CN112991527A - Target object avoiding method and device, storage medium and electronic device - Google Patents
Target object avoiding method and device, storage medium and electronic device Download PDFInfo
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- CN112991527A CN112991527A CN202110180718.3A CN202110180718A CN112991527A CN 112991527 A CN112991527 A CN 112991527A CN 202110180718 A CN202110180718 A CN 202110180718A CN 112991527 A CN112991527 A CN 112991527A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
The invention provides a target object avoiding method and device, a storage medium and an electronic device, wherein the method comprises the following steps: determining a target object needing to be avoided by the robot in a traveling area; acquiring a first three-dimensional point-surface model of the target object, and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts; respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models; and under the condition that the intersection exists, adjusting a target moving component corresponding to a second three-dimensional point-surface model which intersects with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object. By adopting the technical scheme, the problem that the part of the robot cannot be adjusted in the prior art so that the robot can successfully avoid obstacles is solved.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of communications, and in particular, to a method and an apparatus for avoiding a target object, a storage medium, and an electronic apparatus.
[ background of the invention ]
With the rapid development of robot technology, robots have now been applied to various fields of use for various industries. In the use process of the robot, the robot avoids obstacles, which is an important technology in the robot technology, and is very important for the application of the robot in various environments. In the prior art, the robot is regarded as a big square, and the square does not touch an obstacle, so that the robot can safely pass through to complete the work of the robot. However, in some complex environments and special fields, the terrain is complex, the number of obstacles is large, and the passage through which the robot passes is narrow. In the application scenario of the robot, the robot can not be regarded as a large block any more, and the robot can only safely pass through a complex and narrow passage by flexibly adjusting the components of the robot. If the robot is also understood as an integral block, the robot is difficult to pass through a region with complex terrain, and the prior art cannot adjust the components of the robot, so that the robot can successfully avoid the problem of obstacles.
Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.
[ summary of the invention ]
The invention aims to provide a target object avoiding method and device, a storage medium and an electronic device, which at least solve the problem that the parts of a robot cannot be adjusted in the prior art, so that the robot can successfully avoid obstacles.
The purpose of the invention is realized by the following technical scheme:
according to an alternative embodiment of the present invention, there is provided a target object evasion method, the method comprising: determining a target object needing to be avoided by the robot in a traveling area; acquiring a first three-dimensional point-surface model of the target object, and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts; respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models; and under the condition that the intersection exists, adjusting a target moving component corresponding to a second three-dimensional point-surface model which intersects with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
Optionally, obtaining a second three-dimensional point-plane model corresponding to each moving part of the robot includes: determining position information of each moving part, a part structure of each moving part, and a control instruction sequence of the robot in a preset time period after the current time, wherein the control instruction sequence is used for indicating operations to be executed by the robot at different times in the preset time period; and determining a second three-dimensional point-surface model corresponding to each moving component according to the position information, the component structure and the control instruction sequence so as to obtain a plurality of second three-dimensional point-surface models corresponding to the plurality of moving components.
Optionally, determining the position information of each moving part includes: acquiring positioning and map building information detected by a perception intelligent algorithm of the robot, acquiring a rotation angle of each moving part detected by an encoder respectively arranged on each moving part, and acquiring data detected by an inertial measurement unit of the robot; and determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data.
Optionally, determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data includes: calculating the positioning and map construction information, the rotation angle and the data through a Kalman filter to obtain a calculation result; and determining the position information of each moving part according to the operation result.
Optionally, respectively determining whether the first three-dimensional point-and-plane model intersects with any one of the second three-dimensional point-and-plane models includes: and for any second three-dimensional storefront model, determining whether the first three-dimensional point-surface model and any second three-dimensional point-surface model have intersection at different moments according to a convex hull intersection algorithm.
Optionally, adjusting a target moving component corresponding to a second three-dimensional point-surface model intersecting with the first three-dimensional point-surface model to enable the robot to successfully avoid the target object includes: adjusting the target moving part to cause the robot to successfully avoid the target object by one of: increasing the target moving part to a target position, prohibiting the target moving part from moving, and adjusting the moving direction of the target moving part.
Optionally, after determining whether there is an intersection between the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models, the method further includes: and in the case of no intersection, instructing the robot to sequentially execute the control instruction sequence in the preset time period.
