CN113001545A - Robot control method and device and robot - Google Patents
Robot control method and device and robot Download PDFInfo
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- CN113001545A CN113001545A CN202110225383.2A CN202110225383A CN113001545A CN 113001545 A CN113001545 A CN 113001545A CN 202110225383 A CN202110225383 A CN 202110225383A CN 113001545 A CN113001545 A CN 113001545A
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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
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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
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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
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Abstract
The invention belongs to the field of robots, and particularly relates to a robot control method, a control device and a robot. The method comprises the following steps: the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction; the pass robot acquires a target ball according to the initial information of the target ball; the pass robot judges whether the kicking robot reaches the ball receiving area, the pass robot sends confirmation information to the kicking robot, the confirmation information is used for enabling the kicking robot to obtain self position information, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to the comparison and analysis result; the pass robot passes the ball to the kicking robot according to the feedback information; and the pass robot or the kicking robot carries out path planning, moves to a kicking area according to the optimal path planning, and kicks the target balls with the preset number. The method and the device improve the ornamental performance of the robot ball game.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a robot control method, a control device and a robot.
Background
With the development of the robot field, the research of the robot has come out from the fixed-point operation, and is more and more applied to the social life, for example, the aspects of aerospace, underwater exploration, underground pipeline exploration and maintenance, disease inspection and treatment, and disaster relief, and even applied to intelligent toys, for example, designing and controlling a robot capable of kicking and passing balls. The application of the robot in various fields can not only save manpower, but also be competent for work which can not be realized by many human beings. Football is one of the ball games. The device is an antagonistic movement on a rectangular field, through collective cooperation, scoring when a ball is shot into the door or scoring when the ball is held to touch the zone for scoring on the ground. It is not easy to kick a uniquely shaped football across the crossbar of the goal by a robot. Spectators will be tempted to the robot to successfully achieve all the goals in the football match, improving the appreciation and the skill of the match. Therefore, it is necessary to provide a robot control method.
However, the robot for the match provided by the related technology brings limitation to the popularization of the match and the application of the key technology due to the lack of cooperation between the pass robot and the kick robot, and reduces the appreciation and the technicality of the match.
Disclosure of Invention
In order to solve the technical problems of improving the ornamental performance and the technical performance of the competition, the invention provides a robot control method, a control device and a robot.
The specific technical scheme of the invention is as follows:
in one aspect, a robot control method is provided, and the method includes:
the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction;
the pass robot acquires a target ball according to the initial information of the target ball;
the pass robot judges whether the kicking robot reaches the ball receiving area, the pass robot sends confirmation information to the kicking robot, the confirmation information is used for enabling the kicking robot to obtain self position information, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to the comparison and analysis result;
the pass robot passes the ball to the kicking robot according to the feedback information;
and the pass robot or the kicking robot carries out path planning to obtain the optimal path planning, and moves to a kicking area according to the optimal path planning to kick the target balls with the preset number.
A robot control method, the method comprising:
the pass robot receives a starting instruction of the kick robot moving to the ball receiving area, and obtains initial target ball information according to the starting instruction;
the pass robot acquires a target ball according to the initial information of the target ball;
the pass robot judges whether the kicking robot reaches the ball receiving area, receives feedback information sent by the kicking robot, obtains self position information for the kicking robot, compares and analyzes the position information with the position information of the pass robot in confirmation information sent by the pass robot to the kicking robot, and generates the pass robot according to a comparison and analysis result;
the pass robot passes the ball to the kicking robot according to the feedback information;
and the pass robot or the kicking robot carries out path planning to obtain the optimal path planning, and moves to a kicking area according to the optimal path planning to kick the target balls with the preset number.
In an optional embodiment, the pass robot obtains initial information of the target ball, including:
the pass robot acquires the position information of the central point of the target ball, acquires the distance between the pass robot and the target ball, and acquires the size and the 3D coordinates of the target ball.
In an alternative embodiment, the passing robot obtains the target ball according to the target ball initial information, and the passing robot comprises:
and the pass robot determines a scheme for grabbing the target ball according to the position information of the center point of the target ball, the distance between the pass robot and the target ball, the size of the target ball and the 3D coordinates, and acquires the target ball according to the scheme.
