CN114872043A - Robot collision detection method, storage medium and electronic device - Google Patents
Robot collision detection method, storage medium and electronic device Download PDFInfo
- Publication number
- CN114872043A CN114872043A CN202210496159.1A CN202210496159A CN114872043A CN 114872043 A CN114872043 A CN 114872043A CN 202210496159 A CN202210496159 A CN 202210496159A CN 114872043 A CN114872043 A CN 114872043A
- Authority
- CN
- China
- Prior art keywords
- robot
- determining
- cylinder
- target
- collision detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 54
- 238000013507 mapping Methods 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 11
- 238000010187 selection method Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
Abstract
The invention provides a robot collision detection method, a storage medium and an electronic device, wherein the method comprises the following steps: s1, predefining parameters of a universal cylinder and the universal cylinder, wherein the universal cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, the connecting line of the central points of the upper bottom surface and the lower bottom surface is vertical to the upper bottom surface and the lower bottom surface, and the universal cylinder comprises a major axis radius a1 and a minor axis radius b1 of the upper bottom surface, a major axis radius a2 and a minor axis radius b2 of the lower bottom surface and the height h of the cylindrical surface; s2, determining a target fitting part of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting part, and determining the universal cylinder parameters after fitting as target parameters; s3, calculating a support mapping function of the universal cylinder according to the target parameters; and performing collision detection on the robot by adopting a GJK algorithm according to a support mapping function of the universal cylinder. The scheme simplifies the hardware configuration of the robot, improves the precision of collision detection and has high calculation efficiency.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a collision detection method for a robot, a storage medium, and an electronic device.
Background
The robot can automatically execute work according to a preset program, and the operation safety of the robot needs to be ensured because user intervention rarely occurs in the operation process of the robot. In consideration of safety of the robot, the robot is required to be capable of timely and accurately performing collision detection, including collision of the robot body, collision of the robot body with a load connected to the robot, and possible collision of the robot with an object in the environment.
In the prior art, the robot collision is detected based on a sensor or a motor, for example, when collision occurs, joint current of the robot is increased to judge that collision may occur, but the method has limited accuracy and is easy to misjudge; or the electronic skin is arranged on the robot and covers the robot body comprehensively, so that collision of any part of the robot can be recognized, but the electronic skin is high in arrangement cost, complex in wiring and poor in anti-interference effect.
In the process of research and development of the technical scheme, the inventor finds that a mode of respectively fitting the robot body and the load into cylinders and detecting collision through whether intersection exists between the cylinders exists in the prior art, but the mode can only be applied to the situation that the load is a cylinder, and the applicability is limited; meanwhile, the shape of the robot body is not a standard cylinder, and the fitting precision of the robot body is low. Meanwhile, in the scheme, whether the two cylinders are intersected or not can only be judged, and the collision point and the puncture depth of the two cylinders cannot be judged, so that the control of the subsequent action of the robot is not facilitated.
Disclosure of Invention
The invention aims to provide a robot collision detection method, a storage medium and electronic equipment, which are used for solving the problems of low robot collision detection precision and high configuration difficulty in the prior art.
In order to achieve the above object, the technical solution of the present application is as follows:
according to a first aspect of the present application, there is provided a robot collision detection method including:
s1, predefining parameters of a universal cylinder and the universal cylinder, wherein the universal cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, and a central point connecting line of the upper bottom surface and the lower bottom surface is vertical to the upper bottom surfaceA surface and a lower bottom surface, the general cylinder parameter comprises the major axis radius a of the upper bottom surface 1 And minor axis radius b 1 Major axis radius a of the lower bottom surface 2 And minor axis radius b 2 And a cylinder height h;
s2, determining a target fitting part of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting part, and determining the universal cylinder parameters after fitting as target parameters;
s3, calculating a support mapping function of the universal cylinder according to the target parameters;
and S4, performing collision detection on the robot by adopting a GJK algorithm according to the support mapping function of the universal cylinder.
A second aspect of the application provides a computer-readable storage medium, storing a computer program, which when executed by a processor, implements a robot collision detection method as described in any one of the preceding.
