CN114872043B - Robot collision detection method, storage medium and electronic equipment - Google Patents
Robot collision detection method, storage medium and electronic equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The application provides a robot collision detection method, a storage medium and electronic equipment, wherein the method comprises the following steps: s1, predefining general cylinders and general cylinder parameters, wherein the general cylinders comprise an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, a central point connecting line of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, and the general cylinders comprise a long axis radius a1 and a short axis radius b1 of the upper bottom surface, a long axis radius a2 and a short axis radius b2 of the lower bottom surface and a cylindrical surface height h; s2, determining a target fitting position of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting position, and determining the universal cylinder parameters when fitting is completed as target parameters; s3, calculating a support mapping function of the universal cylinder according to the target parameters; and according to the support mapping function of the universal cylinder, adopting a GJK algorithm to perform collision detection of the robot. The scheme simplifies the hardware configuration of the robot, improves the collision detection precision and has high calculation efficiency.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a collision detection method, a storage medium, and an electronic device for a robot.
Background
The robot can automatically execute work according to a preset program, and user intervention is less in the running process of the robot, so that the running safety of the robot needs to be ensured. For the safety of robots, it is required that the robot can perform collision detection timely and accurately, including collision of the robot body itself, collision of the robot body with a load connected to the robot, and possible collision of the robot with an object in the environment.
In the prior art, the detection of the collision of the robot is mostly based on a sensor or a motor, for example, when the collision occurs, the joint current of the robot is increased to judge that the collision possibly occurs, but the accuracy of the mode is limited, and the misjudgment is easy to occur; or, the robot is provided with the electronic skin, and the electronic skin fully covers the robot body, so that collision of any part of the robot can be identified, but the electronic skin is high in installation cost, complex in wiring and poor in anti-interference effect capability.
In the process of researching and developing the technical scheme of the application, the inventor finds that the prior art also has a mode of respectively fitting the robot body and the load into the cylinders and detecting collision by judging whether the cylinders are intersected or not, but the mode is only applicable to the condition that the load is the cylinder, and has limited applicability; meanwhile, the shape of the robot body is not a standard cylinder, and the fitting precision of the robot body is low. Meanwhile, in the scheme, whether the two cylinders are intersected or not can only be judged, and collision points and penetration depths of the two cylinders cannot be judged, so that the control of subsequent actions of the robot is not facilitated.
Disclosure of Invention
The application aims to provide a collision detection method, a storage medium and electronic equipment for a robot, which are used for solving the problems of low collision detection precision and high configuration difficulty of the robot in the prior art.
In order to achieve the above object, the technical scheme of the present application is as follows:
according to a first aspect of the present application, there is provided a robot collision detection method comprising:
s1, predefining a general cylinder and general cylinder parameters, wherein the general cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, a central point connecting line of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, and the general cylinder parameters comprise a long axis radius a of the upper bottom surface 1 And minor axis radius b 1 Major axis radius a of lower floor 2 And minor axis radius b 2 A cylinder height h;
s2, determining a target fitting position of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting position, and determining the universal cylinder parameters when fitting is completed as target parameters;
s3, calculating a support mapping function of the universal cylinder according to the target parameters;
s4, according to the support mapping function of the universal cylinder, adopting a GJK algorithm to perform collision detection of the robot.
A second aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the robot collision detection method of any one of the preceding claims.
A third aspect of the present application provides an electronic device comprising: a memory storing a computer program; a processor for executing the computer program in the memory to implement the robot collision detection method of any of the preceding claims.
Compared with the prior art, the beneficial effects of the specific embodiment of the application are at least as follows: the robot is fitted through the universal cylinder, so that the fitting precision of the robot is higher compared with that of a standard geometric body, and the collision detection precision is improved; and the support mapping function is designed aiming at the general cylinder, the GJK algorithm is adopted for collision detection, and the calculation efficiency is high. Meanwhile, the scheme provided by the scheme is suitable for collision between the universal cylinder and any standard geometric body, and has wider applicability.
