coordinates before step S130, or if a signal group including invalid signals is screened out to determine the detection coordinates, then in executing step S130, it may be determined whether the robot is located in the second area as a real position directly based on the previous screening result. If the valid signal or the invalid signal is not screened to determine the detection coordinates before the step S130, but the first signal is randomly combined to determine the detection coordinates, the signal class of the first signal for determining the area where the robot is located is determined through steps S1101-S1103 when the step S130 is performed. Therefore, although step S130 is written to determine that the robot is located in the second area through the invalid signal or the valid signal, in the actual application process, the signal type of the first signal is not determined first, and then the area where the robot is located is determined, but the signal type of the first signal may also be determined first.
In the present embodiment, when the first signal is an invalid signal, the detection coordinates calculated based on the first signal are farther from the first area than the detection coordinates calculated for the valid signal. Thus, whether the first signal is an invalid signal or an valid signal, if it is determined that the robot is located within the first area based on the detection coordinates, it can be determined whether the real position of the robot is located within the first area. Accordingly, in the case where the robot is located in the first area, the robot is controlled to perform a safety operation. When the real position of the robot is located in the first area containing the dangerous accident place, the robot can be controlled to stop moving, so that safety accidents such as falling and the like caused by the fact that the robot continues to move to the dangerous accident place are avoided, and the operation safety of the cleaning robot is ensured. After the robot stops moving, warning information of the robot entering the forbidden zone can be reported, so that a worker can manually control the robot to be far away from the first zone.
The shortest distance of the boundary line of the second region to the boundary line of the first region may be regarded as the maximum distance between the detection coordinates calculated based on the effective signal and the detection coordinates calculated based on the ineffective signal when the robot is located at an arbitrary position. Thus, whether the first signal is an invalid signal or an valid signal, if it is determined that the robot is located in the third area based on the detection coordinates, it can be determined that the real position of the robot is located in the second area or the third area excluding or far from the place where the dangerous accident occurred. Accordingly, in the case where the robot is located in the third area, the robot is controlled to move according to the preset path and perform the cleaning operation. When the real position of the robot is located in the second area or the third area which does not include the dangerous accident site, the robot may be controlled to continue to perform the cleaning operation to improve the cleaning efficiency and the cleaning area of the robot.
For example, if two ultra wideband base stations are arranged in a mall, the current area of the robot can be determined first, and then the signal type of the first signal can be determined. When the robot is located in the first area or the third area, the robot can be controlled to execute safe operation or cleaning operation, the first signal is not required to be judged to be an effective signal or an invalid signal, and the processing efficiency of the robot is greatly improved. If three ultra-wideband base stations are arranged in a mall, the signal type of the first signal can be determined to screen out two effective signals to determine detection coordinates, and then the area where the robot is located is determined according to the detection coordinates. In this embodiment, when the first signal is an effective signal, the obtained distance value may be smoothed to obtain a smoothed distance value, and when the smoothed distance value is smaller than the distance value obtained by processing the first signal, the detection coordinates are determined by the smoothed distance value, so as to determine the area where the robot is located according to the detection coordinates, thereby improving the position accuracy of the robot. Illustratively, the distance value of the abnormal peak in the plurality of distance values corresponding to the time sliding window is filtered through Kalman filtering, so that a relatively smooth distance value is obtained. The distance value after the smoothing process may be larger than the distance corresponding to the current first signal, and the measured value may be larger than the true value in consideration of the ranging principle of the ultra-wideband technology, so that the distance value after the smoothing process is compared with the distance value corresponding to the current first signal, and a smaller value is selected as the distance between the current robot and the ultra-wideband base station.
