CN109977536B - Method for evaluating situation of robot in dangerous working environment - Google Patents
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Abstract
The invention discloses a situation assessment method of a robot in a dangerous working environment, which comprises the following steps: the method comprises two parts of off-line calculation and on-line calculation; during off-line calculation, coordinate information of the current position, the hazard radius of a hazard source and the threat radius of the robot are obtained, and the risk coefficient and the threat coefficient of the current position are calculated according to the obtained information; and during the online calculation, acquiring the position of the hazard source, the hazard radius and the maximum movement speed of the hazard source, the position of the robot, the threat radius and the maximum movement speed of the robot, and calculating the risk coefficient, the threat coefficient, the robot cooperation coefficient and the weakness coefficient of the target position according to the acquired information. By adopting the method disclosed by the invention, situation assessment can be accurately realized.
Description
Technical Field
The invention relates to the technical field of computers, artificial intelligence and robots, in particular to a situation assessment method of a robot in a dangerous working environment.
Background
When the robot works in a dangerous environment, the damage rate of the robot is high due to environmental factors, and therefore the robot is required to have the capability of situation assessment to judge the dangerous degree of the surrounding environment, so that the safety of the robot is improved, but no effective scheme exists at present.
For example, patent CN201710889814.9 discloses a ship three-dimensional situation map display method based on data driving. The technology aims at situation map display of a marine ship, the used method is based on computer graphics, scenes and objects with three-dimensional effects are drawn on a screen, the technology is a display method, and situation assessment cannot be achieved.
Disclosure of Invention
The invention aims to provide a situation assessment method of a robot in a dangerous working environment, which can accurately realize situation assessment.
The purpose of the invention is realized by the following technical scheme:
a method for assessing the posture of a robot in a hazardous working environment comprises the following steps: the method comprises the steps of establishing a three-dimensional map in advance, defining a plurality of position points on the three-dimensional map, and carrying out an evaluation process including an off-line calculation part and an on-line calculation part;
during off-line calculation, coordinate information of the current position, the hazard radius of a hazard source and the threat radius of the robot are obtained, and the risk coefficient and the threat coefficient of the current position are calculated according to the obtained information;
during the online calculation, the position of a hazard source, the hazard radius and the maximum movement speed of the hazard source, the position of a robot, the threat radius and the maximum movement speed of the robot are obtained, and the risk coefficient, the threat coefficient, the robot cooperation coefficient and the weak coefficient of a target position are calculated according to the obtained information;
and obtaining the situation evaluation result of each position point on the three-dimensional map according to the offline calculation and/or online calculation result, thereby obtaining the situation map.
According to the technical scheme provided by the invention, the robot can accurately judge the danger degrees of different places when working in a dangerous environment, and makes safe behaviors according to the danger degrees, so that the damage possibility of the robot is greatly reduced, and the success rate of the robot for completing target tasks is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a situation assessment method for a robot in a dangerous working environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of calculated risk factors provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of computed threat coefficients provided by an embodiment of the invention;
fig. 4 is a schematic diagram of calculated cooperation coefficients according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a situation assessment method of a robot in a dangerous working environment, wherein the dangerous working environment refers to a virtual environment simulated by computer software, and the basic characteristic of the dangerous working environment is three-dimensional terrain; there are n hazard sources and n robots in the virtual environment. The n danger sources all have the attributes of specific threat mode, threat radius, frontal orientation, rotating speed and moving speed, and can move freely. The n robots all have the capability of reducing the threat of the danger source: eliminating the attack ability, the steering ability and the moving ability of the danger source. Among these, it is noted that: for a hazard, the robot is also a hazard. The method is suitable for carrying out coefficient evaluation such as overall danger coefficient, threat coefficient and the like on the virtual environment under the conditions.
The situation assessment in the embodiment of the present invention can be described by an input-algorithm-output model:
the input is as follows: three-dimensional space diagram of the virtual environment, information of the hazard source and information of the robot.
The core idea of the algorithm is as follows: and the situation evaluation of the virtual environment is realized in a simulation and data fusion mode.
The output is: and projecting the three-dimensional space map of the virtual environment to a two-dimensional plane, uniformly taking a plurality of positions on the plane, and outputting the values of the risk coefficient, the threat coefficient and other coefficients obtained by calculating each position through an algorithm.
