Method and device for simultaneous robot movement and sampling for customs sampling work

Abstract

The present invention discloses a method and device for simultaneous movement and sampling of a robot for customs sampling work, which belongs to the field of intelligent hardware technology. The method includes: determining the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled; controlling the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled; controlling the robot to sample the sampling area of ​​the current sampling plane according to the planned robot arm trajectory and chassis movement path; judging whether the current sampling plane is the last sampling plane of the goods to be sampled; if not, controlling the robot's mobile chassis to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and returning to perform the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled; if so, ending the sampling of the goods to be sampled. Through the method disclosed by the present invention, customs sampling items can be sampled efficiently and accurately.

Description

Technical Field

[0001] The present invention relates to the field of intelligent hardware technology, and in particular to a method and device for simultaneous movement and sampling of a robot for customs sampling work. Background Art

[0002] To prevent and control possible viral contamination in incoming goods, the first task is to take samples of the items and then formulate relevant measures based on the sampling and inspection results.

[0003] The current method of mainly relying on manual sampling of cargo easily puts customs staff in a more dangerous working environment.

[0004] At the same time, manual sampling is time-consuming, labor-intensive and inefficient, and it is difficult to cope with the large amount of goods to be inspected.

[0005] In addition, the particularities of cargo storage environments, such as refrigeration and dark warehouses, also bring difficulties to manual sampling.

[0006] The sampling robots currently developed at home and abroad are mainly aimed at air collection, industrial process sampling, etc.

[0007] When sampling the packaging of customs goods, it is necessary to extract the attachments on the surface of the object. The main difficulty lies in accurately identifying the surface of the object based on the robot platform, and taking precise control methods to manipulate the robotic arm to clamp the swab for sampling. In order to improve the efficiency of the sampling operation, the sampling robot is required to be able to complete simultaneous movement and sampling, so that multiple surfaces of the cargo packaging can be sampled efficiently. The coordinated planning of the mobile chassis path and the robotic arm trajectory is a problem that needs to be solved urgently.

[0008] The intelligent robot platform can achieve efficient and fully automatic work for special application scenarios.

[0009] Therefore, designing and developing intelligent sampling robots and studying the problems faced in the application of sampling robots to meet the needs of safe and efficient sampling in customs quarantine work are urgent technical issues to be solved in this field. Summary of the invention

[0010] The purpose of the embodiments of the present invention is to provide a method and device for simultaneous robot movement and sampling, and electronic equipment for customs sampling work, which can solve the problems of low safety and low efficiency in manual sampling of customs items in the prior art.

[0011] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0012] An embodiment of the present invention provides a method for simultaneous robot movement and sampling for customs sampling work, wherein the method comprises:

[0013] Determining a sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled;

[0014] Control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled;

[0015] According to the planned robot arm trajectory and chassis movement path, the robot arm is controlled to sample the sampling area of ​​the current sampling plane;

[0016] Determine whether the current sampling plane is the last plane to be sampled of the goods to be sampled;

[0017] If not, controlling the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and returning to execute the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled;

[0018] If so, the sampling of the goods to be sampled is terminated.

[0019] Optionally, after the step of sampling the goods to be sampled is completed, the method further includes:

[0020] When it is detected that the sampling platform has passed the next piece of goods to be sampled, determining the sampling plane of the next piece of goods to be sampled;

[0021] Taking the sampling end point of the previous piece of goods to be sampled as the starting point, according to the sampling plane of the next piece of goods to be sampled, the first sampling plane for sampling and testing the next piece of goods to be sampled is planned.

[0022] Optionally, the step of controlling the robot to move to the vicinity of the sampling platform and determining the sampling area of ​​the current sampling plane of the goods to be sampled includes:

[0023] Control the robot to move near the sampling platform to collect three-dimensional point cloud data of the goods to be sampled;

[0024] Based on the three-dimensional point cloud data, a sampling area of ​​the current sampling plane of the goods to be sampled is determined.

[0025] Optionally, the robot arm trajectory and chassis movement path are planned in the following manner:

[0026] The optimal combination of chassis target position and manipulator target posture corresponding to the sampling action is obtained through iterative optimization method;

[0027] Control the robot chassis to move from the starting position to the planned target position based on the path planning algorithm;

[0028] Along the moving path of the chassis, the motion trajectory of the robot arm from the starting position to the target position is planned.

