CN112045678B

CN112045678B - Collision-preventing navigation method for robot with pre-detection sacrificial separable part

Info

Publication number: CN112045678B
Application number: CN202010831587.6A
Authority: CN
Inventors: 罗绍远
Original assignee: Guangzhou Simulation Robot Co ltd
Current assignee: Guangzhou Simulation Robot Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-05-07
Anticipated expiration: 2040-08-18
Also published as: CN112045678A

Abstract

The application discloses a robot collision-proof navigation method, a device, computer equipment and a storage medium with a pre-detection sacrificial separable part, wherein the method comprises the following steps: controlling the food delivery robot to move along a preset navigation track, and controlling the food delivery robot to perform component separation operation; sending a displacement instruction to the pre-detection sacrificial separable component; judging whether the wireless communication is interrupted in real time; if not, sending a lens unfolding instruction to the pre-detection sacrificial separable part; starting a laser generator; sending a lens simple harmonic motion instruction to the pre-detection sacrificial separable component; establishing a three-dimensional rectangular coordinate system, and respectively calculating four longitudinal coordinates; adjusting the position of the laser receiver; activating the laser receiver; if the laser signals can be received periodically, the motion state of the food delivery robot is still kept to move along the navigation track, and therefore the robot collision-prevention navigation process is completed. The robot anti-collision accuracy is high, and the cost is low.

Description

Collision-preventing navigation method for robot with pre-detection sacrificial separable part

Technical Field

The present application relates to the field of computers, and in particular, to a method and apparatus for collision avoidance navigation of a robot having a pre-probing sacrificial separable component, a computer device, and a storage medium.

Background

The intelligent robot is valuable, and the problem of damage caused by collision needs to be noticed in the navigation process. In the existing robot collision prevention technical scheme, a camera is generally used for collecting images, and computer vision analysis is carried out to obtain whether collision is possible. The existing robot anti-collision technical scheme has the defects of high cost and high consumption of computing resources because of the need of accurate acquisition and efficient analysis of images.

Disclosure of Invention

The application provides a robot anti-collision navigation method with a pre-detection sacrificial separable component, which is applied to a robot control terminal, wherein the robot control terminal is arranged on a food delivery robot, the pre-detection sacrificial separable component is arranged on the food delivery robot, and when the pre-detection sacrificial separable component is separated from the food delivery robot, the pre-detection sacrificial separable component is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

s1, controlling the meal delivery robot to move along a preset navigation track at a first speed, and controlling the meal delivery robot to perform component separation operation when the meal delivery robot is at a first distance from a preset first intersection so as to separate a pre-detection sacrificial separable component arranged on the meal delivery robot from the meal delivery robot; a first dining table support column, a second dining table support column, a third dining table support column and a fourth dining table support column with smooth surfaces are arranged in the upper left area, the upper right area, the lower left area and the lower right area of the first intersection respectively;

s2, sending a displacement instruction to the pre-detection sacrificial separable component to require the pre-detection sacrificial separable component to move at a second speed until the pre-detection sacrificial separable component passes through the first intersection; wherein the second speed is greater than the first speed;

s3, judging whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted in real time;

s4, if the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is not interrupted, sending a lens unfolding instruction to the pre-detection sacrificial separable part so as to unfold a first hidden lens, a second hidden lens, a third hidden lens and a fourth hidden lens preset on the pre-detection sacrificial separable part to form a first static state; in a first static state, mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are all perpendicular to a horizontal plane, heights of mirror surface centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, and the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively and correspondingly reflect laser generated by a laser generator preset on the food delivery robot to axial lines of the first dining table support column, the second dining table support column, the third dining table support column and the fourth dining table support column;

s5, starting a first laser generator, a second laser generator, a third laser generator and a fourth laser generator preset on the food delivery robot, so as to generate a first laser, a second laser, a third laser and a fourth laser respectively, and correspondingly emitting the first laser, the second laser, the third laser and the fourth laser to the centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens respectively;

s6, sending a lens simple harmonic motion instruction to the pre-detection sacrificial separable component to make the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens respectively perform a first lens simple harmonic motion, a second lens simple harmonic motion, a third lens simple harmonic motion and a fourth lens simple harmonic motion, wherein the average positions of the first lens simple harmonic motion, the second lens simple harmonic motion, the third lens simple harmonic motion and the fourth lens simple harmonic motion are the positions of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens in the first static state, respectively, and the first lens simple harmonic motion, the second lens simple harmonic motion, the third lens simple harmonic motion and the fourth lens simple harmonic motion respectively make the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens perform a horizontal rotation motion, and the horizontal rotation movement is performed with a plumb line passing through the center of the corresponding mirror surface as a rotation axis;