A third aspect of the present application provides an electronic device comprising: a memory storing a computer program; a processor for executing the computer program in the memory to implement the robot collision detection method of any of the preceding.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the robot is fitted through the universal cylinder, so that the fitting precision of the robot is higher compared with that of a standard geometric body, and the collision detection precision is favorably improved; and a support mapping function is designed for the universal cylinder, and a GJK algorithm is adopted for collision detection, so that the calculation efficiency is high. Meanwhile, the scheme provided by the scheme is suitable for collision between the universal cylinder and any standard geometric body, and is wide in applicability.
Drawings
FIG. 1 is a schematic diagram of a robot collision detection method of one embodiment of the present invention;
FIG. 2a is a schematic view of a universal cylinder according to one embodiment of the present invention;
FIG. 2b is a schematic view of a universal cylinder according to another embodiment of the present invention;
FIG. 3 is a schematic view of a robot according to one embodiment of the present invention;
FIG. 4 is a schematic view of a universal cylinder fitting robot according to one embodiment of the present invention;
FIG. 5 is a block diagram of an electronic device of one embodiment of the invention.
Detailed Description
In order to make the technical solution of the present invention more clear, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive of all possible ways of practicing the invention, nor is it intended to limit the scope of the practice of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "vertical", "horizontal", "vertical", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only used for convenience of description or simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed, installed, and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The present invention protects a collision detection method of a robot, which, referring to fig. 1, includes:
s1, pre-defining parameters of a universal cylinder and the universal cylinder, wherein the universal cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, a connecting line of central points of the upper bottom surface and the lower bottom surface is vertical to the upper bottom surface and the lower bottom surface, and the parameters of the universal cylinder comprise a major axis radius a1 and a minor axis radius b1 of the upper bottom surface, a major axis radius a2 and a minor axis radius b2 of the lower bottom surface and the height h of the cylindrical surface;
specifically, referring to fig. 2a, fig. 2a is a schematic diagram of a universal cylinder according to an embodiment of the present application, the universal cylinder includes an upper bottom surface, a lower bottom surface, and a cylindrical surface connecting the upper bottom surface and the lower bottom surface, the upper bottom surface and the lower bottom surface respectively include a major axis and a minor axis, the major axis and the minor axis may be different lengths, and specifically, a radius a of the major axis of the upper bottom surface 1 More than or equal to the minor axis radius b of the upper bottom surface 1 Major axis radius of lower sole 2 Not less than the minor axis radius b of the lower bottom surface 2 Therefore, the upper bottom surface and the lower bottom surface are respectively formed into an ellipse, the parameters of the upper bottom surface and the lower bottom surface are changed, the universal cylinder can present different configurations, and the height h of the cylindrical surface is changed, so that the universal cylinder can present different sizes. The universal cylinder may have its shape adjusted by modifying the universal cylinder parameters to achieve a shape fit to the robot. The upper bottom surface is parallel to the lower bottom surface, and a connecting line of central points of the upper bottom surface and the lower bottom surface is perpendicular to the upper bottom surface and the lower bottom surface, so that the universal cylinder is a convex cylinder, and the occurrence of abnormity during collision detection through a GJK algorithm is avoided. Fig. 2b schematically shows another general cylinder, which is easier to accurately fit when processing a scene with irregular circular cross-section and different parameters of the upper and lower bottom surfaces.
Further, the robot is configured to be collision-detectable, the robot is configured to include a geometry fitting library, and a geometry is selected from the geometry fitting library to fit the part to be fitted, wherein the geometry fitting library includes the universal cylinder and a standard geometry including at least a part of a sphere, a cylinder, a cube, and a cone.