[0029] Optionally, the step of planning a motion trajectory of the robot arm from a starting position to a target position along the moving path of the chassis includes:

[0030] Detect whether the robot arm will encounter obstacles when moving along the currently planned motion trajectory;

[0031] If so, select an alternate motion trajectory from the alternate change set;

[0032] Detecting whether the robotic arm will encounter obstacles when moving along the alternate motion trajectory;

[0033] If not, the backup motion trajectory is used as the motion trajectory for transforming the robot arm from the starting position to the target position.

[0034] The embodiment of the present invention further provides a device for simultaneous movement and sampling of a robot for customs sampling work, which is applied to a robot for customs sampling work, wherein the device comprises:

[0035] A first determination module is used to determine the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled;

[0036] The second determination module is used to control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled;

[0037] A first control module, used to control the manipulator to sample the sampling area of ​​the current sampling plane according to the planned manipulator trajectory and chassis movement path;

[0038] A judging module, used to judge whether the current sampling plane is the last sampling plane of the goods to be sampled;

[0039] A second control module is used for, if no, controlling the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and returning to execute the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled;

[0040] The ending module is used to end the sampling of the goods to be sampled if yes.

[0041] Optionally, the device further comprises:

[0042] A detection module, configured to determine the sampling plane of the next piece of goods to be sampled when detecting that the sampling platform has transferred the next piece of goods to be sampled after the end module has finished sampling the goods to be sampled;

[0043] The planning module is used to plan the first sampling plane for sampling and testing the next piece of goods to be sampled based on the sampling plane of the next piece of goods to be sampled, taking the sampling end point of the previous piece of goods to be sampled as the starting point.

[0044] Optionally, the second determining module includes:

[0045] The first submodule is used to control the robot to move to the vicinity of the sampling platform to collect three-dimensional point cloud data of the goods to be sampled;

[0046] The second submodule is used to determine the sampling area of ​​the current sampling plane of the goods to be sampled based on the three-dimensional point cloud data.

[0047] Optionally, the robot arm trajectory and chassis movement path are planned by a path planning module in the following manner:

[0048] The optimal combination of chassis target position and manipulator target posture corresponding to the sampling action is obtained through iterative optimization method;

[0049] Control the robot chassis to move from the starting position to the planned target position based on the path planning algorithm;

[0050] Along the moving path of the chassis, the motion trajectory of the robot arm from the starting position to the target position is planned.

[0051] Optionally, when the path planning module plans a motion trajectory of the robot arm from a starting position to a target position along the moving path of the chassis:

[0052] Detect whether the robot arm will encounter obstacles when moving along the currently planned motion trajectory;

[0053] If so, select an alternate motion trajectory from the alternate change set;

[0054] Detecting whether the robotic arm will encounter obstacles when moving along the alternate motion trajectory;

[0055] If not, the backup motion trajectory is used as the motion trajectory for transforming the robot arm from the starting position to the target position.

[0056] An embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of any one of the above-mentioned methods for simultaneous movement and sampling of a robot for customs sampling work are implemented.

[0057] An embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of any one of the above-mentioned methods for simultaneous movement and sampling of a robot for customs sampling work are implemented.

[0058] The embodiment of the present invention provides a solution for simultaneous movement and sampling of robots for customs sampling work. According to the incoming direction of the goods to be sampled, the sampling plane of the goods to be sampled is determined; the robot is controlled to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled; according to the planned robot arm trajectory and chassis movement path, the robot is controlled to sample the sampling area of ​​the current sampling plane; it is determined whether the current sampling plane is the last sampling plane of the goods to be sampled; if not, the robot's mobile chassis is controlled to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled is returned to execute; if so, the sampling of the goods to be sampled is ended.

[0059] The solution of simultaneous robot movement and sampling for customs sampling work provided by the embodiment of the present invention can enable the robot's mechanical arm and chassis to collaboratively control sampling during the customs sampling process. On the one hand, it can liberate human resources and allow robots to replace human labor in sampling, thereby reducing human time costs, protection costs, etc.; on the other hand, it can improve sampling efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a flowchart showing a method for simultaneous robot movement and sampling for customs sampling work according to an embodiment of the present application;

[0061] Figure 2 is a schematic diagram showing the posture of the robot arm and the chassis during the robot sampling process of an embodiment of the present application;

[0062] Figure 3 is a schematic diagram showing a cargo sampling surface of an embodiment of the present application;

[0063] Figure 4 is a structural block diagram of a robot simultaneous movement and sampling device for customs sampling work according to an embodiment of the present application;

[0064] Figure 5 It is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0066] In conjunction with the accompanying drawings, the solution of simultaneous movement and sampling of robots for customs sampling work provided by the embodiment of the present application is described in detail through specific embodiments and their application scenarios.