In summary, the robot control method provided by the embodiment of the application comprises the steps of planning the area range of a first area and a second area in advance, setting at least two signal sending ends according to the area range of the first area so that the continuity between any two signal sending ends is at least partially located in the first area, receiving first signals sent by at least two signal sending ends when the robot works, determining detection coordinates according to the received first signals, comparing the detection coordinates with the preset area ranges of the first area and the second area, determining the area where the robot is located, and if the robot is located in the second area and the first signals used for determining the area where the robot is located comprise invalid signals, confirming that the current area where the robot is located is inaccurate, namely the real position of the robot is possibly the first area containing or approaching a dangerous accident place, controlling the robot to perform safety operation so as to avoid the robot to move to the dangerous accident place, guaranteeing the work safety of the robot, and if the first signals located in the second area and used for determining the area where the robot is located are the preset area, namely the current position of the robot is not contained, confirming that the robot is not located in the current area, namely the current position of the robot is not contained in the preset area, and the current position of the robot is not controlled to move according to the preset accident place. Therefore, the use safety can be ensured and the cleaning operation efficiency can be improved by using the scheme.
On the basis of the above embodiments, fig. 14 is a schematic structural diagram of a robot control device according to an embodiment of the present application. Referring to fig. 14, the robot control device provided in this embodiment specifically includes a signal receiving module 31, an area determining module 32, a first control module 33, and a second control module 34.
The signal receiving module 31 is configured as a signal receiving module and is configured to receive first signals sent by at least two signal sending ends, wherein the signal category of the first signals comprises invalid signals and valid signals;
The area determining module 32 is configured to determine at least one detection coordinate according to the first signal, and determine an area where the robot is located according to the detection coordinate and a preset area range of the first area and the second area, wherein a connecting line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the dangerous degree of the second area is smaller than that of the first area;
a first control module 33 configured to control the robot to perform a safety operation in case it is determined that the robot is located in the second area by at least one invalid signal;
and a second control module 34 configured to control the robot to move according to a preset path and perform a cleaning operation in case it is determined that the robot is located in the second area through at least two effective signals.
On the basis of the embodiment, the robot control device further comprises a third control module which is configured to control the robot to execute the safety operation when the robot is located in the first area, and/or a fourth control module which is configured to control the robot to move and execute the cleaning operation according to a preset path when the robot is located in a third area, wherein the third area is arranged adjacent to the second area, and the danger degree of the third area is smaller than that of the second area.
On the basis of the embodiment, the robot control device comprises a first signal judging module, wherein the first signal judging module comprises a first invalid signal determining submodule which is configured to determine that the first signal is an invalid signal when a first obstacle exists on a linear transmission path of the first signal, the first valid signal determining submodule is configured to determine that the first signal is a valid signal when no obstacle exists on the linear transmission path of the first signal or a second obstacle exists on the linear transmission path of the first signal, and the signal penetrating capacity of the second obstacle is larger than that of the first obstacle.
On the basis of the embodiment, the robot control device comprises a second signal judging module, wherein the second signal judging module comprises a distance value acquisition sub-module and a second effective signal determining sub-module, the distance value acquisition sub-module is configured to process a first signal to acquire a distance value between a robot and a corresponding signal transmitting end and acquire a plurality of continuous distance values between the robot and the corresponding signal transmitting end before the distance value is acquired, the second ineffective signal determining sub-module is configured to determine that the first signal is an ineffective signal when the stability corresponding to the acquired distance value does not meet a stability condition and/or when the attenuation corresponding to the intensity of the first signal does not meet an attenuation condition, and the second effective signal determining sub-module is configured to determine that the first signal is an effective signal when the stability corresponding to the acquired distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition.
On the basis of the embodiment, the second signal judging module comprises a fluctuation amplitude determining submodule and a stability condition judging submodule, wherein the fluctuation amplitude determining submodule is configured to determine the fluctuation amplitude between every two continuous distance values based on the obtained distance values, and the stability condition judging submodule is configured to determine that the stability corresponding to the obtained distance values meets the stability condition under the condition that each fluctuation amplitude is smaller than or equal to a preset fluctuation threshold value.