Drawings
FIG. 1 is a schematic diagram of a robot collision detection method according to one embodiment of the present application;
FIG. 2a is a schematic diagram of a generic cylinder according to one embodiment of the application;
FIG. 2b is a schematic view of a generic cylinder according to another embodiment of the application;
FIG. 3 is a schematic view of a robot according to one embodiment of the present application;
FIG. 4 is a schematic illustration of a robot fitted with a universal cylinder according to one embodiment of the present application;
fig. 5 is a block diagram of an electronic device of one embodiment of the application.
Detailed Description
In order to make the technical solution of the present application more clear, embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the application, and is not intended to be exhaustive of all the possible ways of implementing the application, but rather to limit the scope of the application in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that, the terms "center," "upper," "lower," "front," "rear," "left," "right," "horizontal," "top," "bottom," "vertical," "horizontal," "vertical," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing or simplifying the description of the present application, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured, installed, and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, in the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The application provides a collision detection method of a robot, referring to fig. 1, the collision detection method comprises the following steps:
s1, predefining a general cylinder and general cylinder parameters, wherein the general cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, a central point connecting line of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, and the general cylinder parameters comprise a long axis radius a1 and a short axis radius b1 of the upper bottom surface, a long axis radius a2 and a short axis radius b2 of the lower bottom surface and a cylindrical surface height h;
specifically, referring to fig. 2a, fig. 2a is a schematic view of a general cylinder according to an embodiment of the present application, the general cylinder includes an upper bottom surface, a lower bottom surface, and a cylindrical surface connecting the upper bottom surface and the lower bottom surface, the upper bottom surface and the lower bottom surface include a long axis and a short axis, respectively, which may be of different lengths, specifically, a long axis radius a of the upper bottom surface 1 Not less than the minor axis radius b of the upper bottom surface 1 Major axis radius a of lower floor 2 Not less than the minor axis radius b of the lower bottom surface 2 Thereby the upper bottom surface and the lower bottom surface are respectively formed into ellipses, the change of parameters of the upper bottom surface and the lower bottom surface can lead the universal cylinder to present different configurations, the change of the cylinder surface height h can lead the universal cylinder to present noThe same size. The general cylinder can adjust its shape by modifying general cylinder parameters to achieve a shape fit to the robot. The upper bottom surface is parallel to the lower bottom surface, and the connecting line of the central points of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, so that the universal cylinder is a convex cylinder, and abnormal collision detection through a GJK algorithm is avoided. Fig. 2b schematically shows another general cylinder, which is easier to achieve shape fitting accurately when dealing with a scene where the cross section is irregularly circular and where there is a difference in parameters of the upper and lower floors.
Further, the robot is configured to be collision detectable, the robot is configured to include a geometry fitting library, and the fitting of the part to be fitted is performed by selecting a geometry according to the geometry fitting library, wherein the geometry fitting library includes the general cylinder and a standard geometry, and the standard geometry includes at least part of a sphere, a cylinder, a cube, and a cone.
Referring to fig. 3, fig. 3 shows an example of a configuration of a robot body, in which the robot body 100 includes a base 10, a joint 20 and a link 30, in general, main parts of the robot can be fitted through a standard cylinder, but when the parts of the robot do not take on a standard cylinder shape, the accuracy of fitting through the cylinder is poor, which will affect the collision detection accuracy of the robot; when the general cylinder is adopted, compared with the traditional cylinder and other shapes, the general cylinder comprises more parameter variables, the general cylinder can be in a cylindrical configuration with elliptical upper bottom surface and elliptical lower bottom surface or in a cylindrical configuration with different upper bottom surface and lower bottom surface by adjusting the length of the long shaft and the short shaft of the upper bottom surface and the lower bottom surface respectively, and referring to fig. 4, fig. 4 exemplarily shows a schematic diagram of a robot fitted through the general cylinder, wherein the joint 20 of the robot is in an elliptical bottom surface, and the upper bottom surface and the lower bottom surface can be in different shapes by adjusting the length of the long shaft and the short shaft of the upper bottom surface and the lower bottom surface of the general cylinder, so that the fitting of the robot joint can be realized, and the fitting of the robot connecting rod 30 can be realized similarly. Through the mode of general cylinder fitting, can more be close to the shape of robot itself, promote the accuracy of fitting to the robot shape, for example in fig. 4, to the robot connecting rod of irregular shape, realize the fitting to the robot connecting rod through two general cylinders.