In an optional embodiment, the passing robot or the kicking robot performs path planning to obtain an optimal path planning, including:
the passing robot or the kicking robot acquires the position information of a starting point and an end point of the passing robot or the kicking robot, judges whether an obstacle exists between the starting point and the end point according to the position information of the starting point and the end point, acquires the position information of the obstacle when the obstacle exists between the starting point and the end point, and takes the position information of the obstacle as the position of the starting point next time;
and when no obstacle exists between the starting point and the end point at the time and the distance between the starting point and the end point at the time is shortest, planning the path between the starting point and the end point with the shortest distance as the optimal path.
In an optional embodiment, the comparison result comprises that the kicking robot reaches the ball receiving area and the kicking robot does not reach the ball receiving area;
the feedback information comprises that the kicking robot sends a first preset sound or makes a first preset action after reaching the ball receiving area, and the kicking robot sends a second preset sound or makes a second preset action after not reaching the ball receiving area;
the first preset sound is different from the second preset sound, and the first preset action is different from the second preset action.
In an optional embodiment, the pass robot passes the ball to the kicking robot according to the feedback information, comprising:
the pass robot judges whether the kicking robot starts visual identification or not, and passes the ball to the kicking robot after receiving the information that the kicking robot starts visual identification;
preferably, the pass robot judges the range and time of starting the visual identification of the kicking robot, and when the range of starting the visual identification of the kicking robot is larger than the preset range and/or the time of starting the visual identification of the kicking robot is larger than the preset time, the pass robot passes the ball to the kicking robot.
In an optional embodiment, after the pass robot passes the ball to the kicking robot according to the feedback information, the method further comprises:
the pass robot sends inquiry information whether the ball is received or not to the kicking robot, and the inquiry information is used for enabling the kicking robot to send answer information of receiving the ball after receiving the target ball.
In another aspect, a robot control apparatus is provided, on which is stored a computer program/instructions that when executed by a processor implement any of the above-described control methods.
In a further aspect, a robot is provided, the robot comprising means storing computer programs/instructions which, when executed by a processor, implement any of the above-described control methods.
The invention has the following beneficial effects:
the robot that this application embodiment provided, through carrying out intelligent control to pass robot and kicking the ball robot, make pass robot accomplish getting, putting and throwing to the ball, make the kicking the ball robot accomplish getting, putting and kicking to the ball, can realize all targets in the ball match, improved the ornamental and the technological of robot ball match.
Drawings
Fig. 1 is a schematic flowchart of a robot control method according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a robot control method according to another embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a robot control method according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a robot football field according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Football is one of the ball games. It is an antagonistic movement on rectangular field, and can be matched with shooting ball to score or holding ball to touch down to score. It is not easy to kick a uniquely shaped football across the crossbar of the goal by a robot. Spectators will be tempted to the robot to successfully achieve all the goals in the football match, improving the appreciation and the skill of the match. In view of this, the present application provides a robot control method and apparatus, and aims to solve the above technical problems.
Referring to fig. 1 and fig. 2, fig. 1 and fig. 2 are schematic flow charts of a robot control method according to an embodiment of the present disclosure. The robot that this application embodiment provided includes pass robot and kicking ball robot, and this method includes:
s101, the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction.
And S102, the pass robot acquires the target ball according to the initial information of the target ball.
S103, the pass robot judges whether the kicking robot reaches the ball receiving area, the pass robot sends confirmation information to the kicking robot, the confirmation information is used for enabling the kicking robot to obtain position information of the pass robot, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to comparison and analysis results.
And S104, the pass robot passes the ball to the kicking robot according to the feedback information.
And S105, carrying out path planning by the pass robot or the kicking robot to obtain the optimal path planning, moving to a kicking area according to the optimal path planning, and kicking the target balls with the preset number.
According to the robot control method provided by the embodiment of the application, the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction, namely, the pass robot and the kicking robot are started simultaneously; the pass robot takes a target ball according to the initial information of the target ball and then judges whether the kick robot reaches a ball receiving area, the pass robot sends confirmation information to the kick robot, the confirmation information is used for enabling the kick robot to obtain self position information, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to the comparison and analysis result; the pass robot passes the ball to the kicking robot according to the feedback information; and the pass robot or the kicking robot carries out path planning to obtain the optimal path planning, and moves to a kicking area according to the optimal path planning to kick the target balls with the preset number. The method provided by the embodiment of the application realizes different functions by controlling different robots to pass and receive the balls, completes all targets in the competition, and improves the appreciation and the technical performance of the competition.