[0067] As attached Figure 1 As shown, the method for simultaneous robot movement and sampling for customs sampling work in an embodiment of the present application includes the following steps:

[0068] Step 101: Determine the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled.

[0069] The method for simultaneous movement and sampling of a robot for customs sampling provided in the present application can be applied to a robot for customs sampling, the robot having a mobile chassis and a mechanical arm, the mobile chassis is used to control the movement of the robot, the mechanical arm is used to perform sampling operations, and the mobile chassis can also be called a chassis. Among them, the mechanical arm can be a dual mechanical arm, including a master mechanical arm and a slave mechanical arm, the slave mechanical arm is used to obtain a test tube for testing, the test tube contains a swab; the master mechanical arm is used to take the swab from the test tube, and the swab is used to sample in the sampling area of ​​the goods to be sampled.

[0070] In addition to the above hardware, the robot also includes a software system. One feasible implementation method is to set a central control module in the robot's software system, store a computer program corresponding to the robot control method in a storage medium in the central control module, and the robot's processor runs the program in the storage medium to execute the robot's simultaneous movement and sampling process for customs sampling work, and sample customs goods.

[0071] The robot in the embodiment of the present application can also be called a sampling robot. It is a complex structure combining a mechanical arm and a mobile chassis. It combines a mobile robot with an operating robot, which can effectively expand the robot's operating range and improve the robot's operating flexibility. However, there is also a problem of high complexity in motion planning. When planning the entire sampling operation, it is necessary to simultaneously plan the moving positions of the mechanical arm and the mobile chassis. The obstacle avoidance planning of the overall motion of the sampling robot is also much more complicated. The movement error on the mobile chassis will directly cause a large execution error at the end of the mechanical arm. Therefore, in the embodiment of the present application, the motion planning problem of the robot during simultaneous sampling will be studied, the reasonable coordination scheme of the mechanical arm and the mobile chassis will be analyzed, and the coordinated motion optimization method of the mechanical arm and the mobile chassis will be designed.

[0072] like Figure 2As shown in the schematic diagram of the posture of the robot arm and chassis during the robot sampling process, in the embodiment of the present application, the goods are placed on the sampling table, the robot moves around the sampling table by moving the chassis, and samples the customs goods on the sampling table through the robot arm. Among them, the bottom of the sampling table can be set as a hollow structure, so that the robot arm can pass through the hollow structure to sample the bottom of the customs goods, so theoretically the sampling robot can sample the six sides of the goods.

[0073] Considering that the actual sampling demand is small, it is not necessary to sample every surface, and for safety reasons, the direction of cargo delivery of the sampling station in the customs business scenario is generally set to the robot prohibited passage area, such as Figure 3 In order to simplify the procedure, in the actual implementation process, only Figure 3 The three sampling planes shown are sampled. Figure 3 Sampling is performed on any one or two of the three sampling planes shown in FIG.

[0074] Step 102: Control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled.

[0075] In an optional embodiment, the robot is controlled to move to the vicinity of the sampling platform, and the sampling area of ​​the current sampling plane of the goods to be sampled is determined as follows:

[0076] First, the robot is controlled to move near the sampling platform to collect the three-dimensional point cloud data of the goods to be sampled;

[0077] Secondly, based on the three-dimensional point cloud data of the goods to be sampled, the sampling area of ​​the current sampling plane of the goods to be sampled is determined.

[0078] This method of determining the sampling plane of the goods to be sampled based on the three-dimensional point cloud data of the goods to be sampled can determine the sampling plane more accurately.

[0079] It should be noted that in the actual implementation process, it is not limited to the above-mentioned method of determining the current sampling plane based on the three-dimensional point cloud data of the goods. You can also take pictures of the goods to be sampled and determine the sampling area of ​​the current sampling plane based on the pictures.

[0080] Step 103: According to the planned robot arm trajectory and chassis movement path, the robot arm is controlled to sample the sampling area of ​​the current sampling plane.

[0081] Considering the robot's simultaneous movement and sampling operations, planning the trajectory of the robot arm and the movement path of the chassis is a complex process. This application provides an optional planning method for the trajectory of the robot arm and the movement path of the chassis:

[0082] Firstly, the optimal combination of chassis target position and robot arm target posture corresponding to the sampling action is obtained through iterative optimization method; secondly, the robot chassis is controlled to move from the starting position to the planned target position based on the path planning algorithm; finally, along the moving path of the chassis, the motion trajectory of the robot arm from the starting posture to the target posture is planned.