s7, establishing a three-dimensional rectangular coordinate system, wherein the Z axis of the three-dimensional rectangular coordinate system is vertical to the horizontal plane, and according to the formula:

four vertical coordinates Z41, Z42, Z43 and Z44 are respectively calculated; wherein X11, X12, X13 and X14 are X-axis coordinates of the axes of the first table strut, the second table strut, the third table strut and the fourth table strut, respectively, and Y11, Y12, Y13 and Y14 are Y-axis coordinates of the axes of the first table strut, the second table strut, the third table strut and the fourth table strut, respectively; x21, X22, X23 and X24 are X-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively, Y21, Y22, Y23 and Y24 are Y-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively, Z21, Z22, Z23 and Z24 are Z-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively; x31, X32, X33 and X34 are X-axis coordinates of the first, second, third and fourth laser light generators, respectively, Y31, Y32, Y33 and Y34 are Y-axis coordinates of the first, second, third and fourth laser light generators, respectively, and Z31, Z32, Z33 and Z34 are Z-axis coordinates of the first, second, third and fourth laser light generators, respectively;

s8, adjusting the positions of a first laser receiver, a second laser receiver, a third laser receiver and a fourth laser receiver preset on the food delivery robot to a first coordinate position, a second coordinate position, a third coordinate position and a fourth coordinate position respectively, and enabling the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver to face the first table support, the second table support, the third table support and the fourth table support respectively in an unobstructed manner; wherein the first coordinate position has an X-axis coordinate of X31, a Y-axis coordinate of Y31, and a Z-axis coordinate of Z41; the X-axis coordinate of the second coordinate position is X32, the Y-axis coordinate is Y32, and the Z-axis coordinate is Z42; the X-axis coordinate of the third coordinate position is X33, the Y-axis coordinate is Y33, and the Z-axis coordinate is Z43; the X-axis coordinate of the fourth coordinate position is X34, the Y-axis coordinate is Y34, and the Z-axis coordinate is Z44;

s9, activating the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver, and judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive laser signals periodically;

and S10, if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically, the motion state of the food delivery robot is still kept to move along the navigation track, and therefore the collision-preventing navigation process of the robot is completed.

Further, after step S3, the method for determining in real time whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable component is interrupted includes:

s31, if the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted, stopping the meal delivery robot;

s32, sending a wireless communication connection request to the pre-detection sacrificial separable component again after the first interval time, and judging whether the robot control terminal and the pre-detection sacrificial separable component restore the wireless communication connection;

and S33, if the robot control terminal and the pre-detection sacrificial separable part recover the wireless communication connection, sending rescue information to a preset manual terminal.

Furthermore, the pre-detection sacrificial separable component is provided with four lens accommodating grooves and a lifting mechanism in advance, and when the lens is in a hidden state, the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are respectively positioned in the four lens accommodating grooves; when the lenses are in the unfolding state, the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are sequentially lifted from the four lens accommodating grooves by the lifting mechanism; the step S4 of sending a lens unfolding instruction to the sacrificial separable component to unfold the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens preset on the sacrificial separable component to form a first resting state includes:

s401, sending a lens unfolding instruction to the pre-detection sacrificial separable part to open four lens accommodating grooves preset on the pre-detection sacrificial separable part;

s402, sequentially raising the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens from the four lens receiving grooves by a lifting mechanism preset on the pre-probing sacrificial separable component, and respectively raising the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens to the positions in the first static state; in a first static state, mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are all perpendicular to a horizontal plane, heights of centers of the mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, and the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively and correspondingly reflect laser generated by a laser generator preset on the food delivery robot to axial lines of the first table support, the second table support, the third table support and the fourth table support.

Further, after the step S9 of activating the first laser receiver, the second laser receiver, the third laser receiver, and the fourth laser receiver, and determining whether the first laser receiver, the second laser receiver, the third laser receiver, and the fourth laser receiver can receive the laser signal periodically, the method includes:

s91, if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can not receive the laser signals periodically, stopping the meal delivery robot;

s92, after a second interval time, judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically or not;

and S93, if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically, the motion state of the food delivery robot is still kept to move along the navigation track, and therefore the collision-preventing navigation process of the robot is completed.

Further, the step S10 of still maintaining the motion state of the meal delivery robot to move along the navigation track so as to complete the robot collision avoidance navigation process includes:

s101, still controlling the meal delivery robot to move along a preset navigation track at a first speed, and sending a re-displacement instruction to the pre-detection sacrificial separable part to enable the pre-detection sacrificial separable part to move at a second speed in the same movement direction as the meal delivery robot;

s102, updating and adjusting coordinates of the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver in real time in the process that the meal delivery robot and the pre-detection sacrificial separable component move simultaneously, so that the first intersection is located in a dynamic laser network;

s103, judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive laser signals periodically in real time;

and S104, if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive laser signals periodically, keeping the motion state of the meal delivery robot and the motion state of the pre-detection sacrificial separable part until the meal delivery robot passes through the first intersection.