Referring to fig. 3, fig. 3 shows an example of a configuration of a robot body, and the robot body 100 includes a base 10, a joint 20, and a connecting rod 30, and generally, main parts of the robot can be fitted through a standard cylinder, but when the parts of the robot do not have a standard cylindrical shape, the accuracy of fitting through the cylinder is poor, which may affect the collision detection accuracy of the robot; when the universal cylinder is adopted, compared with the traditional cylinder and other shapes, the universal cylinder comprises more parameter variables, the universal cylinder can be in a cylindrical configuration with an elliptical upper bottom surface and an elliptical lower bottom surface or in a cylindrical configuration with an upper bottom surface and a lower bottom surface with different sizes by adjusting the lengths of the long axis and the short axis of the upper bottom surface and the lower bottom surface respectively, referring to fig. 4, fig. 4 exemplarily shows a schematic diagram of a robot fitted through the universal cylinder, wherein a joint 20 of the robot presents an elliptical bottom surface, and the upper bottom surface and the lower bottom surface can present different shapes by adjusting the lengths of the long axis and the short axis of the upper bottom surface and the lower bottom surface of the universal cylinder, so that the fitting of the robot joint can be realized, and similarly, the fitting of the robot connecting rod 30 can also be realized. Through the mode of general cylinder fitting, can be more close to the shape of robot itself, promote the accuracy of robot shape fitting, for example in fig. 4, to the robot connecting rod of irregular shape, realize the fitting to the robot connecting rod through two general cylinders.
S2, determining a target fitting part of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting part, and determining the universal cylinder parameters after fitting as target parameters;
when performing collision detection on a robot, possible collision scenarios of the robot include: the robot body itself collides, the robot body collides with a load connected to the robot, and the robot or the load collides with the environment in which the robot is located. Further, the step S2 of determining the target fitting site of the universal cylinder includes: s21, acquiring a structural model of the robot and/or the robot working environment; s22, splitting the structure model into a plurality of parts to be fitted; and S23, determining a target fitting part suitable for shape fitting according to the universal cylinder according to the part to be fitted. Firstly, determining an object needing attention for collision detection of the robot, selectively obtaining a structural model of the robot body, the robot load and the working environment of the robot according to the working environment of the robot, for example, splitting according to different part parts or splitting according to parts with different shapes, and selecting a target fitting part suitable for fitting through a universal cylinder from the parts to be fitted.
The robot comprises a robot body and optionally a load connected with the robot body, and acquiring the structural model of the robot comprises acquiring a body structural model of the robot and/or acquiring a load structural model connected with the robot body. In the present specification, the term "robot" includes a robot body and the whole robot body to which a load is connected, and the whole is understood in the context.
Specifically, the step S23 of determining a target fitting site suitable for shape fitting according to the universal cylinder according to the site to be fitted includes: the robot comprises a teaching device, a target fitting part is selected according to the operation instruction, the robot can be controlled through the teaching device, the teaching device comprises a user interaction interface presenting robot structure model, and a user can select the target fitting part according to the part to be fitted through inputting the operation instruction; and/or, determining the target fitting site according to a preset shape selection method configured to select the target fitting site based on the site to be fitted, illustratively, the robot is configured with a plug-in for shape selection by which the target fitting site may be automatically determined according to the plug-in configured shape selection method. Further, the preset shape selection method exemplarily includes: and determining the shape matching degree of the part to be fitted and the universal cylinder, and determining the part to be fitted which meets the preset matching conditions as the target fitting part according to the shape matching degree. For example, preset matching conditions are preset, for example, a threshold of a matching degree between a part to be fitted and a general cylinder is set, and when the threshold is met, the current part to be fitted is fitted according to the general cylinder; or, calculating the matching degree of the current part to be fitted and all geometric bodies of the geometric shape fitting library, and if the matching degree of the current part to be fitted and the universal cylinder is the best, performing shape fitting on the current part to be fitted according to the universal cylinder, namely, the preset shape selection method is to determine whether to fit the current part to be fitted based on the universal cylinder according to whether the matching degree of the current part to be fitted and the universal cylinder is the best.
Illustratively, in the process of fitting the target fitting part, the parameters of the universal cylinder can be adjusted through a control page of a user and/or a robot manufacturer to ensure that the matching degree of the universal cylinder and the target fitting part is as high as possible, when the universal cylinder can better fit the target fitting part, namely, the universal cylinder can surround the target fitting part, and when the volume of the universal cylinder is as small as possible, the parameters of the universal cylinder which finishes fitting at present are determined as the target parameters, namely, the shape fitting of the target fitting part can be realized based on the target parameters, and the precision of the fitting process is ensured.