According to yet another alternative embodiment of the present invention, there is provided an evasive device for a target object, the method including: the first determination module is used for determining a target object needing to be avoided in a traveling area of the robot; the acquisition module is used for acquiring a first three-dimensional point-surface model of the target object and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts; the second determination module is used for respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models; and the adjusting module is used for adjusting a target moving part corresponding to a second three-dimensional point-surface model intersected with the first three-dimensional point-surface model under the condition that the first three-dimensional point-surface model is intersected with the second three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
According to yet another alternative embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is arranged to perform the method of evasive of a target object as described in any of the above when run.
According to yet another alternative embodiment of the present invention, there is provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the method of target object avoidance described in any of the above.
Compared with the prior art, the invention has the following beneficial effects: the method comprises the steps of acquiring a first three-dimensional point-surface model of a target object and a second three-dimensional point-surface model corresponding to each moving component of the robot under the condition that the target object needing to be avoided in a traveling area of the robot is determined, then respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models, and if the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models, adjusting a target moving component corresponding to the second three-dimensional point-surface model intersected with the first three-dimensional point-surface model, so that the robot can successfully avoid the target object. Therefore, the problem that the part of the robot cannot be adjusted in the prior art so that the robot can successfully avoid the obstacle is solved, the robot can be flexibly controlled to avoid the obstacle, and the robot can be applied to scenes with complex terrains and many obstacles.
[ description of the drawings ]
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a robot of an evasive method of a target object according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of evasive of a target object according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram of a method of evasive action on a target object according to an embodiment of the invention;
fig. 4 is a block diagram illustrating an evading device for a target object according to an embodiment of the present invention.
[ detailed description ] embodiments
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided by the embodiments of the present invention may be executed in a robot or a similar computing device. Taking a robot as an example, fig. 1 is a hardware block diagram of a robot of an evasive method of a target object according to an embodiment of the present invention. As shown in fig. 1, the robot may include one or more processors 102 (only one is shown in fig. 1), wherein the processors 102 may include, but are not limited to, a Microprocessor (MPU), a Programmable Logic Device (PLD), and a memory 104 for storing data, and optionally, the robot may further include a transmission device 106 for communication function and an input/output device 108, it is understood by those skilled in the art that the structure shown in fig. 1 is merely illustrative and does not limit the structure of the robot.
The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the target object avoiding method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, which may be connected to the robot over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the robot. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In this embodiment, an evasive method operating on the target object is provided, and fig. 2 is a flowchart of an evasive method of a target object according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, determining a target object needing to be avoided by the robot in a traveling area;
step S204, a first three-dimensional point-surface model of the target object is obtained, and a second three-dimensional point-surface model corresponding to each moving part of the robot is obtained, wherein the robot is provided with a plurality of moving parts;
step S206, respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models;
and step S208, under the condition that the intersection exists, adjusting a target moving part corresponding to a second three-dimensional point-surface model which intersects with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
Through the technical scheme, under the condition that a target object needing to be avoided in a traveling area of the robot is determined, the first three-dimensional point-surface model of the target object and the second three-dimensional point-surface model corresponding to each moving component of the robot are obtained, then whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models is determined respectively, and if the intersection exists, the target moving component corresponding to the second three-dimensional point-surface model intersected with the first three-dimensional point-surface model is adjusted, so that the robot can successfully avoid the target object. Therefore, the problem that the robot can successfully avoid obstacles due to the fact that parts of the robot cannot be adjusted in the prior art is solved, and the robot can be applied to scenes with complex terrains and many obstacles.
The robot according to the embodiment of the present invention may be a biped robot, a tripodia robot, or a quadruped robot, but the embodiment of the present invention is not limited thereto.
The implementation method of step S204 is various, and in an optional embodiment, the second three-dimensional point-plane model corresponding to each moving component of the robot is obtained, which may be implemented by the following scheme: determining position information of each moving part, a part structure of each moving part, and a control instruction sequence of the robot in a preset time period after the current time, wherein the control instruction sequence is used for indicating operations to be executed by the robot at different times in the preset time period; and determining a second three-dimensional point-surface model corresponding to each moving component according to the position information, the component structure and the control instruction sequence so as to obtain a plurality of second three-dimensional point-surface models corresponding to the plurality of moving components.
