CN114012783B - Robot fault detection method, robot and storage medium - Google Patents
Robot fault detection method, robot and storage medium Download PDFInfo
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Abstract
The invention discloses a robot fault detection method, a robot and a storage medium, wherein the method comprises the following steps: when the robot is detected to carry out the pause of the card, a distance data set is obtained; traversing the distance data set, and determining whether a first distance value smaller than or equal to a preset distance exists in the distance data set according to a traversal result; and outputting a laser radar fault alarm when a first distance value smaller than or equal to a preset distance exists in the distance data set. The invention realizes the fault reminding of the robot, improves the fault detection efficiency of the robot and reduces the labor cost required by the fault troubleshooting of the robot.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a robot fault detection method, a robot and a storage medium.
Background
At present, in service places such as hotels and the like, merchants use robots to perform customer service in order to save labor cost. For example, a hotel uses a robot to welcome guests, and takes the guests to a guest room through the robot, and delivers items to the guests, delivers meals, and the like.
However, when the robot breaks down, the problem of the fault cannot be accurately determined, so that maintenance personnel are often required to continuously troubleshoot the problem of the fault, and the labor cost is high.
Disclosure of Invention
The embodiment of the application provides a robot fault detection method, a robot and a storage medium, and aims to solve the technical problems that when a robot breaks down, maintenance personnel need to continuously check the fault problem, and the labor cost is high.
The embodiment of the application provides a robot fault detection method, is applied to the robot, the robot includes laser radar and casing, be provided with the light-emitting window on the casing, laser signal that laser radar sent passes through the light-emitting window jets out the casing, robot fault detection method includes:
when the robot is detected to carry out the card pause, a distance data set is obtained, wherein the distance data set is determined based on scanning data of the laser radar;
traversing the distance data set, and determining whether a first distance value smaller than or equal to a preset distance exists in the distance data set according to a traversing result, wherein the preset distance is determined according to a spacing distance between the light outlet and the laser radar;
and outputting a laser radar fault alarm when the first distance value smaller than or equal to the preset distance exists in the distance data set.
In an embodiment, before the step of acquiring the distance data set, the method further includes:
controlling the laser radar to emit laser signals within a preset measuring angle range according to a preset angle resolution, and receiving reflection signals corresponding to the laser signals;
acquiring first transmitting time and first receiving time corresponding to the laser signal;
and determining a distance value between the laser radar and an obstacle according to the acquired first transmitting time and the acquired first receiving time, and generating the distance data set according to the distance value.
In an embodiment, the step of determining a distance value between the lidar and an obstacle according to the acquired first transmitting time and the acquired first receiving time, and generating the distance data set according to the distance value includes:
determining the propagation time of the laser signal according to the first transmitting time and the first receiving time;
acquiring equipment information of the laser radar, and determining compensation time according to the equipment information;
determining the distance value according to the compensation time, the propagation time and the propagation speed of the laser signal;
and generating the distance data set according to the distance value.
In an embodiment, before the step of outputting the laser radar fault warning, the method further includes:
when the first distance value smaller than or equal to the preset distance exists in the distance data set, controlling the laser radar to transmit a laser signal according to a laser emission angle corresponding to the first distance value, and acquiring second emission time of the laser signal;
when receiving a reflection signal corresponding to the laser signal, acquiring second receiving time of the laser signal;
acquiring a second distance value between the laser radar and an obstacle according to the acquired second transmitting time and the second receiving time;
the step of outputting a laser radar fault alarm comprises:
and outputting a laser radar fault alarm when the difference value between the second distance value and the preset distance is smaller than or equal to a check value, wherein the check value is determined according to the preset distance and the first distance value.
In an embodiment, after the step of outputting a laser radar fault alarm when the first distance value less than or equal to the preset distance exists in the distance data set, the method further includes:
determining a laser emission angle corresponding to the first distance value;
and determining the noise point position of the noise point on the light outlet according to the laser emission angle, and outputting the noise point position.
In an embodiment, after the step of outputting a laser radar fault warning when the first distance value less than or equal to the preset distance exists in the distance data set, the method further includes:
obtaining a first number of the first distance values;
and when the first number is one, determining that a noise point exists on the light outlet.
