CN117688003A - Accessibility detection method, device, equipment and medium for robot operation pose - Google Patents
Accessibility detection method, device, equipment and medium for robot operation pose Download PDFInfo
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Abstract
The application relates to a method, a device, equipment and a medium for detecting reachability of robot operation pose, wherein the method comprises the following steps: acquiring a working pose to be detected and a reachable working pose voxel table; the reachable operation pose voxel table comprises voxels occupied by the reachable operation pose; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space; determining a target voxel occupied by a working pose to be detected; and if the target voxel is in the reachable operation pose voxel table, determining the operation pose to be detected as the reachable operation pose. According to the embodiment of the application, the efficiency of detecting the accessibility of the robot operation pose is improved. Further, the embodiment of the application returns the pose closest to the working pose to be detected and the pose with the optimal accessibility as the pose executed by the actual robot by carrying out operations such as clustering, sequencing of the working operation degrees, collision detection and the like on all the reachable working poses in the target voxels.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a method and apparatus for detecting accessibility of a robot working pose, a computer device, and a storage medium.
Background
Currently, in order to determine the accessibility of a certain working pose of a robot, the inverse kinematics of the robot needs to be solved. This way of determining the reachability of the job pose, the solving process is time consuming. Meanwhile, the solving process depends on the configuration of a specific robot, and the solving processes of different robots are different and lack versatility. In addition, for some tasks, pose constraint is a range, and the traditional solving method based on the inverse solution needs to traverse each pose in the region, so that the calculated amount is large and inflexible.
Disclosure of Invention
Based on the above, an object of the present application is to provide a method, an apparatus, a computer device, and a storage medium for detecting reachability of a robot operation pose, which can improve efficiency of detecting reachability of a robot operation pose, and can quickly return an operation pose satisfying task constraint and having optimal reachability for an operation condition of range constraint.
According to a first aspect of embodiments of the present application, there is provided a method for detecting reachability of a robot working pose, including the steps of:
acquiring a working pose to be detected and a reachable working pose voxel table; the reachable operation pose voxel table comprises voxels occupied by reachable operation poses; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space;
Determining target voxels occupied by the operation pose to be detected;
and if the target voxel is in the reachable operation pose voxel table, determining that the operation pose to be detected is a reachable operation pose.
According to a second aspect of embodiments of the present application, there is provided a reachability detection apparatus for a robot working pose, including:
the operation pose acquisition module is used for acquiring an operation pose to be detected and an reachable operation pose voxel table; the reachable operation pose voxel table comprises voxels occupied by reachable operation poses; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space;
the target voxel determining module is used for determining target voxels occupied by the operation pose to be detected;
and the pose reachable judging module is used for determining that the operation pose to be detected is a reachable operation pose if the target voxel is in the reachable operation pose voxel table.
According to a third aspect of embodiments of the present application, there is provided a computer device comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method for reachability detection of a robot working pose as described in any of the above.
According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for detecting the reachability of a robot working pose as described in any one of the above.
According to the embodiment of the application, the operation pose to be detected and the reachable operation pose voxel table are obtained; the reachable operation pose voxel table comprises voxels occupied by reachable operation poses; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space; determining target voxels occupied by the operation pose to be detected; and if the target voxel is in the reachable operation pose voxel table, determining that the operation pose to be detected is a reachable operation pose. According to the method and the device for detecting the operation pose, whether the operation pose to be detected is the reachable operation pose or not is judged by inquiring the reachable operation pose voxel table, inverse kinematics solution of the robot is not needed, and efficiency of accessibility detection of the operation pose of the robot is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
Drawings
Fig. 1 is a flow chart of a method for detecting reachability of a robot working pose according to an embodiment of the present application;
fig. 2 is a schematic flow chart of step S35 in the accessibility detection method of the robot operation pose according to an embodiment of the present application;
fig. 3 is a block diagram of a accessibility detecting device for a robot working pose according to an embodiment of the present application;
fig. 4 is a schematic block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims. In the description of this application, it should be understood that the terms "first," "second," "third," and the like are used merely to distinguish between similar objects and are not necessarily used to describe a particular order or sequence, nor should they be construed to indicate or imply relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The robot of the embodiment of the application comprises a base, a mechanical arm and a robot tail end. The robotic arm may be secured to the base. Alternatively, the base may be movable, and the robot arm may move along with the movement of the base in addition to its own movement. Alternatively, the base may be stationary, with the robotic arm only moving itself. In the embodiment of the application, the base is fixed, only the mechanical arm moves, and the mechanical arm drives the tail end of the robot to move, so that the accessibility detection method of the robot operation pose is described.