The method is described mainly with the pass robot side, and the following steps are described mainly with the kick robot side, and the distance between the pass and the catch is the same as that in the above steps. All the descriptions of the robot control method in the embodiments of the present application are applicable to both methods.
S101, the pass robot receives a starting instruction of the kick robot moving to the ball receiving area, and the pass robot acquires initial target ball information according to the starting instruction.
And S102, the pass robot acquires the target ball according to the initial information of the target ball.
S103, the pass robot judges whether the kicking robot reaches a ball receiving area, receives feedback information sent by the kicking robot, obtains self position information for the kicking robot, compares and analyzes the position information with position information of the pass robot in confirmation information sent by the pass robot to the kicking robot, and generates the pass robot according to a comparison and analysis result;
and S104, the pass robot passes the ball to the kicking robot according to the feedback information.
And S105, carrying out path planning by the pass robot or the kicking robot to obtain the optimal path planning, moving to a kicking area according to the optimal path planning, and kicking the target balls with the preset number.
The methods provided by the embodiments of the present application will be further explained and described by means of alternative embodiments.
S101, the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction.
The robot control method provided by the embodiment of the application can be used in ball games, balls for games can be placed at a preset position according to the requirements of the games, and the robot needs to go to the ball placing position to grab a target ball after the games are started. At this time, the position information of the target ball needs to be acquired first. The position information may be acquired by a position sensor provided inside the robot. The position information can also be acquired by adopting a voice input mode, as an example, a user can speak a target position close to a voice input microphone according to the prompt of a robot, the robot collects the voice input information of the user, and the target position is extracted from the information by adopting voice recognition and natural language understanding technologies. The embodiment of the present application is not limited to this, as to the manner of obtaining the target ball initial information.
In an alternative embodiment, the initial information may include the identity information and location information of the target ball. As an example, the user may mark the target ball as desired, such as ball number 1, ball number 2 … … n, and so forth. The robot can only grab balls with preset numbers in a preset sequence or only grab balls with preset numbers in sequence according to the requirement of the robot competition. At this time, the identity information of the target ball and the position information of the target ball corresponding to the identity information may be obtained, wherein the identity information of each ball corresponds to the position information one to one. As an example, obtaining the identity information of the target ball may be performed by taking a picture or inputting a voice, the user may speak the target position near a voice input microphone according to a prompt of the robot, the robot collects the voice input information of the user, and the target position is extracted from the information by using voice recognition and natural language understanding technologies. Or photos of target balls with preset serial numbers can be transmitted, and the positions of the first row of target balls are extracted from the photo information by adopting a picture recognition technology. The embodiment of the present application is not limited to this, as to the manner of obtaining the target ball initial information.
It should be noted that, with the method provided in the embodiment of the present application, when the pass robot is started, the ball catching robot is also started at the same time, so that the time for the match can be saved, and the time for the robot to complete the task can be shortened. Therefore, when the pass robot acquires the initial information of the target ball, a starting instruction is sent to the kicking robot, and the kicking robot moves to the ball receiving area according to the starting instruction.
In an optional embodiment, the kicking robot acquires position information of the pass robot, performs ball catching path planning according to the position information of the pass robot, and moves to a ball catching area according to the ball catching path planning.
In the robot race, it is required to set obstacles or obstacle areas according to the race conditions, and to specify that the robot cannot touch the obstacles or cannot pass through the obstacle areas, or for a race with time restrictions, it is required that the robot complete the race within a specified time, and it is required that the robot select the shortest route within a limited time to complete the race. At this time, the robot is required to perform path planning according to the current position condition. Furthermore, after the pass robot acquires the position information of the target ball, the pass robot moves to the position of the target ball according to the position information of the target ball and grabs the target ball. At the moment, the kicking robot can acquire the position information of the pass robot, the route planning is carried out according to the position information of the pass robot, and the kicking robot moves to the ball receiving area according to the optimal route planning. As an example, the kicking robot acquires position information of a starting point and a ball receiving area of the passing robot itself, determines whether an obstacle exists in the starting point and the ball receiving area according to the position information of the starting point and the ball receiving area, and when an obstacle exists, the kicking robot goes by the obstacle to acquire position information of the obstacle, and determines that the position information of the obstacle is used as a starting point of the next time. And when no barrier exists between the new starting point and the ball receiving area or the distance between the new starting point and the ball receiving area is shortest, planning the distance as an optimal path. And repeating the steps until the kicking robot moves to the ball receiving area according to the optimal path plan after the optimal path plan is found.