In an embodiment, after the step of obtaining the first number of the first distance values, the method further includes:
when the first number is multiple, obtaining laser emission angles corresponding to multiple first distance values;
and when the laser emission angles corresponding to the first distance values are continuous values, determining that a noise point exists on the light outlet.
In an embodiment, after the step of obtaining laser emission angles corresponding to a plurality of first distance values when the first number is a plurality, the method further includes:
and when the laser emission angles corresponding to the first distance values are not continuous numerical values, determining that the number of the noise points on the light outlet is more than one.
Further, to achieve the above object, the present invention also provides a robot comprising: the robot fault detection method comprises a memory, a processor and a robot fault detection program stored on the memory and capable of running on the processor, wherein the robot fault detection program realizes the steps of the robot fault detection method when being executed by the processor.
Further, to achieve the above object, the present invention also provides a storage medium having stored thereon a robot malfunction detection program which, when executed by a processor, implements the steps of the robot malfunction detection method described above.
The technical scheme of the robot fault detection method, the robot and the storage medium provided by the embodiment of the application has at least the following technical effects or advantages:
the technical scheme is that when the robot is detected to be in a halt state, the distance data set is obtained, the distance data set is traversed, whether a first distance value smaller than or equal to a preset distance exists in the distance data set or not is determined according to a traversal result, and when the first distance value smaller than or equal to the preset distance exists in the distance data set, a laser radar fault alarm is output.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser radar emitting a laser signal;
FIG. 3 is a flowchart illustrating a first exemplary embodiment of a method for detecting a robot fault according to the present invention;
FIG. 4 is a flowchart illustrating a method for detecting a failure of a robot according to a second embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for detecting a fault in a robot according to a third embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for detecting a failure of a robot according to a fourth embodiment of the present invention;
FIG. 7 is a schematic diagram of location information of noise;
fig. 8 is a flowchart illustrating a robot fault detection method according to a fifth embodiment of the present invention.
Detailed Description
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that fig. 1 is a schematic structural diagram of a hardware operating environment of a robot.
As shown in fig. 1, the robot may include: a processor 1001, e.g. a CPU, a memory 1005, a user interface 1003, a network interface 1004, a communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the robot configuration shown in fig. 1 is not meant to be limiting to the robot and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot malfunction detection program. Among them, the operating system is a program that manages and controls hardware and software resources of the robot, a robot failure detection program, and the operation of other software or programs.
In the robot shown in fig. 1, the user interface 1003 is mainly used for connecting a terminal, and performing data communication with the terminal; the network interface 1004 is mainly used for the background server and performs data communication with the background server; the processor 1001 may be used to invoke a robot fault detection program stored in the memory 1005.
In the present embodiment, the robot includes: a memory 1005, a processor 1001 and a robot fault detection program stored on said memory 1005 and executable on said processor, wherein:
when the processor 1001 calls the robot malfunction detection program stored in the memory 1005, the following operations are performed:
when the robot is detected to perform a karton, acquiring a distance data set, wherein the distance data set is determined based on scanning data of the laser radar;
traversing the distance data set, and determining whether a first distance value smaller than or equal to a preset distance exists in the distance data set according to a traversing result, wherein the preset distance is determined according to a spacing distance between the light outlet and the laser radar;
and outputting a laser radar fault alarm when the first distance value smaller than or equal to the preset distance exists in the distance data set.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
controlling the laser radar to emit laser signals within a preset measuring angle range according to a preset angle resolution, and receiving reflection signals corresponding to the laser signals;
acquiring first transmitting time and first receiving time corresponding to the laser signal;
and determining a distance value between the laser radar and an obstacle according to the acquired first transmitting time and the acquired first receiving time, and generating the distance data set according to the distance value.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
determining the propagation time of the laser signal according to the first transmitting time and the first receiving time;
acquiring equipment information of the laser radar, and determining compensation time according to the equipment information;
determining the distance value according to the compensation time, the propagation time and the propagation speed of the laser signal;
and generating the distance data set according to the distance value.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
when the first distance value smaller than or equal to the preset distance exists in the distance data set, controlling the laser radar to transmit a laser signal according to a laser emission angle corresponding to the first distance value, and acquiring second emission time of the laser signal;
when receiving a reflection signal corresponding to the laser signal, acquiring second receiving time of the laser signal;
acquiring a second distance value between the laser radar and an obstacle according to the acquired second transmitting time and the second receiving time;
the step of outputting a laser radar fault alarm comprises:
and outputting a laser radar fault alarm when the difference value between the second distance value and the preset distance is smaller than or equal to a check value, wherein the check value is determined according to the preset distance and the first distance value.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
determining a laser emission angle corresponding to the first distance value;
and determining the noise point position of the noise point on the light outlet according to the laser emission angle, and outputting the noise point position.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
obtaining a first number of the first distance values;
and when the first number is one, determining that a noise point exists on the light outlet.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
when the first number is multiple, obtaining laser emission angles corresponding to multiple first distance values;
and when the laser emission angles corresponding to a plurality of first distance values are continuous values, determining that a noise point exists on the light outlet.