Further, the step S2 of determining the target fitting location of the universal cylinder further includes: when the body of the robot is fitted, the zero posture of the robot is obtained, and the target fitting part is determined according to the robot in the zero state.
S3, calculating a support mapping function of the universal cylinder according to the target parameters;
libccd is an open source algorithm for detecting collision, can carry out efficient collision detection on convex geometric shapes, and needs to design a support mapping function in a targeted manner to describe the shapes of geometric bodies when collision detection is carried out based on the method. In the prior art, any complex shape can be described in a point cloud manner, and the calculation complexity for calculating the support mapping function is linear, but when the point cloud is used for describing the geometric shape, if real-time collision detection is to be realized, a lot of calculation resources are consumed, and the calculation efficiency is relatively low. For example, for some basic geometric shapes, such as spheres, standard cylinders, cubes, and the like, the support mapping function is simpler to calculate, and the consumed calculation resources are smaller, but when the shape of the target fitting portion to be fitted is not a standard geometric body, the precision when fitting is performed through the standard geometric body is relatively poor, and the error of collision detection is increased. In this application, provide the notion of general cylinder, compare in traditional cylinder its more parameter that has and can supply the adjustment, the robot of adaptation different shapes that can be better can compromise detection precision and computational efficiency through the corresponding support mapping function of reasonable design.
Specifically, the step S3 of calculating the support mapping function of the universal cylinder according to the target parameter includes:
s31, determining a local coordinate system of the universal cylinder, and converting the target direction v under the robot base coordinate system into a conversion direction w under the local coordinate system based on a preset conversion relation;
s32, determining a projection farthest point M of the conversion direction w based on the local coordinate system;
s33, converting the projection farthest point M into a target coordinate based on a robot base coordinate system based on a preset conversion relation;
with reference to fig. 2a, the general cylinder in fig. 2a exemplarily shows the construction of the local coordinate system, and the support mapping function maps the vector onto the object C, which satisfies the following condition: s C (v)∈C,v·S C (v) Max { v · x: x ∈ C }, where v is the target direction in the robot-based coordinate system, S C (v) Is a corresponding supporting point, and the supporting point S of the universal cylinder is verified by analysis C (v) The target direction v of the robot is converted into the conversion direction w of the local coordinate system based on a preset conversion direction, namely the conversion relation between the robot base coordinate system and the local coordinate system of the universal cylinder, which can be preset by a robot manufacturer, the target direction under the robot base coordinate system is converted into the local coordinate system of the universal cylinder, a projection farthest point M is obtained, and the projection farthest point is converted into the target coordinate based on the robot base coordinate system.
Aiming at the general cylinder, the configuration of the general cylinder is closer to that of the N prism, when N is infinite, the general cylinder is the general cylinder, based on the research of related information, when any direction is given, the corresponding branch of the N prismStay point S C (v) Necessarily at the apex of the prism, and similarly for a general cylinder, its support points necessarily exist at the upper and/or lower faces.
Further, the step S32 of determining the projective farthest point M of the conversion direction w based on the local coordinate system includes:
s321, determining the converting direction w ═ w (w) x ,w y ,w z ) The coordinate of any point on the upper bottom surface of the universal cylinder is (a) 1 cos(θ),b 1 sin (theta), h/2), coordinates of any point on the bottom surface are
Wherein a is 1 、b 1 、a 2 、b 2 H is the general cylinder parameter, w x 、w y 、w z The projection of the transformation direction w onto the local coordinate system in the direction of the x, y and z axes, theta and
is an angle variable;
s322, determining the projection value of the upper bottom surface in the conversion direction w as
The projection value of the lower surface in the switching direction w is
S323, determining the analytic solution of the maximum projection value corresponding point of the upper bottom surface as follows: theta.theta. max ＝argmax θ (p 1 (θ)), the analytic solution of the point corresponding to the maximum projection value of the lower surface is:
s324, calculating the maximum projection value p of the upper bottom surface 1 (θ max ) And maximum projection value of the lower surface
The larger of which is determined as the projection farthest point M.
Up to this point, a support mapping function is adaptively calculated according to the general cylinder, step S4 is executed, and collision detection of the robot is performed by using the GJK algorithm according to the support mapping function of the general cylinder.