[0083] Mobile sampling pose planning based on iterative optimization:

[0084] When the sampling robot is performing sampling operations, the mobile chassis should not be too close to the sampling platform, which would cause further inconvenience in the movement of the chassis of the sampling robot, nor should it be too far away from the sampling platform, which would cause sampling failure.

[0085] In addition, based on the structure of the sampling robot, setting the optimal posture of the mobile chassis and the optimal distance from the sampling platform facilitates both the sampling operation and the movement of the mobile chassis to the next target point.

[0086] For the robotic arm, there should not be an overly twisted sampling posture.

[0087] In the embodiment of the present application, a sampling operation planning objective function is established based on the above considerations.

[0088] For the objective function of the mobile chassis, a two-dimensional Gaussian distribution function can be used to represent the attractive potential energy of the sampling target on the sampling robot, and then the exponential distribution repulsive potential energy is introduced to represent the interference effect of obstacles such as the sampling platform on the position movement of the sampling robot. This design can enable the sampling robot to have a better sampling posture when it is close to the sampling target.

[0089] The probability that the variable value of a general Gaussian distribution falls within a standard deviation around the mean is 68%, so the standard deviation can be used as a parameter to measure the operating range of the robot. Because the length of the robot is limited, the sampling target must be within the extension range of the robot, so the standard deviation of the Gaussian distribution of the attractive potential is set to the extension length of the robot. .

[0090] The repulsive potential energy between the robot and the sampling platform is represented by an exponential distribution, and its expectation and variance are set to prevent the robot and the sampling platform from colliding.

[0091] At the same time, the orientation angle in the expected position of the sampling robot chassis is taken into account, the attractive potential energy of the orientation represented by another Gaussian distribution is added, and the standard deviation of the Gaussian distribution of the orientation angle is set.

[0092] Therefore, the objective function of the chassis part can be designed as: , where Indicates the location of the sampling robot chassis.

[0093] For the objective function of the robotic arm sampling operation, three factors are mainly considered, namely, the rotation angle of each joint of the robotic arm should be as small as possible, the position of the sampling swab clamped during sampling, and the posture of the end mechanism of the robotic arm should be more reasonable.

[0094] The end mechanism of the robot arm is required to avoid an overly twisted posture. The objective function of the robot arm is set based on the above three factors: , , , Indicates the front end position of the sampling swab held by the end mechanism of the robotic arm. Represents the normal vector of the front end point of the sampling swab.

[0095] The objective function of the sampling robot's mobile chassis and the objective function of the robotic arm are comprehensively considered to obtain the comprehensive evaluation objective function of the sampling robot.

[0096] In order to optimize the comprehensive evaluation objective function of the sampling robot, an iterative optimization algorithm will be used to obtain a series of optimal chassis positions and robotic arm postures.

[0097] In the initial stage of iteration, the initial position of the chassis of the sampling robot and the initial position and posture of the robotic arm are first obtained.

[0098] Then an iteration is performed, and each step of the iteration involves a process of searching for neighboring positions near the chassis position and a process of searching for neighboring postures near the grasping posture. The so-called proximity here refers to the proximity in Euclidean distance.

[0099] Generally speaking, the search proximity range can be specified manually. Generally, the chassis search range should be within its width scale, while the proximity search range of the grasping posture should be within the radius of the target object.

[0100] The sampling robot comprehensively evaluates the quality of the objective function based on the adjacent positions of the chassis and the adjacent postures of the robotic arm, and further obtains the optimal moving target position of the chassis and the optimal moving posture of the robotic arm. By continuously iterating and reducing the search space, the optimal solution to complete the sampling operation is finally obtained.

[0101] Heuristic chassis path and robot arm trajectory planning:

[0102] Through iterative optimization, the optimal solution to complete the sampling operation is obtained, that is, the target positions that the mobile chassis must reach in sequence and the postures that the robotic arm must achieve in sequence are obtained. The robot's mobile chassis plans a specific path according to the A* path planning algorithm.

[0103] The A* algorithm is an efficient and effective path planning algorithm under two-dimensional maps, and its time consumption is less than that of the RRT algorithm.

[0104] In order to smooth the jaggedness of the path obtained by the A* algorithm, a smoothing algorithm is used to smooth the moving path of the sampled robot chassis.

[0105] On the chassis path, according to the obtained posture information that the robot arm needs to achieve in sequence, the trajectory of the robot arm's movement is obtained according to the Jacobian matrix and the transformation matrix of each joint point.

[0106] After obtaining the planning scheme of the path of the mobile chassis of the sampling robot and the trajectory of the robotic arm, the sampling robot completes the sampling work according to the planning scheme.