When the processor 1001 calls the robot failure detection program stored in the memory 1005, the following operations are also performed:
and when the laser emission angles corresponding to the first distance values are not continuous numerical values, determining that the number of the noise points on the light outlet is more than one.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than presented herein.
As shown in fig. 2, in a first embodiment of the present application, the robot fault detection method of the present application is applied to a robot, the robot includes a laser radar and a housing, a light outlet is formed in the housing, a laser signal emitted by the laser radar is emitted out of the housing through the light outlet, the laser radar is rotatably disposed in the housing, after the laser signal is emitted by the laser radar, the laser signal passes through the housing and is emitted to an environment, if the emitted laser signal is reflected by an obstacle, the reflected laser signal is received by the laser radar, wherein the laser signal emitted by the laser radar is a single-line laser, that is, the laser radar emits a laser beam, because the laser radar can rotate, that is, the laser signal is emitted outward in a circumferential direction of the laser radar, after the laser signal is reflected by the obstacle, the reflected laser signal is a reflection signal corresponding to the laser signal, and the laser radar receives the reflection signal corresponding to the laser signal. The robot fault detection method comprises the following steps:
step S210: and when the robot is detected to carry out the karton, acquiring a distance data set.
The laser radar installed on the robot is generally used for robot traveling navigation to avoid collision of the robot with obstacles in the traveling process. In this embodiment, in the process of the robot moving, the moving smoothness of the robot is detected in real time, that is, it is detected whether the robot is moving smoothly or is stuck. The robot does not have a fault in the travel flow table, and the robot travels in a stuck state to indicate that the robot has a fault. The reasons for the jamming of the robot are many, but one of the reasons is also a factor causing the jamming of the robot, namely, noise appears on the light outlet of the shell. The noise is a substance that blocks the laser signal from being emitted to the environment, and the noise may be a stain or an obstacle on the light outlet. For example, a small stain appears on the light outlet of the shell, and due to the fact that the stain appears on the light outlet of the shell, namely after a laser signal is emitted by a laser radar, the laser signal can be blocked by the stain, the laser signal can not be emitted from the position where the stain appears on the light outlet, and then abnormal distance data appear in a distance data set between the detected laser radar and a barrier, so that the robot can be controlled to break down, and the situation that the robot is stuck during traveling is caused.
In particular, the set of range data is determined based on scan data of the lidar, i.e., the range data. In the robot traveling process, when the robot traveling pause is detected, the distance data set between the laser radar and the obstacle is obtained after the laser radar transmits laser signals within a preset measuring angle range according to the preset angle resolution. The distance data set includes a plurality of distance data, each distance data is a distance value, and this embodiment is referred to as a first distance value. The number of distance values in the distance data set is determined by the preset measurement angular range and the preset angular resolution. For example, the laser radar has a predetermined measurement angle ranging from-135 ° to 135 ° and a predetermined angular resolution of 0.1 °, i.e., the laser radar may emit laser signals circumferentially between-135 ° and 135 °, and the spacing angle of the emitted laser signals is 0.1 °. Since-135 ° differs from 135 ° by 270 ° and the interval angle of the laser signal transmission is 0.1 °, the laser radar can transmit the laser signal circumferentially between-135 ° and 135 ° in total and 2700 times, the laser radar can receive the laser signal reflected 2700 times in total and 2700 distance data can be measured in total, and then 2700 distance data, that is, 2700 first distance values are included in the distance data set.