S2, determining a target fitting position of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting position, and determining the universal cylinder parameters when fitting is completed as target parameters;
when collision detection is performed on a robot, scenes in which the robot may collide include: the robot body collides with itself, between the robot body and a load to which the robot is connected, and between the robot or the load and an environment in which the robot is located. Further, step S2 of determining the target fitting portion of the universal cylinder includes: s21, acquiring a structural model of the robot and/or a robot working environment; s22, splitting the structural model into a plurality of parts to be fitted; s23, determining a target fitting part suitable for shape fitting according to the universal cylinder according to the part to be fitted. Firstly, determining an object needing to pay attention to collision detection of a robot, selectively acquiring a structural model of the robot body, the robot load and the robot working environment according to at least part of the robot working environment, selectively splitting the structural model, for example, splitting according to different parts or splitting according to different shaped parts, so as to select a target fitting part suitable for fitting through a universal cylinder from the parts to be fitted.
The robot includes a robot body and, optionally, a load connected to the robot body, and acquiring the structural model of the robot includes acquiring a body structural model of the robot and/or acquiring a load structural model connected to the robot body. It should be noted that, herein, reference to the "robot" concept includes the robot body, and the whole robot in which the robot body is connected to the load, and the whole robot should be understood specifically according to the context.
Specifically, step S23 of determining, according to the portion to be fitted, a target fitting portion suitable for performing shape fitting according to a general cylinder includes: acquiring an operation instruction of a user to determine a target fitting position, wherein the operation instruction selects the target fitting position based on the position to be fitted, and the robot further comprises a demonstrator through which the robot can be controlled and operated, the demonstrator comprises a user interaction interface for presenting a structural model of the robot, and the user can select the target fitting position based on the position to be fitted by inputting the operation instruction; and/or determining the target fitting location according to a preset shape selection method configured to select the target fitting location based on the location to be fitted, the robot being, illustratively, configured with a shape-selected insert through which the target fitting location can be automatically determined according to the shape selection method configured by the insert. Further, the preset shape selection method illustratively includes: and determining the shape matching degree of the part to be fitted and the general cylinder, and determining the part to be fitted meeting the preset matching condition as a target fitting part according to the shape matching degree. The method includes the steps that a preset matching condition is preset, for example, a matching degree threshold value of a to-be-fitted part and a general cylinder is set, and when the threshold value is met, the current to-be-fitted part is fitted according to the general cylinder; or calculating the matching degree of the current part to be fitted and all geometric bodies of the geometric shape fitting library, and if the matching degree of the current part to be fitted and the general cylinder is best, performing shape fitting on the current part to be fitted according to the general cylinder, namely, determining whether to fit the current part to be fitted based on the general cylinder according to whether the matching degree of the current part to be fitted and the general cylinder is best or not by a preset shape selection method.
In the process of fitting the target fitting part, the general cylinder parameters can be adjusted through a control page of a user and/or a robot manufacturer so that the matching degree between the general cylinder and the target fitting part is as high as possible, when the general cylinder can better fit the target fitting part, namely the general cylinder can surround the target fitting part, and the general cylinder volume is as small as possible, the general cylinder parameters which finish fitting at present are determined as the target parameters, namely the shape fitting of the target fitting part can be realized based on the target parameters, and the accuracy of the fitting process is ensured.
Further, step S2 of determining the target fitting portion of the universal cylinder further includes: when the body of the robot is fitted, the zero position posture of the robot is obtained, and the target fitting position is determined according to the robot in the zero position state.
