Method and apparatus for automated handling of objects in a confined environment

Abstract

The application discloses an automation operation method and device for object taking and delivering in a limited environment, and relates to the technical field of object transportation, and comprises the following steps: acquiring size information of an object, an initial position of the object, a destination position of the object, and size information and a position of an obstacle in a preset area; determining a plurality of path points through which the object passes from the initial position to the destination position and force information corresponding to all the path points according to the size information, the initial position, the destination position of the object, the size information of the obstacle and the position of the obstacle, the path points comprising the initial position; and controlling a pushing device to push the object from the initial position to the destination position according to the path points and the force information, so as to push the object to the destination position without manual operation of the pushing device by a worker, improve work efficiency, and solve the problem of low work efficiency in the prior art.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of object transportation, and particularly relates to an automatic operation method and device for object taking and delivering in a restricted environment, an electronic device and a readable storage medium. BACKGROUND

[0002] In order to push the object to the destination position, an operation method for object pushing is needed.

[0003] In the prior art, a worker manually operates a pushing device to push the object to the destination position.

[0004] In the process of implementing the present application, the inventors found that at least the following problem existed in the prior art: In order to push the object to the destination position, the worker manually operates the pushing device to push the object, resulting in low work efficiency. SUMMARY

[0005] The present application aims to provide an automatic operation method and device for object taking and delivering in a restricted environment, an electronic device and a readable storage medium, which at least solve the problem in the prior art that, in order to push the object to the destination position, the worker manually operates the pushing device to push the object, resulting in low work efficiency.

[0006] In order to solve the above technical problems, the present application is implemented as follows:

[0007] In a first aspect, the embodiments of the present application provide an automatic operation method for object taking and delivering in a restricted environment, which comprises the following steps:

[0008] Obtaining size information of an object, an initial position of the object, a destination position of the object, and size information and a position of an obstacle in a preset area;

[0009] According to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, determining a plurality of path points through which the object passes from the initial position to the destination position, and action force information corresponding to all the path points, the path points including the initial position; the action force information represents information of force required for pushing the object on the corresponding path point to the next path point;

[0010] According to the path points and the action force information, controlling a pushing device to push the object from the initial position to the destination position.

[0011] In a second aspect, the embodiments of the present application further provide an automatic operation device for object taking and delivering in a restricted environment, which comprises the following steps:

[0012] acquire size information of an object in a preset area, an initial position of the object, a destination position of the object, and size information and a position of an obstacle;

[0013] determine a plurality of path points through which the object passes from the initial position to the destination position according to the size information of the object, the initial position, the destination position, the size information of the obstacle, and the position of the obstacle, the path points including the initial position; and action force information corresponding to all the path points, the action force information representing information of a force required to push the object on a corresponding path point to a next path point;

[0014] push the object from the initial position to the destination position according to the path points and the action force information.

[0015] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, and the program or instruction, when executed by the processor, implements the steps of the method according to the first aspect.

[0016] In a fourth aspect, a readable storage medium is provided, which stores a program or instruction, and the program or instruction, when executed by a processor, implements the steps of the method according to the first aspect.

[0017] In the embodiments of the present application, the size information of an object in a preset area, the initial position of the object, the destination position of the object, and the size information and the position of an obstacle are acquired; a plurality of path points through which the object passes from the initial position to the destination position are determined according to the size information of the object, the initial position, the destination position, the size information of the obstacle, and the position of the obstacle, the path points including the initial position; action force information corresponding to all the path points is determined, the action force information representing information of a force required to push the object on a corresponding path point to a next path point; and the object is pushed from the initial position to the destination position according to the path points and the action force information, so as to push the object to the destination position without manual operation of a pushing device by a worker, thereby improving work efficiency and solving the problem of low work efficiency in the prior art due to manual operation of the pushing device by the worker to push the object to the destination position. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a step flowchart of an automatic operation method for object taking and delivering in a restricted environment provided by the embodiments of the present application;

[0019] Figure 2 is a specific step flowchart of the automated operation method for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a simulation experiment scene provided by the embodiment of the present application;

[0021] Figure 4 is a schematic diagram of an experiment result of planning time provided by the embodiment of the present application;

[0022] Figure 5 is a schematic diagram of an experiment result of path length provided by the embodiment of the present application;

[0023] Figure 6 is a schematic diagram of an experiment process of the automated operation method for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0024] Figure 7 is another schematic diagram of an experiment process of the automated operation method for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0025] Figure 8 is a schematic diagram of dynamics analysis of the automated operation method for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0026] Figure 9 is a schematic diagram of dynamics analysis of object contacting with movable obstacles provided by the embodiment of the present application;

[0027] Figure 10 is a schematic diagram of an automated operation system for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0028] Figure 11 is a block diagram of an automated operation device for object taking and delivering in a restricted environment provided by the embodiment of the present application;

[0029] Figure 12 is a schematic diagram of a hardware structure of an electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0032] The automatic operation method for object taking and delivering in a restricted environment provided by the embodiments of the present application will be described in detail below in combination with the drawings, specific embodiments and application scenarios.

[0033] Figure 1 is a step flow chart of an automatic operation method for object taking and delivering in a restricted environment provided by the embodiments of the present application, as Figure 1 indicated, the method can include:

[0034] Step 101, obtaining size information of an object in a preset area, an initial position of the object, a destination position of the object, and size information and a position of an obstacle.

[0035] In the embodiments of the present application, by obtaining the size information of the object in the preset area, the initial position of the object, the destination position of the object, and the size information and the position of the obstacle, the plurality of path points through which the object is pushed from the initial position to the destination position and the corresponding force information of each path point are obtained according to the size information of the object, the initial position of the object, the destination position of the object, and the size information and the position of the obstacle.

[0036] It should be noted that the use scenario of the embodiments of the present application is a scenario of controlling a pushing device to push an object to a destination position, for example, a scenario of controlling a cleaning machine (i.e. a pushing device) to push waste (i.e. an object) to a waste stacking place (i.e. a destination position), and for example, a scenario of controlling a cart (i.e. a pushing device) to arrange goods (i.e. objects) to a goods stacking place (i.e. a destination position) when arranging a warehouse.

[0037] The preset area is an area in which the pushing device can move. A plane coordinate system is set in the entire preset area, and the origin is a preset origin, for example, the preset origin is the geometric center of the preset area, and for example, the preset origin is the initial position of the object.

[0038] The shape of the object can be a regular shape, such as a cuboid, a cube, a cylinder, or the like. The shape of the object can also be an irregular shape, but the shape of the object can be approximated as a regular shape. In the method provided in the embodiments of the present application, the object is processed as an object approximated as a regular shape.

[0039] The size information of the object is information representing the shape of the object. For example, the size information of a cuboid-shaped object is length, width, and height. The size information of a cylinder-shaped object is the radius of the base and the height.

[0040] The initial position of the object is the position of the object in the preset area. The target position of the object is the position to which the object is finally pushed in the preset area.

[0041] A plane coordinate system of the object is established with the projection point of the geometric center of the object in the plane coordinate system of the preset area as the coordinate origin. The initial position of the object includes the coordinates (including the horizontal coordinate and the vertical coordinate) of the projection point of the geometric center of the object in the plane coordinate system of the preset area and the azimuth of the object. The azimuth of the object is the angle of rotation of the plane coordinate system of the object relative to the plane coordinate system of the preset area. Specifically, the azimuth of the object can be the included angle between the horizontal coordinate axis of the plane coordinate system of the object and the horizontal coordinate axis of the plane coordinate system of the preset area.