Step S220: and traversing the distance data set, and determining whether a first distance value smaller than or equal to a preset distance exists in the distance data set according to a traversing result.
Step S230: and outputting a laser radar fault alarm when the first distance value smaller than or equal to the preset distance exists in the distance data set.
In this embodiment, under normal conditions, there is not the noise point on the light-emitting port of casing, and laser radar can all shoot the environment according to predetermineeing the laser signal that angular resolution sent in predetermineeing the measuring angle scope according to predetermineeing, if there is the barrier in the environment, then corresponding also can receive the laser signal that the barrier reflected. If a noise point appears on the light outlet of the shell, the noise point is not in the environment, but is a substance capable of reflecting the laser signal, and when the position where the laser radar rotates is opposite to the position where the noise point is located, the laser signal emitted by the laser radar is reflected by the noise point. As shown in fig. 3, a represents the lidar, B represents noise on the light outlet of the housing, C represents the light outlet, and the dotted line with an arrow represents the laser signal. The reflected laser signal is not shown in the figure.
Specifically, the preset distance is determined according to the spacing distance between the light outlet and the laser radar. When setting up casing and laser radar, can set up the casing into the casing of arcuation, for example the arc shape, the light-emitting window of casing also is the arc shape then, and laser radar is when predetermineeing measuring angle within range circumferential direction, and the light-emitting window of casing can be jeted out to the laser signal of launching. For example, the preset measuring angle ranges from-135 degrees to 135 degrees, the laser radar can rotate by 270 degrees, and laser signals emitted by the laser radar in the range from-135 degrees to 135 degrees can be emitted out of the light outlet of the shell. Laser radar sets up in the inside of casing, if the light-emitting window is the arc shape, laser radar and light-emitting window go up the distance between each point on same pitch arc all equal, also when laser radar circumference rotation transmission laser signal, all on an arc with the laser emission angle of difference transmission laser signal, the distance that laser signal reachs the light-emitting window that different laser emission angles transmitted promptly all is equal, the distance that laser signal arrived on the light-emitting window from the laser radar promptly is exactly the interval distance between light-emitting window and the laser radar. Based on this, the distance from a laser signal emitted by the laser radar to the light outlet can be measured in advance, the measured distance is the preset value, whether the first distance value smaller than or equal to the preset distance exists in the obtained distance data set or not is judged according to the preset value, and whether a noise point exists on the light outlet or not is further determined. In this embodiment, the first distance value smaller than or equal to the preset distance is referred to as abnormal distance data.
It should be noted that the shape of the housing may also be a cylinder, such as a cube, a cuboid, etc., so that the shape of the light outlet is changed, the preset value is not a value, but a preset value set composed of multiple values, and when one or more values smaller than or equal to one of the preset value set exist in the acquired distance data set, it is determined that abnormal distance data exist in the acquired distance data set, and then it is determined that a noise exists on the light outlet.
Further, after the acquired distance data set, traversing the distance data set, that is, comparing a preset value with each first distance value in the distance data set, thereby judging whether the first distance value smaller than or equal to the preset value exists in the distance data set, if so, indicating that abnormal distance data exists in the distance data set and noise exists on the light outlet, and further outputting a laser radar fault alarm to inform a user that the cause of the robot jamming is caused by the noise on the light outlet of the housing. If the preset value is 10mm, a first distance value in the distance data set is 10mm, namely the first distance value of 10mm is abnormal distance data in the distance data set, the reason for the abnormal distance data is that a noise point exists on a light outlet of the shell, and then a laser radar fault alarm is output, and the alarm can prompt the laser radar to have a fault through voice and also can display that the laser radar has a fault on a display unit of the robot.
According to the technical scheme, when the robot is detected to perform the stuck-at-go process, the distance data set is obtained, the distance data set is traversed, whether the first distance value smaller than or equal to the preset distance exists in the distance data set is determined according to the traversing result, and when the first distance value smaller than or equal to the preset distance exists in the distance data set, the technical means of laser radar fault warning is output, so that the fault judgment of the robot caused by the laser radar fault is realized, the fault reminding of the robot is performed, the fault detection efficiency of the robot is improved, and the labor cost required by the fault troubleshooting of the robot is reduced.