[0107] During the process of planning the trajectory of the robot arm and the chassis path, in order to avoid obstacles in this process, the robot arm will consider the backup transformation set of each joint for each posture change. If it is detected that the robot arm will encounter an obstacle when moving according to the currently planned motion trajectory, another backup plan that can avoid the obstacle will be selected from the backup transformation set until a trajectory of the arm movement that can avoid obstacles is obtained, that is, planning is stopped, and the sampling operation is finally completed.

[0108] In an optional embodiment, a method of planning a motion trajectory of the robot arm from a starting position to a target position along the moving path of the chassis may include the following sub-steps:

[0109] S1: Detect whether the robot arm will encounter obstacles when moving along the currently planned motion trajectory;

[0110] S2: If yes, select an alternative motion trajectory from the alternative change set;

[0111] If not, the motion trajectory obtained by the current plan is directly used as the motion trajectory of the robot arm from the starting posture to the target posture.

[0112] S3: Detect whether the robot arm will encounter obstacles when moving along the backup motion trajectory;

[0113] S4: If not, the spare motion trajectory is used as the motion trajectory of the robot arm from the starting posture to the target posture.

[0114] If so, return to S2 and select another spare motion trajectory from the spare change set to execute S3 for judgment, until a motion trajectory that will not cause the robot arm to encounter obstacles during movement is selected from the spare change set.

[0115] Step 104: Determine whether the current sampling plane is the last sampling plane of the goods to be sampled; if so, execute step 106; if not, execute step 105.

[0116] Step 102 to step 103 is the process of sampling a plane to be sampled. In the actual implementation process, if there are multiple planes to be sampled determined by step 101, step 104 is executed after sampling of each sampling plane to determine whether there is a next sampling plane to be sampled. If so, return to step 102 to step 103 until all planes to be sampled are sampled, and the sampling operation of the goods to be sampled can be completed.

[0117] Step 105: Control the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and return to execute step 102 to determine the sampling area of ​​the current sampling plane of the goods to be sampled.

[0118] Step 106: End the sampling of the goods to be sampled.

[0119] In an optional embodiment, after the sampling of the goods to be sampled is completed, the method further includes the following process:

[0120] When it is detected that the sampling platform has passed the next piece of goods to be sampled, the sampling plane of the next piece of goods to be sampled is determined;

[0121] Take the sampling end point of the previous piece of goods to be sampled as the starting point, and plan the first sampling plane for sampling and testing the next piece of goods to be sampled based on the sampling plane of the next piece of goods to be sampled.

[0122] In this method, the sampling end point of the previous cargo to be sampled is used as the sampling starting point of the next cargo to be sampled, so as to reasonably plan the movement trajectory of the robot, avoid the repetition of the movement trajectory when the robot is sampling a cargo, and effectively improve the sampling efficiency of the robot.

[0123] In the present application, refer to Figure 3 Taking the three sampling surfaces of the goods to be sampled as a specific example, the solution of simultaneous movement and sampling of the robot for customs sampling work provided by this application is explained.

[0124] First, the robot senses the surrounding environment near the sampling table, obtains the three-dimensional point cloud data of the customs goods, determines the sampling area of ​​the first plane of the goods, controls the robotic arm to sample the sampling area, and controls the mobile chassis to move the robot to the next plane.

[0125] Secondly, the robot is near the second plane, determines the sampling area of ​​the second plane of the cargo through visual recognition, controls the robotic arm to sample the sampling area, and controls the mobile chassis to move the robot to the next plane.

[0126] Finally, the robot determines the sampling area of ​​the third plane of the goods through visual recognition near the third plane, and controls the robotic arm to sample the sampling area. At this point, the sampling of one customs cargo is completed and the sampling process for the next customs cargo is ready.

[0127] In the embodiment of the present application, the robot determines the direction of movement each time through the obstacle avoidance system. Figure 3 As shown, the robot first moves from the first plane to the vicinity of the third plane in the counterclockwise direction as shown by the solid line, and then the sampling station passes the next customs cargo, and the robot moves from the third plane to the vicinity of the first plane in the clockwise direction as shown by the dotted line.

[0128] The method for simultaneous robot movement and sampling for customs sampling work provided in the embodiment of the present application can enable the robot's mechanical arm and chassis to coordinately control sampling during the customs sampling process. On the one hand, it can free up human resources and allow robots to replace human labor in sampling, thereby reducing human time costs, protection costs, etc.; on the other hand, it can improve sampling efficiency and accuracy.

[0129] The method for simultaneous robot movement and sampling for customs sampling provided in the embodiment of the present application has the following specific beneficial effects in addition to the above beneficial effects:

[0130] 1) Social benefits

[0131] The use of fully automatic sampling technology avoids direct contact between staff and the goods to be tested, effectively reducing the risk of infection. Through unmanned operations, the work and psychological pressure of front-line personnel can be effectively relieved, allowing them to focus their energy on more important tasks. Ultimately, it contributes to alleviating the epidemic prevention pressure of the entire society.

[0132] 2) Economic benefits

[0133] For the sampling of large quantities of goods in complex environments, a full-process, integrated intelligent sampling system is proposed to improve work efficiency. Through reasonable path planning and the coordinated operation of various functional modules, efficient sampling of goods can be achieved.

[0134] 3) Ecological benefits

[0135] The sampling robot platform can effectively reduce the consumption of protective equipment, thereby avoiding the large-scale generation of chemical defense waste. At the same time, the risk of virus contamination due to improper waste disposal near hot spots such as airports and stations is also reduced.

[0136] 4) Promoting the development of customs business

[0137] For the customs cargo sampling process, a fully automatic sampling robot is implemented. Through fully unmanned operation, the safety of inspection and quarantine work can be improved. Based on stable and reliable environmental perception and control algorithms, the efficiency of the sampling process is improved. Therefore, the customs cargo sampling business can be carried out safely and efficiently.

[0138] Figure 4 A structural block diagram of a device for simultaneous robot movement and sampling for customs sampling work to implement an embodiment of the present application.

[0139] The robot simultaneous motion and sampling device for customs sampling work provided in the embodiment of the present application includes the following functional modules:

[0140] The first determination module 401 is used to determine the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled;

[0141] The second determination module 402 is used to control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled;

[0142] A first control module 403, configured to control the robot arm to sample the sampling area of ​​the current sampling plane according to the planned robot arm trajectory and chassis movement path;

[0143] A judgment module 404 is used to judge whether the current sampling plane is the last sampling plane of the goods to be sampled;

[0144] The second control module 405 is used to control the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and return to the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled;

[0145] End module 406 is used to end the sampling of the goods to be sampled if yes.

[0146] Optionally, the device further comprises:

[0147] A detection module, configured to determine the sampling plane of the next piece of goods to be sampled when detecting that the sampling platform has transferred the next piece of goods to be sampled after the end module has finished sampling the goods to be sampled;

[0148] The planning module is used to plan the first sampling plane for sampling and testing the next piece of goods to be sampled based on the sampling plane of the next piece of goods to be sampled, taking the sampling end point of the previous piece of goods to be sampled as the starting point.

[0149] Optionally, the second determining module includes:

[0150] The first submodule is used to control the robot to move to the vicinity of the sampling platform to collect three-dimensional point cloud data of the goods to be sampled;

[0151] The second submodule is used to determine the current sampling plane of the goods to be sampled based on the three-dimensional point cloud data.

[0152] Optionally, the robot arm trajectory and chassis movement path are planned by a path planning module in the following manner:

[0153] The optimal combination of chassis target position and manipulator target posture corresponding to the sampling action is obtained through iterative optimization method;

[0154] Control the robot chassis to move from the starting position to the planned target position based on the path planning algorithm;

[0155] Along the moving path of the chassis, the motion trajectory of the robot arm from the starting position to the target position is planned.

[0156] Optionally, when the path planning module plans a motion trajectory of the robot arm from a starting position to a target position along the moving path of the chassis:

[0157] Detect whether the robot arm will encounter obstacles when moving along the currently planned motion trajectory;

[0158] If so, select an alternate motion trajectory from the alternate change set;

[0159] Detecting whether the robotic arm will encounter obstacles when moving along the alternate motion trajectory;

[0160] If not, the backup motion trajectory is used as the motion trajectory for transforming the robot arm from the starting position to the target position.

[0161] The device for simultaneous robot movement and sampling for customs sampling work provided in the embodiment of the present application can enable the robot's mechanical arm and chassis to coordinately control sampling during the customs sampling process. On the one hand, it can free up human resources and allow robots to replace human labor in sampling, thereby reducing human time costs, protection costs, etc.; on the other hand, it can improve sampling efficiency and accuracy.

[0162] In the present application embodiment Figure 4 The robot for customs sampling work shown in the figure can be a device, or a component, integrated circuit, or chip in a server. Figure 4 The robot control device shown may be a device having an operating system, which may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.

[0163] The embodiments of the present application provide Figure 4 The robot simultaneous motion and sampling device for customs sampling work shown can achieve Figure 1 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0164] Alternatively, if Figure 5 As shown, an embodiment of the present application further provides an electronic device 500, including a processor 501, a memory 502, and a program or instruction stored in the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, each process of the above-mentioned method embodiment of simultaneous movement and sampling of a robot for customs sampling work is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0165] It should be noted that the electronic device in the embodiment of the present application includes the server described above.

[0166] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned method embodiment of simultaneous movement and sampling of a robot for customs sampling work is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0167] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0168] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment of simultaneous movement and sampling of robots for customs sampling work, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0169] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0170] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0171] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for simultaneous robot movement and sampling for customs sampling work, characterized in that: The method comprises: Determining the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled; Control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled; According to the planned robot arm trajectory and chassis movement path, the robot arm is controlled to sample the sampling area of ​​the current sampling plane; Determine whether the current sampling plane is the last plane to be sampled of the goods to be sampled; If not, controlling the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and returning to execute the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled; If yes, end the sampling of the goods to be sampled; The robot arm trajectory and chassis moving path are planned in the following way: The optimal combination of chassis target position and manipulator target posture corresponding to the sampling action is obtained through iterative optimization method; Control the robot chassis to move from the starting position to the planned target position based on the path planning algorithm; Plan the motion trajectory of the robot arm from the starting position to the target position along the moving path of the chassis; The mobile sampling pose planning based on iterative optimization includes: Establish sampling operation planning objective function; For the objective function of the mobile chassis, a two-dimensional Gaussian distribution function is used to represent the attractive potential energy of the sampling target on the sampling robot, and an exponentially distributed repulsive potential energy is introduced to represent the interference effect of obstacles on the sampling platform on the position movement of the sampling robot, so that the sampling robot has a better sampling posture when it is close to the sampling target. The standard deviation is used as a parameter to measure the operating range of the robot arm, and the standard deviation of the Gaussian distribution of the attractive potential energy is set to the extension length of the robot arm. ; Use an exponential distribution to represent the repulsive potential energy between the robot and the sampling platform, and set its expectation and variance to prevent the robot and the sampling platform from colliding; At the same time, considering the orientation angle in the expected posture of the sampling robot chassis, add another Gaussian distribution to represent the attractive potential energy of the orientation, and set the standard deviation of the Gaussian distribution of the orientation angle. Thus, the objective function of the chassis part can be designed as: In the formula, Indicates the position of the sampling robot chassis; Set the objective function of the robot arm: , , , The front end position of the sampling swab held by the end mechanism of the robotic arm is shown. Represents the normal vector of the front end point of the sampling swab; comprehensively considers the objective function of the mobile chassis of the sampling robot and the objective function of the robotic arm to obtain the comprehensive evaluation objective function of the sampling robot; In order to optimize the comprehensive evaluation objective function of the sampling robot, an iterative optimization algorithm is used to obtain a series of optimal chassis positions and robot arm postures; In the initial stage of iteration, the initial position of the chassis of the sampling robot and the initial position and posture of the manipulator are obtained first, and then iteration is performed. Each step of the iteration has a process of searching for adjacent positions near the chassis position and searching for adjacent postures near the grasping posture. The sampling robot comprehensively evaluates the quality of the objective function based on the adjacent positions of the chassis and the adjacent postures of the robotic arm, and further obtains the optimal moving target position of the chassis and the optimal moving posture of the robotic arm. By continuously iterating and reducing the search space, the optimal solution to complete the sampling operation is finally obtained.

2. The method according to claim 1, characterized in that After the step of sampling the goods to be sampled is completed, the method further includes: When it is detected that the sampling platform has passed the next piece of goods to be sampled, determining the sampling plane of the next piece of goods to be sampled; Taking the sampling end point of the previous piece of goods to be sampled as the starting point, according to the sampling plane of the next piece of goods to be sampled, the first sampling plane for sampling and testing the next piece of goods to be sampled is planned.

3. The method according to claim 1, characterized in that: The step of controlling the robot to move to the vicinity of the sampling platform and determining the sampling area of ​​the current sampling plane of the goods to be sampled includes: Control the robot to move near the sampling platform to collect three-dimensional point cloud data of the goods to be sampled; Based on the three-dimensional point cloud data, a sampling area of ​​the current sampling plane of the goods to be sampled is determined.