In the embodiment of the invention, a three-dimensional map is established in advance, and the situation analysis is carried out on the three-dimensional map. The objective is to calculate the correlation coefficient of each position in the map, and then show the coefficient of each position in the form of a graph, namely, a situation map is obtained. The respective positions are predefined position points, that is, a current position, a target position, position points inside some areas, and the like, which are mentioned below. In the calculation process of each coefficient referred to below, the two-dimensional position referred to, i.e., the xy-horizontal plane coordinate of the point to be taken, is converted into the three-dimensional, i.e., the xyz coordinate of the point to be taken.
As shown in fig. 1, the situation assessment includes: the method comprises two parts of off-line calculation and on-line calculation;
1. and during off-line calculation, acquiring coordinate information of the current position, the hazard radius of the hazard source and the threat radius of the robot, and calculating the risk coefficient and the threat coefficient of the current position according to the acquired information.
The obtained coordinate information of the current position can be recorded as (x, y, z), the hazard radius of the hazard source is recorded as r, and the threat radius of the robot is recorded as r'.
1) The step of calculating the risk factor for the current location includes:
taking (x, z) as a circle center and r as an outer radius, constructing a circular area, uniformly taking m =2 × r × 5 points in the circular area, and acquiring position information of the m points; and if the current position is within the damage radius r of one position point, the current position is considered to be damaged, the danger coefficient of the current position is +1, and the final result is the danger coefficient of the current position.
2) The step of calculating the threat coefficients for the current location comprises:
taking (x, z) as a circle center and r' as an outer radius, constructing a circular area, uniformly taking k points in the circular area, and acquiring position information of the k points; and if the current position is within the threat radius r' of one position point, the current position is considered to be threatened, the danger coefficients of the corresponding positions are added into the threat coefficients of the current position, and the final result is the threat coefficients of the current position. I.e. ideally, the k position points coincide with the m position points.
2. During online calculation, the position of a hazard source, the hazard radius and the maximum movement speed of the hazard source, the position of a robot, the threat radius and the maximum movement speed of the robot are obtained, and the risk coefficient, the threat coefficient, the robot cooperation coefficient and the weak coefficient of a target position are calculated according to the obtained information.
1) The step of calculating the risk factor for the target location comprises:
recording the position of the danger source as (x 1, y1, z 1), recording the hazard radius of the danger source as r1, recording the maximum movement speed of the danger source as v1, recording the maximum movement speed of the robot as v2, and setting a parameter t as a time length; then v1t is the maximum moving distance of the hazard source within t time, v2t is the maximum moving distance of the robot within t time, and (v 2-v 1) t is the distance difference of the robot within t time when the robot approaches the hazard source;
if (v 2-v 1) t is greater than 0, constructing a circular area by taking (v 2-v 1) t + r1 as a radius by taking (x 1, z 1) as a circle center; otherwise, constructing a circular area by taking r1 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to calculate danger coefficients;
recording the coordinate information of any target position as (m 1, n1, s 1), and calculating the distance D1 between the target position and the position of the hazard source, wherein the threat radius of the target position from the position of the hazard source is r1-D1; combining (v 1-v 2) t, and when (v 1-v 2) t is greater than 0, (v 1-v 2) t =0, otherwise, keeping the original value; and (2) constructing a circular area by taking (m 1, s 1) as a circle center and r1-D1+ (v 1-v 2) t as a radius, taking three-dimensional positions corresponding to each two-dimensional point of the circular area as positions to be calculated, calculating one by one whether the positions to be calculated can be damaged by the hazard source, and if one of the positions to be calculated is within the damage radius r1 of the hazard source, considering that the position can be damaged by the hazard source, calculating the risk coefficient +1 of the target position, wherein the final calculation result is the risk coefficient of the target position.