S3, calculating a support mapping function of the universal cylinder according to the target parameters;
libccd is an open source algorithm for collision detection, and can perform efficient collision detection on convex geometric shapes, and a support mapping function needs to be designed specifically to describe the geometric shapes when collision detection is performed based on the method. In the prior art, any complex shape can be described in a point cloud mode, and the calculation complexity of calculating the support mapping function is linear, but when the point cloud is used for describing the geometric shape, if the real-time collision detection is required to be realized, the consumed calculation resources are much, and the calculation efficiency is relatively low. By designing the corresponding support mapping function based on reasonable description of the geometric shapes, the problems of detection precision and calculation efficiency can be effectively solved, for example, the support mapping function is simple to calculate and consumes less calculation resources aiming at some basic geometric shapes such as spheres, standard cylinders, cubes and the like, but when the shape of a target fitting part to be fitted is not a standard geometric body, the precision is relatively poor when fitting is performed through the standard geometric body, and the error of collision detection is increased. In the application, the concept of the universal cylinder is provided, and compared with the traditional cylinder, the universal cylinder has more parameters for adjustment, can be better suitable for robots with different shapes, and can give consideration to the detection precision and the calculation efficiency by reasonably designing corresponding support mapping functions.
Specifically, step S3 of calculating a support mapping function of the general cylinder according to the target parameter includes:
s31, determining a local coordinate system of the universal cylinder, and converting a target direction v under the robot base coordinate system into a conversion direction w under the local coordinate system based on a preset conversion relation;
s32, determining a projection furthest point M of the conversion direction w based on a local coordinate system;
s33, converting the projection furthest point M into a target coordinate based on a robot base coordinate system based on a preset conversion relation;
with reference to fig. 2a, the generic cylinder in fig. 2a illustrates the construction of a local coordinate system, the support mapping function maps vectors onto the object C, which satisfies the following conditions: s is S C (v)∈C,v·S C (v) =max { v.x: x ε C }, where v is the target direction in the robot base coordinate system, S C (v) Is a corresponding supporting point, and the supporting point S of the general cylinder is verified by analysis C (v) The method comprises the steps of converting a target direction v of a robot into a conversion direction w of a local coordinate system based on a preset conversion relation, namely, the conversion relation between the robot base coordinate system and the local coordinate system of a universal cylinder, which can be preset by a robot manufacturer, converting the target direction under the robot base coordinate system into the local coordinate system of the universal cylinder, obtaining a projection furthest point M, and converting the projection furthest point into a target coordinate based on the robot base coordinate system.
For the general cylinder, the configuration of the general cylinder is relatively close to that of the N prism, the general cylinder is the general cylinder when N is taken as infinity, and based on the research of related data, the supporting point S corresponding to the N prism is given in any direction C (v) Necessarily at the apex of the prism, and similarly, for a general cylinder, its support points must be present at the upper and/or lower faces.
Further, the step S32 of determining the projected furthest point M of the conversion direction w based on the local coordinate system includes:
s321, determining a conversion direction w= (w) x ，w y ，W z ) The coordinates of any point on the upper and lower surfaces of the general cylinder are (a) 1 cos(θ)，b 1 sin (theta), h/2), and the coordinates of any point on the lower bottom surface areWherein a is 1 、b 1 、a 2 、b 2 H is a general cylindrical parameter, w x 、W y 、w z The projections of the transformation directions w in the directions of the local coordinate system x, y, z axes, θ and +.>Is an angle variable;
s322, determining the projection value of the upper bottom surface in the conversion direction w as The projection value of the lower surface in the conversion direction w is
S323, determining an analytic solution of a maximum projection value corresponding point of the upper bottom surface as follows: θ max ＝argmax θ (p 1 (θ)), the resolution of the maximum projection value correspondence point of the lower surface is:
s324, the maximum projection value p of the upper bottom surface 1 (θ max ) And maximum projection value of lower surfaceIs determined as the projection furthest point M.
So far, according to the general cylinder adaptability, the support mapping function is calculated, the step S4 is executed, and according to the general cylinder support mapping function, the collision detection of the robot is carried out by adopting the GJK algorithm.
The GJK (Gilbert-johnson-Keerthi) algorithm is an algorithm for performing collision detection, can realize collision detection between convex geometric shapes in space, depends on construction of a support mapping function, judges whether collision occurs by judging whether two coordinates between two polygons/bodies are subtracted as an origin, and has high calculation efficiency and low resource consumption in the process of calculating the GJK depending on the support mapping function.