[0042] The shape of the obstacle can be a regular shape, such as a cuboid, a cube, a cylinder, or the like. The shape of the obstacle can also be an irregular shape, but the shape of the obstacle can be approximated as a regular shape. In the method provided in the embodiments of the present application, the obstacle is processed as an obstacle approximated as a regular shape.

[0043] The size information of the obstacle is information representing the shape of the obstacle. For example, the size information of a cuboid-shaped obstacle is length, width, and height. The size information of a cylinder-shaped obstacle is the radius of the base and the height.

[0044] The position of the obstacle is the position of the obstacle in the preset area. A plane coordinate system of the obstacle is established with the projection point of the geometric center of the obstacle in the plane coordinate system of the preset area as the coordinate origin. The position of the obstacle includes the coordinates (including the horizontal coordinate and the vertical coordinate) of the projection point of the geometric center of the obstacle in the plane coordinate system of the preset area and the azimuth of the obstacle. The azimuth of the obstacle is the angle of rotation of the plane coordinate system of the obstacle relative to the plane coordinate system of the preset area. Specifically, the azimuth of the obstacle can be the included angle between the horizontal coordinate axis of the plane coordinate system of the obstacle and the horizontal coordinate axis of the plane coordinate system of the preset area.

[0045] Preferably, in some embodiments, the friction coefficient of the object and the ground of the preset area, the friction coefficient of the obstacle and the ground of the preset area, and the friction coefficient of the contact point between the pushing device and the object are also required to be obtained.

[0046] In step 102, a plurality of path points through which the object moves from the initial position to the target position are determined according to the size information of the object, the initial position, the target position, the size information of the obstacle, and the position of the obstacle, and force information corresponding to all the path points is determined.

[0047] The path points include the initial position, and the force information represents information of force required to push the object at the corresponding path point to the next path point.

[0048] In the embodiments of the present application, the plurality of path points through which the object moves from the initial position to the target position are determined according to the size information of the object, the initial position, the target position, the size information of the obstacle, and the position of the obstacle, and the force information corresponding to all the path points is determined, so as to control the pushing device to push the object to the target position according to the path points and the force information.

[0049] It should be noted that the path points are points in a feasible path in which the pushing device pushes the object from the initial position to the target position, and the force information of the last path point is information of force required to control the pushing device to push the object from the last path point to the target position.

[0050] The plurality of path points through which the object moves from the initial position to the target position are determined, that is, the coordinates (including horizontal coordinates and vertical coordinates) of the projection points of the path points in the plane coordinate system of the preset area are obtained.

[0051] In the process in which the pushing device pushes the object, the pushing device and the object have only one contact point, the contact point between the pushing device and the object can change over time, that is, the contact point at which the pushing device exerts force on the object moves within one side of the object, at the same time, the direction and size of the force exerted by the pushing device on the contact point between the pushing device and the object can change over time, that is, the normal force and the tangential force exerted by the pushing device on the contact point between the pushing device and the object can change over time; when the pushing device needs to exert force on another side of the object, the pushing device will leave the contact point with the current side of the object, and then contact the other side of the object to exert force on the contact point of the other side of the object, so that the movement of the object remains on the path from the current path point to the next path point.

[0052] The force information includes normal forces and tangential forces of multiple contact points between the pushing device and the object, and change rates of azimuth angles of the multiple contact points; the normal forces and the tangential forces have the change rates of the azimuth angles of the corresponding contact points; the normal forces and the tangential forces have corresponding time periods; all the time periods are within a time range from a path point corresponding to the force information to a next path point.

[0053] The azimuth angle of the contact point is an included angle between a line connecting the contact point between the pushing device and the object and an abscissa axis in a plane coordinate system of the object, and the change rate of the azimuth angle of the contact point is a change amount of the azimuth angle of the contact point per unit time.

[0054] For example, the time range from the path point corresponding to the force information to the next path point is from time A to time D, the time range from time A to time D includes time A, time B, time C, and time D, the force information includes three groups of normal forces and tangential forces and three change rates of azimuth angles of contact points, respectively, the normal force 1 and the tangential force 1 and the change rate 1 of the azimuth angle of the contact point from time A to time B, the normal force 2 and the tangential force 2 and the change rate 2 of the azimuth angle of the contact point from time B to time C, and the normal force 3 and the tangential force 3 and the change rate 3 of the azimuth angle of the contact point from time C to time D.

[0055] Preferably, in some embodiments, according to the size information of the object, the initial position, the target position, the size information of the obstacle and the obstacle position, the friction coefficient of the object and the ground of the preset area, the friction coefficient of the obstacle and the ground of the preset area, and the friction coefficient of the contact point between the pushing device and the object, a plurality of path points through which the object moves from the initial position to the target position are determined, and force information corresponding to all the path points is determined.

[0056] In step 103, the pushing device is controlled to push the object from the initial position to the target position according to the path points and the force information.

[0057] In the embodiments of the present application, the pushing device is controlled to push the object from the initial position to the target position according to the path points and the force information, so as to push the object to the target position.

[0058] It should be noted that in the process of controlling the pushing device to push the object from the initial position to the target position, each path point will be passed through in turn, that is, the pushing device is controlled to push the object from the first path point as the initial position to the second path point, then the pushing device is controlled to push the object from the second path point to the third path point, and so on, until the pushing device is controlled to push the object from the last path point to the target position.

[0059] Optionally, in some embodiments, a set of search trees is employed to store the path points and the movable obstacle positions, a first path point as the initial position is added to the set of search trees, the first path point is obtained from the set of search trees as a current path point, a second path point after the first path point is obtained, the second path point is added to the search tree, and the position of the movable obstacle is added to the search tree in the case that there is a movable obstacle in the path from the first path point to the second path point, then the second path point is obtained from the set of search trees as the current path point, and so on until a destination position after the last path point to be reached by the object is obtained, the destination position is added to the search tree, so as to control the pushing device to push the object from the initial position to the destination position according to the path points and the movable obstacle positions in the search tree.

[0060] In summary, in the embodiments of the present application, the size information of the object in the preset area, the initial position of the object, the destination position of the object, and the size information and the position of the obstacle are obtained, the multiple path points through which the object passes from the initial position to the destination position are determined according to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, and the force information corresponding to all the path points, the path points including the initial position; the force information represents the information of the force required to push the object on the corresponding path point to the next path point; the pushing device is controlled to push the object from the initial position to the destination position according to the path points and the force information, so as to realize the pushing of the object to the destination position, and the working staff is not required to manually operate the pushing device to push the object, thereby improving the work efficiency and solving the problem of low work efficiency in the prior art due to the manual operation of the pushing device by the working staff to push the object to the destination position.

[0061] Figure 2 is a specific step flowchart of an automatic operation method for object taking and delivering in a restricted environment provided by the embodiments of the present application, as shown in the figure, the method can include: Figure 2 as shown in the figure, the method can include:

[0062] Step 201, obtaining the size information of the object in the preset area, the initial position of the object, the destination position of the object, and the size information and the position of the obstacle.

[0063] The implementation manner of this step is similar to the implementation process of step 101 described above, which will not be described here again.

[0064] Step 202, determining a plurality of path points through which the object passes from the initial position to the destination position according to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, and force information corresponding to all the path points.

[0065] The path points include the initial position, and the force information represents information of force required for pushing the object on the corresponding path point to the next path point.

[0066] The implementation manner of the present step is similar to the implementation process of step 102, which will not be described here.

[0067] Optionally, in some embodiments, step 202 can include the following sub-steps (sub-step 2021, sub-step 2022, sub-step 2023):

[0068] Sub-step 2021, determining a candidate path point corresponding to the current path point according to the size information of the object, the current path point and the destination position.