As shown in fig. 4, in the second embodiment of the present application, the step of obtaining the distance data set further includes the following steps:
step S221: and controlling the laser radar to emit laser signals within a preset measuring angle range according to a preset angle resolution, and receiving reflection signals corresponding to the laser signals.
Step S222: and acquiring a first transmitting time and a first receiving time corresponding to the laser signal.
Step S223: and determining a distance value between the laser radar and an obstacle according to the acquired first transmitting time and the acquired first receiving time, and generating the distance data set according to the distance value.
In this embodiment, the laser radar is controlled to emit the laser signal within the preset measurement angle range according to the preset angular resolution, for example, the preset measurement angle range of the laser radar is-135 ° to 135 °, the preset angular resolution is 0.1 °, that is, the laser radar can emit the laser signal circumferentially between-135 ° and 135 °, and the interval angle of the emitted laser signal is 0.1 °, that is, the laser radar can emit the laser signal once every 0.1 ° in the set rotation direction (clockwise or counterclockwise) between-135 ° and 135 °. For example, the initial laser emission angle is 135 °, based on which circumferential rotation is started in the clockwise direction, after the laser signal is emitted to the position corresponding to 135 °, the laser signal is then emitted to the position corresponding to 135.1 °, and this is performed until the emission of the laser signal to the position corresponding to-135 ° is completed.
The laser radar has a transmitting time when transmitting a laser signal according to a laser transmitting angle, and in this embodiment, the transmitting time is referred to as a first transmitting time, and after the laser radar transmits a laser signal according to a laser transmitting angle, a first receiving time of the transmitted laser signal is obtained. Similarly, if the laser radar receives the reflected signal corresponding to the laser signal after the laser signal is reflected by an obstacle in the environment and/or the laser signal is reflected by a noise point on the casing, there is a corresponding receiving time of the received reflected signal, and this receiving time is referred to as a first receiving time in this embodiment.
Further, after the first transmission time and the first reception time are obtained, step S223 is executed, where step S223 specifically includes:
determining the propagation time of the laser signal according to the first transmitting time and the first receiving time;
acquiring equipment information of the laser radar, and determining compensation time according to the equipment information;
determining the distance value according to the compensation time, the propagation time and the propagation speed of the laser signal;
and generating the distance data set according to the distance value.
Generally, when the laser radar is produced, each laser radar produced by a manufacturer is uniform, reasonable errors exist in hardware, and due to the fact that the reasonable errors exist in the hardware of the laser radar, when the laser radar is applied, the response speed of the laser radar to a reflection signal is slow, so that first receiving time is prolonged, namely, the response speed of the laser radar to the reflection signal is prolonged slowly. Based on this, after each laser radar is produced, a manufacturer detects the corresponding extension time of each laser radar for receiving the reflection signal, then associates the extension time with the equipment information of the detected laser radar, the equipment information generally refers to the serial number of the laser radar, and when each laser radar works, the extension time corresponding to the reception of the reflection signal is generally unchanged or has a small variation range. For example, the theoretical first receiving time is t1, the actual first receiving time is t11, then the extension time is t11-t1, and further t11-t1 is associated with the device information, and the corresponding extension time can be obtained through the device information, which is referred to as the compensation time in this embodiment.
For example, after the laser radar transmits a laser signal to a position corresponding to 135 °, the first transmission time is T1, after reflection by an obstacle, the first receiving time of the received reflection signal corresponding to the laser signal is T2, the compensation time is T0, T2> T1, then the propagation time of the laser signal is (T2-T1)/2-T0), and then the first distance value corresponding to the laser transmission angle of 135 ° is: d = (T2-T1)/2-T0) × c, where D represents a first distance value representing the propagation speed of the laser signal. In the above manner, the distance values corresponding to other laser emission angles between-135 ° and 135.1 ° can be calculated, and after 2700 distance values are obtained, the distance data set is generated according to the 2700 distance values.