Specifically, step S4 further includes, before collision detection of the robot by adopting the GJK algorithm: s41, determining other parts to be fitted in the parts to be fitted of the robot except the target fitting part, performing shape fitting on the other parts to be fitted according to the standard geometric body, determining shape fitting parameters of the other parts to be fitted, and calculating a corresponding support mapping function. After the robot completes the shape fitting of all the parts to be fitted, collision detection can be executed according to the corresponding support mapping function and GJK algorithm. The calculation of the support mapping function of the standard geometric body is related to the prior art, and is not developed here, after all fitting processes are completed, a fitting shape set of collision detection is generated, so that the collision detection is performed according to the GJK algorithm.
Specifically, step S4 further includes, before collision detection of the robot by adopting the GJK algorithm: and generating a fitting shape set for robot collision detection according to shape fitting of the part to be fitted, determining that two shapes are collision detection objects, detecting whether the two shapes overlap, intersect or separate in a three-dimensional space by adopting a GJK algorithm, and determining that collision occurs when the two shapes overlap or intersect. It can be understood that the shape fitting of the robot includes optional fitting to the robot body, the load to which the body is connected, and the robot environment, generating a shape fitting according to all fitting results, and performing collision detection on two shapes in the fitting shape set each time respectively to determine whether a collision exists between the two shapes.
The preferred embodiment of the scheme defines the type of the universal cylinder, and compared with the traditional standard geometric body, the shape of the upper bottom surface and the lower bottom surface of the universal cylinder is easy to adjust, so that the universal cylinder is more suitable for the robot structure on the market, particularly suitable for the structure of a cooperative robot, and the precision of collision detection can be ensured by accurate fitting of the robot. Meanwhile, based on the GJK algorithm, the support mapping function for the universal cylinder is designed, so that the calculation efficiency is high and the consumption of resources is small. The collision detection method provided by the embodiment is independent of the detection result of the sensor, simplifies the requirement of robot hardware through accurate shape fitting, and can ensure the accuracy of collision detection.
In an exemplary embodiment, the application also provides a computer readable storage medium storing a computer program, such as a memory storing a computer program, executable by a processor to perform a method of robot collision detection. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In an exemplary embodiment, the present application also provides an electronic device including a memory and a processor, the memory storing a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the robot collision detection method described above.
Referring to fig. 5, in some embodiments, an electronic device 500 may include a processor 510, a memory 520, input/output components 530, and a communication port 540. Processor (e.g., CPU) 510 may execute program instructions in the form of one or more processors. Memory 520 includes various forms of program memory and data storage, such as hard disk, read Only Memory (ROM), random Access Memory (RAM), etc., for storing a wide variety of data files for processing and/or transmission by the computer. Input/output component 530 may be used to support input/output between the processing device and other components. Communication port 540 may be connected to a network for enabling data communication. An exemplary processing device may include program instructions stored in read-only memory (ROM), random Access Memory (RAM), and/or other types of non-transitory storage media for execution by processor 510. The methods and/or processes of the embodiments of the present description may be implemented in the form of program instructions.
Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the application is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the application. The scope of the application should therefore be pointed out in the appended claims.
Claims (11)
1. A robot collision detection method, comprising:
s1, predefining a general cylinder and general cylinder parameters, wherein the general cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, a central point connecting line of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, and the general cylinder parameters comprise a long axis radius a of the upper bottom surface 1 And minor axis radius b 1 Major axis radius a of lower floor 2 And minor axis radius b 2 A cylinder height h;
s2, determining a target fitting position of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting position, and determining the universal cylinder parameters when fitting is completed as target parameters;
s3, calculating a support mapping function of the universal cylinder according to the target parameters;
s4, according to a support mapping function of the universal cylinder, adopting a GJK algorithm to perform collision detection of the robot;
step S3, calculating the support mapping function of the universal cylinder according to the target parameters comprises the following steps:
s31, determining a local coordinate system of the universal cylinder, and converting a target direction v under the robot base coordinate system into a conversion direction w under the local coordinate system of the universal cylinder based on a preset conversion relation; the support mapping function maps the vector onto the object C, which satisfies the following condition: s is S C (v)∈C,v·S C (v) =max { v.x: x ε C }, where v is the target direction in the robot base coordinate system, S C (v) Is a corresponding supporting point, and the supporting point S of the general cylinder is verified by analysis C (v) The robot is positioned on the upper bottom surface and/or the lower bottom surface, and the target direction v of the robot is converted into a conversion direction w of a local coordinate system based on a preset conversion relation;
s32, determining a projection furthest point M of the conversion direction w based on a local coordinate system;
s33, converting the projection furthest point M into a target coordinate based on a robot base coordinate system based on a preset conversion relation.