[0069] In the embodiments of the present application, the candidate path point corresponding to the current path point is determined according to the size information of the object, the current path point and the destination position, and then the candidate force information from the current path point to the candidate path point is calculated according to the candidate path point.

[0070] Preferably, in some embodiments, the candidate path point corresponding to the current path point is determined according to the friction coefficient of the object and the ground of the preset area, the friction coefficient of the contact point of the pushing device and the object, the size information of the object, the current path point and the destination position.

[0071] Specifically, in some embodiments, sub-step 2021 can include the following sub-steps (sub-step 2021a, sub-step 2021b, sub-step 2021c, sub-step 2021d):

[0072] Sub-step 2021a, determining a movable range of the object on the current path point according to the size information of the object, the current path point and preset maximum force information.

[0073] In the embodiments of the present application, the movable range of the object on the current path point is determined according to the size information of the object, the current path point and the preset maximum force information, so as to further obtain the candidate path point according to the movable range.

[0074] It should be noted that the movable range includes a plurality of preset pushing direction paths, and an end point of each pushing direction path is a point on a preset region boundary in the pushing direction; and the preset maximum force information includes force information required for the pushing device to push the object from the current path point to the end point of the pushing direction path in each preset pushing direction under the condition that the pushing device outputs a maximum force preset.

[0075] Preferably, in some embodiments, the movable range of the object at the current path point is determined according to a friction coefficient of the object and the ground of the preset region, a friction coefficient of a contact point of the pushing device and the object, size information of the object, the current path point, and the preset maximum force information.

[0076] Specifically, in some embodiments, referring to Figure 8 , the pushing device D2 pushes the object D1, the obstacles include the obstacle D3, the obstacle D4, the obstacle D5, the obstacle D6, the obstacle D7, the obstacle D8, and the like, a planar coordinate system of the preset region is the Figure 8 middle coordinate system E1, and a planar coordinate system of the object is the Figure 8 middle coordinate system E2, according to planar pushing dynamics, an expression (3) of position variables of the pushing device and the object is listed as follows:

[0077]

[0078] wherein, x s on the leftmost side of the formula represents the position variables of the pushing device and the object, x s in the vector matrix represents a horizontal coordinate of the object in the planar coordinate system of the preset region, y s represents a vertical coordinate of the object in the planar coordinate system of the preset region, θ s represents an azimuth angle of the object, and ψ c ∈[-π,π] is an azimuth angle of the contact point.

[0079] The expression of the force information u p is as follows:

[0080]

[0081] wherein: f n represents a normal force of the contact point of the pushing device and the object, f t represents a tangential force of the contact point of the pushing device and the object, represents a rate of change of the azimuth angle of the contact point.

[0082] Under the quasi-static assumption, according to system dynamics, the expression (4) can be expressed as:

[0083]

[0084] Where i = 1, ..., N, i represents the number of contact surfaces, and R is the rotation matrix from the object's coordinates in the planar coordinate system to the coordinates of the preset area in the planar coordinate system. For contact Jacobian matrix, A is a positive definite matrix defined by the maximum frictional force and torque that can be applied to the object.

[0085] Force information u p Subject to box-type constraints and Coulomb friction constraints, we define Then we have expression group (5):

[0086]

[0087] in, This is the upper limit of the normal force at the point of contact. This is the upper bound of the rate of change of the azimuth angle at the contact point. For the input constraints of the adhesive contact mode, For the input constraints of the left sliding contact mode, For the input constraint of the right sliding contact mode, μ p The coefficient of friction is the point of contact between the pushing device and the object.

[0088] Within a finite time interval τ, the current path point The movable range of objects on The expression (6) is:

[0089]

[0090] Based on the integration of system dynamics over time, the expression (7) for the final position x(t) of the object pushed over a time interval t is:

[0091]

[0092] Assuming τ is very small, the expression (8) after linearly approximating (4) is:

[0093]

[0094] in Note that for There is A i =0 is true.

[0095] Furthermore, we rewrite expression (5) as linear inequality (9):

[0096]

[0097] And it is assumed that u is constant over the time interval τ under consideration, i.e. Therefore, the approximate expression (10) of expression (7) is:

[0098]

[0099] Where i represents the i-th contact surface and j represents the j-th contact pattern.

[0100] Due to the adoption of linearized dynamics in equation (4), x s y s θ s With ψ c If it is irrelevant, then we have expression (10), which considers all possible contact points within the time interval τ, i.e.

[0101] in, Therefore, the expansion (11) of expression (10) is:

[0102]

[0103] in, The set in expression (11) It is a convex set.

[0104] Based on expression (11), the analytical expression (12) of expression (6) is obtained as follows:

[0105]

[0106] Step 2021b: Generate a random point corresponding to the current path point within the preset area.

[0107] In this embodiment of the application, a random point corresponding to the current path point is generated within a preset area in order to determine whether the random point can be used as a candidate path point.

[0108] Specifically, in some embodiments, random points are obtained through an algorithm of a random number generator.

[0109] Optionally, in some embodiments, step 2021b may include the following molecular steps (molecular step 2021b-1, molecular step 2021b-2):

[0110] Molecular step 2021b-1: Based on a preset first probability, the target location is taken as the random point.

[0111] In this embodiment of the application, the destination location is taken as a random point according to a preset first probability, and then it is determined whether the random point can be used as a candidate path point.

[0112] Specifically, in some embodiments, the first probability can be pre-set in a range of 1% to 10%, for example, the first probability can be pre-set to 10%, i.e. there is a 10% probability of selecting the destination position as the random point.

[0113] Molecular step 2021b-2: According to the pre-set second probability, the point outside the destination position in the pre-set region is taken as the random point.

[0114] Wherein, the sum of the first probability and the second probability is 1.

[0115] In the embodiments of the present application, by taking the point outside the destination position in the pre-set region as the random point according to the pre-set second probability, it is further judged whether the random point can be taken as the candidate path point.

[0116] Specifically, in some embodiments, the first probability can be pre-set in a range of 90% to 99%, for example, the first probability can be pre-set to 90%, i.e. there is a 90% probability of selecting the point outside the destination position in the pre-set region as the random point.

[0117] By executing the molecular step 2021b-1 to the molecular step 2021b-2, the random point can be selected so as to obtain the candidate path point according to the random point.

[0118] Step 2021c: In the case that the random point is in the movable range, the random point is taken as the candidate path point corresponding to the current path point.

[0119] In the embodiments of the present application, by taking the random point as the candidate path point corresponding to the current path point in the case that the random point is in the movable range, it is further judged the candidate path point so as to obtain the next path point of the current path point.

[0120] Step 2021d: In the case that the random point is not in the movable range, the point in the movable range closest to the random point is taken as the candidate path point.

[0121] In the embodiments of the present application, by taking the point in the movable range closest to the random point as the candidate path point in the case that the random point is not in the movable range, it is further judged the candidate path point so as to obtain the next path point of the current path point.

[0122] Specifically, in some embodiments, after the sub-step 2021, the method further includes the following steps (steps 207, 208):

[0123] Step 207, in the case that the candidate path point coincides with the destination position, calculating force information from the current path point to the destination position according to the size information of the object, the current path point and the destination position.

[0124] In the embodiment of the present application, in the case that the candidate path point coincides with the destination position, the force information from the current path point to the destination position is calculated according to the size information of the object, the current path point and the destination position, so as to control the pushing device to push the object from the current path point to the destination position according to the force information from the current path point to the destination position.

[0125] Preferably, in some embodiments, the force information from the current path point to the destination position is calculated according to the friction coefficient of the object and the ground of the preset area, the friction coefficient of the contact point of the pushing device and the object, the size information of the object, the current path point and the destination position.