The mechanical arm can be regarded as a rigid body formed by connecting a series of joints, and the rigid body formed by connecting adjacent joints is a robot connecting rod. A joint refers to a device that connects two parts together. The connection is not a fixed connection but may undergo limited relative movement. Alternatively, the movement may include rotation and translation. The robot arm controls the movement of each joint, so that the tail end of the robot performs work.
The robotic arm further includes one or more processors; the processor can be used for executing the accessibility detection method of the robot operation pose, controlling the movement of each joint and further driving the mechanical arm to move. Alternatively, the processor may be built into the robotic arm as a unit with the robotic arm; the processor can also be arranged outside the mechanical arm and independently control the movement of the mechanical arm.
Example 1
Fig. 1 is a flow chart of a method for detecting reachability of a robot working pose according to an embodiment of the present application. The accessibility detection method for the robot operation pose comprises the following steps:
s10: acquiring a working pose to be detected and a reachable working pose voxel table; the reachable operation pose voxel table comprises voxels occupied by the reachable operation pose; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxel is the voxel in the robot operation space.
In the embodiment of the application, the working pose to be detected is the working pose which needs to be judged whether the tail end of the robot is reachable. The method can be used for receiving the manually set operation pose, or can be directly obtained from a memory, and the memory is preset for storing the operation pose to be detected.
The reachable operation pose voxel table is used for indicating which voxel a certain reachable operation pose occupies. The reachable operation pose is the position and the pose of the robot, which can be reached by the tail end of the robot in the operation process. Each joint of the robot has a certain angle range limitation, and the joint space is a set of possible angle values of all joints of the robot. According to the joint angles corresponding to the robot joint space, the reachable operation pose can be determined.
The working space of the robot is the set of working positions at the end of the robot when all possible movements are performed for all joints of the robot. A voxel is a minimum unit of three-dimensional space division and can be regarded as a rectangular parallelepiped in three-dimensional space. The working space of the robot is discretized into several voxels, such that any one position in the working space occupies a unique voxel. According to the corresponding operation position of each reachable operation pose, the voxel occupied by each reachable operation pose can be determined, so that a reachable operation pose voxel table is built.
S20: and determining the target voxels occupied by the working pose to be detected.
In the embodiment of the application, according to the operation position corresponding to the operation pose to be detected, the voxel occupied by the operation pose to be detected in the operation space, namely, the target voxel, can be determined.
S30: and if the target voxel is in the reachable operation pose voxel table, determining the operation pose to be detected as the reachable operation pose.
In the embodiment of the present application, if the target voxel is in the reachable operation pose voxel table, it indicates that at least one voxel occupied by the reachable operation pose is also the target voxel in the reachable operation pose voxel table, and the operation pose to be detected and at least one reachable operation pose are located in the same voxel, so that the operation pose to be detected can be considered as the reachable operation pose.
Otherwise, if the target voxel is not in the reachable operation pose voxel table, the voxel occupied by all reachable operation poses in the reachable operation pose voxel table is not the target voxel, and the operation pose to be detected and any reachable operation pose are not located in the same voxel, so that the operation pose to be detected can be considered as not being the reachable operation pose.