The application provides a robot anti-collision navigation device with a pre-detection sacrificial separable part, which is applied to a robot control terminal, wherein the robot control terminal is arranged on a food delivery robot, the pre-detection sacrificial separable part is arranged on the food delivery robot, and when the pre-detection sacrificial separable part is separated from the food delivery robot, the pre-detection sacrificial separable part is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

the separation operation unit is used for controlling the meal delivery robot to move along a preset navigation track at a first speed and controlling the meal delivery robot to perform component separation operation when the meal delivery robot is at a first distance from a preset first intersection so as to separate a pre-detection sacrificial separable component arranged on the meal delivery robot from the meal delivery robot; a first dining table support column, a second dining table support column, a third dining table support column and a fourth dining table support column with smooth surfaces are arranged in the upper left area, the upper right area, the lower left area and the lower right area of the first intersection respectively;

a displacement instruction sending unit for sending a displacement instruction to the pre-probe sacrificial separable part to request the pre-probe sacrificial separable part to move at a second speed until the pre-probe sacrificial separable part passes through the first intersection; wherein the second speed is greater than the first speed;

the wireless communication judging unit is used for judging whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted or not in real time;

a lens unfolding instruction sending unit, configured to send a lens unfolding instruction to the pre-detection sacrificial separable component if wireless communication between the robot control terminal and the pre-detection sacrificial separable component is not interrupted, so as to unfold a first hidden lens, a second hidden lens, a third hidden lens, and a fourth hidden lens preset on the pre-detection sacrificial separable component, so as to form a first stationary state; in a first static state, mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are all perpendicular to a horizontal plane, heights of mirror surface centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, and the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively and correspondingly reflect laser generated by a laser generator preset on the food delivery robot to axial lines of the first dining table support column, the second dining table support column, the third dining table support column and the fourth dining table support column;

the laser generating unit is used for starting a first laser generator, a second laser generator, a third laser generator and a fourth laser generator preset on the food delivery robot so as to generate a first laser, a second laser, a third laser and a fourth laser respectively, and correspondingly shoot the first laser, the second laser, the third laser and the fourth laser to the centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens respectively;

a harmonic motion command sending unit, configured to send a lens harmonic motion command to the pre-detection sacrificial separable component, so as to cause the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens to perform a first lens harmonic motion, a second lens harmonic motion, a third lens harmonic motion and a fourth lens harmonic motion, respectively, and the average positions of the first lens harmonic motion, the second lens harmonic motion, the third lens harmonic motion and the fourth lens harmonic motion are the positions of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens in the first static state, respectively, and the first lens harmonic motion, the second lens harmonic motion, the third lens harmonic motion and the fourth lens harmonic motion cause the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens to perform the first lens harmonic motion, the second lens harmonic motion, the third lens harmonic motion and the fourth lens harmonic motion, respectively, The third hidden lens and the fourth hidden lens perform horizontal rotation movement, and the horizontal rotation movement is performed by taking a plumb line passing through the center of the corresponding mirror surface as a rotation axis;

the three-dimensional rectangular coordinate system establishing unit is used for establishing a three-dimensional rectangular coordinate system, wherein the Z axis of the three-dimensional rectangular coordinate system is vertical to the horizontal plane, and the three-dimensional rectangular coordinate system is established according to the formula:

the laser receiver coordinate adjusting unit is used for adjusting the positions of a first laser receiver, a second laser receiver, a third laser receiver and a fourth laser receiver which are preset on the meal delivery robot to a first coordinate position, a second coordinate position, a third coordinate position and a fourth coordinate position respectively, and enabling the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver to face the first table support, the second table support, the third table support and the fourth table support without shielding respectively; wherein the first coordinate position has an X-axis coordinate of X31, a Y-axis coordinate of Y31, and a Z-axis coordinate of Z41; the X-axis coordinate of the second coordinate position is X32, the Y-axis coordinate is Y32, and the Z-axis coordinate is Z42; the X-axis coordinate of the third coordinate position is X33, the Y-axis coordinate is Y33, and the Z-axis coordinate is Z43; the X-axis coordinate of the fourth coordinate position is X34, the Y-axis coordinate is Y34, and the Z-axis coordinate is Z44;

the laser receiver activating unit is used for activating the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver and judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive laser signals periodically or not;

and the motion state maintaining unit is used for maintaining the motion state of the meal delivery robot to move along the navigation track if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can periodically receive laser signals, so that the robot anti-collision navigation process is completed.