It is understood that, for example, in a four-footed robot, each moving part in the four-footed robot needs to determine the second three-dimensional point-plane model, the determination process of the three-dimensional point-plane models of the four moving parts may be performed synchronously or sequentially, and the moving parts may be understood as structural members of the upper leg and the foot of the robot.
It should be noted that, the technical solution of the embodiment of the present invention: for the robot with the environment perception capability, collision detection is carried out on areas or obstacles which cannot be touched by each part in the advancing process of the robot, and the moving parts of the robot are adjusted in time according to the detection result, so that the walking safety of the quadruped robot in the complex ground environment is ensured. According to the embodiment of the invention, the robot can accurately avoid the obstacle through the first three-dimensional point-surface model of the target object (the obstacle or the area which can not be touched by the robot) and the second three-dimensional point-surface model corresponding to each moving part of the robot. In order to achieve the above object, in an embodiment of the present invention, a first three-dimensional point-surface model of a target object and a second three-dimensional point-surface model corresponding to each moving part of a robot are required to be obtained, where one second three-dimensional point-surface model corresponds to each moving part of the robot, and a plurality of second three-dimensional point-surface models are obtained in the embodiment of the present invention.
In order to determine the second three-dimensional point-and-plane model corresponding to each moving part of the robot, the position information of each moving part, the part structure of each moving part, and the control instruction sequence of the robot within a preset time period after the current time are acquired. It should be noted that the control instruction sequence is used to instruct the robot to perform operations at different times within a preset time period, and a series of control instruction sequences within the preset time period after the current time may be taken from a robot control algorithm, where the number of the control instruction sequences is usually 5 to 1000. The second three-dimensional point-surface model corresponding to each moving part can be determined through the position information, the part structure and the control instruction sequence of each moving part of the robot, and then a plurality of second three-dimensional point-surface models corresponding to the plurality of moving parts can be obtained. In the method for obtaining the second three-dimensional point-and-plane model, the second three-dimensional point-and-plane model corresponding to the moving component at each time in the control command sequence is inversely calculated from the position information of the moving component and the component structure.
In an alternative embodiment, determining the position information of each of the moving parts comprises: acquiring positioning and map building information detected by a perception intelligent algorithm of the robot, acquiring a rotation angle of each moving part detected by an encoder respectively arranged on each moving part, and acquiring data detected by an inertial measurement unit of the robot; and determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data.
In order to specify the second three-dimensional point-and-plane model corresponding to each moving part of the robot, it is necessary to acquire position information of each moving part. In order to acquire the position information of each moving member, it is necessary to acquire the positioning and map construction information detected by the robot, the rotation angle of each moving part of the robot, and the robot inertia data (equivalent to the data detected by the inertia measurement unit of the above-described embodiment). It should be noted that the positioning and mapping information may be obtained by detection of a perception intelligent algorithm of the robot, the rotation angle of each moving part of the robot may be obtained by detection of an encoder respectively arranged on each moving part, and the inertial data of the robot may be obtained by detection of an inertial measurement unit of the robot. The robot inertial data is data on the current action or motion of the robot. According to the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot, the position information of each moving part of the robot can be determined.
In an alternative embodiment, determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data can be implemented by: calculating the positioning and map construction information, the rotation angle and the data through a Kalman filter to obtain a calculation result; and determining the position information of each moving part according to the operation result.
It should be noted that, in the embodiment of the present invention, the positioning and mapping information, the rotation angle of each moving part of the robot, and the inertial data of the robot may be calculated through a kalman filter, so as to obtain the position information of each moving part of the robot. In the embodiment of the invention, the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot are filtered through the Kalman filter, and the interference in the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot is filtered. And simultaneously, performing optimal estimation on the positioning and map construction information, the rotation angle of each moving part of the robot and the inertial data of the robot through a linear system state equation in a Kalman filter, and further obtaining the position information of each moving part of the robot.