2) The step of calculating the threat coefficients for the target location comprises:
recording the position of the robot as (x 2, y2, z 2), representing the robot at the current position, recording the radius of the robot for eliminating the dangerous source as r2, recording the maximum movement speed of the dangerous source as v1, recording the maximum movement speed of the robot as v2, and setting a parameter t as a time length; then v1t is the maximum moving distance of the hazard source within t time, v2t is the maximum moving distance of the robot within t time, and (v 2-v 1) t is the distance difference of the robot within t time when the robot approaches the hazard source;
if (v 2-v 1) t is greater than 0, constructing a circular area by taking (v 2-v 1) t + r2 as a radius by taking (x 2, z 2) as a circle center; otherwise, constructing a circular area by taking r2 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to calculate threat coefficients;
recording the coordinate information of any target position as (m 2, n2, s 2), wherein the target position has a robot; combining (v 2-v 1) t, and when (v 2-v 1) t is greater than 0, (v 2-v 1) t =0, otherwise, keeping the original value; and (2) constructing a circular area by taking (m 2, s 2) as a circle center and r2+ (v 2-v 1) t as a radius, taking a three-dimensional position corresponding to each two-dimensional point of the circular area as a position to be calculated, calculating one by one whether the position to be calculated can be eliminated by the robot at the target position, if the position to be calculated is within the eliminating danger source radius r2 of the robot at the target position, considering that the position to be calculated can be eliminated by the robot at the target position, then carrying out online threat coefficient +1 on the target position, and finally calculating a result, namely the threat coefficient of the target position.
3) The step of calculating the robot cooperation coefficient of the target position includes:
recording the position of the current robot as (x 3, y3, z 3), the threat radiuses of other robots as r3, the maximum moving speed of other robots as v3, the maximum moving speed of a hazard source as v1, and setting a parameter t as a time length; then v1t is the maximum moving distance of the danger source in the time t, v3t is the maximum moving distance of other robots in the time t, and (v 3-v 1) t is the distance difference of other robots in the time t when the other robots are close to the danger source;
if (v 3-v 1) t is greater than 0, constructing a circular area by taking (v 3-v 1) t + r3 as a radius by taking (x 3, z 3) as a circle center; otherwise, constructing a circular area by taking r3 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to calculate the robot cooperation coefficient;
recording the coordinate information of any target position as (m 3, n3, s 3), calculating the distance D3 between the target position and the position of the current robot, and setting the threat radius of the target position to the positions of other robots as r1-D3; combining (v 3-v 1) t, when (v 3-v 1) t is greater than 0, (v 3-v 1) t =0, otherwise, keeping the original value; and (3, s 3) is taken as a circle center, r3-D3+ (v 3-v 1) t is taken as a radius to construct a circular area, three-dimensional positions corresponding to each two-dimensional point in the circular area are taken as positions to be calculated, whether the positions to be calculated can be eliminated by other robots is calculated one by one, if the position to be calculated is within the threat radius r3 of other robots, the robot cooperation coefficient +1 of the target position is considered to be eliminated by other robots, and finally the calculation result is the robot cooperation coefficient of the target position.
4) The step of calculating the weakness factor of the target location comprises:
for the robot which exists independently, the position of the robot is recorded as (x 4, y4, z 4), and the hazard radius of the hazard source is recorded as r1; constructing a circular area by taking (x 4, z 4) as a circle center and r1 as a radius, wherein three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to be calculated; for any target position, calculating the weak coefficient in each direction according to the orientation of the robot and the rotation speed of the robot; calculating whether the target position can damage the robot, supposing that the robot exists on the target position, if the distance between the robot on the target position and the robot existing independently is smaller than the danger radius of the robot on the target position, and considering that the robot existing independently can be damaged, selecting a weak coefficient in a corresponding direction as a weak coefficient of the corresponding target position according to an included angle between the target position and the robot;
for robots with other robots around, each robot takes x and y coordinates of the position of the robot as the center of a circle and r1 as the radius to respectively construct a circular area, and the intersection position of different circular areas is the target position; each target position at least corresponds to two robots, each robot is regarded as a robot which exists independently, at least two weak coefficients are calculated for each target through the method, and the minimum value is taken as the weak coefficient of the corresponding target position.
And finally, obtaining a situation evaluation result of each position point on the three-dimensional map according to an offline calculation result and/or an online calculation result, thereby obtaining a situation map.
According to the scheme provided by the embodiment of the invention, the situation is accurately evaluated in a simulation and data fusion mode.
The risk coefficient, the threat coefficient and the cooperation coefficient calculated for a certain area are expressed in a gray scale image mode; as shown in fig. 2 to 4, examples of risk coefficients, threat coefficients and collaboration coefficients, respectively; in these figures, o denotes the current robot, x denotes the hazard source, x denotes the other robots, and the virtual environment map is 400 x 400 size. Each of the calculated coefficients is a coefficient of a target position, which may be represented on a two-dimensional map. In fig. 2 to 4, the depth of the point reflects the size of a certain coefficient of the target position, and the situation analysis result of a map can be visually embodied in a graphical manner, where the situation analysis is to analyze information of each position on the map, and the situation map is to graphically represent the information of the positions.