The present application provides a computer device comprising a memory storing a computer program and a processor implementing the steps of any of the above methods when the processor executes the computer program.

The present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the above.

According to the robot anti-collision navigation method and device with the pre-detection sacrificial separable part, the computer equipment and the storage medium, the robot anti-collision accuracy is high and the cost is low through the design and the use of the pre-detection sacrificial separable part. The navigation process of the robot anti-collision comprises two main stages, namely a first main stage is a stage in which a pre-detection sacrificial separable part passes through a first intersection; the second main stage is the stage where the pre-probe sacrificial separable component has passed through the first intersection and formed a laser network. In the first main stage, the aim of preventing the robot from collision is fulfilled by detecting whether the sacrificial separable parts are damaged or not; in the second main stage, the purpose of robot collision prevention is realized by whether the laser network is blocked or not. Therefore, in the whole anti-collision process, the largest possible loss is only the prophetic sacrificial separable component per se, and the prophetic sacrificial separable component has lower value and is a replaceable component; and in the whole anti-collision process, a high-quality image collector does not need to be collected, and an image processing algorithm with high consumption of computing resources is not needed, so that the total cost is controllable and lower.

Drawings

FIG. 1 is a schematic plan view of a first intersection in accordance with an embodiment of the present application;

fig. 2 is a block diagram illustrating a structure of a computer device according to an embodiment of the present application.

The reference numbers are as follows:

2. 21, 22, 23, 24 are respectively a pre-detection sacrificial separable part, a first concealed lens, a second concealed lens, a third concealed lens and a fourth concealed lens; 3. 31, 32, 33, 34, 41, 42, 43, 44 are respectively a meal delivery robot, a first laser generator, a second laser generator, a third laser generator, a fourth laser generator, a first laser receiver, a second laser receiver, a third laser receiver and a fourth laser receiver; 11. 12, 13, 14 are a first table leg, a second table leg, a third table leg and a fourth table leg, respectively.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The embodiment of the application provides a robot anti-collision navigation method with a pre-detection sacrificial separable part, which is applied to a robot control terminal, wherein the robot control terminal is arranged on a food delivery robot, the pre-detection sacrificial separable part is arranged on the food delivery robot, and when the pre-detection sacrificial separable part is separated from the food delivery robot, the pre-detection sacrificial separable part is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

A robot with a pre-detected sacrificial detachable part in this application means that the robot has a detachable part that is used to prevent the robot from being bumped and can be sacrificed when needed. Four hidden lenses are preset on the pre-detection sacrificial separable part, and after receiving a lens unfolding instruction, the pre-detection sacrificial separable part can unfold the four hidden lenses, so that the possibility of subsequently constructing the laser network is provided. The shape of the sacrificial pre-probing separable part can be any feasible shape, such as a spherical shape or a cylindrical shape, or even an irregular shape, because the shape of the sacrificial pre-probing separable part of the present application does not adversely affect the achievement of the technical purpose of the present application.

Referring to fig. 1, as described in the above steps S1-S3, controlling the food delivery robot to move along a preset navigation track at a first speed, and when the food delivery robot is at a first distance from a preset first intersection, controlling the food delivery robot to perform a component separation operation to separate a pre-detection sacrificial separable component provided on the food delivery robot from the food delivery robot; a first dining table support column, a second dining table support column, a third dining table support column and a fourth dining table support column with smooth surfaces are arranged in the upper left area, the upper right area, the lower left area and the lower right area of the first intersection respectively; sending a displacement command to the pre-probe sacrificial separable component to request the pre-probe sacrificial separable component to move at a second speed until the pre-probe sacrificial separable component passes through the first intersection; wherein the second speed is greater than the first speed; and judging whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted in real time. The meal delivery robot can be any feasible robot, such as a simulation robot. If collision is not possible, the food delivery robot moves along a preset navigation track, and then a food delivery task can be realized. However, there is a possibility of collision at the intersection, and therefore collision prevention measures need to be taken. Therefore, when the meal delivery robot is away from the preset first intersection for a first distance, the meal delivery robot is controlled to perform component separation operation, so that the pre-detection sacrificial separable component arranged on the meal delivery robot is separated from the meal delivery robot. The separated prophetic sacrificial separable component is an important component of the anti-collision measure. In addition, the first table strut, the second table strut, the third table strut and the fourth table strut are elements formed by a laser network, and the first table strut, the second table strut, the third table strut and the fourth table strut are struts of an original table in a restaurant, so that the laser network is constructed without specially arranging a reflection column. The pre-probe sacrificial separable component moves at a second speed (the pre-probe sacrificial separable component has the ability to move, such as by a pre-set drive mechanism, rollers, and motors) until the pre-probe sacrificial separable component passes the first intersection, wherein the second speed is greater than the first speed, such that the pre-probe sacrificial separable component can still pass the first intersection faster without the robot stopping its movement. And then, judging whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted in real time, thereby realizing the anti-collision judgment of the first main stage, namely, realizing the purpose of preventing the robot from collision by judging whether the pre-detection sacrificial separable part is damaged.