As shown in fig. 5, in the third embodiment of the present application, step S230 includes the following steps:
step S231: and when the first distance value smaller than or equal to the preset distance exists in the distance data set, controlling the laser radar to transmit a laser signal according to a laser transmission angle corresponding to the first distance value, and acquiring second transmission time of the laser signal.
Step S232: and acquiring second receiving time of the laser signal when receiving the reflection signal corresponding to the laser signal.
Step S233: and acquiring a second distance value between the laser radar and an obstacle according to the acquired second transmitting time and the acquired second receiving time.
In this embodiment, to avoid the situation of erroneous judgment of the abnormal distance data, when it is determined that the abnormal distance data exists in the distance data set for the first time, the laser emission angle corresponding to the abnormal distance data is obtained, that is, the first distance value smaller than or equal to the preset value in the distance data set is obtained, then the laser radar is controlled again to emit the laser signal according to the laser emission angle corresponding to the abnormal distance data, and meanwhile, the emission time of the emitted laser signal is also obtained. Then, when the laser radar receives the reflection signal corresponding to the laser signal, the receiving time of the received reflection signal is obtained, and this embodiment refers to this receiving time as a second receiving time. And recalculating the propagation time of the laser signal according to the second receiving time, the second transmitting time and the compensation time, calculating a second distance value between the laser radar and the obstacle according to the propagation time and the propagation speed of the laser signal, calculating a difference value between the second distance value and the abnormal distance data, and comparing the difference value with a check value to judge whether the abnormal distance data is misjudged. The check value is determined according to the preset distance and a first distance value smaller than or equal to the preset distance, that is, the check value is determined according to the preset distance and the abnormal distance data. If the preset distance is one, the check value is the difference between the preset distance and the number of the abnormal distances, and if the preset distances are multiple, the check value is the difference between the multiple preset distances and the number of the abnormal distances respectively, namely the check value is multiple.
Further, step S230 specifically includes: and outputting a laser radar fault alarm when the difference value between the second distance value and the preset distance is smaller than or equal to a check value.
And if the difference value between the second distance value and the abnormal distance data is smaller than or equal to the check value, determining that the abnormal distance data is not judged by mistake, and outputting a laser radar fault alarm. For example, the laser emission angle corresponding to the abnormal distance data is 120 °, after the laser radar controlling the laser radar emits the laser signal again at the position where the laser emission angle is 120 °, if the difference between the measured second distance value and the abnormal distance data is smaller than or equal to the check value, it is determined that the abnormal distance data is not misjudged, and then a laser radar fault alarm is output. If the difference value between the measured second distance value and the abnormal distance data is larger than the check value and the second distance value is far larger than the abnormal distance data, after the operation is repeated for the preset times, the difference value between the measured second distance value and the abnormal distance data is still larger than the check value and the second distance value is far larger than the abnormal distance data, the abnormal distance data is determined to be misjudged, the operation of outputting the laser radar fault alarm is not executed, and the misjudgment of the abnormal distance data is avoided.
As shown in fig. 6, in the fourth embodiment of the present application, the following steps are further included after step S230:
step S240: and determining the laser emission angle corresponding to the first distance value.
Step S250: and determining the noise point position of the noise point on the light outlet according to the laser emission angle, and outputting the noise point position.
In this embodiment, after the laser radar fault alarm is output, the light outlet is prompted to have noise. When the laser radar emits the laser signals in the circumferential direction, the laser signals are emitted according to different laser emission angles, the laser emission angles corresponding to the abnormal distance data can be obtained based on the laser emission angles, then the position information of the noise point on the light outlet corresponding to the abnormal distance data is calculated according to the abnormal distance data and the laser emission angles, then the position information of the noise point is displayed and prompted in a voice mode, the position information is a coordinate point, and the specific position of the noise point on the shell can be determined through the coordinate point.
As shown in fig. 7, a three-dimensional coordinate system is established with the center of the laser radar as the origin o, and the plane on which the x-axis and the y-axis are located is the plane on which the housing of the laser radar is located. In the figure, a represents a noise point, (x 1, y 1) represents coordinates of the noise point, OA represents a distance between the noise point and the center of the laser radar, and a represents a laser emission angle at which the laser signal is emitted. Assuming that the abnormal distance data is OA, the laser emission angle corresponding to the abnormal distance data is a, and the coordinates of the noise point (x 1, y 1) = (OA × cos (a), OA × sin (a)), that is, x1= OA × cos (a), y1= OA × sin (a).