By applying the embodiment of the application, the operation pose to be detected and the reachable operation pose voxel table are obtained; the reachable operation pose voxel table comprises voxels occupied by the reachable operation pose; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space; determining a target voxel occupied by a working pose to be detected; and if the target voxel is in the reachable operation pose voxel table, determining the operation pose to be detected as the reachable operation pose. According to the method and the device for detecting the operation pose, whether the operation pose to be detected is the reachable operation pose or not is judged by inquiring the reachable operation pose voxel table, inverse kinematics solution of the robot is not needed, and efficiency of detecting the reachability of the operation pose of the robot is improved.
In an alternative embodiment, step S10 includes steps S101 to S107 before the step of obtaining the reachable job pose voxel table, specifically as follows:
S101: acquiring voxels corresponding to the robot working space and joint angles corresponding to the robot joint space;
s102: establishing a robot base coordinate system;
s103: according to the voxel size and the spatial position of the voxel in a robot base coordinate system, obtaining a voxel index corresponding to the voxel;
s104: determining an accessible operation pose corresponding to the joint angle, and acquiring an operation position of the accessible operation pose in a robot base coordinate system;
s105: according to the voxel size and the operation position, obtaining a voxel index corresponding to the operation position;
s106: determining voxels occupied by the reachable operation pose according to the voxel index corresponding to the operation position and the voxel index corresponding to the voxel;
s107: and establishing an reachable operation pose voxel table according to the reachable operation pose and the corresponding occupied voxels.
In the embodiment of the application, the working space of the robot is approximately represented by a sphere, and the radius of the sphere is the length from the tail end of the robot to the base when the robot is fully extended. Discretizing the working space of the robot, specifically, uniformly discretizing the sphere into a plurality of voxels according to the preset voxel size, wherein the rectangular inscribed sphere spliced by the voxels is the sphere. The voxel size includes length, width and height, and the method of uniformly dispersing the sphere into a plurality of voxels is not limited herein.
Discretizing the joint space with a preset step length to obtain a plurality of joint angles of each joint, and combining the joint angles of all joints to obtain a plurality of groups of joint angles. And inputting each set of joint angles into a robot positive kinematics model, and determining the reachable operation pose corresponding to each set of joint angles. The robot positive kinematics model is built through a D-H method, and the model has universality for robots of different configurations.
And establishing a robot base coordinate system by taking the robot base as a reference point. Dividing the spatial position of each voxel in the robot base coordinate system by the voxel size to obtain a voxel index corresponding to each voxel. For example, assume that a voxel has [ x, y, z ] coordinates in the robot base coordinate system]Voxel size [ delta ] x ，δ y ，δ z ]The voxel index corresponding to the point is:and similarly, dividing the spatial position of each reachable operation pose in the robot base coordinate system by the voxel size to obtain a voxel index corresponding to each reachable operation pose.
And (3) performing one-to-one correspondence between each reachable operation pose and the occupied voxel index to obtain a reachable operation pose voxel table. The reachable operation pose voxel table can be a hash table, at this time, a key of the hash table is an occupied voxel index, and a value of the hash table is a corresponding reachable operation pose.
The process of determining the target voxel occupied by the to-be-detected operation pose in step S20 is the same as the above process, and the spatial position of the to-be-detected operation pose in the robot base coordinate system is divided by the voxel size to obtain the voxel index corresponding to the to-be-detected operation pose, thereby obtaining the target voxel index. And determining the voxels occupied by the working pose to be detected according to the target voxel index and the voxel index corresponding to each voxel, namely determining the target voxels.
By establishing the reachable operation pose voxel table, whether the operation pose to be detected is the reachable operation pose or not can be conveniently and rapidly determined according to the voxel index corresponding to the operation pose to be detected, and the efficiency of detecting the accessibility of the operation pose of the robot is improved.
