A robot control system based on intelligent interaction management

Abstract

The application discloses a kind of robot control systems based on wisdom interaction management, including obstacle data acquisition module, running analysis module and instruction execution module, running analysis module is used to analyze the running process of snow sweeping robot, obstacle data acquisition module, running analysis module and instruction execution module communication connection, running analysis module and instruction execution module are electrically connected, the present application, the snow sweeping area demarcated is analyzed, so that snow sweeping robot can be in perfect planning snow sweeping path, timely mark the position of possible ice column in snowdrift, greatly improve the running safety of robot;The orientation of ice column in snowdrift is divided, predicted and monitored simultaneously, on the basis of guaranteeing the safe operation of snow sweeping robot, the direction adjustment of robot is greatly reduced to the maximum extent, the snow removal rate of robot is greatly improved, and the path planning of snow removal is optimized, the present application has the characteristics of high detection accuracy and strong intelligent interaction capability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of artificial intelligence, in particular to a robot control system based on intelligent interaction management. BACKGROUND

[0002] In winter, many places have serious snow accumulation, and if the snow is not cleaned up every 2-3 cm, the soft snow accumulation period will be missed, and the road surface will be easy to freeze, so it is best to clean up every hour, and it is difficult to effectively complete the cleaning work by relying on manpower alone. Starting from the actual life of residents, the road in front of their own home must also be cleaned to be able to live normally.

[0003] In the past, users usually purchased traditional snow sweepers to clean up by themselves, or the community dispatched road cleaners to clean up the snow, and such labor not only consumed a lot of time and effort, but also had a certain degree of high risk. Therefore, the upgrading from traditional snow sweepers to electric, intelligent and unmanned snow sweeping robots has become an obvious trend in the snow sweeping robot market. In the prior art, the snow sweeping robot identifies and avoids obstacles on the snow sweeping path through a 360° dead-angle-free camera and an ultrasonic sensor, but in winter, ice columns are generated under the eaves of many houses, fall and mix in the snow pile, and the snow sweeping robot cannot accurately detect the ice columns when passing through, and even if it can detect, it lacks effective measures to deal with it, resulting in the ice columns being sucked in or the suction inlet of the snow sweeping robot being stuck by the broken ice columns, which has an adverse effect on the safe operation of the snow sweeping robot. Therefore, it is necessary to design a robot control system based on intelligent interaction management with high detection accuracy and strong intelligent interaction capability. SUMMARY

[0004] The present application relates to the technical field of artificial intelligence, in particular to a robot control system based on intelligent interaction management.

[0005] In order to solve the above technical problems, the present application provides the following technical scheme: a robot control system based on intelligent interaction management, comprising an obstacle data acquisition module, an operation analysis module and an instruction execution module, the obstacle data acquisition module is used for acquiring related information of a snow sweeping scene; the operation analysis module is used for analyzing the operation process of the snow sweeping robot; the instruction execution module is used for outputting the analysis result of the operation analysis module, the obstacle data acquisition module, the operation analysis module and the instruction execution module are communicatively connected, and the operation analysis module and the instruction execution module are electrically connected.

[0006] According to the technical scheme, the obstacle data acquisition module comprises an ice column model information acquisition module, an ice column falling model information construction module and a camera unit, the ice column model information acquisition module is used for acquiring an ice column picture appearing in a snow sweeping scene, the ice column falling model information construction module is used for predicting an orientation of the ice column staying in the snow after falling, and the camera unit is used for acquiring a picture in the snow sweeping scene.

[0007] According to the technical scheme, the operation analysis module comprises a contact detection module and an obstacle interaction analysis module, the contact detection module is used for starting detection when the snow sweeping robot travels to a target position, and the obstacle interaction analysis module is used for analyzing an influence of the ice column on the snow sweeping robot traveling and the machine operation in the snow.

[0008] According to the technical scheme, the obstacle interaction analysis module further comprises a snow accumulation extrusion module analysis submodule and a forward progress rationality analysis submodule, the snow accumulation extrusion module analysis submodule is used for analyzing a situation that a pressure sensor arranged on the snow sweeping robot is extruded by the ice column, and the forward progress rationality analysis submodule is used for judging whether the snow sweeping robot can continue to advance according to an analysis result of the snow accumulation extrusion module analysis submodule.