According to the technical scheme, the specific position of the noise point is calculated, so that a user can conveniently and quickly find the position of the noise point.
As shown in fig. 8, in the fifth embodiment of the present application, the following steps are further included after step S230:
step S260: a first number of the first distance values is obtained.
Step S261: judging whether the first number is one, if so, executing step S262; if not, i.e., the first number is plural, step S263 is performed.
Step S262: and determining that a noise point exists on the light outlet.
Step S263: and acquiring laser emission angles corresponding to a plurality of first distance values.
Step S264: judging whether the laser emission angles corresponding to the plurality of first distance values are continuous numerical values, if so, executing step S265; if not, that is, the laser emission angles corresponding to a plurality of the first distance values are not consecutive values, step S266 is executed.
Step S265: and determining that a noise point exists on the light outlet.
Step S266: and determining that the number of the noise points on the light outlet is more than one.
In this embodiment, after the laser radar fault alarm is output, the first number of the abnormal distance data in the distance data set is obtained, that is, how many abnormal distance data exist in the distance data set is determined. If the first number of abnormal distance data is equal to 1, i.e. there is one abnormal distance data in the distance data set, then there is a noise point on the light exit of the housing, which is calculated to be a coordinate point.
If the first number of anomalous distance data is greater than 1, i.e., there are two or more anomalous distance data in the distance data set, there may be at least one noise on the light exit of the housing when there are two or more anomalous distance data in the distance data set. Based on this, it is necessary to acquire the laser emission angles corresponding to the plurality of abnormal distance data, and then determine whether the laser emission angles corresponding to the plurality of abnormal distance data are continuous values. The determining whether the laser emission angles corresponding to the plurality of abnormal distance data are continuous numerical values means determining whether the difference values of two adjacent abnormal distance data in the plurality of abnormal distance data are in a set range, and if the difference values are in the set range, determining that the laser emission angles corresponding to the plurality of abnormal distance data are continuous numerical values. For example, a range is set to [0,1], there are 4 abnormal distance data in the distance data set, the laser emission angles corresponding to the 4 abnormal distance data are 100 °,100.1 °,100.2 °, and 100.3 °, respectively, where a difference between two adjacent abnormal distance data is 0.1, and a difference between two adjacent abnormal distance data is within [0,1], and then the laser emission angles corresponding to the 4 abnormal distance data are determined to be continuous values, so that one noise point on the light exit of the housing may be determined, and it may also be indicated that the coverage area of the noise point on the light exit of the housing is relatively large. Further, there are 4 coordinate points of the noise calculated by the fourth embodiment, and the 4 coordinate points are all the position information of the noise on the housing, and then the position information of the noise on the light outlet of the housing is outputted and displayed.
If the laser emission angles corresponding to the plurality of abnormal distance data are not continuous values, the number of the noise points is determined to be more than one, namely more than one noise point is present on the light outlet of the shell, namely a plurality of noise points are present. For example, there are 8 anomalous distance data in the distance data set, and the laser emission angles corresponding to the 8 anomalous distance data are 79.2 °,80.3 °,81, 100 °,100.1 °,100.8 °,111.5 °,112 °, and 113 °, respectively. Wherein, the difference value of every two adjacent abnormal distance data in 79.2 degrees, 80.3 degrees and 81 degrees is in [0,1 ]; the difference values of every two adjacent abnormal distance data in 100 degrees, 100.1 degrees, 100.8 degrees and 111.5 degrees are all in [0,1 ]; the difference value of the adjacent abnormal distance data in the angles of 111.5 degrees, 112 degrees and 113 degrees is within [0,1], but the difference value of 81 degrees and 100 degrees and the difference value of 100.8 degrees and 111.5 degrees are not within [0,1], so that 3 noise points on the light outlet of the shell can be determined, the coordinate points of the noise points can be obtained through calculation in the fourth embodiment, the position information of the noise points on the shell can be obtained, and the position information of the noise points on the shell is output and displayed.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A robot fault detection method is characterized by being applied to a robot, wherein the robot comprises a laser radar and a shell, a light outlet is formed in the shell, a laser signal emitted by the laser radar is emitted out of the shell through the light outlet, and the robot fault detection method comprises the following steps:
when the robot is detected to perform a karton, acquiring a distance data set, wherein the distance data set is determined based on scanning data of the laser radar;
traversing the distance data set, and determining whether a first distance value smaller than or equal to a preset distance exists in the distance data set according to a traversing result, wherein the preset distance is determined according to a spacing distance between the light outlet and the laser radar;
when the first distance value smaller than or equal to the preset distance exists in the distance data set, outputting a laser radar fault alarm;
determining a laser emission angle corresponding to the first distance value;
determining the noise point position of the noise point on the light outlet according to the laser emission angle, and outputting the noise point position;
obtaining a first number of the first distance values;
and when the first number is one, determining that a noise point exists on the light outlet.