In the implementation scheme of step S206, it is respectively determined whether the first three-dimensional point-plane model intersects with any one of the second three-dimensional point-plane models, and the method may be implemented by: and for any second three-dimensional storefront model, determining whether the first three-dimensional point-surface model and any second three-dimensional point-surface model have intersection at different moments according to a convex hull intersection algorithm.
It should be noted that, after the first three-dimensional point-plane model and the plurality of second three-dimensional point-plane models are obtained, the embodiment of the present invention determines whether the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models intersect at different times through a convex hull intersection algorithm, and further determines whether an obstacle exists or not and whether the robot can pass through. It should be noted that, in the embodiment of the present invention, the first three-dimensional point-and-plane model and the plurality of second three-dimensional point-and-plane models are actually sets of spatial coordinates of points. Each model corresponds to a set of spatial coordinates for points on a part of each moving part of the robot or target object. And (3) calculating a set of space coordinates of points on the target object corresponding to the first three-dimensional point-surface model and a set of space coordinates of each moving part of the robot corresponding to any second three-dimensional point-surface model, which are related to the points, by a convex hull intersection algorithm, so that whether the first three-dimensional point-surface model and any second three-dimensional point-surface model are intersected or not can be determined.
It should be noted that, it is determined whether the intersection exists between the first three-dimensional point-surface model and any one of the second three-dimensional point-surface models, and it is actually a prejudgment on whether the robot collides with an obstacle at the target position after the robot is about to reach the target position. The method for obtaining the second three-dimensional point-and-surface model is to inversely calculate the second three-dimensional point-and-surface model corresponding to the moving component at each moment in the control command sequence according to the position information and the component structure of the moving component. That is, the robot determines whether the second three-dimensional point-surface models of the moving parts of the robot have an intersection with the first three-dimensional point-surface model of the obstacle at the target position (the model corresponds to a set of spatial coordinates of points) according to the control command sequence, if the intersection exists, it is indicated that the robot may collide with the obstacle, and it is necessary to adjust the moving parts of the robot and the robot so that the adjusted second three-dimensional point-surface models of the moving parts do not have an intersection with the first three-dimensional point-surface model of the obstacle at the target position, and the robot passes safely.
Optionally, adjusting a target moving component corresponding to a second three-dimensional point-surface model intersecting with the first three-dimensional point-surface model to enable the robot to successfully avoid the target object includes: adjusting the target moving part to cause the robot to successfully avoid the target object by one of: increasing the target moving part to a target position, prohibiting the target moving part from moving, and adjusting the moving direction of the target moving part.
It should be noted that, if there is an intersection between the second three-dimensional point-plane model of each moving part of the robot and the first three-dimensional point-plane model of the obstacle at the target position, it is necessary to adjust the multiple moving parts of the robot and the robot if the robot may collide with the obstacle, and the adjustment methods for adjusting the multiple moving parts of the robot may include, but are not limited to, the following: (1) the height adjustment is realized in a specific mode that the target moving part can be adjusted to a target position (the barrier is at a lower position, and the target moving part and the barrier are staggered up and down); (2) forbidding movement, wherein the specific implementation mode is that the target moving part is forbidden to move (the channel is narrow, and the target moving part collides with an obstacle if moving); (3) adjusting the moving direction, wherein the specific implementation mode is to adjust the moving direction of the target moving part (the robot selects another channel to pass through); (4) the method is characterized in that the method is realized by adjusting the foot-drop point of a moving part of the robot to the left or the right in order to avoid obstacles.
It should be noted that the above four adjustment manners may be used in combination, and the embodiment of the present invention does not limit this, and in an optional embodiment, the height adjustment may be performed first, and if the obstacle still cannot be avoided, the adjustment may be attempted by dropping to the foot, and if the obstacle still cannot be avoided, the movement may be attempted to be prohibited.
After step S206 is executed, that is, after it is determined whether there is an intersection between the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models, the method further includes: and in the case of no intersection, instructing the robot to sequentially execute the control instruction sequence in the preset time period.
It should be noted that if there is no intersection between the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models, that is, there is no intersection between the second three-dimensional point-plane model of each moving part of the robot and the first three-dimensional point-plane model of the obstacle at the target position, it indicates that the robot does not collide with the obstacle, and the robot can pass through. In the above case, the robot may execute the control instruction sequences within the preset time period in sequence.