In an alternative embodiment, step S105 includes the step of obtaining a voxel index corresponding to the job location according to the voxel size and the job location, including S1051, specifically as follows:
s1051: and calculating the ratio of the operation position to the voxel size, performing upward rounding operation on the ratio, and taking the operation result as a voxel index corresponding to the operation position.
In the embodiment of the application, the voxel size is divided by the corresponding operation position of each reachable operation pose. The integer division is the upward integer, so that the voxel indexes are all integers, and the calculation of the voxel indexes is facilitated.
In an alternative embodiment, step S30 includes steps S31 to S35 after determining that the task pose to be detected is the reachable task pose if the target voxel is in the reachable task pose voxel table, specifically as follows:
s31: and acquiring all reachable operation pose and corresponding operation degree in the target voxel.
The operation degree is the amount of the gesture that a certain position point of the tail end of the robot can be taken in space, and the operation degree can be measured through the joint angle of the robot. In the embodiment of the application, each reachable operation pose in the target voxel is obtained through solving a group of joint angles, and accordingly, the operation degree can be solved through the joint angles, so that the operation degree corresponding to each reachable operation pose can be obtained.
S32: and clustering all reachable operation poses in the target voxels to obtain a plurality of cluster groups.
In the embodiment of the application, a K-means clustering method is adopted, K reachable operation pose is selected from all reachable operation poses in a target voxel to serve as a clustering center, and the distance between the pose direction of each reachable operation pose and the pose directions of the K clustering centers is calculated to obtain K clustering groups.
S33: and acquiring the central vector direction of each cluster group, and calculating the included angle between the central vector direction and the gesture direction corresponding to the to-be-detected operation gesture.
In the embodiment of the present application, according to the gesture directions of all the reachable job poses in the cluster group, the center vector direction of the cluster group can be obtained by calculation, and the calculation formula is as follows:
wherein,represents the direction of the center vector of the cluster group, n i And the gesture direction of the ith reachable operation gesture in the cluster group is represented.
Wherein, by two space vectors n i And n j The included angle formula of (2) is as follows:
the included angle between the center vector direction of the cluster group and the gesture direction corresponding to the operation gesture to be detected can be calculated.
S34: sequencing all reachable operation pose in the cluster group with the smallest included angle from large to small according to the operation degree to obtain sequenced reachable operation pose;
s35: and taking the reachable operation pose sequenced at the preset position as the optimal operation pose of the robot in the sequenced reachable operation poses.
In the embodiment of the application, any one of the available operation pose with the front sequence and the preset number can be selected as the optimal operation pose of the robot. The first reachable operation pose can be used as the optimal operation pose of the robot. By clustering the gesture directions of all the reachable operation gestures in the target voxel and sequencing the operation degrees, the optimal reachable operation gestures can be automatically and quickly obtained from all the reachable operation gestures in the target voxel, and the optimal reachable operation gestures are used as the operation gestures actually executed by the robot, so that the efficiency and the accuracy of the robot operation are improved, and the subsequent robot operation is facilitated.
In an alternative embodiment, the reachable operation pose voxel table includes reachable operation poses and operation degrees corresponding to the reachable operation poses, and step S31 includes the steps of obtaining all reachable operation poses and corresponding operation degrees in the target voxels, including step S311, specifically as follows:
s311: and according to the target voxel, searching and obtaining all reachable operation pose and corresponding operation degree in the target voxel from the reachable operation pose voxel table.
In the embodiment of the application, when the reachable operation pose voxel table is established, the operation degree can be added to the reachable operation pose voxel table. Specifically, after the reachable operation pose corresponding to each group of joint angles is determined, the operation degree corresponding to each group of joint angles is calculated through an operation degree formula, so that the corresponding relation between the reachable operation pose and the operation degree is established. And establishing a voxel table of the reachable operation pose according to the voxel index corresponding to the reachable operation pose, the reachable operation pose and the corresponding operation degree in a one-to-one correspondence manner. Wherein, the operation formula is:
wherein W is j Represents the operation degree, J (q j ) Representing the Jacobian matrix, q j Indicating the joint angle.