On the basis of the embodiment, the second signal judging module comprises an attenuation degree determining submodule which is configured to determine an average intensity value of the second signals which are in the same batch with the first signals, and determine the attenuation degree corresponding to the intensity of the first signals according to the difference value between the average intensity value and the intensity value of the first signals, and an attenuation condition judging submodule which is configured to determine that the attenuation degree corresponding to the intensity of the first signals meets the attenuation condition when the attenuation degree corresponding to the intensity of the first signals is smaller than or equal to a preset signal attenuation threshold value.
On the basis of the above embodiment, the attenuation degree determination submodule comprises an attenuation degree determination unit configured to determine a difference between the intensity average value and the intensity value of the first signal as an attenuation degree corresponding to the intensity of the first signal.
On the basis of the above embodiment, the area determining module 32 includes a smoothing sub-module configured to perform smoothing on the acquired distance value to obtain a smoothed distance value in the case where the first signal is a valid signal, and a first positioning sub-module configured to determine the detection coordinates by the smoothed distance value in the case where the smoothed distance value is smaller than the distance value obtained by processing the first signal.
On the basis of the above embodiment, the area determining module 32 comprises a first coordinate determining sub-module configured to determine one or two detection coordinates from at least two valid signals in case the received first signal comprises at least two valid signals, and a second coordinate determining sub-module configured to determine a plurality of detection coordinates from each two first signals in case the received first signal comprises at most one valid signal.
On the basis of the embodiment, the second coordinate determination submodule comprises a distance determination unit and a coordinate determination unit, wherein the distance determination unit is configured to process two first signals to determine the distance between the robot corresponding to two signal sending ends which send the two first signals, and the coordinate determination unit is configured to determine one or two detection coordinates according to the distance between the robot corresponding to the two signal sending ends and the installation coordinates of the two signal sending ends.
The coordinate determining unit comprises an area determining subunit configured to determine an area of a triangle formed between the robot and the two signal transmitting ends according to a distance between the two signal transmitting ends and a distance between the robot correspondence and the two signal transmitting ends, a foot hanging distance determining subunit configured to determine a height of the triangle according to the distance between the two signal transmitting ends and the area of the triangle, a distance between the foot hanging correspondence of the triangle and the two signal transmitting ends according to the height of the triangle and the distance between the robot correspondence and the two signal transmitting ends, and a foot hanging coordinate determining subunit configured to determine foot hanging coordinates of the triangle according to installation coordinates of the two signal transmitting ends, a unit direction vector between the two signal transmitting ends and a distance between the foot hanging correspondence of the triangle and the two signal transmitting ends, and a detection coordinate determining subunit configured to determine two detection coordinates according to the foot hanging coordinates of the triangle, the height of the triangle and a unit vector perpendicular to the unit direction vector.
On the basis of the above embodiment, the region determination module includes 32 a first positioning sub-module configured to determine that the robot is located in the first region in the case where at least one detection coordinate falls within the region range of the first region, a second positioning sub-module configured to determine that the robot is located in the second region in the case where any one detection coordinate does not fall within the region range of the first region and at least one detection coordinate falls within the region range of the second region, and a third positioning sub-module configured to determine that the robot is located in the third region in the case where any one detection coordinate does not fall within the region ranges of the first region and the second region.
The robot control device provided by the embodiment of the application comprises a first area and a second area, wherein the area range of the first area and the area range of the second area are planned in advance, the danger degree of the first area is larger than that of the second area, at least two signal sending ends are arranged according to the area range of the first area, so that the continuous at least part of the two signal sending ends are positioned in the first area, when the robot works, first signals sent by the at least two signal sending ends are received, detection coordinates are determined according to the received first signals, the detection coordinates are compared with the preset area ranges of the first area and the second area, the area where the robot is located is determined, if the first signals used for determining the area where the robot is located are located in the second area and comprise invalid signals, the fact that the area where the robot is located is not accurate enough is confirmed, namely the real position of the robot is possibly the first area containing or is close to a dangerous accident place, the robot is controlled to perform safety operation, when the first signals used for determining the area where the robot is located in the second area and the first area containing the preset area is not valid signals, namely the current position of the robot is not contained in the preset area, and the current position of the robot is not contained in the dangerous accident place is not confirmed to be accurately moved, and the operation path is not ensured. Therefore, the use safety can be ensured and the cleaning operation efficiency can be improved by using the scheme.