Therefore, the anti-collision judgment of the first main stage is more accurate. The present application, while not emphasizing stopping the meal delivery robot from moving, is still moving, indicating that there may be a risk of collision at the first intersection (causing the pre-probe sacrificial separable component to break and thus no longer communicating) due to the interruption of wireless communication by the robot control terminal with the pre-probe sacrificial separable component. Therefore, the method and the device send a wireless communication connection request to the pre-detection sacrificial separable part again after the first interval time, and judge whether the robot control terminal and the pre-detection sacrificial separable part restore the wireless communication connection; and if the robot control terminal and the pre-detection sacrificial separable part recover the wireless communication connection, sending assistance-seeking information to a preset artificial terminal, and thus, passing through the dangerous intersection in an artificial assistance mode on the premise of determining that the intersection is unsafe so as to ensure the safety of the robot.

As described in the above steps S4-S6, if the wireless communication between the robot control terminal and the detachable pre-detection sacrificial component is not interrupted, a lens unfolding instruction is sent to the detachable pre-detection sacrificial component to unfold the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens preset on the detachable pre-detection sacrificial component to form a first still state; in a first static state, mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are all perpendicular to a horizontal plane, heights of mirror surface centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, and the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively and correspondingly reflect laser generated by a laser generator preset on the food delivery robot to axial lines of the first dining table support column, the second dining table support column, the third dining table support column and the fourth dining table support column; starting a first laser generator, a second laser generator, a third laser generator and a fourth laser generator preset on the food delivery robot, so as to generate a first laser, a second laser, a third laser and a fourth laser respectively, and correspondingly emitting the first laser, the second laser, the third laser and the fourth laser to the centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens respectively; sending a lens simple harmonic motion command to the pre-detection sacrificial separable component to make the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens perform a first lens simple harmonic motion, a second lens simple harmonic motion, a third lens simple harmonic motion and a fourth lens simple harmonic motion, respectively, and the average positions of the first lens simple harmonic motion, the second lens simple harmonic motion, the third lens simple harmonic motion and the fourth lens simple harmonic motion are the positions of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens in the first static state, respectively, and the first lens simple harmonic motion, the second lens simple harmonic motion, the third lens simple harmonic motion and the fourth lens simple harmonic motion make the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens perform a horizontal rotation motion, respectively, and the horizontal rotational movement is performed with a vertical line passing through the center of the corresponding mirror surface as a rotational axis.

The pre-detection sacrificial separable component is provided with four lenses which are hidden in an undeployed state, and can be unfolded and unfolded to a first static state when receiving an unfolding instruction. The first rest state is a state specifically defined by the present application, i.e. in this state, the pose, position and function of the four hidden lenses achieve the following effects: in a first static state, mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are perpendicular to a horizontal plane, heights of mirror surface centers of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, and the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively and correspondingly reflect laser generated by a laser generator preset on the food delivery robot to an axis of the first table support, the second table support, the third table support and the fourth table support. The first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens can respectively reflect laser generated by a laser generator preset on the food delivery robot to the axes of the first dining table support, the second dining table support, the third dining table support and the fourth dining table support in a corresponding manner, for example, an included angle between a mirror surface perpendicular bisector at the center of the mirror surface of the hidden lens and a first straight line (the first straight line refers to a connecting line between a laser emission position and the center of the mirror surface of the hidden lens) is equal to an included angle between the mirror surface perpendicular bisector at the center of the mirror surface of the hidden lens and a second straight line (the second straight line refers to a connecting line between a position irradiated by the laser on the axis of the dining table support and the center of the mirror surface of the hidden lens). The mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are all perpendicular to the horizontal plane, and the heights of the centers of the mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are different, so that a subsequent laser network can become a large-range network in a three-dimensional space, and a basis for realizing robot collision prevention is provided. It should be noted that if the laser is incident along the axis (center of the shaft) of the table post with extreme accuracy, the laser will not be reflected as intended in the present application, but because the table post has a certain radius, the reflection as intended in the present application can be achieved only by fine-tuning the landing point of the laser on the post, which will be described in detail later in conjunction with the simple harmonic motion.

The laser emitting positions of the first laser generator, the second laser generator, the third laser generator and the fourth laser generator can be any feasible positions, such as the same position, or different positions, and the positions are preferably close to the ground, but four lasers need to be respectively and correspondingly emitted to the centers of the mirror surfaces of the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens to construct four different laser paths, so as to ensure that the range of the laser network cage is large enough.

