Robot avoidance control method and device

A control method and robot technology, applied in the field of data processing, can solve the problems of robot damage, increase of robot maintenance cost, inability to apply robot passive avoidance, etc., achieve the effect of optimizing avoidance technology and improving versatility

Active Publication Date: 2020-07-10
北京如布科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned technology is mainly used in the scene where the robot is moving, and cannot be applied to the scene where the robot is passively avoiding. For example, when the robot is in a static state and a moving object approaches the robot, the robot cannot effectively avoid it; The treatment method is easy to cause damage to the robot. After a long time, it will increase the maintenance cost of the robot. If the obstacle is a person or an animal, it may cause harm to the person or animal. Therefore, the use of the above technologies will be limited.

Method used

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  • Robot avoidance control method and device
  • Robot avoidance control method and device

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Experimental program
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Embodiment 1

[0032] Figure 1a This is a flowchart of a robot avoidance control method provided in the first embodiment of the present invention. This embodiment is applicable to the situation where the robot avoids moving objects. The method can be executed by a robot avoidance control device, which can be software And / or hardware, and generally can be integrated into the controller of the robot. The method of this embodiment specifically includes the following steps:

[0033] S110. Obtain at least two object images in the detection direction by a monocular camera, and identify at least one moving object in the object images.

[0034] In this embodiment, the monocular camera (camera with only one lens) can be configured on the head or other rotatable parts of the robot, and is used to rotate the robot to a detection direction. Take multiple images of objects on the.

[0035] Wherein, the shooting distance of multiple object images can be preset according to actual conditions, for example, 2s, 3s...

Embodiment 2

[0052] Figure 2a It is a flowchart of a robot avoidance control method provided in the second embodiment of the present invention. This embodiment is optimized based on the above-mentioned embodiment. In this embodiment, the identification of at least one moving object in the object image is specifically optimized The following steps are: identifying a moving foreground object from the at least two object images; marking the moving foreground object as white through binarization processing; in the object image, respectively simulating the regions formed by adjacent white pixels Combined as a moving object. Correspondingly, the method of this embodiment specifically includes:

[0053] S210. Obtain at least two object images in the detection direction by using a monocular camera.

[0054] S220: Recognizing a moving foreground object from the at least two object images.

[0055] As mentioned earlier, moving foreground objects can be identified from multiple object images by using mov...

Embodiment 3

[0074] Figure 3a It is a flowchart of a robot avoidance control method provided in the third embodiment of the present invention. This embodiment is optimized based on the above-mentioned embodiment. In this embodiment, the height of the moving object in the geographic space is set to 0. The position coordinates are associated with the pixel coordinates of the moving object closest to the ground plane in the object image, and the position coordinates of the moving object in the geographic space are calculated for further optimization. Correspondingly, the method of this embodiment specifically includes:

[0075] S310. Obtain at least two object images in the detection direction by a monocular camera, and identify at least one moving object in the object images.

[0076] S320. Establish a three-dimensional measurement coordinate system according to the position of the monocular camera in the geographic space; wherein the projection point of the geometric midpoint of the monocular c...

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Abstract

Embodiments of the present invention disclose a robot avoidance controlling method and a device. The method comprises the steps of acquiring at least two object images in the detection direction by means of a monocular camera, and identifying at least moving object in the object images; according to the pixel coordinates of the moving object in the object images, calculating the position coordinates of the moving object in the geographic space; according to the real-time changing condition corresponding to the position coordinates of the moving object, predicting the corresponding motion state of the moving object; according to the motion state, controlling a robot to avoid the moving object. According to the technical scheme in the embodiments of the present invention, in the prior art, no effective solution for controlling the robot to avoid a moving obstacle is provided. Therefore, the above method provides an effective solution to solve the above problem. The robot avoidance technique is optimized, and the universality of the robot avoidance technical scheme is improved. Meanwhile, the advantages of low cost and good avoidance effect are realized.

Description

Technical field [0001] The embodiments of the present invention relate to data processing technology, and in particular to a method and device for robot avoidance control. Background technique [0002] With the continuous advancement of artificial intelligence technology, people have higher and higher requirements for robot functions, and they hope that robots can have a certain degree of autonomous processing capabilities. [0003] In the actual application of the robot, in the process of autonomous walking or controlled walking, obstacles such as walls, furniture, and even people and animals will inevitably appear in front of or on the side of the robot. Based on this, in the prior art, an obstacle avoidance technology during the robot's traveling process appears. For example, after the robot encounters an obstacle, the original route is changed through corresponding control to achieve the purpose of avoiding the obstacle. [0004] However, the above-mentioned technology is mainly...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0094G05D1/02
Inventor 王奇雷宇
Owner 北京如布科技有限公司
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