In order to better understand the technical scheme, the invention also provides an alternative embodiment for explaining the technical scheme.
Fig. 3 is a schematic flowchart of an evasive method for a target object according to an embodiment of the present invention, as shown in fig. 3:
s302, receiving environment information sent by an upper layer perception algorithm, wherein the environment information comprises a 2D map, three-dimensional environment information, position information of a robot and information of an article (equivalent to a target object of the embodiment) needing the robot to accurately avoid obstacles;
s304, establishing a first three-dimensional point-surface model of the target object;
s306, acquiring the position information, the component structure and the control instruction sequence of each moving component of the robot;
s308, establishing a second three-dimensional point-surface model corresponding to each moving part of the robot to obtain a plurality of second three-dimensional point-surface models;
s310, determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models;
s312, if the intersection exists, adjusting a target moving part corresponding to a second three-dimensional point-surface model intersected with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object;
and S314, if no intersection exists, continuing to execute the control instruction sequence.
Through the technical scheme, under the condition that a target object needing to be avoided in a traveling area of the robot is determined, the first three-dimensional point-surface model of the target object and the second three-dimensional point-surface model corresponding to each moving component of the robot are obtained, then whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models is determined respectively, and if the intersection exists, the target moving component corresponding to the second three-dimensional point-surface model intersected with the first three-dimensional point-surface model is adjusted, so that the robot can successfully avoid the target object. Therefore, the problem that the robot can successfully avoid obstacles due to the fact that parts of the robot cannot be adjusted in the prior art is solved, and the robot can be applied to scenes with complex terrains and many obstacles.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be substantially embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
In this embodiment, a device for avoiding a target object is further provided, and the device for avoiding a target object is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of an evading device for a target object according to an alternative embodiment of the present invention, as shown in fig. 4:
the first determination module 40 is used for determining a target object needing to be avoided in a traveling area of the robot;
an obtaining module 42, configured to obtain a first three-dimensional point-and-plane model of the target object, and obtain a second three-dimensional point-and-plane model corresponding to each moving component of the robot, where the robot is provided with multiple moving components;
a second determining module 44, configured to respectively determine whether there is an intersection between the first three-dimensional point-and-plane model and any one of the second three-dimensional point-and-plane models;
and an adjusting module 46, configured to, in the case that there is an intersection, adjust a target moving component corresponding to a second three-dimensional point-and-plane model that has an intersection with the first three-dimensional point-and-plane model, so that the robot successfully avoids the target object.
Through the technical scheme, under the condition that a target object needing to be avoided in a traveling area of the robot is determined, the first three-dimensional point-surface model of the target object and the second three-dimensional point-surface model corresponding to each moving component of the robot are obtained, then whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models is determined respectively, and if the intersection exists, the target moving component corresponding to the second three-dimensional point-surface model intersected with the first three-dimensional point-surface model is adjusted, so that the robot can successfully avoid the target object. Therefore, the problem that the robot can successfully avoid obstacles due to the fact that parts of the robot cannot be adjusted in the prior art is solved, and the robot can be applied to scenes with complex terrains and many obstacles.
Optionally, the obtaining module 42 is further configured to determine position information of each moving component, a component structure of each moving component, and a control instruction sequence of the robot within a preset time period after the current time, where the control instruction sequence is used to instruct the robot to perform operations to be performed at different times within the preset time period; and determining a second three-dimensional point-surface model corresponding to each moving component according to the position information, the component structure and the control instruction sequence so as to obtain a plurality of second three-dimensional point-surface models corresponding to the plurality of moving components.
It is understood that, for example, in a four-footed robot, each moving part in the four-footed robot needs to determine the second three-dimensional point-plane model, the determination process of the three-dimensional point-plane models of the four moving parts may be performed synchronously or sequentially, and the moving parts may be understood as structural members of the upper leg and the foot of the robot.