[0009] According to the technical scheme, the operation method of the robot control system mainly comprises the following steps.

[0010] Step S1: a robot control system is connected into the snow sweeping robot, a 360° high-definition camera arranged on an upper middle part of the snow sweeping robot is used to shoot a panoramic picture in a snow sweeping scene, and the camera is controlled to lift a field of view to acquire an image picture of an environment house eave;

[0011] Step S2: a snow sweeping owner draws a region needing to be swept in a snow sweeping matched tablet, and the control system identifies and marks a position of the ice column staying in the snow after falling through picture analysis;

[0012] Step S3: the snow sweeping robot starts to move along a preset snow sweeping path, slows down when the snow sweeping robot reaches the marked region, and monitors a snow layer in front of the snow sweeping robot in real time to predict a position of the ice column staying in the snow layer;

[0013] Step S4: a snow accumulation extrusion module analysis submodule analyzes a staying situation of the hidden ice column in the snow in front of a suction inlet of the snow sweeping robot, and judges whether the staying of the ice column obviously influences the snow sweeping robot traveling;

[0014] Step S5: the robot control system selects an instruction of adjusting a direction or continuing to advance to the snow sweeping robot according to a judgment result of the snow sweeping robot traveling in the step S4.

[0015] According to the technical scheme, the step S2 further comprises the following steps:

[0016] Step S21: the system frames a minimum rectangle in the periphery of the area to be snowed, and establishes a plane rectangular coordinate system with the lower left corner as the coordinate origin, the lower side of the framed rectangle as the positive half axis of the X axis, and the left side of the framed rectangle as the positive half axis of the Y axis, and the lower left corner of the framed rectangle as (0, 0), and acquires the X axis length A and the Y axis length B of the area according to the virtual image scale obtained by the control system, wherein the units of A and B are meters;

[0017] Step S22: the robot control system locks the position of the ice column in the photographed image frame by an image feature recognition method, and acquires the position and model of the ice column after falling in the snow.

[0018] Step S23: after the ice column falls, the possible orientation of the position of the ice column is divided into “horizontal trend orientation” and “vertical trend orientation” by a prediction method of the orientation of the position of the ice column.

[0019] According to the technical scheme, in the step S22, the specific method in which the robot control system locks the position of the ice column in the photographed image frame by an image feature recognition method comprises the following steps:

[0020] Step S221: an ice column model information acquisition module receives the picture information of the roof ridge to be recognized, pre-processes the image, including grayscale and Gaussian filtering, obtains the ice column region by image segmentation, and extracts the contour features of the ice column.

[0021] Step S222: the contour features of the leaves obtained in the step S221 are uploaded to the system, the system extracts the image features of the ice column, and according to the coordinate (X0,

[0022] Y0) of the photographing position of the snow sweeping robot in the area, the distance L between the ice column and the photographing position is calculated according to the contour area of the ice column in the image, and the distance between the snow sweeping robot and the coordinate position of the ice column is The angle between the direction of the current camera of the snow sweeping robot and the positive direction of the X axis in the area is θ°, wherein -180°< θ≤180°, the horizontal coordinate of the position of the ice column in the framed area is the vertical coordinate is

[0023] In the step S222, when the extension line of the direction of the camera intersects with the straight line Y=B in the coordinate system, θ>0°; and when the extension line of the direction of the camera intersects with the straight line Y=0 in the coordinate system, θ<0°.

[0024] According to the technical scheme, in the step S3, the ice column is positioned in the coordinate position (X, Y) in the delimited area through the step S222, and after the snow sweeping robot enters the area of (X±K, Y±K) in front of the body, the speed of the snow sweeping robot is changed from the normal running speed to a low speed, the power of the suction inlet of the snow sweeping robot is controlled to be reduced to a low power, and the snow sweeping robot is controlled to continue to move forward, wherein K is the maximum vertical position offset distance of the ice column after falling from the eaves to the snow pile, the pressure value change of the pressure sensor of the snow sweeping robot in the moving process is obtained through the pressure sensor arranged above the suction inlet in the forward direction of the snow sweeping robot, and when the pressure change value exceeds ω% of the pressure value, it is determined that the snow area in front of the current snow sweeping robot is affected by the ice column, wherein ω is the rated detection value of the pressure change.

[0025] The pressure sensor area arranged on the snow sweeping robot can completely cover the pressure generated by the snow pile and the ice column in the moving process of the snow sweeping robot.

[0026] According to the technical scheme, in the step S23, the prediction method of the position of the ice column is as follows:

[0027] A plane parallel to the ground is made through the position of the center point of the ice column, and the included angle between the end of the ice column and the plane is α;

[0028] When the included angle 0≤α≤45°, the system marks the position of the current ice column as "horizontal trend direction";

[0029] When the included angle 45°<α≤90°, the system marks the position of the current ice column as "vertical trend direction".

[0030] According to the technical scheme, in the step S4, when the pressure sensor arranged in front of the snow sweeping robot receives a total increase of the area of the pressure source area that exceeds 20% of the original area within the monitoring time period, it is determined that the direction of the current ice column in front of the snow sweeping robot is "horizontal trend direction", and the information of adjusting the moving direction one is output through the instruction execution module; when the pressure sensor arranged in front of the snow sweeping robot receives the area of the pressure source that does not decrease with the movement of the snow sweeping robot, and the total increase of the pressure area does not exceed 20% of the original area within the monitoring time period, it is determined that the direction of the current ice column in front of the snow sweeping robot is "vertical trend direction", and the information of adjusting the moving direction two is output through the instruction execution module, otherwise the information of normal movement is output through the instruction execution module.

[0031] The specific direction adjustment method of the first adjustment direction is: determining a target position point one of the center point of the area position of the current pressure source in the top view of the robot and a target position point two corresponding to the closest side of the turning side of the area position of the pressure source in the top view of the robot, the turning direction of the snow sweeping robot is: turning to the side direction in front of the snow sweeping robot far from the target position point one, and the overall turning angle of the snow sweeping robot is: the included angle between the line connecting the target position point two and the side behind the snow sweeping robot close to the position of the pressure source and the baffle at the position of the suction inlet in front of the snow sweeping robot + mu degrees, wherein mu is a safety angle value of the additional adjustment angle of the robot for avoiding.

[0032] The specific direction adjustment method of the second adjustment direction is: determining a target position point three of the center point of the area position of the current pressure source in the top view of the robot, the turning direction of the snow sweeping robot is: turning to the side direction in front of the snow sweeping robot far from the target position point three, and the overall turning angle of the snow sweeping robot is: the included angle between the line connecting the target position point three and the side behind the snow sweeping robot close to the position of the pressure source and the baffle at the position of the suction inlet in front of the snow sweeping robot + mu degrees.

[0033] The overall turning angle is the angle of the whole robot turning, one side of the snow sweeping robot is the left contour or the right contour of the snow sweeping robot obtained by the system through the top view of the peripheral contour of the snow sweeping robot, the side behind the snow sweeping robot refers to the left lower vertex and the right lower vertex of the snow sweeping robot in the top view, and the side in front of the snow sweeping robot refers to the left upper vertex and the right upper vertex of the snow sweeping robot in the top view.

[0034] Compared with the prior art, the present application has the following beneficial effects: the present application can analyze the snow sweeping area through the ice column falling model information construction module, so that the snow sweeping robot can improve the planned snow sweeping path and timely mark the position of the ice column in the snow pile, greatly improving the running safety of the robot; meanwhile, the obstacle interaction analysis module can divide, predict and monitor the direction of the ice column in the snow pile, greatly reducing the direction adjustment of the robot on the basis of ensuring the safe operation of the snow sweeping robot, greatly improving the snow removal rate of the robot and optimizing the path planning of snow removal. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application together with the embodiments, and do not constitute a limitation to the present application. In the drawings:

[0036] Figure 1 It is a system module composition schematic diagram of the present application. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the 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 a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] Please refer to Figure 1 The present application provides a technical solution: a robot control system based on intelligent interaction management, comprising:

[0039] The obstacle data acquisition module is used to acquire relevant information of the snow sweeping scene, the running analysis module is used to analyze the running process of the snow sweeping robot, and the instruction execution module is used to output the analysis result of the running analysis module. The obstacle data acquisition module, the running analysis module and the instruction execution module are communicatively connected, and the running analysis module and the instruction execution module are electrically connected.

[0040] In the present application, the ice column falling model information construction module is used to analyze the demarcated snow sweeping area, so that the snow sweeping robot can mark the position of the ice column in the snow pile in time while perfecting the snow sweeping path planning, greatly improving the running safety of the robot. Meanwhile, the obstacle interaction analysis module is used to divide, predict and monitor the direction of the ice column in the snow pile, which greatly reduces the direction adjustment of the robot on the basis of ensuring the safe running of the snow sweeping robot, greatly improves the snow removal rate of the robot and optimizes the snow removal path planning.

[0041] The obstacle data acquisition module comprises an ice column model information acquisition module, an ice column falling model information construction module and a camera unit. The ice column model information acquisition module is used to acquire the picture of the ice column appearing in the snow sweeping scene. The ice column falling model information construction module is used to predict the direction of the ice column staying in the snow after falling. The camera unit is used to acquire the picture in the snow sweeping scene.

[0042] The running analysis module comprises a contact detection module and an obstacle interaction analysis module. The contact detection module is used to start detection when the snow sweeping robot travels to the target position. The obstacle interaction analysis module is used to analyze the influence of the ice column in the snow on the travel of the snow sweeping robot and the running of the robot.

[0043] The obstacle interaction analysis module further comprises a snow accumulation extrusion module analysis submodule and a forward rationality analysis submodule. The snow accumulation extrusion module analysis submodule is used to analyze the situation that the pressure sensor arranged on the snow sweeping robot is extruded by the ice column. The forward rationality analysis submodule is used to determine whether the snow sweeping robot can continue to move forward through the analysis result of the snow accumulation extrusion module analysis submodule.

[0044] In a preferred embodiment, the operation method of the robot control system mainly comprises the following steps:

[0045] Step S1: The robot control system is connected in the snow sweeping robot, a 360° high-definition camera arranged on the upper middle part of the snow sweeping robot is used to shoot a panoramic picture in the snow sweeping scene, and the camera is controlled to lift the field of view to obtain an image picture of the roof eaves of the environment;

[0046] Step S2: The snow sweeping master draws the area needing to be swept in the snow in the snow sweeping supporting tablet, and the control system identifies and marks the position where the ice column stays in the snow after falling through picture analysis;

[0047] Step S3: The snow sweeping robot starts to move along the preset snow sweeping path, slows down when reaching the marked area, and monitors the snow layer in front in real time to predict the position of the ice column staying in the snow layer;

[0048] Step S4: The snow accumulation extrusion module analysis submodule analyzes the staying situation of the hidden ice column in the snow in front of the suction inlet of the snow sweeping robot, and judges whether the staying of the ice column has a significant influence on the progress of the snow sweeping robot;

[0049] Step S5: The robot control system selects the instruction of adjusting the direction or continuing to advance to the snow sweeping robot according to the judgment result of the progress of the snow sweeping robot in step S4.

[0050] In this embodiment, step S2 further comprises:

[0051] Step S21: The system frames the drawn area with the minimum rectangle on the periphery, and establishes a plane rectangular coordinate system with the lower left corner as the coordinate origin, the lower side of the framed rectangle as the positive half axis of the X axis, and the left side of the framed rectangle as the positive half axis of the Y axis, the coordinates of the lower left corner of the framed rectangle are (0, 0), the X axis length of the area is A and the Y axis length of the area is B according to the virtual image scale obtained by the control system, wherein the units of A and B are meters;

[0052] Step S22: The robot control system locks the position of the ice column in the shot image picture through an image feature recognition method, and obtains the position and model of the ice column staying in the snow after falling;

[0053] Step S23: After the ice column falls, the position where the ice column stays is possibly divided into “horizontal trend direction” and “vertical trend direction” through an ice column position prediction method at the same height as the suction inlet of the snow sweeping robot.

[0054] In step S22 of the embodiment, the specific method for the robot control system to lock the position of the icicle in the photographed image picture through the image feature recognition method includes the following steps:

[0055] Step S221: The icicle model information acquisition module receives the house eave picture information to be recognized, pre-processes the image, including grayscale and Gaussian filtering, obtains the icicle region through image segmentation, and extracts the outline features of the icicle;

[0056] Step S222: The outline features of the leaf blade obtained in step S221 are uploaded to the system, the system extracts the image features of the icicle, and according to the photographing position of the snow sweeping robot in the region coordinate (X0, Y0), the distance between the icicle and the photographing position is L through the outline area of the icicle in the image, then the distance between the snow sweeping robot and the coordinate position of the icicle is The angle between the direction of the current camera of the snow sweeping robot and the positive direction of the X axis in the region is θ°, where -180°< θ≤180°, then the horizontal coordinate of the icicle in the region is The vertical coordinate is

[0057] In step S222, when the extension line of the camera direction intersects with the straight line Y=B in the coordinate system, θ>0°; when the extension line of the camera direction intersects with the straight line Y=0 in the coordinate system, θ<0°.

[0058] When 0< θ≤90°, the position of the icicle is above the right of the robot, at this time, cosθ≥0, and sinθ>0;

[0059] When 90°< θ≤180°, the position of the icicle is above the left of the robot, at this time, cosθ<0, and sinθ≥0;

[0060] When -90°< θ≤0°, the position of the icicle is below the right of the robot, at this time,

[0061] cosθ>0, and sinθ<0;

[0062] When -180°≤ θ≤-90°, the position of the icicle is below the left of the robot, at this time, cosθ<0, and sinθ<0.

[0063] Through the technical solution, the problem that the snow sweeping robot cannot accurately predict the specific position of the icicle in the weather with snow accumulation is solved, which leads to the safety problem that the snow sweeping robot is stuck by the icicle due to the lack of effective prediction of the icicle obstacle during operation. Through the analysis of the delimited snow sweeping region, the snow sweeping robot can timely mark the position of the icicle in the snow pile while perfecting the planned snow sweeping path, which greatly improves the operation safety of the robot.

[0064] In step S3 of the embodiment, the coordinate position (X, Y) of the ice column in the delimited area is located by step S222, then after the snow sweeping robot enters the area of (X±K, Y±K) in front of the body, the speed of the snow sweeping robot is changed from the original normal running speed to low speed, the power of the suction inlet of the snow sweeping robot is controlled to be reduced to low power, and the snow sweeping robot is controlled to continue to move forward, wherein K is the maximum vertical position offset distance of the ice column after falling from the eaves to the snow pile, the pressure value change of the pressure sensor during the movement of the snow sweeping robot is obtained by the pressure sensor arranged above the suction inlet of the snow sweeping robot in the forward direction of the snow sweeping robot, and when the pressure change value exceeds ω% of the pressure value, it is determined that the snow area in front of the current snow sweeping robot is affected by the ice column, wherein ω is the rated detection value of the pressure change.

[0065] The pressure sensor area arranged on the snow sweeping robot can completely cover the pressure generated by the snow pile and the ice column during the movement of the snow sweeping robot.

[0066] During the process of the snow sweeping robot sucking snow particles in other areas, the pressure sensor maintains a relatively stable value, but due to the large difference in hardness between the ice column and the blocky snow particles in the snow pile, when the ice column in the snow pile touches the pressure sensor arranged on the snow sweeping robot, the receiving value of the pressure sensor will be obviously increased.

[0067] In step S23 of the embodiment, the prediction method of the position of the ice column is as follows:

[0068] A plane parallel to the ground is made through the position of the center point of the ice column, and the included angle between the end of the ice column and the plane is α;

[0069] When the included angle 0≤α≤45°, the system marks the current position of the ice column as "horizontal trend direction";

[0070] When the included angle 45°<α≤90°, the system marks the current position of the ice column as "vertical trend direction".

[0071] When the included angle 0≤α≤45°, the column of the ice column is more inclined to be horizontal to the ground, and after being extruded by the snow sweeping robot, the two ends will gradually be parallel to the suction inlet of the snow sweeping robot;

[0072] When the included angle 45°<α≤90°, the column of the ice column is more inclined to be perpendicular to the ground, and after being extruded by the snow sweeping robot, the two ends will gradually be perpendicular to the suction inlet of the snow sweeping robot, but the basic contact surface when being perpendicular is larger than that when being horizontal.

[0073] In step S4 of the embodiment, when the pressure sensor arranged in front of the snow sweeper receives a total increase of the area of the pressure source region exceeding 20% of the original area within a monitoring time period, it is determined that the current ice column in front of the snow sweeper is in a "horizontal trend orientation", and information of adjusting the first traveling direction is outputted through the instruction execution module; when the pressure sensor arranged in front of the snow sweeper receives an area of the pressure source region not decreasing with the traveling of the snow sweeper within a monitoring time period, and a total increase of the pressure area does not exceed 20% of the original area, it is determined that the current ice column in front of the snow sweeper is in a "vertical trend orientation", and information of adjusting the second traveling direction is outputted through the instruction execution module, otherwise, information of normal traveling is outputted through the instruction execution module;

[0074] When the ice column belongs to the "horizontal trend orientation", the basic contact area of the ice column and the pressure sensor is small, so the contact area growth rate changes obviously in the subsequent monitoring time period;

[0075] When the ice column belongs to the "vertical trend orientation", the basic contact area of the ice column and the pressure sensor is large, so the contact area growth rate does not change greatly in the subsequent monitoring time period;

[0076] The specific direction adjustment method of adjusting the first traveling direction is as follows: determining a target position point one of the center point of the region of the current pressure source in the top view of the robot and a target position point two corresponding to the nearest side of the robot in the top view of the robot within the region of the pressure source, the turning direction of the snow sweeper is: turning to the side direction in front of the snow sweeper far away from the target position point one, and the overall turning angle of the snow sweeper is: the included angle between the line connecting the target position point two and the side behind the snow sweeper close to the pressure source position and the baffle at the suction inlet position in front of the snow sweeper + μ°, wherein μ is a safety angle value of the additional adjustment angle of the robot;

[0077] When the ice column belongs to the "horizontal trend orientation", the horizontal paving width is large, the occupied area is wide, and the turning angle of the robot should be greater than the end of the ice column.

[0078] The specific direction adjustment method of adjusting the second traveling direction is as follows: determining a target position point three of the center point of the region of the current pressure source in the top view of the robot, the turning direction of the snow sweeper is: turning to the side direction in front of the snow sweeper far away from the target position point three, and the overall turning angle of the snow sweeper is: the included angle between the line connecting the target position point three and the side behind the snow sweeper close to the pressure source position and the baffle at the suction inlet position in front of the snow sweeper + μ°;

[0079] When the ice column belongs to the "vertical trend towards", due to the small horizontal paving width and narrow area, the turning angle of the robot is only required to be greater than the center point of the contact area of the ice column and the pressure sensor.

[0080] The total turning angle is the angle turned by the robot as a whole; one side of the snow removal robot is specifically the left profile or the right profile of the snow removal robot obtained by the system through the snow removal robot's outer profile view; the rear side of the snow removal robot refers to the lower left vertex and the lower right vertex of the snow removal robot in the view; and the front side of the snow removal robot refers to the upper left vertex and the upper right vertex of the snow removal robot in the view.

[0081] Through the technical solution, the problem that the snow removal robot is difficult to accurately identify the ice column obstacles in different directions in the snow pile during the snow removal process, and the snow removal efficiency is greatly reduced due to the maximum reduction of path adjustment, is solved. By dividing, predicting and monitoring the direction of the ice column in the snow pile, the direction adjustment of the robot is maximally reduced on the basis of ensuring the safe operation of the snow removal robot, the snow removal rate of the robot is greatly improved, and the snow removal path planning is optimized.

[0082] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0083] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A robot control system based on intelligent interaction management, characterized in that: The robot control system comprises an obstacle data collection module, a running analysis module and an instruction execution module, the obstacle data collection module is used to acquire relevant information of a snow sweeping scene, the running analysis module is used to analyze a running process of the snow sweeping robot, and the instruction execution module is used to output an analysis result of the running analysis module, the obstacle data collection module, the running analysis module and the instruction execution module are communicatively connected, and the running analysis module and the instruction execution module are electrically connected; The obstacle data collection module comprises an ice column model information collection module, an ice column falling model information construction module and a camera unit, the running analysis module comprises a contact detection module and an obstacle interaction analysis module, and the obstacle interaction analysis module further comprises a snow accumulation extrusion module analysis submodule and a forward movement rationality analysis submodule; The running method of the robot control system mainly comprises the following steps: Step S1: The robot control system is connected in the snow sweeping robot, a 360° high-definition camera arranged on the middle upper part of the snow sweeping robot is used to shoot a panoramic picture in the snow sweeping scene, the camera is controlled to lift the field of view, and an image picture of an environment house eave is acquired; Step S2: The snow sweeping master draws a region needing to be swept in a snow sweeping matched tablet, and the control system identifies and marks a position where an ice column stays in the snow after falling through picture analysis; Step S3: The snow sweeping robot starts to move along a preset snow sweeping path, slows down when reaching the marked region, and monitors a snow layer in front in real time to predict a position of an ice column staying in the snow layer; Step S4: The snow accumulation extrusion module analysis submodule analyzes a stay of a hidden ice column in front of a suction inlet of the snow sweeping robot, and judges whether the stay of the ice column obviously affects the running of the snow sweeping robot; Step S5: The robot control system selects an instruction of adjusting a direction or continuing to move forward of the snow sweeping robot according to a judgment result of the snow sweeping robot running in the step S4; In the step S4, when a total increase of a pressure source area received by a pressure sensor arranged in front of the snow sweeping person in a monitoring time period exceeds 20% of an original area, it is determined that a current ice column in front of the snow sweeping robot is horizontally oriented, and information of adjusting a running direction one is output through the instruction execution module; when the area of the pressure source received by the pressure sensor arranged in front of the snow sweeping person in the monitoring time period does not decrease along with the running of the snow sweeping robot, and a total increase of the pressure area does not exceed 20% of the original area, it is determined that a current ice column in front of the snow sweeping robot is vertically oriented, and information of adjusting a running direction two is output through the instruction execution module, otherwise, information of normal running is output through the instruction execution module. The specific direction adjustment method of the first direction of travel is: determining a target position point one of the center point of the area position of the current pressure source in the robot top view and a target position point two corresponding to the nearest side of the robot to the turning side in the area position of the pressure source, the turning direction of the snow sweeping robot is: turning to the side direction in front of the snow sweeping robot far from the target position point one, and the overall turning angle of the snow sweeping robot is: the included angle between the line connecting the target position point two and the side behind the snow sweeping robot close to the position of the pressure source and the baffle at the position of the suction inlet in front of the snow sweeping robot + μ°, wherein μ is a safety angle value of the additional adjustment angle of the robot for avoiding; The specific direction adjustment method of the second direction of travel is: determining a target position point three of the center point of the area position of the current pressure source in the robot top view, the turning direction of the snow sweeping robot is: turning to the side direction in front of the snow sweeping robot far from the target position point three, and the overall turning angle of the snow sweeping robot is: the included angle between the line connecting the target position point three and the side behind the snow sweeping robot close to the position of the pressure source and the baffle at the position of the suction inlet in front of the snow sweeping robot + μ°. The overall turning angle is the angle of the whole robot turning, one side of the snow sweeping robot is the left profile or the right profile of the snow sweeping robot obtained by the system through the snow sweeping robot peripheral profile top view, the side behind the snow sweeping robot is the lower left vertex and the lower right vertex of the snow sweeping robot in the top view, and the side in front of the snow sweeping robot is the upper left vertex and the upper right vertex of the snow sweeping robot in the top view. 2.The robot control system based on intelligent interaction management of claim 1, wherein: The ice column model information acquisition module is used to obtain the ice column picture appearing in the snow sweeping scene, and the ice column falling model information construction module is used to predict the direction in which the ice column stays in the snow after falling.

3. The robot control system based on intelligent interaction management according to claim 2, characterized in that: The contact detection module is used to start detection when the snow sweeping robot travels to the target position, and the obstacle interaction analysis module is used to analyze the influence of the ice column on the snow sweeping robot traveling and the robot running in the snow.

4. The robot control system based on intelligent interaction management according to claim 3, characterized in that: The snow accumulation extrusion module analysis submodule is used to analyze the situation that the pressure sensor arranged on the snow sweeping robot is extruded by the ice column, and the forward rationality analysis submodule is used to determine whether the snow sweeping robot can continue to move forward according to the analysis result of the snow accumulation extrusion module analysis submodule.

5. The robot control system based on intelligent interaction management according to claim 4, characterized in that: The step S2 further includes: Step S21: the system frames the area in which snow sweeping needs to be performed with the minimum rectangle in the periphery, establishes a plane rectangular coordinate system with the lower left corner as the coordinate origin, the lower side of the framed rectangle as the positive half axis of the X axis, and the left side of the framed rectangle as the positive half axis of the Y axis, the lower left corner coordinate of the framed rectangle is (0, 0), the X axis length of the area is A and the Y axis length is B according to the virtual image scale obtained by the control system, wherein the units of A and B are meters; Step S22: the robot control system locks the position of the ice column in the photographed image picture by the image feature recognition method, and obtains the position and model in which the ice column stays in the snow after falling. Step S23: After the ice column falls, the possible orientations of the ice column are divided into "horizontal trend orientation" and "vertical trend orientation" by the prediction method of the orientation of the ice column position at the same level of the suction inlet of the snow sweeping robot.

6. The robot control system based on intelligent interaction management according to claim 5, characterized in that: In the step S22, the specific method for the robot control system to lock the position of the ice column in the photographed image by the image feature recognition method includes the following steps: Step S221: The ice column model information acquisition module receives the house roof image information to be identified, pre-processes the image, including grayscale and Gaussian filtering, obtains the ice column region by image segmentation, and extracts the contour features of the ice column; Step S222: upload the blade profile feature obtained in step S221 to the system, after the system extracts the image feature of the ice column, according to the shooting position of the snow sweeping robot in the region coordinate (X0, Y0), through the ice column in the image contour area, the distance between the ice column and the shooting position is L, then the distance between the snow sweeping robot and the coordinate position of the ice column is , the angle between the direction of the current camera of the snow sweeping robot and the positive direction of the X axis in the region is θ°, wherein , then the horizontal coordinate of the ice column in the region is , and the vertical coordinate is ; In the step S222, when the extension line of the camera orientation direction intersects with the straight line Y=B in the coordinate system, ; when the extension line of the camera orientation direction intersects with the straight line Y=0 in the coordinate system, .

7. The robot control system based on intelligent interaction management according to claim 6, characterized in that: In the step S3, the coordinate position (X, Y) of the ice column in the demarcated region is located by the step S222, then after the snow sweeping robot enters the region of (X±K, Y±K), the speed of the snow sweeping robot is changed from the original normal running speed to low speed, the power of the suction inlet of the snow sweeping robot is controlled to be reduced to low power, and the snow sweeping robot is controlled to continue to move forward, wherein K is the maximum vertical position offset distance of the ice column after falling from the roof to the snow pile, the pressure value change of the pressure sensor during the movement of the snow sweeping robot is obtained by the pressure sensor arranged above the suction inlet in the forward direction of the snow sweeping robot, when the pressure change value exceeds ω% of the pressure value, it is determined that the snow area in front of the snow sweeping robot is affected by the ice column, wherein ω is the rated detection value of the pressure change; Wherein, the pressure sensor area arranged on the snow sweeping robot can completely cover the pressure generated by the snow pile and the ice column during the movement of the robot.

8. The robot control system based on intelligent interaction management according to claim 7, characterized in that: In the step S23, the prediction method of the orientation of the ice column position is as follows: A plane parallel to the ground is made through the center point of the ice column, and the angle between the end of the ice column and the plane is α; included angle When the system determines that the ice column is moving in a horizontal direction, the system will mark the current position of the ice column as "horizontal trend". included angle When the system determines that the current ice column is moving in a vertical direction, the system labels the current ice column as "vertical trend".

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