In an optional embodiment, the optimal path plan may be a path from the current position to the target position, or may be a path from the current position to the target position with the least obstacles in the operation process, or may be a path from the current position to the target position with the shortest path and from the current position to the target position with the least obstacles in the operation process. The specific path selection mode may be adjusted according to actual conditions, which is not limited in the embodiment of the present application. For example, when the robot performs path planning, a grid map stored in the robot is called, global path planning and local path planning are performed by using an a-x algorithm, and the shortest path from the current position to the target position is selected. The grid map is expressed by dividing the whole environment into a plurality of grids with the same size, indicating whether an obstacle exists in each grid, and dividing the free-passable area of the robot and the obstacle by adopting grids with different pixels. It should be noted that the path planning algorithm adopted in the above embodiments is an a algorithm, and in addition, algorithms such as D, Theta, Phi, and the like may also be used; in the above embodiment, the map stored by the robot for planning the path is a grid map, in addition, a feature map, a topological map, and the like may be used, and the specifically used path planning algorithm and the type of the map stored by the robot may be adjusted according to an actual situation, which is not limited in the embodiment of the present application.
And S102, the pass robot acquires the target ball according to the initial information of the target ball.
And after the pass robot acquires the position information of the target ball, the pass robot moves to the target ball according to the position information of the target ball and grabs the target ball.
In an alternative embodiment, S102 includes: the pass robot acquires the position information of the central point of the target ball, acquires the distance between the pass robot and the target ball, and acquires the size and the 3D coordinates of the target ball.
It should be noted that the control method provided by the embodiment of the present application may be applicable to games of various balls, and because there are many types of target balls, the shapes and sizes of different target balls are different. The ball in this embodiment may be a football, and when the target ball is a football, the distance between the pass robot and the football is acquired, for example, the position information of the football may be acquired by a position sensor provided on the pass robot. The size of the target ball is obtained to obtain the type of the target ball, that is, the target ball is a football, a basketball, a football, or the like. Obtaining the 3D coordinates of the target ball may improve the positioning of the target ball.
It can be understood that the pass robot and the kicking robot provided by the embodiment of the application are both provided with the position sensors and have the same function of recognizing the position information of the target ball and the like.
In an alternative embodiment, S102 includes: and the pass robot determines a scheme for grabbing the target ball according to the position information of the center point of the target ball, the distance between the pass robot and the target ball, the size of the target ball and the 3D coordinates, and acquires the target ball according to the scheme.
It can be understood that the ball catching or kicking robot has different schemes for catching a ball due to the different kinds of target balls. For example, when the target ball is a basketball or a soccer ball, the pass robot may grab the target ball from any angle, and when the target ball is a football or other irregular balls, the pass robot needs to set a direction or an angle for grabbing the target ball, for example, grab the target ball along a radial direction or an axial direction of the football, or grab the target ball at a predetermined angle, so as to ensure the stability of grabbing and reduce the grabbing time.
In an optional embodiment, the pass robot determines a scheme for grabbing the target ball according to the position information of the center point of the target ball, the distance between the pass robot and the target ball, the size of the target ball and the 3D coordinates, acquires the target ball according to the scheme, transmits the scheme to the kicking robot, and the kicking robot adopts a suitable ball catching scheme to catch the ball. Therefore, the efficiency of the kicking robot for receiving the ball can be improved, and delay of the game time due to the ball receiving error is avoided. As an example, when the target ball is a football, the ball catching robot determines the ball catching scheme according to the distance from the pass robot, the distance from the ball catching robot to the target ball, the size of the target ball and the 3D coordinates, and as an example, the ball catching may be performed in a manner of being perpendicular to the radial direction of the football, so as to ensure the stability of ball catching. The embodiment of the present application is not limited to the ball passing and catching scheme.
S103, the pass robot judges whether the kicking robot reaches the ball receiving area, the pass robot sends confirmation information to the kicking robot, the confirmation information is used for enabling the kicking robot to obtain position information of the pass robot, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to comparison and analysis results.
Pass ball robot arrives and predetermine the regional back of catching up, judge earlier whether play ball robot reachs and predetermine the ball region of catching up, when playing ball robot reachs and predetermine when catching up the ball region, pass ball robot to the transmission target ball of play ball robot, play ball robot accepts the target ball, so can improve the efficiency to playing ball robot pass, avoid because playing ball robot is not predetermineeing the ball region of catching up, lead to the pass failure, play ball robot need pick up the ball again and then waste time. When the kicking robot does not reach the preset ball receiving area, the passing robot waits for the kicking robot to move to the preset ball receiving area and then passes the balls.
In an optional embodiment, whether the pass robot reaches the preset pass area is judged, and when the pass robot reaches the preset pass area, the kicking robot receives the target ball from the pass robot. The kicking robot also needs to judge whether the pass robot reaches the preset pass area when receiving the pass, and when the pass robot reaches the preset pass area, the kicking robot receives the target ball from the pass robot. When the pass robot does not reach the preset pass area, the kicking robot waits for the pass robot to reach the preset pass area and then receives the pass. According to the method provided by the embodiment of the application, when passing and catching the ball, the two-way judgment is carried out in the two directions of passing and catching the ball, the stability of passing is ensured, and the efficiency and the accuracy of passing and catching the ball are improved.
In an optional embodiment, the comparison result comprises that the kicking robot reaches the ball receiving area and the kicking robot does not reach the ball receiving area;
the feedback information comprises that the kicking robot sends a first preset sound or makes a first preset action after reaching the ball receiving area, and the kicking robot sends a second preset sound or makes a second preset action after not reaching the ball receiving area;
the first preset sound is different from the second preset sound, and the first preset action is different from the second preset action.
The pass robot sends confirmation information to the kick robot, the confirmation information is used for enabling the kick robot to obtain position information of the pass robot, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to comparison and analysis results. Further, the kicking robot acquires the position information of the kicking robot after receiving the confirmation information, compares and analyzes the position information with the position information of the pass robot in the confirmation information, and when the position of the kicking robot and the position of the pass robot are within a preset range, the kicking robot indicates that the kicking robot reaches the ball receiving area, and then the kicking robot sends a first preset sound to the pass robot or makes a first preset action. As an example, the kicking robot sends a recorded "arrived" voice to the pass robot, or raises the arm to indicate to the pass robot, and the pass robot captures the voice information or indicates the action and then passes the ball to the kicking robot. When the kicking robot does not reach the ball receiving area, the kicking robot sends a second preset sound to the pass robot or makes a second preset action. As an example, the kicking robot sends a voice of "not reached" to the pass robot, or puts down an arm or the like, and the pass robot captures the voice information or indicates the motion and then waits for the kicking robot until it reaches the ball receiving area.
It is understood that the pass robot acquires the ball receiving position information of the kicking robot here through a position sensor provided inside the pass robot. The ball-catching position information can also be acquired by adopting a voice input mode, as an example, a user can speak a target position close to a voice input microphone according to the prompt of a pass robot, the pass robot collects the voice input information of the user, and the voice recognition and natural language understanding technology is adopted to extract the ball-catching position information from the information. The embodiment of the present application is not limited to this, as to the manner of obtaining the ball-receiving position information of the target ball.
In an optional embodiment, the kicking robot acquires pass position information of the pass robot, and receives the target ball according to the pass position information of the pass robot.
The pass position information of pass robot is acquireed to the robot of kicking the ball when accepting the pass of robot of kicking the ball, if the robot of kicking the ball is after arriving and predetermineeing the pass region, the pass robot has not arrived and predetermine the pass region yet, and the robot of kicking the ball can begin incessant discernment pass robot's position information this moment, and the robot of kicking the ball begins to receive the ball after the robot of passing reachs and predetermines the pass region. The kicking robot can also start to identify the position information of the pass robot after the pass robot reaches a preset pass area.
It is understood that the pass position information of the pass robot acquired by the kicking robot here can be acquired by a position sensor provided inside the kicking robot. The pass position information can also be acquired by adopting a voice input mode, as an example, a user can speak out a target position close to a voice input microphone according to the prompt of a kicking robot, the kicking robot collects the voice input information of the user, and the pass position information is extracted by adopting voice recognition and natural language understanding technologies for the information. The embodiment of the present application is not limited to this, as to the manner of obtaining the passing position information of the target ball.
And S104, the pass robot passes the ball to the kicking robot according to the feedback information.
And the pass robot passes the ball after receiving the feedback information that the ball kicking robot reaches the ball receiving area.