It should be noted that, the technical solution of the embodiment of the present invention: for the robot with the environment perception capability, collision detection is carried out on areas or obstacles which cannot be touched by each part in the advancing process of the robot, and the moving parts of the robot are adjusted in time according to the detection result, so that the walking safety of the quadruped robot in the complex ground environment is ensured. According to the embodiment of the invention, the robot can accurately avoid the obstacle through the first three-dimensional point-surface model of the target object (the obstacle or the area which can not be touched by the robot) and the second three-dimensional point-surface model corresponding to each moving part of the robot. In order to achieve the above object, in an embodiment of the present invention, a first three-dimensional point-surface model of a target object and a second three-dimensional point-surface model corresponding to each moving part of a robot are required to be obtained, where one second three-dimensional point-surface model corresponds to each moving part of the robot, and a plurality of second three-dimensional point-surface models are obtained in the embodiment of the present invention.
In order to determine the second three-dimensional point-and-plane model corresponding to each moving part of the robot, the position information of each moving part, the part structure of each moving part, and the control instruction sequence of the robot within a preset time period after the current time are acquired. It should be noted that the control instruction sequence is used to instruct the robot to perform operations at different times within a preset time period, and a series of control instruction sequences within the preset time period after the current time may be taken from a robot control algorithm, where the number of the control instruction sequences is usually 5 to 1000. The second three-dimensional point-surface model corresponding to each moving part can be determined through the position information, the part structure and the control instruction sequence of each moving part of the robot, and then a plurality of second three-dimensional point-surface models corresponding to the plurality of moving parts can be obtained. In the method for obtaining the second three-dimensional point-and-plane model, the second three-dimensional point-and-plane model corresponding to the moving component at each time in the control command sequence is inversely calculated from the position information of the moving component and the component structure. That is, the control command sequence of the robot is a plurality of commands for controlling the robot based on the second three-dimensional point-and-plane model within a preset time period after the current time, and therefore, the second three-dimensional point-and-plane model within the preset time period after the current time can be back-calculated by the control command sequence.
Optionally, the obtaining module 42 is further configured to obtain positioning and mapping information detected by a perception intelligence algorithm of the robot, obtain a rotation angle of each moving part detected by an encoder respectively arranged on each moving part, and obtain data detected by an inertial measurement unit of the robot; and determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data.
In order to specify the second three-dimensional point-and-plane model corresponding to each moving part of the robot, it is necessary to acquire position information of each moving part. In order to acquire the position information of each moving part, it is necessary to acquire the positioning and map construction information detected by the robot, the rotation angle of each moving part of the robot, and the robot inertia data (the data). It should be noted that the positioning and mapping information may be obtained by detection of a perception intelligent algorithm of the robot, the rotation angle of each moving part of the robot may be obtained by detection of an encoder respectively arranged on each moving part, and the inertial data of the robot may be obtained by detection of an inertial measurement unit of the robot. The robot inertial data is data on the current action or motion of the robot. And determining the position information of each moving part of the robot according to the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot.
Optionally, the obtaining module 42 is further configured to perform an operation on the positioning and map building information, the rotation angle, and the data through a kalman filter to obtain an operation result; and determining the position information of each moving part according to the operation result.
It should be noted that, in the embodiment of the present invention, the positioning and mapping information, the rotation angle of each moving part of the robot, and the inertial data of the robot may be calculated through a kalman filter, so as to obtain the position information of each moving part of the robot. In the embodiment of the invention, the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot are filtered through the Kalman filter, and the interference in the positioning and mapping information, the rotation angle of each moving part of the robot and the inertia data of the robot is filtered. And simultaneously, performing optimal estimation on the positioning and map construction information, the rotation angle of each moving part of the robot and the inertial data of the robot through a linear system state equation in a Kalman filter, and further obtaining the position information of each moving part of the robot.
Optionally, the second determining module 44 is further configured to determine, according to a convex hull intersection algorithm, whether there is an intersection between the first three-dimensional point-and-face model and any of the second three-dimensional point-and-face models at the different time.
It should be noted that after the first three-dimensional point-plane model and the plurality of second three-dimensional point-plane models are obtained, the method determines whether the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models intersect at different times through a convex hull intersection algorithm, and further determines whether an obstacle exists or not and whether the robot can pass through. In the present invention, the first three-dimensional point-surface model and the plurality of second three-dimensional point-surface models are actually sets of spatial coordinates of points. Each model corresponds to a set of spatial coordinates for points on a part of each moving part of the robot or target object. And (3) calculating a set of space coordinates of points on the target object corresponding to the first three-dimensional point-surface model and a set of space coordinates of each moving part of the robot corresponding to any second three-dimensional point-surface model, which are related to the points, by a convex hull intersection algorithm, so that whether the first three-dimensional point-surface model and any second three-dimensional point-surface model are intersected or not can be determined.