Through the voxel index of the target voxel, all reachable operation poses in the target voxel and corresponding operation degrees can be automatically and quickly obtained from the reachable operation pose voxel table.
In an alternative embodiment, referring to fig. 2, step S35 includes steps of taking the reachable operational pose ordered at the preset position as the optimal operational pose of the robot in the ordered reachable operational poses, including steps S351-S355, specifically as follows:
s351: and acquiring voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose.
In the embodiment of the application, the voxels occupied by the robot link are voxels where the robot link intersects the working space. Each reachable operation pose is obtained through solving a group of joint angles, and correspondingly, the voxels occupied by the robot connecting rod can be solved through the joint angles, so that the voxels occupied by the robot connecting rod corresponding to each reachable operation pose can be obtained.
S352: judging whether voxels occupied by the robot connecting rods corresponding to the ordered reachable operation pose at the first position overlap with the obstacle space area of the surrounding environment of the robot or not in the ordered reachable operation pose;
s353: if not, taking the reachable operation pose sequenced at the first position as the optimal operation pose of the robot;
s354: if so, judging whether the voxels occupied by the robot connecting rods corresponding to the reachable operation pose sequenced at the next position after the first position are overlapped with the obstacle space area of the surrounding environment of the robot or not until the target reachable operation pose which is not overlapped with the obstacle space area of the surrounding environment of the robot is obtained;
S355: and taking the target reachable operation pose as the optimal operation pose of the robot.
In the embodiment of the application, collision geometric detection is carried out on the sequenced reachable operation pose. Specifically, whether a space region is overlapped between a robot connecting rod and an obstacle in the surrounding environment of the robot under a first reachable operation pose of the robot is judged, if a space region is overlapped between one voxel and the obstacle space region in the surrounding environment of the robot in a plurality of voxels occupied by the robot connecting rod, the first reachable operation pose of the robot is not detected through collision geometry, the first reachable operation pose of the robot is skipped, and collision geometry detection of the second reachable operation pose of the robot is carried out.
And repeating the process until the first reachable operation pose which is not overlapped with the obstacle space area of the surrounding environment of the robot is determined, namely, the target reachable pose is determined, and the target reachable operation pose is taken as the optimal operation pose of the robot. And the optimal reachable operation pose is selected from the sequenced reachable operation poses through collision geometric detection, so that the accuracy of the optimal reachable operation pose is improved.
In an alternative embodiment, the reachable operation pose voxel table includes the reachable operation pose and voxels occupied by the robot links corresponding to the reachable operation pose, and step S351 includes the step of acquiring the voxels occupied by the robot links corresponding to the reachable operation pose after sorting, including step S3511, specifically as follows:
S3511: and searching and obtaining voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose from the reachable operation pose voxel table.
In the embodiment of the application, when the reachable operation pose voxel table is established, voxels occupied by the robot connecting rod can be added to the reachable operation pose voxel table. Specifically, after the reachable operation pose corresponding to each group of joint angles is determined, the initial joint pose and the final joint pose of the robot connecting rod can be obtained according to the joint angles and the robot positive kinematics model. The robot connecting rod is represented by a cylinder enveloping the robot connecting rod, the direction vector of the cylinder can be determined through the initial joint pose and the final joint pose, and voxels which are intersected by the robot connecting rod and the working space can be obtained by adopting a Raycast method, namely, the voxels occupied by the robot connecting rod are obtained, so that the corresponding relation between the reachable working pose and the voxels occupied by the robot connecting rod is established.
And (3) establishing a voxel table of the reachable operation pose according to the voxel index corresponding to the reachable operation pose, the reachable operation pose and voxels occupied by the corresponding robot connecting rod in a one-to-one correspondence manner.
Through the voxel index of the target voxels, voxels occupied by the robot connecting rod corresponding to the sequenced reachable operation pose can be automatically and quickly searched from the reachable operation pose voxel table.