The robot control device provided by the embodiment of the application can be used for executing the robot control method provided by the embodiment, and has corresponding functions and beneficial effects.
Fig. 15 is a schematic structural diagram of a robot control device according to an embodiment of the present application, and referring to fig. 15, the robot control device includes a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 in the robot control device may be one or more and the number of memories 42 in the robot control device may be one or more. The processor 41, the memory 42, the communication means 43, the input means 44 and the output means 45 of the robot control device may be connected by a bus or other means.
The memory 42 is a computer-readable storage medium that can be used to store a software program, a computer-executable program, and modules, such as program instructions/modules (e.g., the signal receiving module 31, the area determining module 32, the first control module 33, and the second control module 34 in the robot control device) corresponding to the robot control method according to any embodiment of the present application. The memory 42 may mainly include a storage program area that may store an operating system, application programs required for at least one function, and a storage data area that may store data created according to the use of the device, etc. In addition, memory 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication means 43 are for data transmission.
The processor 41 executes various functional applications of the apparatus and data processing, namely, implements the above-described robot control method by running software programs, instructions, and modules stored in the memory 42.
The input device 44 is operable to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the apparatus. The output means 45 may comprise a display device such as a display screen.
The robot control device provided by the embodiment can be used for executing the robot control method provided by the embodiment, and has corresponding functions and beneficial effects.
The embodiment of the application also provides a positioning system, which comprises at least two signal transmitting ends and a robot, wherein the robot is provided with a signal receiving end. The robot is used for receiving the first signals sent by the at least two signal sending ends, determining at least one detection coordinate according to the first signals, determining an area where the robot is located according to the detection coordinate and the area range of a preset first area and a preset second area, wherein a connecting line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, the danger degree of the second area is smaller than that of the first area, controlling the robot to execute safety operation when the robot is determined to be located in the second area through the at least one invalid signal, and controlling the robot to move and execute cleaning operation according to a preset path when the robot is determined to be located in the second area through the at least two valid signals.
The robot in the positioning system provided by the embodiment can be used for executing the robot control method provided by the embodiment, and has corresponding functions and beneficial effects.
The embodiment of the application also provides a storage medium containing computer executable instructions, wherein the computer executable instructions are used for executing a robot control method when being executed by a computer processor, the robot control method comprises the steps of receiving first signals sent by at least two signal sending ends, determining at least one detection coordinate according to the first signals, determining an area where a robot is located according to the detection coordinate and the area range of a preset first area and a preset second area, wherein a connecting line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, the danger degree of the second area is smaller than that of the first area, controlling the robot to execute a safety operation when the robot is determined to be located in the second area through the at least one invalid signal, and controlling the robot to move according to a preset path and execute a cleaning operation when the robot is determined to be located in the second area through the at least two valid signals.
Storage media-any of various types of memory devices or storage devices. The term "storage medium" is intended to include mounting media such as CD-ROM, floppy disk or tape devices, computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc., non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage), registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a second, different computer system connected to the first computer system through a network such as the internet. The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present application is not limited to the above-mentioned robot control method, and may also perform the related operations in the robot control method provided in any embodiment of the present application.
The robot control device, the storage medium, the positioning system and the robot control apparatus provided in the above embodiments may perform the robot control method provided in any embodiment of the present application, and technical details not described in detail in the above embodiments may be referred to the robot control method provided in any embodiment of the present application.
The foregoing description is only of the preferred embodiments of the application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit of the application, the scope of which is set forth in the following claims.