One feature of the present application is that the resulting laser network is a dual dynamic or even triple dynamic laser network, where the first dynamics are caused by the lens harmonic motion commands. The four lenses respectively perform simple harmonic motion of horizontal rotation motion, so that at a certain time point, laser is inevitably reflected to a laser receiver on the robot, and the state of the generated laser network is not a static state, but a dynamic laser network with certain periodicity is formed, which is a special point of the application. The harmonic motion can be implemented in any feasible manner, for example, by means of a spring, and is not described in detail here.

Thereby achieving the unfolding of the lens. This application is owing to adopted four lens holding tanks and elevating system's design for it is littleer to visit the volume of sacrificial separable part in advance, more does benefit to the space and practices thrift and has improved the security.

As described in the above step S7, a three-dimensional rectangular coordinate system is established, wherein the Z-axis of the three-dimensional rectangular coordinate system is perpendicular to the horizontal plane, and according to the formula:

four vertical coordinates Z41, Z42, Z43 and Z44 are respectively calculated; wherein X11, X12, X13 and X14 are X-axis coordinates of the axes of the first table strut, the second table strut, the third table strut and the fourth table strut, respectively, and Y11, Y12, Y13 and Y14 are Y-axis coordinates of the axes of the first table strut, the second table strut, the third table strut and the fourth table strut, respectively; x21, X22, X23 and X24 are X-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively, Y21, Y22, Y23 and Y24 are Y-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively, Z21, Z22, Z23 and Z24 are Z-axis coordinates of the mirror centers of the first hidden lens, second hidden lens, third hidden lens and fourth hidden lens, respectively; x31, X32, X33 and X34 are X-axis coordinates of the first, second, third and fourth laser light generators, respectively, Y31, Y32, Y33 and Y34 are Y-axis coordinates of the first, second, third and fourth laser light generators, respectively, and Z31, Z32, Z33 and Z34 are Z-axis coordinates of the first, second, third and fourth laser light generators, respectively. According to the method, the space rectangular coordinate system is constructed, and the optimal existing position of the laser receiver is directly calculated, so that the forming of the dual dynamic laser network and the application of the dual dynamic laser network to robot collision prevention become possible. It should be noted that, in the present application, the robot is kept in a motion state, so that if a laser network is constructed by a test method, the purpose of the present application cannot be satisfied. Therefore, the four vertical coordinates are calculated through the formula so as to form the dual dynamic laser network. The first dynamics of the laser network with dual dynamics is caused by simple harmonic motion, and the second dynamics is caused by the movement of the robot, and the laser network with dual dynamics is also a great feature of the present application.

As described in the above steps S8-S10, the positions of the first laser receiver, the second laser receiver, the third laser receiver, and the fourth laser receiver preset on the food delivery robot are adjusted to the first coordinate position, the second coordinate position, the third coordinate position, and the fourth coordinate position, respectively, and the first laser receiver, the second laser receiver, the third laser receiver, and the fourth laser receiver are allowed to face the first table support, the second table support, the third table support, and the fourth table support, respectively, without being blocked; wherein the first coordinate position has an X-axis coordinate of X31, a Y-axis coordinate of Y31, and a Z-axis coordinate of Z41; the X-axis coordinate of the second coordinate position is X32, the Y-axis coordinate is Y32, and the Z-axis coordinate is Z42; the X-axis coordinate of the third coordinate position is X33, the Y-axis coordinate is Y33, and the Z-axis coordinate is Z43; the X-axis coordinate of the fourth coordinate position is X34, the Y-axis coordinate is Y34, and the Z-axis coordinate is Z44; activating the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver, and judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive laser signals periodically; if the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically, the motion state of the food delivery robot is still kept to move along the navigation track, and therefore the collision-preventing navigation process of the robot is completed.

Since four vertical coordinates have been calculated, which are the optimal vertical axis positions of the laser receiver, and the X-axis and Y-axis positions of the laser receiver and the corresponding laser transmitter should be the same, the three-dimensional spatial coordinate positions of the laser receiver can be obtained, i.e. the X-axis coordinate of the first coordinate position is X31, the Y-axis coordinate is Y31, and the Z-axis coordinate is Z41; the X-axis coordinate of the second coordinate position is X32, the Y-axis coordinate is Y32, and the Z-axis coordinate is Z42; the X-axis coordinate of the third coordinate position is X33, the Y-axis coordinate is Y33, and the Z-axis coordinate is Z43; the fourth coordinate position has an X-axis coordinate of X34, a Y-axis coordinate of Y34, and a Z-axis coordinate of Z44.