It should be noted that, it is determined whether the intersection exists between the first three-dimensional point-surface model and any one of the second three-dimensional point-surface models, and it is actually a prejudgment on whether the robot collides with an obstacle at the target position after the robot is about to reach the target position. The method for obtaining the second three-dimensional point-and-surface model is to inversely calculate the second three-dimensional point-and-surface model corresponding to the moving component at each moment in the control command sequence according to the position information and the component structure of the moving component. That is, the robot determines whether the second three-dimensional point-surface models of the moving parts of the robot have an intersection with the first three-dimensional point-surface model of the obstacle at the target position (the model corresponds to a set of spatial coordinates of points) according to the control command sequence, if the intersection exists, it is indicated that the robot may collide with the obstacle, and it is necessary to adjust the moving parts of the robot and the robot so that the adjusted second three-dimensional point-surface models of the moving parts do not have an intersection with the first three-dimensional point-surface model of the obstacle at the target position, and the robot passes safely.
Optionally, the adjusting module 46 is further configured to adjust the target moving component to make the robot successfully avoid the target object by one of the following manners: increasing the target moving part to a target position, prohibiting the target moving part from moving, and adjusting the moving direction of the target moving part.
It should be noted that, if there is an intersection between the second three-dimensional point-plane model of each moving part of the robot and the first three-dimensional point-plane model of the obstacle at the target position, it is necessary to adjust the multiple moving parts of the robot and the robot if the robot may collide with the obstacle, and the adjustment methods for adjusting the multiple moving parts of the robot may include, but are not limited to, the following: (1) the height adjustment is realized in a specific mode that the target moving part can be adjusted to a target position (the barrier is at a lower position, and the target moving part and the barrier are staggered up and down); (2) forbidding movement, wherein the specific implementation mode is that the target moving part is forbidden to move (the channel is narrow, and the target moving part collides with an obstacle if moving); (3) adjusting the moving direction, wherein the specific implementation mode is to adjust the moving direction of the target moving part (the robot selects another channel to pass through); (4) the method is characterized in that the method is realized by adjusting the foot-drop point of a moving part of the robot to the left or the right in order to avoid obstacles.
It should be noted that the above four adjustment manners may be used in combination, and the embodiment of the present invention does not limit this, and in an optional embodiment, the height adjustment may be performed first, and if the obstacle still cannot be avoided, the adjustment may be attempted by dropping to the foot, and if the obstacle still cannot be avoided, the movement may be attempted to be prohibited.
Optionally, the adjusting module 46 is further configured to instruct the robot to sequentially execute the control instruction sequences within the preset time period in the case that there is no intersection.
It should be noted that if there is no intersection between the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models, that is, there is no intersection between the second three-dimensional point-plane model of each moving part of the robot and the first three-dimensional point-plane model of the obstacle at the target position, it indicates that the robot does not collide with the obstacle, and the robot can pass through. In the above case, the robot may execute the control instruction sequences within the preset time period in sequence.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, determining a target object needing to be avoided by the robot in the traveling area;
s2, acquiring a first three-dimensional point-surface model of the target object and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts;
s3, respectively determining whether the first three-dimensional point-surface model intersects with any one of the second three-dimensional point-surface models;
and S4, if the intersection exists, adjusting a target moving component corresponding to a second three-dimensional point-surface model which is intersected with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a U disk, a read only memory ROM, a random access memory RAM, a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, determining a target object needing to be avoided by the robot in the traveling area;
s2, acquiring a first three-dimensional point-surface model of the target object and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts;
s3, respectively determining whether the first three-dimensional point-surface model intersects with any one of the second three-dimensional point-surface models;
and S4, if the intersection exists, adjusting a target moving component corresponding to a second three-dimensional point-surface model which is intersected with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of evasion of a target object, the method comprising:
determining a target object needing to be avoided by the robot in a traveling area;
acquiring a first three-dimensional point-surface model of the target object, and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts;
respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models;
and under the condition that the intersection exists, adjusting a target moving component corresponding to a second three-dimensional point-surface model which intersects with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
2. An evasive method for a target object as recited in claim 1, wherein: acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the second three-dimensional point-surface model comprises the following steps:
determining position information of each moving part, a part structure of each moving part, and a control instruction sequence of the robot in a preset time period after the current time, wherein the control instruction sequence is used for indicating operations to be executed by the robot at different times in the preset time period;
and determining a second three-dimensional point-surface model corresponding to each moving component according to the position information, the component structure and the control instruction sequence so as to obtain a plurality of second three-dimensional point-surface models corresponding to the plurality of moving components.