Through the description of the above embodiments, it is clear to those skilled in the art that the above embodiments may be implemented by software, or by software plus a necessary general hardware platform. With this understanding, the technical solutions of the embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods according to the embodiments of the present invention.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A method for assessing the posture of a robot in a hazardous working environment, comprising: the method comprises the steps of establishing a three-dimensional map in advance, defining a plurality of position points on the three-dimensional map, and performing an evaluation process including an offline calculation part and an online calculation part;
during off-line calculation, coordinate information of the current position, the hazard radius of a hazard source and the threat radius of the robot are obtained, and the risk coefficient and the threat coefficient of the current position are calculated according to the obtained information;
during the online calculation, the position of a hazard source, the hazard radius and the maximum movement speed of the hazard source, the position of a robot, the threat radius and the maximum movement speed of the robot are obtained, and a hazard coefficient, a threat coefficient, a robot cooperation coefficient and a weak coefficient of a target position are calculated according to the obtained information;
and obtaining a situation evaluation result of each position point on the three-dimensional map according to the off-line calculation result and/or the on-line calculation result so as to obtain the situation map.
2. The method for assessing the posture of a robot in a hazardous working environment according to claim 1, wherein the step of calculating the risk coefficient of the current position in the off-line calculation comprises:
recording the obtained coordinate information of the current position as (x, y, z), and recording the hazard radius of the hazard source as r;
taking (x, z) as a circle center and r as an outer radius, constructing a circular region, uniformly taking m =2 × r × 5 points in the circular region, and acquiring position information of the m points;
and if the current position is within the damage radius r of one position point, the current position is considered to be damaged, and the final result is the risk coefficient of the current position, namely the risk coefficient of the current position plus 1.
3. The method for assessing the posture of a robot in a hazardous working environment according to claim 2, wherein the step of calculating the threat coefficients of the current position in the offline calculation comprises:
recording the obtained coordinate information of the current position as (x, y, z), and recording the threat radius of the robot as r';
taking (x, z) as the center of a circle and r' as the outer radius, constructing a circular area, uniformly taking k points in the circular area, and acquiring the position information of the k points;
and if the current position is within the threat radius r' of one position point, the current position is considered to be threatened, the danger coefficients of the corresponding positions are added into the threat coefficients of the current position, and the final result is the threat coefficient of the current position.
4. The method for assessing the posture of the robot in the dangerous working environment according to the claim 1, wherein the step of calculating the danger coefficient of the target position in the online calculation comprises:
recording the position of the danger source as (x 1, y1, z 1), recording the hazard radius of the danger source as r1, recording the maximum movement speed of the danger source as v1, recording the maximum movement speed of the robot as v2, and setting a parameter t as a time length; then v1t is the maximum moving distance of the danger source in the time t, v2t is the maximum moving distance of the robot in the time t, and (v 2-v 1) t is the distance difference of the robot in the time t when the robot approaches the danger source;
if (v 2-v 1) t is greater than 0, constructing a circular area by taking (v 2-v 1) t + r1 as a radius by taking (x 1, z 1) as a circle center; otherwise, constructing a circular area by taking r1 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing calculating risk coefficients;
recording the coordinate information of any target position as (m 1, n1, s 1), and calculating the distance D1 between the target position and the position of the hazard source, wherein the threat radius of the target position from the position of the hazard source is r1-D1; combining (v 1-v 2) t, and when (v 1-v 2) t is greater than 0, (v 1-v 2) t =0, otherwise, keeping the original value; and (2) taking (m 1, s 1) as a circle center and r1-D1+ (v 1-v 2) t as a radius to construct a circular area, taking three-dimensional positions corresponding to each two-dimensional point of the circular area as positions to be calculated, calculating whether the positions to be calculated can be damaged by the hazard source one by one, if one of the positions to be calculated is within the damage radius r1 of the hazard source, considering that the position can be damaged by the hazard source, calculating the risk coefficient +1 of the target position, and finally calculating the result to be the risk coefficient of the target position.