In an optional embodiment, the S104 includes the pass robot determining whether the kicking robot starts the visual recognition, and passing the ball to the kicking robot after the pass robot receives the information that the kicking robot starts the visual recognition;
preferably, the pass robot judges the range and time of starting the visual identification of the kicking robot, and when the range of starting the visual identification of the kicking robot is larger than the preset range and/or the time of starting the visual identification of the kicking robot is larger than the preset time, the pass robot passes the ball to the kicking robot.
It can be understood that if the kicking robot only reaches the ball receiving area but does not open the visual recognition, the direction or angle of the kicking robot will be in question, and the direction of the target ball source cannot be correctly recognized. Therefore, when the pass robot passes the ball to the kicking robot, the range and the time of starting the visual recognition by the kicking robot are judged, and when the range of starting the visual recognition by the kicking robot is larger than the preset range, for example, the range of starting the visual recognition by the kicking robot is a range with a radius of 2 meters, the preset range is a range with a center of a circle of the kicking robot and a radius of 1 meter, and/or the time of starting the visual recognition by the kicking robot is larger than the preset time, as an example, the time of starting the visual recognition by the kicking robot is 1 minute and is larger than the preset time for 30 seconds, the pass robot passes the ball to the kicking robot.
In an alternative embodiment, S104 includes: the kicking robot feeds back the information of the received target ball to the passing robot and then carries out path planning, and the target ball is carried to move to the touch place according to the path planning so as to complete tasks such as ball putting. The kicking robot can put the target ball in the preset touchdown point according to the competition rules set by the user, and when the target ball travels to the preset touchdown point, the obstacle in the field needs to be avoided. As an example, during the process of completing the kicking task, the kicking robot may determine its current position and determine whether there is an obstacle on the running route according to the laser sensor and the ultrasonic sensor, based on the grid map of the service area stored in the robot and the detected position of the obstacle, use SLAM (simultaneous localization and mapping) positioning method, i.e. the kicking robot creates a map in a completely unknown environment under the condition that its position is uncertain, during the moving process, the kicking robot identifies the feature markers in the unknown environment by the sensors carried by itself, then estimate the global coordinates of the kicking robot and the feature markers according to the relative position between the kicking robot and the feature markers and the reading of the odometer to perform self-localization, and at the same time, build an incremental map and perform self-localization and navigation by using the map, and path planning is carried out again, and obstacles are avoided.
It should be noted that, in the above embodiment, the sensors used for positioning the kicking robot and determining whether an obstacle exists on the running route are a laser sensor and an ultrasonic sensor, in addition, an infrared sensor, a vision sensor, and the like may also be used, and a specific use method of the sensors may be adjusted according to actual situations, which is not limited in the embodiment of the present application.
It should be noted that the path planning may be a shortest path from the current position to the preset touchdown point, or may be a path with the least obstacles in the running process from the current position to the preset touchdown point, and a specific path selection manner may be adjusted according to an actual situation, which is not limited in the embodiment of the present application.
And S105, carrying out path planning by the pass robot or the kicking robot to obtain the optimal path planning, moving to a kicking area according to the optimal path planning, and kicking the target balls with the preset number.
As described above, in the robot race, it is required to set obstacles or obstacle areas according to the race conditions, and to specify that the robot cannot touch the obstacles or cannot pass through the obstacle areas, or for a race with time restrictions, it is required that the robot complete the race within a specified time, and it is required that the robot select the shortest route within a limited time to complete the race. At this time, the robot is required to perform path planning according to the current position condition. Further, the pass robot or the kicking robot needs to complete the kicking task after completing the pass and the receiving task, and at the moment, the pass robot or the kicking robot performs path planning to obtain an optimal path planning, moves to the kicking area according to the optimal path planning, and kicks a preset number of target balls.
Further, the pass robot or the kick robot acquires the position information of the goal at its own start point and the end point, and determines whether there is an obstacle in the goal at the start point and the end point based on the position information of the goal at the start point and the end point. And when no barrier exists between the new starting point and the terminal goal and the distance between the new starting point and the terminal goal is shortest, planning the distance as an optimal path. And repeating the steps until the optimal path planning is found, and then the pass robot or the kicking robot kicks the target ball into the goal according to the optimal path planning.
In an optional embodiment, the optimal path planning may be a shortest path from the current position to the target position, or may be a path with the least obstacles in the operation process from the current position to the target position, and the specific path selection manner may be adjusted according to an actual situation, which is not limited in the embodiment of the present application. For example, when the robot performs the first path planning, the grid map stored in the robot is called, the global path planning and the local path planning are performed by using the a-x algorithm, and the shortest path from the current position to the target position is selected. The grid map is expressed by dividing the whole environment into a plurality of grids with the same size, indicating whether an obstacle exists in each grid, and dividing the free-passable area of the robot and the obstacle by adopting grids with different pixels. It should be noted that the path planning algorithm adopted in the above embodiments is an a algorithm, and in addition, algorithms such as D, Theta, Phi, and the like may also be used; in the above embodiment, the map stored by the robot for planning the path is a grid map, in addition, a feature map, a topological map, and the like may be used, and the specifically used path planning algorithm and the type of the map stored by the robot may be adjusted according to an actual situation, which is not limited in the embodiment of the present application.
The path planning in this embodiment may be the shortest path from the current position to the goal, or may be the path from the current position to the goal with the least obstacles in the running process, and the specific path selection mode may be adjusted according to the actual situation, which is not limited in this embodiment of the present application. The specific path planning algorithm and the type of the map stored by the robot may be adjusted according to actual conditions, which is not limited in the embodiments of the present application. It should be noted that, the third path plan may be a shortest path from the current position to the goal, or may be a path from the current position to the goal with the least obstacles in the running process, and a specific path selection manner may be adjusted according to an actual situation, which is not limited in this embodiment of the present application.
In an alternative embodiment, the target balls provided in the embodiments of the present application may include one type of target ball and two types of target balls, and the size, the type and the shape of the one type of target ball and the two types of target balls may be the same or different. But it functions differently, i.e., the goal ball is used only for touchdown, and the second type of goal ball is used only for kicking through the goal.
It should be noted that, the embodiment of the present application provides only the steps of passing and receiving one of the target balls, and it can be understood that, after the pass robot completes passing of the first target ball, the second and third target balls may be continuously executed until the preset number of target balls are passed and then standby protection is performed. After the kicking robot or the pass robot finishes kicking the first target ball, the second and the third can be continuously executed until the kicking of the preset number of target balls is finished and then standby protection is carried out.
In another aspect, a robot control device is provided, the device having stored thereon a computer program/instructions that, when executed by a processor, implement any of the above-described control methods.
In a further aspect, a robot is provided, the robot comprising means storing computer programs/instructions which, when executed by a processor, implement any of the above-described control methods.
The control method provided by the embodiment of the present application will be further described below by way of optional embodiments.
Examples
Referring to fig. 3 and 4, fig. 3 is a schematic flow chart of a control method according to an embodiment of the present disclosure; fig. 4 is a schematic view of a robot football field according to an embodiment of the present application.
The embodiment of the application takes a football game as an example, wherein the pass robot is marked as PR, and the kicking robot is marked as TR. One type of target ball is the standard rugby type 3 football. Only for scoring touchdowns at touchdown. At the start of the game, the team member places 10 footballs (5 each for red and blue) on the rack. The red team uses the red ball and the blue team uses the blue ball. The second type of target ball is a standard English style football No. 3. The red and blue teams share 7 balls. This ball is only used to kick through the goal. At the start of the game, the team member places 7 footballs on the racks. A pass area: PR can only pass category 1 balls to TR in this region. A kicking area: TR can only catch class 1 balls from PR in this region.
After the competition starts, PR starts, the position of the football is identified through a radar arranged on the PR, the PR moves to the position right in front of the football according to the position of the football, the PR grabs a type of football, and judges whether TR is ready, namely whether the TR reaches a preset ball catching area, and if the TR reaches the preset ball catching area, the type of football is transmitted to the TR. When PR is activated, TR is also activated, and a touchdown function of TR is selected by a CH5 button provided on TR, TR makes a first path plan and moves to a ball catching area in accordance with the first path plan, detecting whether PR is ready, i.e., whether a preset pass area is reached. And starting visual identification by the TR when the PR reaches a preset pass area, namely acquiring position information of the PR, feeding back the information of the received type of football to the PR after the TR receives the type of football, performing second path planning according to the current position, moving to a preset contact point according to the second path planning, opening a baffle on the TR, releasing the type of football to a target contact point, and carrying out standby protection by the TR until the type of football with the preset number is placed to the preset contact point. At the moment, the position information of the second type of football can be acquired through TR or PR, then the third path planning is carried out according to the position information of the second type of football, the third path planning is carried out, the second type of football is moved to a preset football kicking area, and the first type of football and the second type of football are kicked out by kicking the second type of football to a goal. TR or PR is used for standby protection until the two types of footballs with the preset number are kicked.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot control method, characterized in that the method comprises:
the pass robot acquires initial information of a target ball and sends a starting instruction to the kicking robot, so that the kicking robot moves to a ball receiving area according to the starting instruction;
the pass robot acquires the target ball according to the initial information of the target ball;
the pass robot judges whether the kicking robot reaches a ball receiving area or not, the pass robot sends confirmation information to the kicking robot, the confirmation information is used for enabling the kicking robot to obtain self position information, the position information and the position information of the pass robot included in the confirmation information are compared and analyzed, and feedback information is generated according to the comparison and analysis result;
the pass robot passes the ball to the kicking robot according to the feedback information;
and the pass robot or the kicking robot carries out path planning to obtain an optimal path planning, and moves to a kicking area according to the optimal path planning to kick a preset number of target balls.