The GJK (Gilbert-johnson-Keerthi) algorithm is an algorithm for collision detection, can realize collision detection between convex geometric shapes in a space, depends on the construction of a support mapping function, judges whether collision occurs by taking an original point after judging whether two coordinates are subtracted between two polygons/bodies, and has high calculation efficiency and small resource consumption in the calculation process of the GJK depending on the support mapping function.
Specifically, before performing collision detection on the robot by adopting the GJK algorithm in step S4, the method further includes: s41, determining other parts to be fitted except the target fitting part in the parts to be fitted of the robot, performing shape fitting on the other parts to be fitted according to the standard geometric body, determining shape fitting parameters of the other parts to be fitted, and calculating corresponding support mapping functions. After the robot finishes the shape fitting of all parts to be fitted, collision detection can be executed according to the corresponding support mapping function and the GJK algorithm. The calculation of the support mapping function of the standard geometric body is related in the prior art, and is not expanded here, and after all fitting processes are completed, a fitting shape set for collision detection is generated, so that collision detection is performed according to a GJK algorithm.
Specifically, step S4 further includes, before performing collision detection on the robot by using the GJK algorithm: generating a fitting shape set for robot collision detection according to shape fitting of a part to be fitted, determining two shapes as collision detection objects, detecting whether the two shapes are overlapped, intersected or separated in a three-dimensional space by adopting a GJK algorithm, and determining that collision occurs when overlapping or intersecting is detected. Understandably, the shape fitting of the robot comprises optional fitting of the robot body, the load connected with the body and the robot environment, the shape fitting is generated according to all fitting results, and collision detection is respectively carried out on two shapes in the fitting shape set each time so as to determine whether collision exists between the two shapes.
Above the preferred embodiment of this scheme, defined the type of general cylinder, compare in traditional standard geometry, the shape of general cylinder upper bottom surface and bottom surface is easily adjusted, more can adapt to the robot structure on the market, is particularly useful for the structure of cooperation robot, can guarantee the precision of collision detection to the accurate fitting of robot. Meanwhile, a support mapping function for the universal cylinder is designed based on the GJK algorithm, so that the calculation efficiency is high and the resource consumption is low. The collision detection method provided by the embodiment does not depend on the detection result of the sensor, simplifies the hardware requirement of the robot through accurate shape fitting, and can ensure the accuracy of collision detection.
In an exemplary embodiment, the present application further provides a computer readable storage medium, such as a memory, having a computer program stored thereon, the computer program being executable by a processor to perform a method of collision detection for a robot. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, the present application further provides an electronic device comprising a memory and a processor, the memory storing a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the robot collision detection method described above.
Referring to fig. 5, in some embodiments, an electronic device 500 may include a processor 510, a memory 520, an input/output component 530, and a communication port 540. Processor (e.g., CPU)510 may execute program instructions in the form of one or more processors. The memory 520 includes various forms of program storage and data storage such as a hard disk, Read Only Memory (ROM), Random Access Memory (RAM), etc. for storing various data files that are processed and/or transmitted by a computer. Input/output component 530 may be used to support input/output between the processing device and other components. The communication port 540 may be connected to a network for enabling data communication. An exemplary processing device may include program instructions stored in Read Only Memory (ROM), Random Access Memory (RAM), and/or other types of non-transitory storage media that are executed by processor 510. The methods and/or processes of the embodiments of the present specification may be implemented as program instructions.
Finally, it is to be noted that the above description is intended to be illustrative and not exhaustive, and that the invention is not limited to the disclosed embodiments, and that several modifications and variations may be resorted to by those skilled in the art without departing from the scope and spirit of the invention as set forth in the appended claims. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (12)
1. A robot collision detection method, comprising:
s1, predefining universal cylinders and universal cylinder parameters, wherein each universal cylinder comprises an upper bottom surface, a lower bottom surface and a cylindrical surface, the upper bottom surface is parallel to the lower bottom surface, the central point connecting line of the upper bottom surface and the lower bottom surface is vertical to the upper bottom surface and the lower bottom surface, and the universal cylinder parameters comprise the long axis radius a of the upper bottom surface 1 And minor axis radius b 1 Major axis radius a of the lower bottom surface 2 And minor axis radius b 2 And a cylinder height h;
s2, determining a target fitting part of the universal cylinder, adjusting universal cylinder parameters to fit the shape of the target fitting part, and determining the universal cylinder parameters after fitting as target parameters;
s3, calculating a support mapping function of the universal cylinder according to the target parameters;
and S4, performing collision detection on the robot by adopting a GJK algorithm according to the support mapping function of the universal cylinder.
