The invention is suitable for the technical field of intelligent control, and provides a lifting detection method of self-moving equipment and terminal equipment. The self-moving equipment comprises a machine body, wheels and connecting pieces, and the wheels comprise two rear wheels connected with the machine body through the connecting pieces and two front wheels which are arranged on the two sides of the machine body and integrally move with the machine body. The terminal equipment can determine the lowest wheel with the lowest actual height in the wheels by acquiring the first attitude data of the fuselage, the second attitude data of the connecting piece and the structural data of the self-moving equipment, and the relative terrain clearance of each wheel is obtained by taking the lowest wheel as a reference base point. The relative ground clearance is the relative height between other wheels and the lowest wheel, and can reflect the accurate posture of the self-moving equipment, so that the terminal equipment can execute lifting protection operation when the posture meets the preset condition. According to the embodiment of the invention, accurate lifting detection protection can be realized through the two inertial measurement units.
本申请适用于智能控制技术领域,提供了一种自移动设备的抬起检测方法和终端设备。其中,自移动设备包括机身、车轮以及连接件,车轮包括通过连接件与机身连接的两个后轮,以及设置于机身两侧且与机身一体运动的两个前轮。终端设备通过获取机身的第一姿态数据、连接件的第二姿态数据,以及自移动设备的结构数据,可以确定车轮中实际高度最低的最低轮,并以最低轮为参考基点,得到每个车轮的相对离地高度。该相对离地高度为其他车轮与最低轮之间的相对高度,可以反映自移动设备的准确姿态,使得终端设备可以在姿态满足预设条件时执行抬起保护操作。本申请的实施例可以通过两个惯性测量单元实现精准的抬起检测保护。
Lifting detection method of self-moving equipment and terminal equipment
自移动设备的抬起检测方法和终端设备
2023-07-14
Patent
Electronic Resource
Chinese
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