2. The method of claim 1, wherein the step of obtaining a set of distance data is preceded by:
controlling the laser radar to emit laser signals within a preset measuring angle range according to a preset angle resolution, and receiving reflection signals corresponding to the laser signals;
acquiring first transmitting time and first receiving time corresponding to the laser signal;
and determining a distance value between the laser radar and an obstacle according to the acquired first transmitting time and the acquired first receiving time, and generating the distance data set according to the distance value.
3. The method of claim 2, wherein the step of determining a distance value between the lidar and an obstacle based on the acquired first transmit time and the first receive time, and generating the set of distance data based on the distance value comprises:
determining the propagation time of the laser signal according to the first transmitting time and the first receiving time;
acquiring equipment information of the laser radar, and determining compensation time according to the equipment information;
determining the distance value according to the compensation time, the propagation time and the propagation speed of the laser signal;
and generating the distance data set according to the distance value.
4. The method of claim 1, wherein the step of outputting a lidar fault alert is preceded by:
when the first distance value smaller than or equal to the preset distance exists in the distance data set, controlling the laser radar to transmit a laser signal according to a laser emission angle corresponding to the first distance value, and acquiring second emission time of the laser signal;
when receiving a reflection signal corresponding to the laser signal, acquiring second receiving time of the laser signal;
acquiring a second distance value between the laser radar and an obstacle according to the acquired second transmitting time and the acquired second receiving time;
the step of outputting a lidar fault alert includes:
and outputting a laser radar fault alarm when the difference value between the second distance value and the preset distance is smaller than or equal to a check value, wherein the check value is determined according to the preset distance and the first distance value.
5. The method of claim 1, wherein the step of obtaining the first number of first distance values is followed by further comprising:
when the first number is multiple, obtaining laser emission angles corresponding to multiple first distance values;
and when the laser emission angles corresponding to a plurality of first distance values are continuous values, determining that a noise point exists on the light outlet.
6. The method of claim 5, wherein after the step of obtaining the laser emission angles corresponding to a plurality of the first distance values when the first number is a plurality, the method further comprises:
and when the laser emission angles corresponding to the first distance values are not continuous numerical values, determining that the number of the noise points on the light outlet is more than one.
7. A robot, comprising: memory, a processor and a robot fault detection program stored on the memory and executable on the processor, the robot fault detection program when executed by the processor implementing the steps of the robot fault detection method according to any of claims 1-6.
8. A storage medium having stored thereon a robot malfunction detection program which, when executed by a processor, implements the steps of the robot malfunction detection method according to any one of claims 1 to 6.
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| CN110031823B (en) * | 2019-04-22 | 2020-03-24 | 上海禾赛光电科技有限公司 | Noise point identification method for laser radar and laser radar system |
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| CN112596066B (en) * | 2021-02-24 | 2021-09-28 | 锐驰智光(北京)科技有限公司 | Laser radar ranging method, ranging device and storage medium |
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Address after: Unit 7-11, 6th Floor, Building B2, No. 999-8 Gaolang East Road, Wuxi Economic Development Zone, Wuxi City, Jiangsu Province, China 214000 Patentee after: Youdi Robot (Wuxi) Co.,Ltd. Country or region after: China Address before: 5D, Building 1, Tingwei Industrial Park, No. 6 Liufang Road, Xingdong Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: UDITECH Co.,Ltd. Country or region before: China |
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