[0126] Step 208, in the case that the candidate path point does not coincide with the destination position, entering the step of calculating candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point and the candidate path point.

[0127] In the embodiment of the present application, in the case that the candidate path point does not coincide with the destination position, the step of calculating candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point and the candidate path point is entered, so as to determine the next path point of the current path point and the force information corresponding to the current path point.

[0128] By executing steps 207 to 208, the force information from the current path point to the destination position can be calculated in the case that the candidate path point coincides with the destination position, so as to control the pushing device to push the object from the current path point to the destination position according to the force information from the current path point to the destination position; in the case that the candidate path point does not coincide with the destination position, the next path point of the current path point and the force information corresponding to the current path point are determined, so as to control the pushing device to push the object from the current path point to the next path point according to the next path point of the current path point and the force information corresponding to the current path point.

[0129] Sub-step 2022, calculating candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point and the candidate path point.

[0130] In the embodiments of the present application, the candidate force information from the current path point to the candidate path point is calculated according to the size information of the object, the current path point and the candidate path point, so as to determine whether the candidate path point is the next path point of the current path point and the candidate force information is the force information corresponding to the current path point according to the candidate force information.

[0131] Preferably, in some embodiments, the candidate force information from the current path point to the candidate path point is calculated according to the friction coefficient of the object and the ground of the preset area, the friction coefficient of the contact point of the pushing device and the object, the size information of the object, the current path point and the candidate path point.

[0132] The sub-step 2023 comprises: when the candidate force information meets a preset condition determined according to the size information of the obstacle and the position of the obstacle, taking the candidate path point as the next path point of the current path point and taking the candidate force information as the force information corresponding to the current path point.

[0133] In the embodiments of the present application, when the candidate force information meets a preset condition determined according to the size information of the obstacle and the position of the obstacle, the candidate path point is taken as the next path point of the current path point and the candidate force information is taken as the force information corresponding to the current path point, so as to control the pushing device to push the object from the current path point to the next path point according to the next path point and the force information corresponding to the current path point.

[0134] Preferably, in some embodiments, when the candidate force information meets a preset condition determined according to the friction coefficient of the obstacle and the ground of the preset area, the size information of the obstacle and the position of the obstacle, the candidate path point is taken as the next path point of the current path point and the candidate force information is taken as the force information corresponding to the current path point.

[0135] By executing the sub-step 2021 to the sub-step 2023, the path point and the force information can be obtained, and then the pushing device is controlled to push the object from the initial position to the destination position according to the path point and the force information.

[0136] Specifically, in some embodiments, the sub-step 2023 can comprise the following sub-steps (sub-step 2023a, sub-step 2023b, sub-step 2023c):

[0137] The sub-step 2023a comprises: obtaining the obstacle blocking result according to the candidate force information, the size information of the object, the current path point, the candidate path point, the size information of the obstacle and the position of the obstacle.

[0138] In the embodiments of the present application, the obstacle blocking result is obtained according to the candidate force information, the size information of the object, the current path point, the candidate path point, and the size information and the position of the obstacle, so as to determine whether the candidate force information meets the preset condition according to the obstacle blocking result.

[0139] Preferably, in some embodiments, the obstacle blocking result is obtained according to the candidate force information, the size information of the object, the current path point, the candidate path point, the friction coefficient of the obstacle and the ground of the preset area, the size information of the obstacle, and the position of the obstacle.

[0140] Optionally, in some embodiments, after step 2023a, the method further includes the following steps (step 204, step 205):

[0141] Step 204, when the obstacle blocking result is that the simulated path exists a movable obstacle, a simulated movement result of a process of pushing the object to contact the movable obstacle and moving the movable obstacle to a target position is obtained according to the candidate force information, the size information of the object, and the size information and the position of all the obstacles.

[0142] In the embodiments of the present application, when the obstacle blocking result is that the simulated path exists a movable obstacle, a simulated movement result of a process of pushing the object to contact the movable obstacle and moving the movable obstacle to a target position is obtained according to the candidate force information, the size information of the object, and the size information and the position of all the obstacles, so as to obtain the next path point of the current path point and the force information corresponding to the current path point according to the simulated movement result.

[0143] Preferably, in some embodiments, when the obstacle blocking result is that the simulated path exists a movable obstacle, a simulated movement result of a process of pushing the object to contact the movable obstacle and moving the movable obstacle to a target position is obtained according to the candidate force information, the size information of the object, and the size information and the position of all the obstacles, the friction coefficient of the movable obstacle and the ground of the preset area, and the friction coefficient of the contact surface between the movable obstacle and the object.

[0144] Step 205, when the simulated movement result is that the movable obstacle can be moved to the target position, the candidate path point is taken as the next path point of the current path point, and the candidate force information is taken as the force information corresponding to the current path point.

[0145] In the embodiments of the present application, the candidate path point is taken as the next path point of the current path point, and the candidate force information is taken as the force information corresponding to the current path point, in the case that the simulation result is that the movable obstacle can move to the target position, and then the object is pushed from the current path point to the next path point by the pushing device according to the next path point and the force information corresponding to the current path point.

[0146] By performing steps 204 to 205, the next path point and the force information corresponding to the current path point are determined, so as to control the pushing device to push the object from the current path point to the next path point according to the next path point and the force information corresponding to the current path point.

[0147] Specifically, in some embodiments, referring to Figure 9 , the object is Figure 9 , the movable obstacle is Figure 9 , and the non-penetration constraint expression (13) between the object and the movable obstacle is:

[0148]

[0149]

[0150] 0≤μf α -f β+ -f β -⊥λ≥0

[0151] wherein the normal of the contact point between the object and the movable obstacle is denoted as the tangent of the contact point between the object and the movable obstacle is denoted as Assuming that and constitute a right-handed coordinate system, pointing to the inside of the movable obstacle, the force of the contact point between the object and the movable obstacle is defined as the velocity of the object in the planar coordinate system of the preset region is the contact Jacobian matrix of the object in the planar coordinate system of the preset region is the velocity of the movable obstacle in the planar coordinate system of the preset region is the contact Jacobian matrix of the movable obstacle in the planar coordinate system of the preset region is

[0152] Therefore, the solving expression (14) of the force of the contact point between the object and the movable obstacle satisfying the expression (13) is:

[0153]

[0154] where z is an auxiliary variable, and Expression (14) can be effectively solved by a Newton-based method.

[0155] Then, the target position x k Expression (15) of [t0+τ] is:

[0156]

[0157] where, is a rotation matrix.

[0158] The solving expression (16) of the force that needs to be increased when the object contacts and interacts with the movable obstacle is:

[0159]

[0160] According to the following disturbance expression (17), the force that needs to be increased when the object contacts and interacts with the movable obstacle is solved:

[0161]

[0162] where τ MPC is a preset time threshold, i.e. the time of the object contacting and interacting with the movable obstacle is controlled within τ MPC . The update law expression (18) of the disturbance expression (17) is:

[0163]

[0164] where x obs [k] is the observed current contact state of the object and the movable obstacle, x mpc [k] are the predicted contact states of the object and the movable obstacle, κ d > 0, κ d represents the update rate of the change amount of the contact state of the object and the movable obstacle.

[0165] Optionally, in some embodiments, after the sub-step 2023a, the method further includes the following step (step 206):

[0166] Step 206, in the case that the obstacle blocking result is that the simulation path exists an immovable obstacle, entering the step of determining the candidate path point corresponding to the current path point according to the size information of the object, the current path point and the destination position.

[0167] In the embodiment of the present application, the step of determining the candidate path point corresponding to the current path point according to the size information of the object, the current path point and the destination position is performed when the obstacle blocking result is that there is an immovable obstacle on the simulation path, and then the candidate path point is reselected until the force information corresponding to the next path point and the current path point is determined.

[0168] In the step 2023b, the candidate force information is determined to satisfy the preset condition when the obstacle blocking result is that there is no obstacle on the simulation path in which the object is pushed from the current path point to the candidate path point according to the candidate force information.

[0169] In the embodiment of the present application, the candidate path point is determined as the next path point of the current path point, and the candidate force information is determined as the force information corresponding to the current path point when the obstacle blocking result is that there is no obstacle on the simulation path in which the object is pushed from the current path point to the candidate path point according to the candidate force information, and then the candidate path point is determined as the next path point of the current path point, and the candidate force information is determined as the force information corresponding to the current path point.

[0170] In the step 2023c, the candidate path point is determined as the next path point of the current path point, and the candidate force information is determined as the force information corresponding to the current path point.

[0171] In the embodiment of the present application, the candidate path point is determined as the next path point of the current path point, and the candidate force information is determined as the force information corresponding to the current path point, so that the object is pushed from the current path point to the next path point by the pushing device according to the next path point and the force information corresponding to the current path point.

[0172] The path point and the force information are determined by performing the substep 2023a to the substep 2023c, and then the object is pushed from the current path point to the next path point by the pushing device according to the next path point and the force information corresponding to the current path point.

[0173] In the step 203, the object is pushed from the initial position to the destination position by the pushing device according to the path point and the force information.

[0174] The implementation manner of the present step is similar to the implementation process of the above step 103, which will not be described here.

[0175] Optionally, in some embodiments, the step 203 can include the following substeps (substep 2031, substep 2032):

[0176] Sub-step 2031, calculate the pushing time required to transport the object from the initial position to the destination position according to all the path points and all the force information.

[0177] In the embodiments of the present application, the pushing time required to transport the object from the initial position to the destination position is calculated according to all the path points and all the force information, so as to determine whether the pushing time is less than or equal to the preset time threshold.

[0178] Sub-step 2032, in the case where the pushing time is less than or equal to the preset time threshold, control the pushing device to push the object from the initial position to the destination position according to the path points and the force information.

[0179] In the embodiments of the present application, in the case where the pushing time is less than or equal to the preset time threshold, the pushing device is controlled to push the object from the initial position to the destination position according to the path points and the force information, which effectively reduces the possibility that the pushing device takes too long to push the object to the destination position, and improves the efficiency of the pushing device in pushing the object to the destination position.

[0180] By performing sub-step 2031 to sub-step 2032, the pushing device is controlled to push the object from the initial position to the destination position according to the path points and the force information in the case where the pushing time is less than or equal to the preset time threshold, which ensures that the time taken by the pushing device to push the object to the destination position is within a reasonable time range, and improves the efficiency of the pushing device in pushing the object to the destination position.

[0181] Optionally, in some embodiments, step 203 can include the following sub-step (sub-step 2033):

[0182] Sub-step 2033, in the case where there is a movable obstacle in the path of the pushing device in pushing the object from the initial position to the destination position according to the path points and the force information, control the pushing device to push the object to contact the movable obstacle and move the movable obstacle to a target position, and push the object to the destination position according to the path points and the force information.

[0183] In the embodiment of the present application, in the case that there is a movable obstacle in the path of the pushing device pushing the object from the initial position to the target position according to the path point and the force information, the pushing device is controlled to push the object to contact the movable obstacle and drive the movable obstacle to move to the target position according to the path point and the force information, compared with the method of controlling the pushing device to push the object to bypass all obstacles and move to the target position, the path of the pushing device pushing the object is shorter, and the number of paths of the pushing device pushing the object to the target position is increased, and the selectability of the path is improved.

[0184] Referring to Figure 3 , the experiment numbers of the five simulation experiment scenes are 0, 1, 2, 3, and 4 from left to right, the preset areas 80 of the five simulation experiment scenes are all 0.5 meters by 0.5 meters, the same object is used in the five simulation experiment scenes, the initial positions of the objects in the five simulation experiment scenes are all the initial position 71, the target positions of the objects in the five simulation experiment scenes are all the target position 72, the obstacles of the simulation experiment scene with the experiment number 0 include the movable obstacle 90, the movable obstacle 91, and the movable obstacle 92; the obstacles of the simulation experiment scene with the experiment number 1 include the movable obstacle 93, the movable obstacle 94, the movable obstacle 95, the movable obstacle 96, and the immovable obstacle 97; the obstacles of the simulation experiment scene with the experiment number 2 include the movable obstacle 99, the movable obstacle 90b, the movable obstacle 90c, the immovable obstacle 98, and the immovable obstacle 90a; the obstacles of the simulation experiment scene with the experiment number 3 include the movable obstacle 91b, the movable obstacle 91c, the immovable obstacle 90e, the immovable obstacle 90d, the immovable obstacle 90f, and the immovable obstacle 91a; the obstacles of the simulation experiment scene with the experiment number 4 include the immovable obstacle 91d, the immovable obstacle 91f, and the immovable obstacle 92a.

[0185] In the five experiment scenes, two experiments are respectively performed, experiment one is to control the pushing device to push the object to move from the initial position 71 to the target position 72, and bypass all obstacles in the process of controlling the pushing device to push the object to move from the initial position 71 to the target position 72; experiment two is to control the pushing device to push the object to move from the initial position 71 to the target position 72 by using the method of the present application, and control the pushing device to push the object to contact the movable obstacle and drive the movable obstacle to move to the target position in the process of controlling the pushing device to push the object to move from the initial position 71 to the target position 72.

[0186] According to the experimental results, referring to Figure 4In the simulation experiment scenario numbered 0, the planning time 61 of experiment two is shorter than the planning time 51 of experiment one; in the simulation experiment scenario numbered 1, the result of experiment one is failure, that is, in the process of controlling the pushing device to push the object to move from the initial position 71 to the destination position 72, all the obstacles cannot be bypassed; in the simulation experiment scenario numbered 2, the planning time 62 of experiment two is shorter than the planning time 52 of experiment one; in the simulation experiment scenario numbered 3, the planning time 63 of experiment two is shorter than the planning time 53 of experiment one; in the simulation experiment scenario numbered 4, the planning time 64 of experiment two is shorter than the planning time 54 of experiment one, wherein the planning time is the time for obtaining all the path points and all the force information of controlling the pushing device to push the object to move from the initial position 71 to the destination position 72.

[0187] It can be seen that, compared with the method of controlling the pushing device to push the object to bypass all the obstacles and push to the destination position, the planning time of the method of the embodiment of the application is shorter.

[0188] According to the experimental results, with reference to Figure 5 In the simulation experiment scenario numbered 0, the path length 61 of experiment two is shorter than the path length 51 of experiment one; in the simulation experiment scenario numbered 1, the result of experiment one is failure, that is, in the process of controlling the pushing device to push the object to move from the initial position 71 to the destination position 72, all the obstacles cannot be bypassed, resulting in the failure of the pushing device to push the object from the initial position 71 to the destination position 72; in the simulation experiment scenario numbered 2, the path length 62 of experiment two is shorter than the path length 52 of experiment one; in the simulation experiment scenario numbered 3, the path length 63 of experiment two is shorter than the path length 53 of experiment one; in the simulation experiment scenario numbered 4, the path length 64 of experiment two is shorter than the path length 54 of experiment one, wherein the path length is the length of the path of the pushing device to push the object to move from the initial position 71 to the destination position 72.

[0189] It can be seen that, compared with the method of controlling the pushing device to push the object to bypass all the obstacles and push to the destination position, the path length of the method of the embodiment of the application is shorter.

[0190] In the simulation experiment scene numbered 0 and the simulation experiment scene numbered 1, 30 times of experiment one and 30 times of experiment two are respectively performed. According to the experimental results, in the simulation experiment scene numbered 0, the number of successful experiment two is 28 times, the success rate of experiment two is 93.33%, the number of successful experiment one is 19 times, and the success rate of experiment one is 63.33%; in the simulation experiment scene numbered 1, the number of successful experiment two is 28 times, the success rate of experiment two is 93.33%, the number of successful experiment one is 7 times, and the success rate of experiment one is 23.33%. Among them, the experimental result of experiment two is successful, that is, the method of the embodiment of the application is adopted to control the pushing device to push the object to move from the initial position 71 to the target position 72; the experimental result of experiment one is successful, that is, in the process of controlling the pushing device to push the object to move from the initial position 71 to the target position 72, all obstacles cannot be bypassed, resulting in failure of the pushing device to push the object from the initial position 71 to the target position 72.

[0191] Therefore, compared with the method of controlling the pushing device to push the object to bypass all obstacles and push to the target position, the success rate of the method of the embodiment of the application is higher.

[0192] Optionally, in some embodiments, the method further comprises the following step (step 209):

[0193] Step 209, in the process of controlling the pushing device to push the object to move from the current path point to the next path point, according to the force information, adjusting the contact point between the pushing device and the object, so that the movement of the object remains on the path from the current path point to the next path point.

[0194] In the embodiment of the application, by adjusting the contact point between the pushing device and the object according to the force information in the process of controlling the pushing device to push the object to move from the current path point to the next path point, so that the movement of the object remains on the path from the current path point to the next path point, specifically, in some embodiments, by adjusting the normal force and tangential force of the contact point between the pushing device and the object and the change rate of the azimuth angle of the contact point, so that the movement of the object remains on the path from the current path point to the next path point, it can be ensured that the movement of the object does not deviate from the path from the current path point to the next path point.

[0195] Figure 6For the method of the embodiment of the present application, the schematic diagram of the experimental process of controlling the pushing device X1 to push the object X2 to move from the initial position Y1 to the final position Y4, and there is no obstacle in the path of controlling the pushing device X1 to push the object X2 to move from the initial position Y1 to the final position Y4. Among them, the obstacles include obstacles Z1, obstacles Z2, obstacles Z3, the positions of the object X2 moving are in turn initial position Y1, position Y2, position Y3, final position Y4, and there is a small error between the final position Y4 and the destination position Y5.

[0196] Figure 7 For the method of the embodiment of the present application, the schematic diagram of the experimental process of controlling the pushing device X1 to push the object X2 to move from the initial position Y6 to the final position Y9, and there is a movable obstacle Z6 in the path of controlling the pushing device X1 to push the object X2 to move from the initial position Y6 to the final position Y9. Among them, the obstacles include obstacles Z4, obstacles Z5, movable obstacles Z6, the target position of the movable obstacles Z6 is position Z7, the positions of the object X2 moving are in turn initial position Y6, position Y7, position Y8, final position Y9, and there is a small error between the final position Y9 and the destination position Y10, the object X2 collides with the movable obstacles Z6 at position Y8, the pushing device pushes the object X2, and the object X2 pushes the movable obstacles Z6 to position Z7.

[0197] Optionally, referring to Figure 10 In some embodiments, the automation operation method for object taking and delivering in a restricted environment provided by the embodiment of the present application corresponds to an automation operation system for object taking and delivering in a restricted environment, which includes a planner subsystem and a controller subsystem. The planner subsystem includes: (1) a reachable state set module for determining the movable range of the object; (2) a path planning module for obtaining force information and path points; and (3) an object contact model module for, in the case that there is a movable obstacle in the path of controlling the pushing device to push the object from the initial position to the destination position according to the path points and the force information, controlling the pushing device to push the object to contact the movable obstacle and drive the movable obstacle to move to the target position according to the path points and the force information. The controller subsystem includes a model predictive control module for controlling the pushing device to push the object from the initial position to the destination position according to the path points and the force information, wherein the force information required to be increased when the object contacts the movable obstacle is compensated.

[0198] The automation operation system for object taking and delivering in a restricted environment can adjust the contact point of the pushing device and the object, push away the movable obstacle, and avoid the immovable obstacle in the process of controlling the pushing device to push the object from the initial position to the destination position.

[0199] In the embodiment of the present application, the size information of the object, the initial position of the object, the destination position of the object, the size information of the obstacle and the position of the obstacle are acquired, the plurality of path points through which the object passes from the initial position to the destination position and the force information corresponding to all the path points are determined according to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, the path points include the initial position, the force information represents the information of the force required for pushing the object on the corresponding path point to the next path point, and the object is pushed from the initial position to the destination position by the pushing device according to the path points and the force information, so as to realize the pushing of the object to the destination position without manual operation of the pushing device by the staff, improve the work efficiency, and solve the problem of low work efficiency in the prior art due to the manual operation of the pushing device by the staff to push the object to the destination position.

[0200] Figure 11 is a block diagram of an automatic operation device for object taking and delivering in a restricted environment provided by the embodiment of the present application, as shown in Figure 11 The device 300 includes:

[0201] The acquisition module 301 is configured to acquire the size information of the object, the initial position of the object, the destination position of the object, the size information of the obstacle and the position of the obstacle.

[0202] The determination module 302 is configured to determine the plurality of path points through which the object passes from the initial position to the destination position and the force information corresponding to all the path points according to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, the path points include the initial position, and the force information represents the information of the force required for pushing the object on the corresponding path point to the next path point.

[0203] The pushing module 303 is configured to control the pushing device to push the object from the initial position to the destination position according to the path points and the force information.

[0204] Optionally, the determination module 302 specifically includes:

[0205] The first determination sub-module is configured to determine the candidate path point corresponding to the current path point according to the size information of the object, the current path point and the destination position.

[0206] The first calculation submodule is used to calculate the candidate force information from the current path point to the candidate path point based on the size information of the object, the current path point and the candidate path point;

[0207] The second determining submodule is used to, when the candidate force information satisfies the preset conditions determined based on the size information of the obstacle and the position of the obstacle, use the candidate path point as the next path point of the current path point, and use the candidate force information as the force information corresponding to the current path point.

[0208] Optionally, the second determining submodule specifically includes:

[0209] The acquisition module is used to obtain the obstacle blocking result based on the candidate force information, the size information of the object, the current path point, the candidate path point, the size information of the obstacle, and the position of the obstacle;

[0210] The first determining module is used to determine that the candidate force information satisfies the preset condition when the obstacle blocking result is that the object is pushed from the current path point to the candidate path point on a simulated path based on the candidate force information, and there is no obstacle.

[0211] The second determining module is used to use the candidate path point as the next path point of the current path point, and to use the candidate force information as the force information corresponding to the current path point.

[0212] Optionally, the device 300 further includes:

[0213] The simulated movement module is used to obtain, based on the candidate force information, the size information of the object, the size information of all the obstacles, and the positions of all the obstacles, the simulated movement result of pushing the object to contact the movable obstacle and moving the movable obstacle to the target position.

[0214] The result determination module is used to, when the simulation movement result indicates that the movable obstacle can be moved to the target position, use the candidate path point as the next path point of the current path point, and use the candidate force information as the force information corresponding to the current path point.

[0215] Optionally, the device 300 further includes:

[0216] The first loop module is configured to, in the case that the obstacle blocking result is that the simulated path has an immovable obstacle, enter a step of determining a candidate path point corresponding to the current path point according to the size information of the object, the current path point, and the destination position.

[0217] Optionally, the first determining sub-module specifically comprises:

[0218] The third determining sub-module is configured to determine a movable range of the object at the current path point according to the size information of the object, the current path point, and preset maximum force information.

[0219] The generating sub-module is configured to generate a random point corresponding to the current path point in the preset region.

[0220] The fourth determining sub-module is configured to, in the case that the random point is in the movable range, take the random point as the candidate path point corresponding to the current path point.

[0221] The fifth determining sub-module is configured to, in the case that the random point is not in the movable range, take a point closest to the random point in the movable range as the candidate path point.

[0222] Optionally, the generating sub-module specifically comprises:

[0223] The first determining sub-sub-module is configured to take the destination position as the random point according to a preset first probability.

[0224] The second determining sub-sub-module is configured to take a point other than the destination position in the preset region as the random point according to a preset second probability.

[0225] The sum of the first probability and the second probability is 1.

[0226] Optionally, the apparatus 300 further comprises:

[0227] The calculating module is configured to, in the case that the candidate path point coincides with the destination position, calculate force information from the current path point to the destination position according to the size information of the object, the current path point, and the destination position.

[0228] The second loop module is configured to, in the case that the candidate path point does not coincide with the destination position, enter a step of calculating candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point, and the candidate path point.

[0229] Optionally, the pushing module 303 specifically comprises:

[0230] a second computing sub-module, configured to calculate a pushing time required for transporting the object from the initial position to the target position according to all the path points and all the force information;

[0231] a first pushing sub-module, configured to control the pushing device to push the object from the initial position to the target position according to the path points and the force information, in a case where the pushing time is less than or equal to a preset time threshold.

[0232] Optionally, the pushing module 303 specifically comprises:

[0233] a second pushing sub-module, configured to control the pushing device to push the object to contact the movable obstacle and drive the movable obstacle to move to a target position, and push the object to the target position, according to the path points and the force information, in a case where there is a movable obstacle in a path for controlling the pushing device to push the object from the initial position to the target position according to the path points and the force information.

[0234] Optionally, the device 300 further comprises:

[0235] an adjusting module, configured to adjust a contact point between the pushing device and the object according to the force information, so that movement of the object is kept on a path from a current path point to a next path point, in a process of controlling the pushing device to push the object to move from the current path point to the next path point.

[0236] The automatic operation device for object taking and delivering in a restricted environment in the embodiments of the present application can be a device, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device, or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., and the embodiments of the present application are not limited in this regard.

[0237] The automation operation device for object taking and delivering in a restricted environment in the embodiments of the present application can be a device with an operating system. The operating system can be an Android operating system, an ios operating system, or other possible operating systems, which are not limited in the embodiments of the present application.

[0238] The automation operation device for object taking and delivering in a restricted environment provided in the embodiments of the present application can realize Figure 1 The automation operation device for object taking and delivering in a restricted environment realized in the method embodiments is not repeated here to avoid repetition.

[0239] Through the embodiments of the present application, the object can be pushed to the destination position without manual operation of the pushing device by the staff, thereby improving the work efficiency and solving the problem of low work efficiency in the prior art due to manual operation of the pushing device by the staff to push the object to the destination position.

[0240] Optionally, the embodiments of the present application further provide an electronic device, which includes a processor, a memory, a program or instructions stored in the memory and executable on the processor, the program or instructions being executed by the processor to realize each process of the above-mentioned automation operation method for object taking and delivering in a restricted environment, and achieve the same technical effects, which are not repeated here to avoid repetition.

[0241] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device described above.

[0242] Figure 12 To realize the hardware structure of an electronic device in the embodiments of the present application.

[0243] The electronic device 400 includes but is not limited to the following components: a radio frequency unit 401, a network module 402, an audio output unit 403, an input unit 404, a sensor 405, a display unit 406, a user input unit 407, an interface unit 408, a memory 409, and a processor 410, etc.

[0244] Those skilled in the art can understand that the electronic device 400 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 410 through a power management system, so as to realize the functions of power management, such as charging, discharging, and power consumption management, through the power management system. Figure 12 The electronic device structure shown in the above-mentioned embodiments does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements, which are not repeated here.

[0245] The processor 410 is configured to acquire size information of an object in a preset area, an initial position of the object, a target position of the object, and size information and a position of an obstacle.

[0246] According to the size information of the object, the initial position, the target position, the size information of the obstacle, and the position of the obstacle, a plurality of path points through which the object passes from the initial position to the target position are determined, and force information corresponding to all the path points is determined, the path points including the initial position; the force information represents information of a force required to push the object on the corresponding path point to the next path point.

[0247] According to the path points and the force information, the pushing device is controlled to push the object from the initial position to the target position.

[0248] In the embodiments of the present application, the size information of the object in the preset area, the initial position of the object, the target position of the object, and the size information and the position of the obstacle are acquired; according to the size information of the object, the initial position, the target position, the size information of the obstacle, and the position of the obstacle, a plurality of path points through which the object passes from the initial position to the target position are determined, and force information corresponding to all the path points is determined, the path points including the initial position; the force information represents information of a force required to push the object on the corresponding path point to the next path point; according to the path points and the force information, the pushing device is controlled to push the object from the initial position to the target position, so as to push the object to the target position without manual operation of the pushing device by the staff, thereby improving the work efficiency and solving the problem of low work efficiency in the prior art due to manual operation of the pushing device by the staff to push the object to the target position.

[0249] Optionally, the processor 410 is further configured to determine a candidate path point corresponding to a current path point according to the size information of the object, the current path point, and the target position; calculate candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point, and the candidate path point; when the candidate force information satisfies a preset condition determined according to the size information of the obstacle and the position of the obstacle, take the candidate path point as the next path point of the current path point, and take the candidate force information as the force information corresponding to the current path point.

[0250] Optionally, the processor 410 is further configured to acquire an obstacle blocking result according to the candidate force information, the size information of the object, the current path point, the candidate path point, and the size information and the position of the obstacle; determine that the candidate force information satisfies the preset condition in a case where the obstacle blocking result is that the object is pushed from the current path point to the candidate path point on a simulation path according to the candidate force information, and the obstacle does not exist; take the candidate path point as a next path point of the current path point, and take the candidate force information as force information corresponding to the current path point.

[0251] Optionally, the processor 410 is further configured to acquire a simulation moving result of a process of pushing the object to contact a movable obstacle and moving the movable obstacle to a target position according to the candidate force information, the size information of the object, and the size information and the position of all the obstacles in a case where the obstacle blocking result is that the simulation path exists the movable obstacle; take the candidate path point as a next path point of the current path point, and take the candidate force information as force information corresponding to the current path point in a case where the simulation moving result is that the movable obstacle can be moved to the target position.

[0252] Optionally, the processor 410 is further configured to enter the step of determining the candidate path point corresponding to the current path point according to the size information of the object, the current path point, and the target position in a case where the obstacle blocking result is that the simulation path exists an immovable obstacle.

[0253] Optionally, the processor 410 is further configured to determine a movable range of the object on the current path point according to the size information of the object, the current path point, and preset maximum force information; generate a random point corresponding to the current path point in the preset region; take the random point as the candidate path point corresponding to the current path point in a case where the random point is in the movable range; and take a point closest to the random point in the movable range as the candidate path point in a case where the random point is not in the movable range.

[0254] Optionally, the processor 410 is further configured to take the target position as the random point according to a preset first probability; and take a point other than the target position in the preset region as the random point according to a preset second probability; wherein a sum of the first probability and the second probability is 1.

[0255] Optionally, the processor 410 is further configured to, in a case where the candidate path point coincides with the destination position, calculate force information from the current path point to the destination position according to the size information of the object, the current path point and the destination position; and in a case where the candidate path point does not coincide with the destination position, enter a step of calculating candidate force information from the current path point to the candidate path point according to the size information of the object, the current path point and the candidate path point.

[0256] Optionally, the processor 410 is further configured to calculate a pushing time required for transporting the object from the initial position to the destination position according to all the path points and all the force information; and in a case where the pushing time is less than or equal to a preset time threshold, control the pushing device to push the object from the initial position to the destination position according to the path points and the force information.

[0257] Optionally, the processor 410 is further configured to, in a case where there is a movable obstacle in a path for controlling the pushing device to push the object from the initial position to the destination position according to the path points and the force information, control the pushing device to push the object to contact the movable obstacle and move the movable obstacle to a target position, and push the object to the destination position according to the path points and the force information.

[0258] Optionally, the processor 410 is further configured to, in a process of controlling the pushing device to push the object to move from a current path point to a next path point, adjust a contact point between the pushing device and the object according to the force information, so that movement of the object is kept on a path from the current path point to the next path point.

[0259] In the embodiment of the present application, the size information of the object, the initial position of the object, the destination position of the object, the size information of the obstacle and the position of the obstacle in a preset area are acquired; according to the size information of the object, the initial position, the destination position, the size information of the obstacle and the position of the obstacle, a plurality of path points through which the object passes from the initial position to the destination position are determined, and the force information corresponding to all the path points is determined, the path points including the initial position; the force information represents the information of the force required to push the object on the corresponding path point to the next path point; according to the path points and the force information, the pushing device is controlled to push the object from the initial position to the destination position, so as to push the object to the destination position without manual operation of the pushing device by the staff, improve the work efficiency, and solve the problem of low work efficiency in the prior art due to manual operation of the pushing device by the staff to push the object to the destination position.

[0260] It should be understood that in the embodiments of the present application, the input unit 404 can include a graphics processor (GPU) 4041 and a microphone 4042. The graphics processor 4041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 406 can include a display panel 4061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 407 includes at least one of a touch panel 4071 and other input devices 4072. The touch panel 4071 is also called a touch screen. The touch panel 4071 can include two parts of a touch detection device and a touch controller. The other input devices 4072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, an operating rod, and the like, which will not be described here.

[0261] The memory 409 can be used to store software programs and various data. The memory 409 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 409 can include a volatile memory or a non-volatile memory, or the memory 409 can include both a volatile memory and a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 409 in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0262] The processor 410 can include one or more processing units; optionally, the processor 410 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 410.

[0263] The embodiments of the present application also provide a readable storage medium, and the readable storage medium stores programs or instructions, which are executed by a processor to implement each process of the above-mentioned method for automated operation of object taking and delivering in a restricted environment, and achieve the same technical effects. To avoid repetition, details are not described here.

[0264] The processor is the processor in the electronic device described in the above embodiments. 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.

[0265] The chip provided in the embodiments of the present application includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used to run programs or instructions, realizes each process of the above-mentioned method for automatic operation of taking and delivering objects in a restricted environment, and can achieve the same technical effects. To avoid repetition, details are not described here.

[0266] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0267] It should be noted that in this document, the term "comprising" or "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing the functions shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0268] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present application.

[0269] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims.

Claims

1. An automated operation method for picking up and delivering objects in a confined environment, characterized in that, The method includes: Obtain the size information of objects within a preset area, the initial position of the objects, the target position of the objects, as well as the size information and position of obstacles; Based on the object's size information, the initial position, the destination position, the obstacle's size information, and the obstacle's position, determine multiple path points the object passes through from the initial position to the destination position, as well as the force information corresponding to all the path points. The path points include the initial position. The force information represents the force required to push the object at the corresponding path point to the next path point. Based on the path points and the force information, the pushing device is controlled to push the object from the initial position to the target position.

2. The method according to claim 1, characterized in that, The step of determining multiple path points traversed by the object from the initial position to the destination position, and the force information corresponding to all path points, based on the object's size information, the initial position, the destination position, the obstacle's size information, and the obstacle's position, includes: Based on the object's size information, the current path point, and the destination location, determine the candidate path point corresponding to the current path point; Based on the object's size information, the current path point, and the candidate path points, calculate the candidate force information from the current path point to the candidate path points; When the candidate force information satisfies the preset conditions determined based on the size information and position of the obstacle, the candidate path point is used as the next path point of the current path point, and the candidate force information is used as the force information corresponding to the current path point.

3. The method according to claim 2, characterized in that, The step of using the candidate path point as the next path point of the current path point when the candidate force information satisfies the preset conditions determined based on the obstacle's size information and the obstacle's position, and using the candidate force information as the force information corresponding to the current path point, includes: Based on the candidate force information, the object size information, the current path point, the candidate path points, the obstacle size information, and the obstacle position, obtain the obstacle blocking result; If the obstacle blocking result is that the object is pushed from the current path point to the candidate path point according to the candidate force information on a simulated path where there is no obstacle, then the candidate force information is determined to satisfy the preset condition. The candidate path point is used as the next path point of the current path point, and the candidate force information is used as the force information corresponding to the current path point.

4. The method according to claim 3, characterized in that, After obtaining the obstacle blocking result based on the candidate force information, the object's size information, the current path point, the candidate path points, the obstacle's size information, and the obstacle's position, the method further includes: If the obstacle blocking result indicates that there is a movable obstacle in the simulated path, based on the candidate force information, the size information of the object, the size information of all the obstacles, and the positions of all the obstacles, the simulated movement result of the process of pushing the object to contact the movable obstacle and moving the movable obstacle to the target position is obtained. If the simulation results indicate that the movable obstacle can be moved to the target position, the candidate path point is used as the next path point of the current path point, and the candidate force information is used as the force information corresponding to the current path point.

5. The method according to claim 3, characterized in that, After obtaining the obstacle blocking result based on the candidate force information, the object's size information, the current path point, the candidate path points, the obstacle's size information, and the obstacle's position, the method further includes: If the obstacle blocking result indicates that there is an immovable obstacle on the simulated path, proceed to the step of determining a candidate path point corresponding to the current path point based on the object's size information, the current path point, and the destination location.

6. The method according to claim 2, characterized in that, The step of determining candidate path points corresponding to the current path point based on the object's size information, the current path point, and the destination location includes: Based on the object's size information, the current path point, and the preset maximum force information, determine the movable range of the object at the current path point; Generate a random point corresponding to the current path point within the preset area; If the random point is within the movable range, the random point will be used as a candidate path point corresponding to the current path point. If the random point is not within the movable range, the point within the movable range that is closest to the random point is taken as the candidate path point.

7. The method according to claim 6, characterized in that, The step of generating a random point corresponding to the current path point within the preset area includes: Based on a preset first probability, the target location is taken as the random point; According to a preset second probability, points outside the target location within the preset area are taken as the random points; Wherein, the sum of the first probability and the second probability is 1.

8. An automated operating device for picking up and delivering objects in a confined environment, characterized in that, The device includes: The acquisition module is used to acquire the size information of objects within a preset area, the initial position of the objects, the destination position of the objects, as well as the size information and position of obstacles. The determining module is used to determine, based on the object's size information, the initial position, the destination position, the obstacle's size information, and the obstacle's position, multiple path points that the object passes through from the initial position to the destination position, and force information corresponding to all the path points. The path points include the initial position. The force information represents the force required to push the object at the corresponding path point to the next path point. The push module is used to control the push device to push the object from the initial position to the destination position based on the path point and the force information.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the automated operation method for picking up and delivering objects in a confined environment as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the automated operation method for picking up and delivering objects in a confined environment as described in any one of claims 1 to 7.

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