阅读说明：本技术 一种足式桌面宠物机器人桌面边缘检测系统及边缘规避方法 (Desktop edge detection system and edge avoidance method for foot type desktop pet robot ) 是由 张洪涛 张月 于 2020-07-24 设计创作，主要内容包括：本发明涉及机器人技术领域,更具体地说是一种足式桌面宠物机器人桌面边缘检测系统及边缘规避方法。包括机器人在头部的下颌位置设置有微型激光测距传感器,足底设置有光传感器阵列；所述微型激光测距传感器的发射方向与水平方向呈一定的夹角,倾斜向下安装；所述光传感器阵列包含4个光传感器,机器人为双足结构,每个足底设置两个光传感器；所述每个足底的两个光传感器设置在足底的外侧边缘并倾斜45度；所述每个光传感器包含一个红外发射管和一个红外接收管；所述每个光传感器安装时红外发射管在外侧,红外接收管在内侧；本发明可以有效的检测到桌面的边缘,并执行规避动作避开边缘,解决了足式桌面宠物机器人无法检测桌面边缘导致跌落损坏的问题。(The invention relates to the technical field of robots, in particular to a foot type desktop edge detection system and an edge evasion method for a pet robot. The robot is provided with a miniature laser ranging sensor at the lower jaw position of the head, and an optical sensor array is arranged at the sole; the emitting direction of the miniature laser ranging sensor forms a certain included angle with the horizontal direction and is installed obliquely downwards; the optical sensor array comprises 4 optical sensors, the robot is of a double-foot structure, and each sole is provided with two optical sensors; the two light sensors of each sole are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; the invention can effectively detect the edge of the desktop, execute evasive action to avoid the edge and solve the problem that the foot type desktop pet robot cannot detect the edge of the desktop and is damaged by falling.)

1. A detection system for the edge of a tabletop of a foot type tabletop pet robot is characterized by comprising a miniature laser ranging sensor (3) and a plantar optical sensor array, wherein the plantar optical sensor array comprises a right foot front optical sensor (201); a right foot rear light sensor (202); a left foot front light sensor (203); a left foot rear light sensor (204).

2. The system for detecting the edge of the tabletop of the foot type tabletop pet robot as claimed in claim 1, wherein the tabletop pet robot (1) is of a double-foot structure, and the emitting direction of the micro laser ranging sensor (3) forms a certain included angle alpha with the horizontal direction and is installed in an inclined and downward mode.

3. The system for detecting the edge of the tabletop of the foot type tabletop pet robot as claimed in claim 1, wherein the tabletop pet robot (1) is provided with two light sensors per sole (2); the two light sensors of each sole (2) are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; each light sensor is embedded in a groove of the sole; and a transparent dust cover covers each groove.

4. An edge evading method based on a legged desktop pet robot desktop edge detection system according to claim 1, characterized in that the micro laser ranging sensor (3) collects the measured distance every fixed period, compares the measured distance with a first threshold distance, and if the measured distance is less than or equal to the first threshold distance, considers that the front of the robot (1) is farther away from the edge of the desktop (4); and comparing the measured distance with a second threshold distance, and if the measured distance is greater than the second threshold distance, considering that the distance between the front of the robot (1) and the edge of the table top (4) is shorter.

5. The edge avoiding method according to claim 4, wherein the first threshold distance d1 and the second threshold distance d2 take values as follows: the vertical distance between the installation position of the micro laser ranging sensor (3) and the desktop (4) is H, the emitting direction of the micro laser ranging sensor (3) forms a certain included angle alpha with the horizontal direction, when laser emitted by the micro laser ranging sensor (3) is reflected by the desktop (4), the obtained measurement result is L = H/sin alpha, when the laser emitted by the micro laser ranging sensor (3) exceeds the edge of the desktop (4), the laser cannot be reflected by the desktop (4), the obtained measurement result is far larger than L = H/sin alpha, the first threshold distance d1= L = H/sin alpha is taken, and the second threshold distance d2=2 d1 is taken.