And then determining whether the laser network is blocked (the blocked means that there is a collision risk at the first intersection) by judging whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can all receive the laser signals periodically. The periodicity is due to the simple harmonic motion of the four hidden lenses (however, the simple harmonic motion is necessary because it is ensured that the laser is received by the laser receiver). If the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically, it is indicated that there is no collision risk in a certain area (in an area covered by the laser network), and therefore the motion state of the food delivery robot is still maintained to move along the navigation track, and the robot collision prevention navigation process is completed.

Thereby ensuring the safety of the robot at the expense of temporarily stopping the movement of the robot. Since the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver are not all capable of (i.e. at least one of) periodically receiving the laser signal, when the robot moves to the first intersection, there is a possibility that an object also moves to the same position, and thus a collision will occur. The meal delivery robot stops moving; and after the second interval time, judging the mode whether the first laser receiver, the second laser receiver, the third laser receiver and the fourth laser receiver can receive the laser signals periodically again to determine that the temporary obstacles (or possible collisions) leave from the corresponding area of the laser network, so that the motion state of the food delivery robot is maintained again to move along the navigation track on the premise that no collision occurs, and the collision-preventing navigation process of the robot is completed.

Therefore, the construction of the triple dynamic laser network is realized, and the robot collision is prevented. The first of the triple dynamic laser network is related to the simple harmonic motion of the lens, the second is related to the movement of the robot, and the third is related to the pre-detection sacrificial separable component, so that the whole laser network can move (of course, the shape can be changed, but the realization of the anti-collision function is not influenced). And the longitudinal dimension of the first intersection covered by the triple dynamic laser network cage is wider, so that the anti-collision effect is better.

According to the robot anti-collision navigation method with the pre-detection sacrificial separable component, the robot anti-collision accuracy is high and the cost is low through the design and the use of the pre-detection sacrificial separable component. The navigation process of the robot anti-collision comprises two main stages, namely a first main stage is a stage in which a pre-detection sacrificial separable part passes through a first intersection; the second main stage is the stage where the pre-probe sacrificial separable component has passed through the first intersection and formed a laser network. In the first main stage, the aim of preventing the robot from collision is fulfilled by detecting whether the sacrificial separable parts are damaged or not; in the second main stage, the purpose of robot collision prevention is realized by whether the laser network is blocked or not. Therefore, in the whole anti-collision process, the largest possible loss is only the prophetic sacrificial separable component per se, and the prophetic sacrificial separable component has lower value and is a replaceable component; and in the whole anti-collision process, a high-quality image collector does not need to be collected, and an image processing algorithm with high consumption of computing resources is not needed, so that the total cost is controllable and lower.

The embodiment of the application provides a robot anti-collision navigation device with a pre-detection sacrificial separable part, which is applied to a robot control terminal, wherein the robot control terminal is arranged on a food delivery robot, the pre-detection sacrificial separable part is arranged on the food delivery robot, and when the pre-detection sacrificial separable part is separated from the food delivery robot, the pre-detection sacrificial separable part is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

The operations performed by the above units correspond to the steps of the collision-proof navigation method for a robot with a pre-detection sacrificial separable component in the foregoing embodiment one by one, and are not described herein again.

The robot anti-collision navigation device with the pre-detection sacrificial separable part has the advantages that the accuracy of robot anti-collision is high through the design and the use of the pre-detection sacrificial separable part, and the cost is low. The navigation process of the robot anti-collision comprises two main stages, namely a first main stage is a stage in which a pre-detection sacrificial separable part passes through a first intersection; the second main stage is the stage where the pre-probe sacrificial separable component has passed through the first intersection and formed a laser network. In the first main stage, the aim of preventing the robot from collision is fulfilled by detecting whether the sacrificial separable parts are damaged or not; in the second main stage, the purpose of robot collision prevention is realized by whether the laser network is blocked or not. Therefore, in the whole anti-collision process, the largest possible loss is only the prophetic sacrificial separable component per se, and the prophetic sacrificial separable component has lower value and is a replaceable component; and in the whole anti-collision process, a high-quality image collector does not need to be collected, and an image processing algorithm with high consumption of computing resources is not needed, so that the total cost is controllable and lower.

Referring to fig. 2, an embodiment of the present invention further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for storing data used by a navigation method of collision prevention of a robot with a pre-detection sacrificial detachable component. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of collision avoidance navigation of a robot having a pre-emptive sacrificial separable component.

The processor executes the above-mentioned navigation method for collision prevention of a robot with a pre-detection sacrificial separable component, wherein the steps included in the method correspond to the steps of the navigation method for collision prevention of a robot with a pre-detection sacrificial separable component in the foregoing embodiment one to one, and are not described herein again.

It will be understood by those skilled in the art that the structures shown in the drawings are only block diagrams of some of the structures associated with the embodiments of the present application and do not constitute a limitation on the computer apparatus to which the embodiments of the present application may be applied.

The computer equipment of the application ensures that the robot has high anti-collision accuracy and low cost through the design and the use of the pre-detection sacrificial separable part. The navigation process of the robot anti-collision comprises two main stages, namely a first main stage is a stage in which a pre-detection sacrificial separable part passes through a first intersection; the second main stage is the stage where the pre-probe sacrificial separable component has passed through the first intersection and formed a laser network. In the first main stage, the aim of preventing the robot from collision is fulfilled by detecting whether the sacrificial separable parts are damaged or not; in the second main stage, the purpose of robot collision prevention is realized by whether the laser network is blocked or not. Therefore, in the whole anti-collision process, the largest possible loss is only the prophetic sacrificial separable component per se, and the prophetic sacrificial separable component has lower value and is a replaceable component; and in the whole anti-collision process, a high-quality image collector does not need to be collected, and an image processing algorithm with high consumption of computing resources is not needed, so that the total cost is controllable and lower.

An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for navigating a robot collision avoidance system with a pre-detection sacrificial separable component is implemented, where the steps included in the method correspond to the steps of the method for navigating a robot collision avoidance system with a pre-detection sacrificial separable component in the foregoing embodiment one to one, and are not described herein again.

The computer readable storage medium of the application enables the robot anti-collision accuracy to be high and the cost to be low through the design and the use of the pre-detection sacrificial separable part. The navigation process of the robot anti-collision comprises two main stages, namely a first main stage is a stage in which a pre-detection sacrificial separable part passes through a first intersection; the second main stage is the stage where the pre-probe sacrificial separable component has passed through the first intersection and formed a laser network. In the first main stage, the aim of preventing the robot from collision is fulfilled by detecting whether the sacrificial separable parts are damaged or not; in the second main stage, the purpose of robot collision prevention is realized by whether the laser network is blocked or not. Therefore, in the whole anti-collision process, the largest possible loss is only the prophetic sacrificial separable component per se, and the prophetic sacrificial separable component has lower value and is a replaceable component; and in the whole anti-collision process, a high-quality image collector does not need to be collected, and an image processing algorithm with high consumption of computing resources is not needed, so that the total cost is controllable and lower.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware associated with a computer program or instructions, the computer program can be stored in a non-volatile computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

Claims

1. A robot collision-prevention navigation method with a pre-detection sacrificial separable component is characterized by being applied to a robot control terminal, wherein the robot control terminal is arranged on a meal delivery robot, the pre-detection sacrificial separable component is arranged on the meal delivery robot, and when the pre-detection sacrificial separable component is separated from the meal delivery robot, the pre-detection sacrificial separable component is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

2. The method for navigating the robot anti-collision with the pre-detection sacrificial separable part according to claim 1, wherein after step S3 of judging whether the wireless communication between the robot control terminal and the pre-detection sacrificial separable part is interrupted in real time, the method comprises:

3. The method of claim 1, wherein the pre-detection sacrificial separable component is provided with four lens receiving slots and a lifting mechanism, and when the lens is in a hidden state, the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are respectively located in the four lens receiving slots; when the lenses are in the unfolding state, the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens are sequentially lifted from the four lens accommodating grooves by the lifting mechanism; the step S4 of sending a lens unfolding instruction to the sacrificial separable component to unfold the first hidden lens, the second hidden lens, the third hidden lens and the fourth hidden lens preset on the sacrificial separable component to form a first resting state includes:

4. The method for navigating for collision avoidance by a robot having a pre-probe sacrificial separable component as recited in claim 1, wherein said step S9 of activating said first, second, third and fourth laser receivers and determining if said first, second, third and fourth laser receivers are all capable of periodically receiving laser signals comprises:

5. The collision-prevention robot navigation method with the pre-detection sacrificial separable part according to claim 1, wherein the step S10 of still maintaining the motion state of the food delivery robot to move along the navigation track to complete the navigation process of collision-prevention robot comprises:

6. A robot anti-collision navigation device with a pre-detection sacrificial separable part is characterized by being applied to a robot control terminal, wherein the robot control terminal is arranged on a meal delivery robot, the pre-detection sacrificial separable part is arranged on the meal delivery robot, and when the pre-detection sacrificial separable part is separated from the meal delivery robot, the pre-detection sacrificial separable part is in wireless communication connection with the robot control terminal; four hidden lenses are preset on the pre-detection sacrificial separable part, and the four hidden lenses can be unfolded by the pre-detection sacrificial separable part after a lens unfolding instruction is received; the method comprises the following steps:

7. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.