5. The method for assessing the posture of a robot in a dangerous working environment according to claim 1, wherein the step of calculating the threat coefficients of the target position in the online calculation comprises:
recording the position of the robot as (x 2, y2, z 2), representing the robot at the current position, recording the radius of the robot for eliminating the danger source as r2, recording the maximum movement speed of the danger source as v1, recording the maximum movement speed of the robot as v2, and setting a parameter t as a time length; then v1t is the maximum moving distance of the hazard source within t time, v2t is the maximum moving distance of the robot within t time, and (v 2-v 1) t is the distance difference of the robot within t time when the robot approaches the hazard source;
if (v 2-v 1) t is greater than 0, constructing a circular area by taking (v 2-v 1) t + r2 as a radius by taking (x 2, z 2) as a circle center; otherwise, constructing a circular area by taking r2 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to calculate danger coefficients;
recording the coordinate information of any target position as (m 2, n2, s 2), wherein the target position has a robot; combining (v 2-v 1) t, and when (v 2-v 1) t is greater than 0, (v 2-v 1) t =0, otherwise, keeping the original value; and (2) taking (m 2, s 2) as a circle center and r2+ (v 2-v 1) t as a radius to construct a circular area, taking three-dimensional positions corresponding to each two-dimensional point of the circular area as positions to be calculated, calculating one by one whether the positions to be calculated can be eliminated by the robot at the target position, if the position to be calculated is within the eliminating danger source radius r2 of the robot at the target position, considering that the position to be calculated can be eliminated by the robot at the target position, carrying out online threat coefficient +1 on the target position, and finally calculating a result, namely the threat coefficient of the target position.
6. The method for assessing the posture of the robot in the dangerous working environment according to claim 1, wherein the step of calculating the robot cooperation coefficient of the target position in the online calculation comprises:
recording the position of the current robot as (x 3, y3, z 3), the threat radiuses of other robots as r3, the maximum moving speed of other robots as v3, the maximum moving speed of a hazard source as v1, and setting a parameter t as a time length; then v1t is the maximum moving distance of the hazard source within t time, v3 is the maximum moving distance of other robots within t time, and (v 3-v 1) t is the distance difference of other robots within t time when the other robots are close to the hazard source;
if (v 3-v 1) t is greater than 0, constructing a circular area by taking (v 3-v 1) t + r3 as a radius by taking (x 3, z 3) as a circle center; otherwise, constructing a circular area by taking r3 as the radius; three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to calculate the robot cooperation coefficient;
recording the coordinate information of any target position as (m 3, n3, s 3), and calculating the distance D3 between the target position and the position of the current robot, wherein the threat radius of the target position from the positions of other robots is r1-D3; combining (v 3-v 1) t, and when (v 3-v 1) t is greater than 0, (v 3-v 1) t =0, otherwise, keeping the original value; and (3, s 3) is taken as a circle center, r3-D3+ (v 3-v 1) t is taken as a radius to construct a circular area, three-dimensional positions corresponding to each two-dimensional point in the circular area are taken as positions to be calculated, whether the positions to be calculated can be eliminated by other robots is calculated one by one, if one position to be calculated is within the threat radius r3 of other robots, the position to be calculated is considered to be eliminated by other robots, the robot cooperation coefficient +1 of the target position can be calculated, and the final calculation result is the robot cooperation coefficient of the target position.
7. The method for assessing the posture of the robot in the dangerous working environment according to claim 1, wherein the step of calculating the weak coefficient of the target position in the online calculation comprises:
for the robot which exists independently, the position of the robot is recorded as (x 4, y4, z 4), and the hazard radius of the hazard source is recorded as r1; constructing a circular area by taking (x 4, z 4) as a circle center and r1 as a radius, wherein three-dimensional positions corresponding to all two-dimensional points in the circular area are target positions needing to be calculated; for any target position, calculating the weak coefficient in each direction according to the orientation of the robot and the rotation speed of the robot; calculating whether the target position can damage the robot, assuming that the robot exists in the target position, if the distance between the robot in the target position and the robot existing independently is smaller than the dangerous radius of the robot in the target position, and considering that the robot existing independently can be damaged, selecting a weak coefficient in a corresponding direction as a weak coefficient of the corresponding target position according to an included angle between the weak coefficient and the robot;
for robots with other robots around, each robot takes x and y coordinates of the position of the robot as the center of a circle and r1 as the radius to respectively construct a circular area, and the intersection position of different circular areas is the target position; each target position at least corresponds to two robots, each robot is regarded as a robot which exists independently, at least two weak coefficients are calculated for each target through the method, and the minimum value is taken as the weak coefficient of the corresponding target position.
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