6. The edge avoiding method according to claim 4, wherein the array of light sensors on the sole collects a set of light intensity data every other fixed period, each set of light intensity data comprising light intensity 1, light intensity 2, light intensity 3 and light intensity 4, corresponding to four light sensors respectively.

7. The edge evasion method according to claim 4, characterized in that if the light intensity 1, the light intensity 2, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, the robot (1) is considered not to have its feet beyond the edge of the tabletop (4).

8. The edge evasion method as claimed in claim 4, wherein if the light intensity 1 is less than the second light intensity threshold p2, and the light intensity 2, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, the front end of the right foot of the robot (1) is considered to be beyond the edge of the desktop (4), and the right foot of the robot (1) is lifted first and then performs a left-turning backward movement.

9. The edge evasion method as claimed in claim 4, wherein if the light intensity 2 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 3 and the light intensity 4 are all greater than the first light intensity threshold p1, then the rear end of the right foot of the robot (1) is considered to be beyond the edge of the desktop (4), and the right foot of the robot (1) is lifted first and then performs a left-turning forward motion.

10. The edge evasion method as claimed in claim 4, wherein if the light intensity 3 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 2 and the light intensity 4 are all greater than the first light intensity threshold p1, the front end of the left foot of the robot (1) is considered to have exceeded the edge of the desktop (4), and the left foot of the robot (1) is lifted first and then performs a right-turning backward movement.

11. The edge evasion method as claimed in claim 4, wherein if the light intensity 4 is less than the second light intensity threshold p2, and the light intensity 1, the light intensity 2 and the light intensity 3 are all greater than the first light intensity threshold p1, then it is considered that the rear end of the left foot of the robot (1) exceeds the edge of the desktop (4), and the left foot of the robot (1) is lifted first and then performs a right-turn forward motion.

12. Edge avoidance method according to claim 4, characterized in that if the light intensity 1 and 2 is less than the second light intensity threshold p2 and the light intensity 3 and 4 is greater than the first light intensity threshold p1, the robot (1) is considered to have the right side beyond the edge of the table top (4) and the robot (1) performs a striding action to the left.

13. Edge avoidance method according to claim 4, characterized in that if the light intensity 3 and 4 is less than the second light intensity threshold p2, and the light intensity 1 and 2 is greater than the first light intensity threshold p1, the robot (1) is considered to have the left side of the robot beyond the edge of the table top (4) and the robot (1) performs a swiping movement to the right.

14. The edge evasion method according to claim 4, wherein if the light intensity 1 and the light intensity 3 are less than the second light intensity threshold p2, and the light intensity 2 and the light intensity 4 are greater than the first light intensity threshold p1, the front side of the robot (1) is considered to have exceeded the edge of the desktop (4), the robot (1) performs the backward movement, if the light intensity 1 is less than the light intensity 3, the right foot is lifted first, if the light intensity 1 is greater than the light intensity 3, the left foot is lifted first, and if the light intensity 1 is equal to the light intensity 3, the left foot or the right foot is randomly selected to be lifted first.

15. The edge evasion method according to claim 4, wherein if the light intensity 2 and the light intensity 4 are less than a second light intensity threshold value p2, and the light intensity 1 and the light intensity 3 are greater than a first light intensity threshold value p1, the rear side of the robot (1) is considered to have exceeded the edge of the desktop (4), the robot (1) performs a forward motion, if the light intensity 2 is less than the light intensity 4, the right foot is lifted first, if the light intensity 2 is greater than the light intensity 4, the left foot is lifted first, and if the light intensity 2 is equal to the light intensity 4, the left foot or the right foot is randomly selected to be lifted first.