Example 2
The following are examples of apparatus that may be used to perform the method of example 1 of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method in embodiment 1 of the present application.
Fig. 3 is a schematic structural diagram of a device for detecting reachability of a robot working pose according to an embodiment of the present application. The accessibility detection device 4 of robot operation appearance that this application embodiment provided includes:
a working pose acquisition module 41, configured to acquire a working pose to be detected and a reachable working pose voxel table; the reachable operation pose voxel table comprises voxels occupied by the reachable operation pose; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space;
a target voxel determining module 42, configured to determine a target voxel occupied by the task pose to be detected;
the pose reachable determination module 43 is configured to determine that the task pose to be detected is a reachable task pose if the target voxel is in the reachable task pose voxel table.
Optionally, the accessibility detection device of the robot operation pose includes a voxel table building module, including:
The voxel acquisition unit is used for acquiring voxels corresponding to the robot working space and joint angles corresponding to the robot joint space;
the coordinate system establishing unit is used for establishing a robot base coordinate system;
the first voxel index obtaining unit is used for obtaining a voxel index corresponding to the voxel according to the voxel size and the spatial position of the voxel in the robot base coordinate system;
the operation position acquisition unit is used for determining an accessible operation pose corresponding to the joint angle and acquiring an operation position of the accessible operation pose in a robot base coordinate system;
a second voxel index obtaining unit, configured to obtain a voxel index corresponding to the operation position according to the voxel size and the operation position;
the voxel determining unit is used for determining the voxel occupied by the reachable operation pose according to the voxel index corresponding to the operation position and the voxel index corresponding to the voxel;
and the voxel table establishing unit is used for establishing the reachable operation pose voxel table according to the reachable operation pose and the corresponding occupied voxels.
Optionally, the second voxel index obtaining unit includes:
and the ratio calculating unit is used for calculating the ratio of the operation position to the voxel size, performing upward rounding operation on the ratio, and taking the operation result as a voxel index corresponding to the operation position.
Optionally, the accessibility detection device of robot operation pose includes:
the operation degree acquisition module is used for acquiring all reachable operation poses in the target voxel and the corresponding operation degrees;
the cluster group obtaining module is used for clustering all reachable operation poses in the target voxels to obtain a plurality of cluster groups;
the included angle calculating module is used for obtaining the direction of the center vector of each cluster group and calculating the included angle between the direction of the center vector and the gesture direction corresponding to the operation gesture to be detected;
the operation pose sequencing module is used for sequencing all reachable operation poses in the cluster group with the smallest included angle from large to small according to the operation degree to obtain sequenced reachable operation poses;
and the optimal operation pose determining module is used for taking the reachable operation pose sequenced at the preset position as the optimal operation pose of the robot in the sequenced reachable operation poses.
Optionally, the job operability obtaining module includes:
and the operation degree acquisition unit is used for searching and acquiring all reachable operation poses and corresponding operation degrees in the target voxels from the reachable operation pose voxel table according to the target voxels.
Optionally, the optimal operation pose determining module includes:
the voxel obtaining unit is used for obtaining voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose;
the region overlapping judging unit is used for judging whether voxels occupied by the robot connecting rod corresponding to the ordered reachable operation pose at the first position overlap with the obstacle space region of the surrounding environment of the robot or not in the ordered reachable operation pose;
the first result unit is used for taking the reachable operation pose sequenced at the first position as the optimal operation pose of the robot if not;
the second result unit is used for judging whether the voxels occupied by the robot connecting rods corresponding to the reachable operation pose of the next position after the first position are overlapped with the obstacle space area of the surrounding environment of the robot or not if yes, until the target reachable operation pose which is not overlapped with the obstacle space area of the surrounding environment of the robot is obtained;
and the optimal operation pose determining unit is used for taking the target reachable operation pose as the optimal operation pose of the robot.
Optionally, the voxel obtaining unit includes:
and the voxel searching unit is used for searching and obtaining voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose from the reachable operation pose voxel table.
By applying the embodiment of the application, the operation pose to be detected and the reachable operation pose voxel table are obtained; the reachable operation pose voxel table comprises voxels occupied by the reachable operation pose; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space; determining a target voxel occupied by a working pose to be detected; and if the target voxel is in the reachable operation pose voxel table, determining the operation pose to be detected as the reachable operation pose. According to the method and the device for detecting the operation pose, whether the operation pose to be detected is the reachable operation pose or not is judged by inquiring the reachable operation pose voxel table, inverse kinematics solution of the robot is not needed, and efficiency of detecting the reachability of the operation pose of the robot is improved.
Example 3
The following are device embodiments of the present application that may be used to perform the method of embodiment 1 of the present application. For details not disclosed in the apparatus embodiments of the present application, please refer to the method in embodiment 1 of the present application.
Referring to fig. 4, the present application further provides an electronic device 300, which may be specifically a computer, a mobile phone, a tablet computer, an interactive tablet, and the like, in an exemplary embodiment of the present application, the electronic device 300 is an interactive tablet, and the interactive tablet may include: at least one processor 301, at least one memory 302, at least one display, at least one network interface 303, a user interface 304, and at least one communication bus 305.
The user interface 304 is mainly used for providing an input interface for a user, and acquiring data input by the user. Optionally, the user interface may also include a standard wired interface, a wireless interface.
The network interface 303 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein a communication bus 305 is used to enable connected communications between these components.
Wherein the processor 301 may include one or more processing cores. The processor uses various interfaces and lines to connect various portions of the overall electronic device, perform various functions of the electronic device, and process data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and invoking data stored in memory. Alternatively, the processor may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display layer; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor and may be implemented by a single chip.
The Memory 302 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). The memory may be used to store instructions, programs, code sets, or instruction sets. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory may optionally also be at least one storage device located remotely from the aforementioned processor. The memory as a computer storage medium may include an operating system, a network communication module, a user interface module, and an operating application program.
The processor may be configured to call an application program of the video resolution adjustment method stored in the memory, and specifically execute the method steps of the foregoing embodiment 1, and the specific execution process may refer to the specific description shown in embodiment 1, which is not repeated herein.
Example 4
The present application further provides a computer readable storage medium, on which a computer program is stored, where instructions are adapted to be loaded by a processor and execute the method steps of the above-described embodiment 1, and the specific execution process may refer to the specific description shown in the embodiment, which is not repeated herein. The storage medium can be an electronic device such as a personal computer, a notebook computer, a smart phone, a tablet computer and the like.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The above-described apparatus embodiments are merely illustrative, in which components illustrated as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The accessibility detection method for the robot operation pose is characterized by comprising the following steps of:
acquiring a working pose to be detected and a reachable working pose voxel table; the reachable operation pose voxel table comprises voxels occupied by reachable operation poses; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space;
Determining target voxels occupied by the operation pose to be detected;
and if the target voxel is in the reachable operation pose voxel table, determining that the operation pose to be detected is a reachable operation pose.
2. The accessibility detection method of a robot working pose according to claim 1, characterized in that:
before the step of obtaining the reachable operation pose voxel table, the method comprises the following steps:
acquiring voxels corresponding to the robot working space and joint angles corresponding to the robot joint space;
establishing a robot base coordinate system;
according to the voxel size and the spatial position of the voxel in the robot base coordinate system, obtaining a voxel index corresponding to the voxel;
determining an accessible operation pose corresponding to the joint angle, and acquiring an operation position of the accessible operation pose in a robot base coordinate system;
according to the voxel size and the operation position, obtaining a voxel index corresponding to the operation position;
determining the voxels occupied by the reachable operation pose according to the voxel index corresponding to the operation position and the voxel index corresponding to the voxel;
and establishing an reachable operation pose voxel table according to the reachable operation pose and the corresponding occupied voxels.