4. The method according to claim 1, characterized in that: The steps of planning the motion trajectory of the robot arm from the starting position to the target position along the moving path of the chassis include: Detect whether the robot arm will encounter obstacles when moving along the currently planned motion trajectory; If so, select an alternate motion trajectory from the alternate change set; Detecting whether the robotic arm will encounter obstacles when moving along the alternate motion trajectory; If not, the backup motion trajectory is used as the motion trajectory for transforming the robot arm from the starting position to the target position.

5. A robot simultaneous motion and sampling device for customs sampling work, characterized in that: The device comprises: A first determination module is used to determine the sampling plane of the goods to be sampled according to the incoming direction of the goods to be sampled; The second determination module is used to control the robot to move to the vicinity of the sampling platform to determine the sampling area of ​​the current sampling plane of the goods to be sampled; A first control module, used to control the manipulator to sample the sampling area of ​​the current sampling plane according to the planned manipulator trajectory and chassis movement path; A judging module, used to judge whether the current sampling plane is the last sampling plane of the goods to be sampled; A second control module is used for, if no, controlling the mobile chassis of the robot to move the robot to the vicinity of the next sampling plane of the goods to be sampled, and returning to execute the step of determining the sampling area of ​​the current sampling plane of the goods to be sampled; An ending module, used for ending the sampling of the goods to be sampled if yes; The robot arm trajectory and chassis movement path are planned by the path planning module in the following way: The optimal combination of chassis target position and manipulator target posture corresponding to the sampling action is obtained through iterative optimization method; Control the robot chassis to move from the starting position to the planned target position based on the path planning algorithm; Plan the motion trajectory of the robot arm from the starting position to the target position along the moving path of the chassis; The mobile sampling pose planning based on iterative optimization includes: Establish sampling operation planning objective function; For the objective function of the mobile chassis, a two-dimensional Gaussian distribution function is used to represent the attractive potential energy of the sampling target on the sampling robot, and an exponentially distributed repulsive potential energy is introduced to represent the interference effect of obstacles on the sampling platform on the position movement of the sampling robot, so that the sampling robot has a better sampling posture when it is close to the sampling target. The standard deviation is used as a parameter to measure the operating range of the robot arm, and the standard deviation of the Gaussian distribution of the attractive potential energy is set to the extension length of the robot arm. An exponential distribution is used to represent the repulsive potential energy between the robot and the sampling platform, and its expectation and variance are set to prevent the robot and the sampling platform from colliding. At the same time, considering the orientation angle in the expected position of the sampling robot chassis, another Gaussian distribution is added to represent the attractive potential energy of the orientation, and the standard deviation of the Gaussian distribution of the orientation angle is set. Thus, the objective function of the chassis part can be designed as follows: , where Indicates the position of the sampling robot chassis; Set the objective function of the robot arm: , , , Indicates the front end position of the sampling swab held by the end mechanism of the robotic arm. Represents the normal vector of the front end point of the sampling swab; comprehensively considers the objective function of the mobile chassis of the sampling robot and the objective function of the robotic arm to obtain the comprehensive evaluation objective function of the sampling robot; In order to optimize the comprehensive evaluation objective function of the sampling robot, an iterative optimization algorithm is used to obtain a series of optimal chassis positions and robot arm postures; In the initial stage of iteration, the initial position of the chassis of the sampling robot and the initial position and posture of the manipulator are obtained first, and then iteration is performed. Each step of the iteration has a process of searching for adjacent positions near the chassis position and searching for adjacent postures near the grasping posture. The sampling robot comprehensively evaluates the quality of the objective function based on the adjacent positions of the chassis and the adjacent postures of the robotic arm, and further obtains the optimal moving target position of the chassis and the optimal moving posture of the robotic arm. By continuously iterating and reducing the search space, the optimal solution to complete the sampling operation is finally obtained.

6. The device according to claim 5, characterized in that The device also includes: A detection module, configured to determine the sampling plane of the next piece of goods to be sampled when detecting that the sampling platform has transferred the next piece of goods to be sampled after the end module has finished sampling the goods to be sampled; The planning module is used to plan the first sampling plane for sampling and testing the next piece of goods to be sampled based on the sampling plane of the next piece of goods to be sampled, taking the sampling end point of the previous piece of goods to be sampled as the starting point.

7. The device according to claim 5, characterized in that The second determining module comprises: The first submodule is used to control the robot to move to the vicinity of the sampling platform to collect three-dimensional point cloud data of the goods to be sampled; The second submodule is used to determine the sampling area of ​​the current sampling plane of the goods to be sampled based on the three-dimensional point cloud data.

8. An electronic device, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for simultaneous movement and sampling of a robot for customs sampling work as described in any one of claims 1 to 4.

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