An obstacle avoidance method, device, mechanical arm and storage medium
A robotic arm and obstacle avoidance technology, applied in the field of control, can solve the problems of multi-processing resources, low obstacle avoidance efficiency, and large data volume, and achieve the effects of reducing processing resources, improving obstacle avoidance efficiency, and reducing data volume.
Active Publication Date: 2021-11-02
UBTECH ROBOTICS CORP LTD
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Problems solved by technology
[0003] However, when the robot arm uses some obstacle avoidance schemes to avoid obstacles, the amount of data processed is large, the efficiency of obstacle avoidance is low, and more processing resources are consumed
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[0029] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in some embodiments of this application. Obviously, the described embodiments are the Claim some of the examples, not all of them. The components of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0030] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on some of the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
[0031]...
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This application proposes an obstacle avoidance method, device, mechanical arm and storage medium, which relate to the field of control technology. By performing three-dimensional reconstruction on the current visual environment obtained by the mechanical arm, the three-dimensional point cloud data corresponding to the current visual environment and the mechanical The current pose parameters of the arm, and according to the obtained resolution parameters and the current pose parameters, a coordinate transformation matrix is generated, so that the coordinate transformation matrix is used to convert the three-dimensional point cloud data into the corresponding two-dimensional space data, so that the mechanical The arm uses the two-dimensional space data to avoid obstacles; in this way, the amount of data used by the robotic arm for obstacle avoidance can be reduced, the efficiency of obstacle avoidance can be improved, and the amount of data saved during obstacle avoidance can be reduced, thereby reducing the processing resources consumed during obstacle avoidance .
Description
technical field [0001] The present application relates to the field of control technology, in particular, to an obstacle avoidance method, device, mechanical arm and storage medium. Background technique [0002] Robotic arms can be widely used in scenarios such as industrial robots and home service robots. The grasping control of the robotic arm needs to consider the obstacle avoidance problem with its surrounding environment, including the obstacle avoidance between the robotic arm and the surrounding environment in scenarios such as moving to the target object and placing the object at the destination after grasping. [0003] However, when the robot arm uses some obstacle avoidance schemes to avoid obstacles, the amount of data processed is large, the efficiency of obstacle avoidance is low, and more processing resources are consumed. Contents of the invention [0004] The purpose of the present application is to provide an obstacle avoidance method, device, robot arm a...
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IPC IPC(8): B25J9/16G06F17/16G06T3/00G06T7/73G06T17/00
CPCB25J9/16B25J9/1676G06T7/73G06T17/00G06F17/16G06T2207/10028G06T3/06
Inventor 罗志平熊友军
Owner UBTECH ROBOTICS CORP LTD