2. The robot collision detection method according to claim 1, characterized in that the robot is configured to include a geometry fitting library including the generic cylinder and standard geometries including at least part of a sphere, a cylinder, a cube and a cone.
3. The robot collision detecting method according to claim 2, wherein the step S2 of determining the target fitting site of the universal cylinder includes:
s21, acquiring a structural model of the robot and/or the robot working environment;
s22, splitting the structure model into a plurality of parts to be fitted;
and S23, determining a target fitting part suitable for shape fitting according to the universal cylinder according to the part to be fitted.
4. The robot collision detecting method according to claim 3, wherein the step S21 of obtaining the structural model of the robot includes:
and acquiring a body structure model of the robot and/or acquiring a load structure model connected with the robot body.
5. The robot collision detecting method according to claim 3, wherein the step S23 of determining a target fitting site suitable for shape fitting according to a general cylinder from the site to be fitted includes:
acquiring an operation instruction of a user to determine a target fitting part, wherein the operation instruction selects the target fitting part based on the part to be fitted;
and/or, determining the target fitting part according to a preset shape selection method, wherein the preset shape selection method is configured to select the target fitting part based on the part to be fitted.
6. The robot collision detection method according to claim 5, wherein the determining a target fitting part according to a preset shape selection method comprises:
and determining the shape matching degree of the part to be fitted and the universal cylinder, and determining the part to be fitted which meets the preset matching conditions as the target fitting part according to the shape matching degree.
7. The robot collision detection method according to claim 3, wherein before performing collision detection of the robot by using the GJK algorithm in step S4, the method further comprises:
s41, determining other parts to be fitted except for the target fitting part in the parts to be fitted of the robot, performing shape fitting on the other parts to be fitted according to the standard geometric body, determining shape fitting parameters of the other parts to be fitted, and calculating corresponding support mapping functions.
8. The robot collision detecting method according to claim 3, wherein before performing collision detection of the robot by using the GJK algorithm in step S4, the method further comprises:
generating a fitting shape set for robot collision detection according to shape fitting of a part to be fitted, determining two shapes as collision detection objects, detecting whether the two shapes are overlapped, intersected or separated in a three-dimensional space by adopting a GJK algorithm, and determining that collision occurs when overlapping or intersecting is detected.
9. The robot collision detecting method according to claim 1, wherein the step S3 of calculating a support mapping function of a general cylinder from the target parameters includes:
s31, determining a local coordinate system of the universal cylinder, and converting the target direction v under the robot base coordinate system into a conversion direction w under the local coordinate system of the universal cylinder based on a preset conversion relation;
s32, determining a projection farthest point M of the conversion direction w based on the local coordinate system;
and S33, converting the projection farthest point M into a target coordinate based on the robot base coordinate system based on the preset conversion relation.
10. The robot collision detecting method according to claim 9, wherein the step S32 of determining the projected farthest point M of the converting direction w based on the local coordinate system includes:
s321, determining the converting direction w ═ w (w) x ,w y ,w z ) The coordinate of any point on the upper bottom surface of the universal cylinder is (a) 1 cos(θ),b 1 sin (theta), h/2), coordinates of any point on the bottom surface are
Wherein a is 1 、b 1 、a 2 、b 2 H is the general cylinder parameter, w x 、w y 、w z The projection of the transformation direction w onto the local coordinate system in the direction of the x, y and z axes, theta and
is an angle variable;
s322, determining the projection value of the upper bottom surface in the conversion direction w as
The projection value of the lower surface in the switching direction w is
S323, determining the analytic solution of the maximum projection value corresponding point of the upper bottom surface as follows: theta max ＝argmax θ (p 1 (θ)), the analytic solution for the maximum projection value corresponding point of the lower surface is:
s324, calculating the maximum projection value p of the upper bottom surface 1 (θ max ) And maximum projection value of the lower surface
The larger of which is determined as the projection farthest point M.
11. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the robot collision detection method of any one of claims 1 to 10.
12. An electronic device, comprising:
a memory storing a computer program;
a processor for executing the computer program in the memory to implement the robot collision detection method of any one of claims 1 to 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210496159.1A CN114872043B (en) | 2022-05-09 | 2022-05-09 | Robot collision detection method, storage medium and electronic equipment |
| PCT/CN2023/092493 WO2023217032A1 (en) | 2022-05-09 | 2023-05-06 | Robot collision detection method, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210496159.1A CN114872043B (en) | 2022-05-09 | 2022-05-09 | Robot collision detection method, storage medium and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114872043A true CN114872043A (en) | 2022-08-09 |
| CN114872043B CN114872043B (en) | 2023-11-17 |
Family
ID=82673233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210496159.1A Active CN114872043B (en) | 2022-05-09 | 2022-05-09 | Robot collision detection method, storage medium and electronic equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114872043B (en) |
| WO (1) | WO2023217032A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023217032A1 (en) * | 2022-05-09 | 2023-11-16 | 苏州艾利特机器人有限公司 | Robot collision detection method, storage medium and electronic device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722565A (en) * | 2014-01-23 | 2014-04-16 | 哈尔滨工业大学 | Self-collision monitoring system for humanoid robot and monitoring method thereof |
| CN204162934U (en) * | 2014-09-26 | 2015-02-18 | 广州东奥电气有限公司 | A kind of multi-functional rapid drying clothes cabinet |
| CN105512377A (en) * | 2015-11-30 | 2016-04-20 | 腾讯科技（深圳）有限公司 | Real time virtual scene cylinder collider and convex body collision detection method and system |
| CN107116540A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳计算技术研究所有限公司 | A kind of robot collision checking method that structure is surrounded based on SCS |
| CN109500811A (en) * | 2018-11-13 | 2019-03-22 | 华南理工大学 | A method of the mankind are actively avoided towards man-machine co-melting robot |
| CN111203916A (en) * | 2020-01-16 | 2020-05-29 | 山西万合智能科技有限公司 | Robot joint and geometric body collision detection method |
| CN111360824A (en) * | 2020-02-27 | 2020-07-03 | 中科新松有限公司 | Double-arm self-collision detection method and computer-readable storage medium |
| CN111504328A (en) * | 2020-05-22 | 2020-08-07 | 梅卡曼德（北京）机器人科技有限公司 | Robot motion planning method, path planning method, grabbing method and device |
| US20200254610A1 (en) * | 2019-02-11 | 2020-08-13 | Beckhoff Automation Gmbh | Industrial robot system and method for controlling an industrial robot |
| CN113664832A (en) * | 2021-09-01 | 2021-11-19 | 上海节卡机器人科技有限公司 | Robot collision prediction method, computer storage medium and electronic device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105137973B (en) * | 2015-08-21 | 2017-12-01 | 华南理工大学 | A kind of intelligent robot under man-machine collaboration scene hides mankind's method |
| US9671777B1 (en) * | 2016-06-21 | 2017-06-06 | TruPhysics GmbH | Training robots to execute actions in physics-based virtual environment |
| CN113244622B (en) * | 2021-06-22 | 2022-11-08 | 腾讯科技（深圳）有限公司 | Collision data processing method and device, storage medium and electronic equipment |
| CN114872043B (en) * | 2022-05-09 | 2023-11-17 | 苏州艾利特机器人有限公司 | Robot collision detection method, storage medium and electronic equipment |
-
2022
- 2022-05-09 CN CN202210496159.1A patent/CN114872043B/en active Active
-
2023
- 2023-05-06 WO PCT/CN2023/092493 patent/WO2023217032A1/en unknown
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722565A (en) * | 2014-01-23 | 2014-04-16 | 哈尔滨工业大学 | Self-collision monitoring system for humanoid robot and monitoring method thereof |
| CN204162934U (en) * | 2014-09-26 | 2015-02-18 | 广州东奥电气有限公司 | A kind of multi-functional rapid drying clothes cabinet |
| CN105512377A (en) * | 2015-11-30 | 2016-04-20 | 腾讯科技（深圳）有限公司 | Real time virtual scene cylinder collider and convex body collision detection method and system |