2. A robot control method, characterized in that the method comprises:
the pass robot receives a starting instruction of the kick robot moving to a ball receiving area, and the pass robot acquires initial target ball information according to the starting instruction;
the pass robot acquires the target ball according to the initial information of the target ball;
the pass robot judges whether the kicking robot reaches a ball receiving area or not, receives feedback information sent by the kicking robot, acquires position information of the pass robot for the kicking robot, compares and analyzes the position information with the position information of the pass robot included in confirmation information sent to the kicking robot by the pass robot, and generates the pass robot according to a comparison and analysis result;
the pass robot passes the ball to the kicking robot according to the feedback information;
and the pass robot or the kicking robot carries out path planning to obtain an optimal path planning, and moves to a kicking area according to the optimal path planning to kick a preset number of target balls.
3. The robot control method according to claim 1 or 2, wherein the pass robot acquires target ball initial information, including:
the pass robot acquires the position information of the central point of the target ball, acquires the distance between the pass robot and the target ball, and acquires the size and the 3D coordinates of the target ball.
4. The robot control method according to claim 1 or 2, wherein the passing robot acquires the target ball from the target ball initial information, including:
and the pass robot determines a scheme for grabbing the target ball according to the position information of the central point of the target ball, the distance between the pass robot and the target ball, the size of the target ball and the 3D coordinates, and acquires the target ball according to the scheme.
5. The robot control method according to claim 1 or 2, wherein the passing robot or the kicking robot performs path planning to obtain an optimal path planning, comprising:
the pass robot or the kicking robot obtains position information of a starting point and an end point of the pass robot or the kicking robot, judges whether an obstacle exists between the starting point and the end point according to the position information of the starting point and the end point, obtains the position information of the obstacle when the obstacle exists between the starting point and the end point, and takes the position information of the obstacle as the position of the starting point next time;
and when no obstacle exists between the starting point and the end point at the time and the distance between the starting point and the end point at the time is shortest, planning the path between the starting point and the end point with the shortest distance as the optimal path.
6. The robot control method according to claim 1 or 2, wherein the comparison result includes that the kicking robot reaches a ball catching area and that the kicking robot does not reach the ball catching area;
the feedback information comprises a first preset sound or a first preset action sent by the pass robot after the kicking robot arrives at the ball receiving area, and a second preset sound or a second preset action sent by the pass robot after the kicking robot does not arrive at the ball receiving area;
the first preset sound is different from the second preset sound, and the first preset action is different from the second preset action.
7. The robot control method according to claim 1 or 2, wherein the pass robot passes the ball to the kicking robot according to the feedback information, comprising:
the pass robot judges whether the kicking robot starts visual identification or not, and passes the ball to the kicking robot after receiving the information that the kicking robot starts visual identification;
preferably, the pass robot judges the range and time of the kick robot for starting the visual identification, when the range of the kick robot for starting the visual identification is larger than a preset range and/or the time of the kick robot for starting the visual identification is larger than a preset time, the pass robot passes the ball to the kick robot.
8. The robot control method according to claim 7, wherein after the pass robot passes the ball to the kicking robot according to the feedback information, the method further comprises:
the pass robot sends inquiry information whether the ball is received or not to the kicking robot, and the inquiry information is used for enabling the kicking robot to send answer information of receiving the ball after receiving the target ball.
9. A robot control device having a computer program/instructions stored thereon, wherein the computer program/instructions, when executed by a processor, implement the control method of any of claims 1-8.
10. A robot, characterized in that it comprises means storing computer programs/instructions which, when executed by a processor, implement the control method according to any of claims 1-8.
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