3. An evasive method for a target object as recited in claim 2, wherein: determining position information for each of the moving parts, comprising:
acquiring positioning and map building information detected by a perception intelligent algorithm of the robot, acquiring a rotation angle of each moving part detected by an encoder respectively arranged on each moving part, and acquiring data detected by an inertial measurement unit of the robot;
and determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data.
4. An evasive method for a target object as recited in claim 3, wherein: determining the position information of each mobile component according to the positioning and mapping information, the rotation angle and the data, comprising:
calculating the positioning and map construction information, the rotation angle and the data through a Kalman filter to obtain a calculation result;
and determining the position information of each moving part according to the operation result.
5. An evasive method for a target object as recited in claim 2, wherein: respectively determining whether the first three-dimensional point-surface model intersects with any one of the second three-dimensional point-surface models, including:
and for any second three-dimensional storefront model, determining whether the first three-dimensional point-surface model and any second three-dimensional point-surface model have intersection at different moments according to a convex hull intersection algorithm.
6. An evasive method for a target object as recited in claim 1, wherein: adjusting a target moving part corresponding to a second three-dimensional point-surface model intersected with the first three-dimensional point-surface model so as to enable the robot to successfully avoid the target object, wherein the method comprises the following steps:
adjusting the target moving part to cause the robot to successfully avoid the target object by one of:
increasing the target moving part to a target position, prohibiting the target moving part from moving, and adjusting the moving direction of the target moving part.
7. An evasive method for a target object as recited in claim 2, wherein: after determining whether there is an intersection between the first three-dimensional point-plane model and any one of the second three-dimensional point-plane models, the method further includes:
and in the case of no intersection, instructing the robot to sequentially execute the control instruction sequence in the preset time period.
8. An avoidance apparatus for a target object, comprising:
the first determination module is used for determining a target object needing to be avoided in a traveling area of the robot;
the acquisition module is used for acquiring a first three-dimensional point-surface model of the target object and acquiring a second three-dimensional point-surface model corresponding to each moving part of the robot, wherein the robot is provided with a plurality of moving parts;
the second determination module is used for respectively determining whether the first three-dimensional point-surface model is intersected with any one of the second three-dimensional point-surface models;
and the adjusting module is used for adjusting a target moving part corresponding to a second three-dimensional point-surface model intersected with the first three-dimensional point-surface model under the condition that the first three-dimensional point-surface model is intersected with the second three-dimensional point-surface model so as to enable the robot to successfully avoid the target object.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 7 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 7.
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| CN202210261795.6A CN114742960A (en) | 2021-02-08 | 2021-02-08 | Target object avoiding method and device, storage medium and electronic device |
| CN202110180718.3A CN112991527B (en) | 2021-02-08 | 2021-02-08 | Target object avoiding method and device, storage medium and electronic device |
| PCT/CN2021/137063 WO2022166397A1 (en) | 2021-02-08 | 2021-12-10 | Method and apparatus for avoiding target object, storage medium and electronic apparatus |
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| WO2022166397A1 (en) * | 2021-02-08 | 2022-08-11 | 追觅创新科技(苏州)有限公司 | Method and apparatus for avoiding target object, storage medium and electronic apparatus |
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Effective date of registration: 20221123 Address after: No.018, 8th floor, building 6, No.33 yard, middle Xierqi Road, Haidian District, Beijing 100085 Patentee after: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Patentee after: Pursuit innovation technology (Suzhou) Co.,Ltd. Address before: 215104 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Pursuit innovation technology (Suzhou) Co.,Ltd. |