3. The accessibility detection method of a robot working pose according to claim 2, characterized in that:
the step of obtaining the voxel index corresponding to the operation position according to the voxel size and the operation position comprises the following steps:
and calculating the ratio of the operation position to the voxel size, performing downward rounding operation on the ratio, and taking an operation result as a voxel index corresponding to the operation position.
4. The accessibility detection method of a robot working pose according to claim 1, characterized in that:
and after the step of determining that the operation pose to be detected is the reachable operation pose if the target voxel is in the reachable operation pose voxel table, the method comprises the following steps:
acquiring all reachable operation poses and corresponding operation degrees in the target voxels;
clustering all reachable operation poses in the target voxels to obtain a plurality of cluster groups;
acquiring the direction of a center vector of each cluster group, and calculating an included angle between the direction of the center vector and the gesture direction corresponding to the operation gesture to be detected;
sequencing all reachable operation pose in the cluster group with the smallest included angle from large to small according to the operation degree to obtain sequenced reachable operation pose;
And taking the reachable operation pose sequenced at the preset position as the optimal operation pose of the robot in the sequenced reachable operation poses.
5. The accessibility detection method of robot working pose according to claim 4, characterized in that:
the reachable operation pose voxel table comprises the reachable operation pose and the operation degree corresponding to the reachable operation pose;
the step of obtaining all reachable operation poses and corresponding operation degrees in the target voxels comprises the following steps:
and according to the target voxel, searching and obtaining all reachable operation pose and corresponding operation degree in the target voxel from the reachable operation pose voxel table.
6. The accessibility detection method of robot working pose according to claim 4, characterized in that:
the step of taking the reachable operation pose sequenced at the preset position as the optimal operation pose of the robot in the sequenced reachable operation poses comprises the following steps:
acquiring voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose;
judging whether voxels occupied by the robot connecting rods corresponding to the ordered reachable operation pose at the first position overlap with the obstacle space area of the surrounding environment of the robot or not in the ordered reachable operation pose;
If not, taking the reachable operation pose sequenced at the first position as the optimal operation pose of the robot;
if so, judging whether the voxels occupied by the robot connecting rods corresponding to the reachable operation pose sequenced at the next position behind the first position are overlapped with the obstacle space area of the surrounding environment of the robot or not until the target reachable operation pose which is not overlapped with the obstacle space area of the surrounding environment of the robot is obtained;
and taking the target reachable operation pose as the optimal operation pose of the robot.
7. The accessibility detection method of a robot working pose according to claim 6, characterized in that:
the reachable operation pose voxel table comprises voxels occupied by the robot connecting rod corresponding to the reachable operation pose;
the step of obtaining the voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose comprises the following steps:
and searching and obtaining voxels occupied by the robot connecting rods corresponding to the sequenced reachable operation pose from the reachable operation pose voxel table.
8. The utility model provides a reachability detection device of robot operation position appearance which characterized in that includes:
the operation pose acquisition module is used for acquiring an operation pose to be detected and an reachable operation pose voxel table; the reachable operation pose voxel table comprises voxels occupied by reachable operation poses; the reachable operation pose is determined according to the joint angle corresponding to the robot joint space, and the voxels are voxels in the robot operation space;
The target voxel determining module is used for determining target voxels occupied by the operation pose to be detected;
and the pose reachable judging module is used for determining that the operation pose to be detected is a reachable operation pose if the target voxel is in the reachable operation pose voxel table.
9. A computer device, comprising: a processor, a memory and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
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| CN202211099962.8A CN117688003A (en) | 2022-09-09 | 2022-09-09 | Accessibility detection method, device, equipment and medium for robot operation pose |
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| CN202211099962.8A CN117688003A (en) | 2022-09-09 | 2022-09-09 | Accessibility detection method, device, equipment and medium for robot operation pose |
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