16. The edge avoiding method according to claim 4, wherein the first light intensity threshold p1 and the second light intensity threshold p2 are obtained by: the light sensor of the sole is of an infrared reflection type, and when the robot (1) stands on a table top in a static state and the sole is parallel to the table top (4), the intensity of reflected light collected by the light sensor is the maximum value pmax; when the robot (1) walks or performs other actions, the sole can be lifted for a certain distance, the intensity range of reflected light collected by the optical sensor is psmin-pmax, and the light intensity is smaller when the lifting distance of the sole is larger; when the area where the optical sensor on the sole of the robot (1) is located exceeds the edge of the desktop (4), the intensity range of reflected light collected by the optical sensor is 0-pedge, and the intensity of the reflected light is smaller when the reflected light exceeds the edge of the desktop (4); wherein psmin >2 × hedge; the first light intensity threshold p1= (psmin + edge)/2 is taken, and the second light intensity threshold p2= edge/2 is taken.

Technical Field

The invention relates to the technical field of robots, in particular to a foot type desktop edge detection system and an edge evasion method for a pet robot.

Background

The desktop pet robot is a new type in the field of intelligent robots, is provided with abundant sensors and high-performance processors, adopts an advanced AI algorithm, is high in environment perception and interaction capacity, and has certain autonomous behavior and self-learning capacity. According to the action mode of the desktop pet robot, the pet robot can be divided into a wheel type and a foot type.

The moving space of the desktop pet robot is usually a desk, an office table, a bedside cabinet and the like, most of the traditional wheeled desktop pet robots do not have desktop edge detection capability, and the detection method of the traditional wheeled desktop pet robots with desktop edge detection capability is not suitable for a foot type, so that the existing foot type desktop pet robot cannot effectively detect the desktop edge and can not avoid and prevent the edge from falling, and the robot can fall from the desktop and be damaged.

Disclosure of Invention

In order to overcome the above problems in the prior art, the invention aims to provide a tabletop edge detection system and an edge avoidance method for a foot type tabletop pet robot.

The technical scheme adopted by the invention is as follows:

a system for detecting an edge of a tabletop of a legged tabletop pet robot, comprising:

the robot is provided with a miniature laser ranging sensor at the lower jaw position of the head, and the sole of the robot is provided with an optical sensor array;

the emitting direction of the miniature laser ranging sensor forms a certain included angle with the horizontal direction and is installed obliquely downwards;

the optical sensor array comprises 4 optical sensors, the robot is of a double-foot structure, and each sole is provided with two optical sensors; the two light sensors of each sole are arranged on the outer side edge of the sole and are inclined by 45 degrees; each optical sensor comprises an infrared transmitting tube and an infrared receiving tube; when each optical sensor is installed, the infrared transmitting tube is arranged on the outer side, and the infrared receiving tube is arranged on the inner side; each light sensor is embedded in a groove of the sole; each groove is covered with a transparent dust cover;

an edge avoidance method based on the foot type desktop pet robot desktop edge detection system comprises the following steps:

the micro laser ranging sensor acquires a measuring distance every other fixed period, compares the measuring distance with a first threshold distance, and if the measuring distance is smaller than the first threshold distance, the front of the robot is far away from the edge of the table top; comparing the measured distance with a second threshold distance, and if the measured distance is greater than the second threshold distance, determining that the front of the robot is closer to the edge of the desktop;

the light sensor array of the sole collects a group of light intensity data every other fixed period, each group of light intensity data comprises light intensity 1, light intensity 2, light intensity 3 and light intensity 4, and the light intensity data respectively correspond to the four light sensors;

if the light intensity 1, the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the robot is considered that the feet do not exceed the edge of the desktop;

if the light intensity 1 is smaller than a second light intensity threshold value, and the light intensity 2, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the front end of the right foot of the robot is considered to exceed the edge of the desktop, and the right foot of the robot is lifted first and then performs left-turning backward movement;

if the light intensity 2 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 3 and the light intensity 4 are all larger than a first light intensity threshold value, the rear end of the right foot of the robot is considered to exceed the edge of the desktop, and the right foot of the robot is lifted first and then performs left-turning forward movement;

if the light intensity 3 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 2 and the light intensity 4 are all larger than a first light intensity threshold value, the front end of the left foot of the robot is considered to exceed the edge of the desktop, and the left foot of the robot is lifted first and then performs a right-turning backward movement;

if the light intensity 4 is smaller than a second light intensity threshold value, and the light intensity 1, the light intensity 2 and the light intensity 3 are all larger than a first light intensity threshold value, the rear end of the left foot of the robot is considered to exceed the edge of the desktop, and the left foot of the robot is lifted first and then performs a right-turning forward action;

if the light intensity 1 and the light intensity 2 are smaller than a second light intensity threshold value, and the light intensity 3 and the light intensity 4 are larger than a first light intensity threshold value, the right side of the robot is considered to be beyond the edge of the desktop, and the robot performs a step sliding action leftwards;

if the light intensity 3 and the light intensity 4 are smaller than a second light intensity threshold value, and the light intensity 1 and the light intensity 2 are larger than a first light intensity threshold value, the left side of the robot is considered to be beyond the edge of the desktop, and the robot executes a step-sliding action to the right;

if the light intensity 1 and the light intensity 3 are smaller than a second light intensity threshold value, and the light intensity 2 and the light intensity 4 are larger than a first light intensity threshold value, the front side of the robot is considered to exceed the edge of the desktop, the robot performs a retreating action, if the light intensity 1 is smaller than the light intensity 3, the right foot is lifted first when the retreating action is performed, if the light intensity 1 is larger than the light intensity 3, the left foot is lifted first when the retreating action is performed, and if the light intensity 1 is equal to the light intensity 3, the left foot or the right foot is randomly selected to be lifted first when retreating is performed;

if the light intensity 2 and the light intensity 4 are smaller than a second light intensity threshold value, and the light intensity 1 and the light intensity 3 are larger than a first light intensity threshold value, the rear side of the robot is considered to exceed the edge of the table top, the robot performs forward movement, if the light intensity 2 is smaller than the light intensity 4, the right foot is lifted first when the forward movement is performed, if the light intensity 2 is larger than the light intensity 4, the left foot is lifted first when the forward movement is performed, and if the light intensity 2 is equal to the light intensity 4, the left foot or the right foot is randomly selected to be lifted first when the robot moves forward;

the invention discloses a desktop edge detection system and an edge evasion method of a foot type desktop pet robot, which have the beneficial effects that:

(1) when the robot moves towards the edge of the table top, the front edge of the table top can be found through the miniature laser ranging sensor, and a subsequent movement path is determined according to the front edge of the table top.

(2) When the robot does not face the edge of the table top, or the front edge is found through the miniature laser ranging sensor, but the robot is still required to move forward, the specific foot and the specific direction exceed the edge of the table top can be judged through the light sensor array on the sole of the foot, and therefore the decision on which action to use is made to avoid the situation.

(3) The edge detection and avoidance can be effectively carried out by combining the two modes, the robot is prevented from falling from the desktop and being damaged, and the problem that the robot falls and is damaged due to the fact that the edge of the desktop cannot be detected in the traditional technical scheme is solved.

(4) Based on desktop pet robot desktop edge detecting system, can design a man-machine interaction mode, let the initiative discovery of robot and be close to the desktop edge to show the expression that receives the frightening, when the user tries to get on the robot with the hand and prevents falling, the robot has carried out the action of evading again and has avoided the desktop edge, has increased the interest of robot.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic diagram of a system for detecting the edge of a tabletop of a legged tabletop pet robot according to the present invention;

FIG. 2 is a schematic view of the sole structure of the foot-type desktop pet robot of the present invention;

FIG. 3 is a flow chart of the desktop edge detection of the micro laser ranging sensor according to the present invention;

FIG. 4 is a flow chart of the detection and avoidance of the edge of the tabletop with the plantar optical sensor array according to the present invention;

in the figure: a foot-type desktop pet robot 1; a sole 2; a micro laser ranging sensor 3; a tabletop 4; a right foot front photosensor 201; a right foot rear light sensor 202; a left foot front light sensor 203; left foot rear light sensor 204.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.