2. The robotic collision detection method of claim 1, wherein the robot is configured to include a library of geometry fits comprising the universal cylinder and a standard geometry comprising at least a portion of a sphere, cylinder, cube, and cone.
3. The robot collision detection method according to claim 2, wherein step S2 of determining a target fitting portion of the general cylinder includes:
s21, acquiring a structural model of the robot and/or a robot working environment;
s22, splitting the structural model into a plurality of parts to be fitted;
s23, determining a target fitting part suitable for shape fitting according to the universal cylinder according to the part to be fitted.
4. A method of detecting a collision of a robot according to claim 3, wherein the step S21 of acquiring a structural model of the robot comprises:
acquiring a body structure model of the robot and/or acquiring a load structure model connected with the robot body.
5. A method of detecting a collision of a robot according to claim 3, wherein the step S23 of determining a target fitting portion suitable for shape fitting based on a general cylinder based on the portion to be fitted comprises:
acquiring an operation instruction of a user to determine a target fitting part, wherein the operation instruction selects the target fitting part based on the part to be fitted;
and/or determining the target fitting location according to a preset shape selection method configured to select the target fitting location based on the location to be fitted.
6. The method of claim 5, wherein the determining the target fitting portion according to the preset shape selection method comprises:
and determining the shape matching degree of the part to be fitted and the general cylinder, and determining the part to be fitted meeting the preset matching condition as a target fitting part according to the shape matching degree.
7. The method for detecting collision of a robot according to claim 3, wherein the step S4 of performing collision detection of the robot by using GJK algorithm further comprises:
s41, determining other parts to be fitted in the parts to be fitted of the robot except the target fitting part, performing shape fitting on the other parts to be fitted according to the standard geometric body, determining shape fitting parameters of the other parts to be fitted, and calculating a corresponding support mapping function.
8. The method for detecting collision of a robot according to claim 3, wherein the step S4 of performing collision detection of the robot by using GJK algorithm further comprises:
and generating a fitting shape set for robot collision detection according to shape fitting of the part to be fitted, determining that two shapes are collision detection objects, detecting whether the two shapes overlap, intersect or separate in a three-dimensional space by adopting a GJK algorithm, and determining that collision occurs when the two shapes overlap or intersect.
9. The robot collision detection method according to claim 1, wherein the step S32 of determining the projected furthest point M of the conversion direction w based on the local coordinate system includes:
s321, determining a conversion direction w= (w) x ,w y ,w z ) The coordinates of any point on the upper and lower surfaces of the general cylinder are (a) 1 cos(θ),b 1 sin (theta), h/2), and the coordinates of any point on the lower bottom surface areWherein a is 1 、b 1 、a 2 、b 2 H is a general cylindrical parameter, w x 、w y 、w z The projections of the transformation directions w in the directions of the local coordinate system x, y, z axes, θ and +.>Is an angle variable;
s322, determining the projection value of the upper bottom surface in the conversion direction w asw z The projection value of the lower surface in the conversion direction w is
S323, determining an analytic solution of a maximum projection value corresponding point of the upper bottom surface as follows: θ max ＝argmax θ (p 1 (θ)), the resolution of the maximum projection value correspondence point of the lower surface is:
s324, the maximum projection value p of the upper bottom surface 1 (θ max ) And maximum projection value of lower surfaceIs determined as the projection furthest point M.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the robot collision detection method according to any one of claims 1 to 9.
11. An electronic device, comprising:
a memory storing a computer program;
a processor for executing the computer program in the memory to implement the robot collision detection method of any one of claims 1 to 9.
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