| CN107116540A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳计算技术研究所有限公司 | A kind of robot collision checking method that structure is surrounded based on SCS |
| CN109500811A (en) * | 2018-11-13 | 2019-03-22 | 华南理工大学 | A method of the mankind are actively avoided towards man-machine co-melting robot |
| US20200254610A1 (en) * | 2019-02-11 | 2020-08-13 | Beckhoff Automation Gmbh | Industrial robot system and method for controlling an industrial robot |
| CN111203916A (en) * | 2020-01-16 | 2020-05-29 | 山西万合智能科技有限公司 | Robot joint and geometric body collision detection method |
| CN111360824A (en) * | 2020-02-27 | 2020-07-03 | 中科新松有限公司 | Double-arm self-collision detection method and computer-readable storage medium |
| CN111504328A (en) * | 2020-05-22 | 2020-08-07 | 梅卡曼德（北京）机器人科技有限公司 | Robot motion planning method, path planning method, grabbing method and device |
| US20220134559A1 (en) * | 2020-05-22 | 2022-05-05 | Mech-Mind Robotics Technologies Ltd. | Method and apparatus for motion planning of robot, method and apparatus for path planning of robot, and method and apparatus for grasping of robot |
| CN113664832A (en) * | 2021-09-01 | 2021-11-19 | 上海节卡机器人科技有限公司 | Robot collision prediction method, computer storage medium and electronic device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023217032A1 (en) * | 2022-05-09 | 2023-11-16 | 苏州艾利特机器人有限公司 | Robot collision detection method, storage medium and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114872043B (en) | 2023-11-17 |
| WO2023217032A1 (en) | 2023-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11059174B2 (en) | System and method of controlling obstacle avoidance of robot, robot and storage medium | |
| US8160744B2 (en) | Contact shape computing apparatus and method, and computer program therefor | |
| WO2022078467A1 (en) | Automatic robot recharging method and apparatus, and robot and storage medium | |
| CN108801255B (en) | Method, device and system for avoiding robot collision | |
| CN108733065B (en) | Obstacle avoidance method and device for robot and robot | |
| WO2021181929A1 (en) | Information processing method, information processing system, and program | |
| CN114872043A (en) | Robot collision detection method, storage medium and electronic device | |
| CN104217433A (en) | Method and device for analyzing image | |
| US20230015214A1 (en) | Planar contour recognition method and apparatus, computer device, and storage medium | |
| CN112936288B (en) | Robot action safety detection method and device, electronic equipment and storage medium | |
| WO2022021156A1 (en) | Method and apparatus for robot to grab three-dimensional object | |
| JP6849262B1 (en) | Information processing method, information processing system, program | |
| CN113671523A (en) | Robot positioning method, device, storage medium and robot | |
| CN116342704B (en) | Scanning point category determining method and device, computer equipment and storage medium | |
| JP6917096B1 (en) | Information processing method, information processing system, program | |
| JP6796899B1 (en) | Information processing method, information processing system, program | |
| JP2023031195A (en) | Weld inspection method, weld inspection system, and weld inspection program | |
| US10679409B2 (en) | Three-dimensional model creating device | |
| CN113442144A (en) | Optimal pose determining method and device under constraint, storage medium and mechanical arm | |
| CN112711012A (en) | Global position initialization method and system of laser radar positioning system | |
| US20230339119A1 (en) | Robot control system and control device | |
| Chen et al. | A simple and generic method for real-time accurate hand-eye calibration using a 3D vision sensor | |
| US10379620B2 (en) | Finger model verification method and information processing apparatus | |
| CN115270311B (en) | CATIA-based instrument desk head collision area generation method and device | |
| JP7108329B1 (en) | Information processing method, information processing system, program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |