A method, device and related equipment for controlling humanoid robot to carry items

Abstract

The embodiment of the present application discloses a method, device and related equipment for controlling the object handling of a humanoid robot, which displays an environment space interface; in response to a first operation on the environment space interface, determines a target object to be handled, a first initial position corresponding to the target object and a target handling position; obtains a second initial position of the humanoid robot; determines a target handling route based on the first initial position, the target handling position and the second initial position; in response to a second operation on the environment space interface, sends an object handling instruction to the humanoid robot so that the humanoid robot carries the target object to the target handling position according to the target handling route; if there is an obstacle on the target handling route, obtains obstacle information of the obstacle; generates an obstacle avoidance instruction according to the obstacle information, and sends the obstacle avoidance instruction to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle. The embodiment of the present application is adopted to improve the handling efficiency of the robot.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a method, device and related equipment for controlling an object handling method of a humanoid robot. Background Art

[0002] As the aging of society intensifies, the number of elderly people living alone increases. They face many inconveniences in their daily lives, especially in the transportation of items. Therefore, robots are needed to help the elderly carry items. Although traditional robots can carry items, the interaction between the robot and the elderly is not strong, and the operation is complicated. At the same time, there may be various fixed or temporary obstacles in the working environment. These obstacles will interfere with the robot's transportation path, causing the robot to stop carrying or detour midway, which not only reduces the transportation efficiency, but also limits the scope of use of the robot.

[0003] Therefore, how to quickly confirm the handling tasks and improve the robot's handling efficiency has become an urgent problem to be solved. Summary of the invention

[0004] The embodiment of the present application provides a method, device and related equipment for controlling the object handling of a humanoid robot. The method quickly and accurately confirms the handling task and generates an object handling instruction through the interaction between the elderly and the environment space interface. The humanoid robot carries the object according to the object handling instruction. In this way, the operation process is simplified to quickly confirm the handling task, and the interactivity between the elderly and the humanoid robot is improved. In addition, when carrying objects, the humanoid robot can avoid obstacles according to the corresponding obstacle avoidance strategy, thereby improving the efficiency of the handling.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling an object carrying method of a humanoid robot, which is applied to a terminal device, the terminal device being connected to the humanoid robot, and the method comprising:

[0006] Displaying an environment space interface, wherein the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object;

[0007] In response to a first operation on the environment space interface, determining a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object;

[0008] Acquiring a second initial position of the humanoid robot;

[0009] determining a target transport route based on the first initial position, the target transport position, and the second initial position;

[0010] In response to a second operation on the environment space interface, sending an object transport instruction to the humanoid robot so that the humanoid robot transports the target object to the target transport position according to the target transport route;

[0011] If there is an obstacle on the target transport route, obtaining obstacle information of the obstacle;

[0012] An obstacle avoidance instruction is generated according to the obstacle information, and the obstacle avoidance instruction is sent to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0013] In a second aspect, an embodiment of the present application provides an article handling device for controlling a humanoid robot, which is applied to a terminal device, and the terminal device is connected to the humanoid robot; the article handling device for controlling the humanoid robot comprises:

[0014] A display unit, used for displaying an environment space interface, wherein the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object;

[0015] a determination unit, configured to determine, in response to a first operation on the environment space interface, a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object;

[0016] A receiving unit, used for acquiring a second initial position of the humanoid robot;

[0017] a determination unit, further configured to determine a target transport route based on the first initial position, the target transport position, and the second initial position;

[0018] a sending unit, configured to send an object transport instruction to the humanoid robot in response to a second operation on the environmental space interface, so that the humanoid robot transports the target object to the target transport position according to the target transport route;

[0019] The receiving unit is further configured to obtain obstacle information of an obstacle if there is an obstacle on the target transport route;

[0020] The sending unit is further used to generate an obstacle avoidance instruction according to the obstacle information, and send the obstacle avoidance instruction to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0021] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0024] It can be seen that by implementing the embodiments of the present application, an environmental space interface is displayed; in response to a first operation on the environmental space interface, a target item to be transported, a first initial position corresponding to the target item, and a target transport position are determined; the second initial position of the humanoid robot is obtained; a target transport route is determined based on the first initial position, the target transport position, and the second initial position; in response to a second operation on the environmental space interface, an item transport instruction is sent to the humanoid robot, so that the humanoid robot transports the target item to the target transport position according to the target transport route; if there is an obstacle on the target transport route, obstacle information of the obstacle is obtained; an obstacle avoidance instruction is generated according to the obstacle information, and an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle, thereby improving the robot's transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0026] Figure 1 is a system architecture diagram of a method for controlling an object handling method of a humanoid robot provided in an embodiment of the present application;

[0027] Figure 2 It is a flow chart of a method for controlling an object carrying method of a humanoid robot provided in an embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the environment space interface provided by the embodiment of the present application;

[0029] Figure 4 It is a schematic diagram of an item list in an environmental space interface provided in an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of displaying items in the environment space interface provided by an embodiment of the present application;

[0031] Figure 6 It is a block diagram of the functional units of an article handling device for controlling a humanoid robot provided in an embodiment of the present application;

[0032] Figure 7 It is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0035] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "plurality" appearing in the embodiments of the present application refers to two or more.

[0036] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0037] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] The following describes the relevant contents, concepts, meanings, technical issues, technical solutions, beneficial effects, etc. involved in the embodiments of the present application.

[0040] First, some terms involved in this application are explained:

[0041] A-star algorithm: A-star algorithm is a heuristic search algorithm commonly used in path planning and graph search. It combines the advantages of breadth-first search and heuristic evaluation function, and can find the best path from the starting point to the target point in the graph.

[0042] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0043] See also Figure 1 , Figure 1 is a system architecture diagram of a method for controlling an object handling method of a humanoid robot provided in an embodiment of the present application, such as Figure 1 As shown, the transport system 100 includes: a humanoid robot 110 and a terminal device 120 , wherein the humanoid robot 110 includes: a controller 111 and a robot communication device 112 , and the terminal device 120 includes: an environment space interface 121 and a terminal device communication device 122 .

[0044] Among them, the transport system 100 can be used in home environments, medical care places, commercial environments, public facilities and other scenes, which are not limited here. In the embodiment of the present application, the transport system 100 is used in a home environment. For elderly users with limited mobility, the elderly can complete the transport purpose through the transport system 100. The transport purpose can be to transport the target object to the target transport position, such as carrying a bottle to the kitchen, moving obstacles on the ground, arranging books on the desk, etc., which are not limited here. The transport system 100 includes a humanoid robot 110 and a terminal device 120. The humanoid robot 110 can receive instructions and execute instructions, etc. The humanoid robot 110 is used to complete the transport task issued by the terminal device 120. The terminal device 120 can create instructions, send instructions, etc. The terminal device 120 is used to issue a transport task to the humanoid robot 110.

[0045] The humanoid robot 110 may refer to a robot with human appearance features and physiological action simulation capabilities, which is designed to imitate human behavior patterns and appearance features so as to be able to perform complex tasks, such as interactive services, medical assistance, educational guidance, etc. The humanoid robot 110 may also have human-like walking ability, hand operation flexibility, and facial expression simulation capabilities, etc., so as to better communicate and interact with humans. The humanoid robot 110 also includes a controller 111 and a robot communication device 112. The controller 111 may execute control instructions to control the humanoid robot 110 to complete corresponding actions so that the humanoid robot 110 completes corresponding tasks. The robot communication device 112 may receive control instructions and transmit the control instructions to the controller 111.

[0046] The terminal device 120 may refer to various types of electronic devices or computer hardware for connecting to and using the handling system 100. The terminal device 120 includes but is not limited to a smartphone, a tablet computer, a personal computer, an IoT device, or other devices with network connection and control functions. The terminal device 120 allows the user to monitor and control the handling operation of the humanoid robot 110 in real time, and can also perform path planning, adjust the target handling position, or set task priority, thereby achieving more intelligent and personalized handling tasks. The terminal device 120 also includes an environmental space interface 121 and a terminal device communication device 122. The environmental space interface 121 is a three-dimensional graphical interface constructed by the humanoid robot 110 based on the three-dimensional space information of the environment collected in real time. It allows the user to view the environmental layout and obstacle distribution around the robot in real time. Through this interface, the user can remotely monitor the robot's movement trajectory, avoid obstacles or manually specify the target transportation position, so as to more accurately control and guide the actions of the humanoid robot 110. The terminal device communication device 122 can communicate with the robot communication device 112, and the communication connection can be achieved through Bluetooth, wireless network, custom communication protocol, etc. The terminal device communication device 122 and the robot communication device 112 can transmit instructions to each other and receive the execution status of the instructions in real time to ensure the timeliness and accuracy of the execution of the instructions.

[0047] See also Figure 2 , Figure 2 1 is a flow chart of a method for controlling an object carrying method of a humanoid robot provided in an embodiment of the present application. The method is applied to a terminal device, and the terminal device is connected to the humanoid robot. The method includes but is not limited to the following steps:

[0048] S201, displaying the environment space interface.

[0049] Among them, the environmental space interface is a three-dimensional graphical interface constructed by the humanoid robot based on the three-dimensional spatial information of the environment collected in real time. The environmental space interface includes at least one object. It should be noted that these objects can be objects to be transported, obstacles, etc. in the environment. Any object displayed in the three-dimensional graphical interface can be a three-dimensional model, and each three-dimensional model has its corresponding description information, including the name of the object, the space where the object is located, the location of the object, the description of the object and other information. Among them, the location of the object can be determined by establishing a spatial rectangular coordinate system in the environmental space interface, and then determining the location of the object based on the coordinate information of the object. Among them, the spatial rectangular coordinate system is a coordinate system established based on a preset reference point, which is used to determine the coordinates of the object.

[0050] Specifically, gesture interaction can be performed on any object in the environmental space interface, for example, click, double-click, drag, slide and other gesture operations. The above are only examples and not exhaustive, including but not limited to the above gesture operations. When the user interacts, such as moving an object in the environmental space, a corresponding movement instruction can be generated. The movement instruction is sent to the humanoid robot, and the humanoid robot performs specific operations according to the movement instruction.

[0051] Specifically, the environment space interface provides a simplified function list for users to operate, such as setting the environment space navigation bar, and providing a list of items corresponding to the environment space. Users can click on specific items to determine the items to be transported and the final destination of the transport.

[0052] In a specific implementation, the environment space interface is displayed on the terminal device, and the user can interact with the environment space interface through the terminal device to control the humanoid robot. The terminal device includes but is not limited to a smart phone, a tablet computer, a personal computer, an Internet of Things device, or other devices with network connection and control functions. For example, a tablet computer is used to display the environment space interface. When the user clicks on the target object in the environment space interface, the information of the target object can be displayed, and the user can drag the target object to move the target object to the destination of the transportation. The environment space interface displayed on the terminal device is updated synchronously with the actual scene to ensure that the information obtained by the user is accurate and real-time, and through the refined operation of the environment space interface, the user can accurately operate and make decisions in complex environments.

[0053] See also Figure 3 , Figure 3 is a schematic diagram of the environment space interface provided by the embodiment of the present application, such as Figure 3 As shown, the environmental space interface can be displayed on a tablet computer, which displays a back button, a navigation bar button and the environmental space interface, wherein the back button is used to exit the environmental space interface, and the navigation bar button can display navigation information of the environmental space interface. For example, when the navigation bar button is clicked, multiple environmental spaces can be displayed in the form of a drop-down list, including living rooms, kitchens, bedrooms, balconies and other environmental spaces, which are not limited here. When the button corresponding to each environmental space is clicked, a list of items in the environmental space can be displayed. When a specific item in the item list is clicked, the environmental space interface can be focused on the item and detailed information of the item can be displayed.

[0054] See also Figure 4 , Figure 4 is a schematic diagram of an item list in the environment space interface provided in an embodiment of the present application, such as Figure 4As shown, the item list is the item list displayed by the user after clicking the navigation bar button and then clicking the corresponding environment space button. Specifically, after clicking the navigation bar button, a drop-down list of environment spaces is displayed. It should be noted that the display method is not limited to a drop-down list, and the environment space can also be displayed in the form of tabs, cards, etc. When clicking on a certain environment space, the items, item images, and item descriptions in the environment space can be displayed in a list form. When clicking the information box corresponding to the item, the environment space interface focuses on the item and displays the item information in detail. For example, after clicking the navigation bar button, a drop-down list of environment spaces such as the living room, kitchen, bedroom, and balcony appears. After clicking the living room, an item list of items such as bottles, chairs, and clothes appears.

[0055] See also Figure 5 , Figure 5 is a schematic diagram of displaying items in the environment space interface provided by the embodiment of the present application, such as Figure 5 As shown, in the environmental space interface, the focus is on a characteristic item, and the item information is displayed in the form of a floating window. The item information includes the item name, the space where the item is located, the item's location, the item description and other information. The user can intuitively understand the specific situation of each item through the interface, which helps the user to locate the item.

[0056] S202: In response to a first operation on the environment space interface, determine a target object to be transported, a first initial position corresponding to the target object, and a target transport position.

[0057] The first operation may include clicking on the target object in the environment space interface and dragging the object to the target transport position.

[0058] In the embodiment of the present application, by clicking on the target object in the environment space interface, it can be determined that the clicked object is the target object to be transported. When the object is clicked, the environment space interface will display the object information of the target object, including the location information of the target object, and the location information of the target object is used as the first initial position. When the user drags the target object to a specific position, the final dragged position can be determined as the target transport position, that is, the position where the target object to be transported finally needs to be transported.

[0059] S203: Acquire a second initial position of the humanoid robot.

[0060] The second initial position is the current position of the humanoid robot, which represents the position of the humanoid robot in the environment space.

[0061] Specifically, the terminal device can communicate with the humanoid robot. The terminal device sends a position acquisition instruction to the humanoid robot through a wireless communication protocol. After receiving the position acquisition instruction, the humanoid robot parses the position information according to the current position and sends the position information back to the terminal device. After receiving the position information, the terminal device can use the position information as the second initial position.

[0062] S204: Determine a target transport route based on the first initial position, the target transport position, and the second initial position.

[0063] Specifically, after obtaining the first initial position of the target object, the target transport position of the target object, and the second initial position of the humanoid robot, the target transport route can be determined by the path planning algorithm. The target transport route connects these three positions, and the second initial position is used as the starting point of the movement of the humanoid robot, the target transport position is used as the end point of the movement of the humanoid robot, and the first initial position acts as a transfer point for the humanoid robot during the movement, that is, the humanoid robot needs to pick up the target object at the first initial position and transport it to the target transport position. After the target transport route is determined, the humanoid robot can move to each designated position in turn according to the preset route. This method not only improves the handling efficiency, but also reduces the risk of collision and misoperation of the robot during the movement, thereby ensuring the smooth progress of the entire handling process.

[0064] Among them, the path planning algorithm can use the commonly used A-star algorithm. The A-star algorithm has a strong path search capability in a known environment. Through a heuristic search method, the algorithm can quickly calculate a shortest path or an optimal path while taking into account obstacles in the environment space and the dynamic characteristics of the humanoid robot.

[0065] In the embodiment of the present application, obstacles in the environment space interface are items in the environment space, and have corresponding item information. The path planning algorithm can perform path planning based on the item information of the obstacles. For example, considering that the humanoid robot can cross obstacles with lower heights, the obstacles are used as effective information in the path planning algorithm. Of course, before the humanoid robot executes the transport instruction, the target transport route is planned based on the existing environment space information. If the humanoid robot encounters an emergency during the transport process, for example, an obstacle appears in the target transport route, the humanoid robot needs to adopt a corresponding obstacle avoidance strategy based on the obstacle.

[0066] Optionally, the above step S204, determining the target transport route based on the first initial position, the target transport position and the second initial position, may include the following steps:

[0067] 41. Determine a first transport route of the first initial position, the target transport position, and the second initial position by a path planning algorithm;

[0068] 42. Divide the first transport route into n path nodes based on the environmental space interface; n is a positive integer;

[0069] 43. Obtain the illumination data corresponding to each of the n path nodes at the current moment to obtain n illumination data;

[0070] 44. Determine the interference intensity of the n illumination data on the humanoid robot to obtain n interference intensities;

[0071] 45. Determine the interference intensity greater than the preset interference intensity among the n interference intensities to obtain m interference intensities; m is a positive integer less than or equal to n;

[0072] 46. ​​Determine that m path nodes corresponding to the m interference intensities among the n path nodes are interference path nodes, and obtain m interference path nodes;

[0073] 47. Correct the first transport route according to the m interference path nodes to obtain the target transport route.

[0074] In an embodiment of the present application, a first transport route including a first initial position, a target transport position, and a second initial position can be determined by a path planning algorithm. The first transport route serves as a basic path. When determining the basic path, the path planning algorithm takes into account obstacles in the environment space, the movement ability of the humanoid robot, and other aspects. By optimizing this basic path, the transport efficiency can be improved, and adjustments can be made when necessary to cope with dynamic environmental changes.

[0075] In a specific implementation, based on the environment space interface, the first transport route is divided into n path nodes, where n is a positive integer. Each path node corresponds to the moving position of the robot during the transport process. At the same time, the illumination data of the n path nodes at the current moment are obtained, and n illumination data are obtained. These data reflect the intensity and distribution of illumination at each path node. Then, based on the n illumination data, the interference intensity of each path node on the humanoid robot is determined, that is, the lower the illumination intensity, or the more dispersed the illumination distribution, the stronger the interference intensity on the humanoid robot. These interference intensity values ​​characterize the degree of influence that the illumination conditions may have on the robot sensor and visual system. Determine the situation where the interference intensity is greater than a preset threshold, and obtain m interference intensities, where m is a positive integer less than or equal to n, where the preset threshold is a preset interference intensity, and its value can be system default or pre-set. Determine the m path nodes corresponding to the m interference intensities in the n path nodes, and identify these path nodes as interference path nodes. Finally, the first transport route can be corrected according to these interference path nodes. This process ensures that the newly generated target transport route can effectively avoid or adapt to the interference caused by changes in lighting conditions in the environment, thereby optimizing the robot's mobile path planning strategy.

[0076] Optionally, the above step 47, correcting the first transport route according to the m interference path nodes to obtain the target transport route, may include the following steps:

[0077] 471. Determine m corresponding replacement nodes according to the m interference path nodes; the interference intensity of the illumination data of each replacement node on the humanoid robot is not greater than the preset interference intensity;

[0078] 472. Replace the m interfering path nodes on the first transport route with the m replacement nodes to obtain n corrected path nodes;

[0079] 473. Connect the n corrected path nodes through the path planning algorithm to obtain the target transport route.

[0080] In the specific implementation, m corresponding replacement nodes are determined according to m interfering path nodes, and the interference intensity of the illumination data of each replacement node on the humanoid robot is not greater than the preset interference intensity, so as to ensure that the perception and operation of the humanoid robot are not overly affected. After determining these replacement nodes, the m replacement nodes are used to replace the m interfering path nodes on the first handling route to obtain n corrected path nodes. Finally, these corrected path nodes are connected through the path planning algorithm to form the final target handling route. By optimizing the handling route of the humanoid robot, the stable operation of the humanoid robot in a complex lighting environment is ensured, so that the robot can efficiently complete the handling task.

[0081] S205 . In response to a second operation on the environment space interface, sending an object transport instruction to the humanoid robot, so that the humanoid robot transports the target object to the target transport position according to the target transport route.

[0082] The second operation may include an operation of confirming a target transport route.

[0083] In the embodiment of the present application, after determining the target item to be transported and the target transport position, the first initial position of the target item and the second initial position of the humanoid robot can be obtained, and a target transport route can be planned according to the first initial position, the target transport position, and the second initial position, and the humanoid robot can transport the target item to the target transport position according to the target transport route. After the terminal device responds to the user's confirmation operation, it generates an item transport instruction based on the target transport route, and sends the item transport instruction to the humanoid robot. After receiving the item transport instruction, the humanoid robot transports the target item to the target transport position according to the target transport route, that is, moves from the second initial position to the first initial position, can pick up the target item, and then moves to the target transport position, and puts the target item down steadily at the target transport position, thereby completing the item transport instruction.

[0084] In the embodiment of the present application, the humanoid robot can perform precise path navigation and motion control according to the target transport route to ensure the safe transport of the target object to the designated target transport position. The humanoid robot can monitor obstacles and dynamic environmental changes in the environment in real time, and can adjust the movement speed and direction of the humanoid robot to avoid collisions or other unexpected situations. The stability and reliability of the humanoid robot in various complex environments are achieved, effectively improving the execution efficiency and safety of the transport task.

[0085] Optionally, the following steps may also be included:

[0086] S1. Obtaining current power data of the humanoid robot;

[0087] S2. Obtaining target attribute information of the target object;

[0088] S3. If the current power data does not meet the first preset condition, or the target attribute information does not meet the second preset condition, it is determined that the humanoid robot does not meet the handling task condition;

[0089] S4. Sending a cancel transport instruction to the humanoid robot so that the humanoid robot cancels transporting the target object.

[0090] In an embodiment of the present application, the current power data of the humanoid robot can be obtained, and whether the humanoid robot can complete the handling task can be determined based on the power data of the humanoid robot. The target attribute information of the target item can also be obtained, and the target attribute information includes weight, size, shape and other information. Whether the humanoid robot can complete the handling task can be determined based on the attribute information of the target item. If the judgment result is that the humanoid robot cannot complete the handling task, a cancellation handling instruction can be sent to the humanoid robot, and the cancellation handling instruction can cause the humanoid robot to cancel the handling of the target item.

[0091] In a specific implementation, if it is determined that the current power data of the humanoid robot does not meet the first preset condition, the first preset condition means that the power is not lower than the set safety power threshold, under which the humanoid robot can have sufficient power to complete a handling task. It can also be determined that the target attribute information of the target item does not meet the second preset condition, which means that the weight or volume of the item does not exceed the carrying capacity or operating space limit of the humanoid robot. If the judgment result determines that the humanoid robot does not meet the handling task conditions, the handling task conditions refer to the required power level, the matching degree of the item attributes, and the adaptability of the humanoid robot to the operating environment, then the terminal device sends a cancellation instruction to the humanoid robot, and the cancellation instruction means canceling the handling task. This ensures the safety and reliability of the handling task and improves the user experience.

[0092] S206: If there is an obstacle on the target transport route, obtain obstacle information of the obstacle.

[0093] The obstacle information includes obstacle type, size, location, and relative position relationship with surrounding objects.

[0094] In the embodiment of the present application, obstacles appearing in the environment space can directly obtain obstacle information through the environment space interface. This information usually includes the obstacle type, size, position, and relative position relationship with surrounding objects. By obtaining obstacle information, the degree of influence that the obstacle may have on the handling operation is analyzed, and then the route of the humanoid robot is adjusted or a corresponding obstacle avoidance strategy is adopted to ensure the safety of the handling operation.

[0095] In a specific implementation, the humanoid robot can collect environmental information in real time during the transportation process. If an obstacle suddenly appears on the target transportation route, the obstacle information is obtained and the corresponding obstacle avoidance strategy can be determined based on the obstacle information.

[0096] S207: Generate an obstacle avoidance instruction according to the obstacle information, and send the obstacle avoidance instruction to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0097] In an embodiment of the present application, based on the acquired obstacle information, the terminal device generates an obstacle avoidance instruction and sends the obstacle avoidance instruction to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle. The obstacle avoidance strategy includes but is not limited to adjusting the route, crossing the obstacle or changing the speed to ensure that the humanoid robot can avoid the obstacle while ensuring the safety of the handling task.

[0098] In the embodiments of the present application, since the humanoid robot is a robot with human appearance characteristics and physiological movement simulation capabilities, such as basic physiological structures such as a head, torso, and limbs, it has human-like walking ability, hand operation flexibility, and facial expression simulation capabilities, etc., so as to perform complex tasks such as interactive services, medical assistance, educational guidance, etc. Therefore, in the embodiments of the present application, if the humanoid robot encounters a sudden obstacle during the transportation process, the humanoid robot can cross the surmountable obstacle based on the human body structure to achieve the purpose of avoiding the obstacle. If it encounters an insurmountable obstacle, it will adopt other obstacle avoidance strategies to avoid the obstacle.

[0099] Optionally, the following steps may also be included:

[0100] A1. Obtaining a preset gait trajectory of the humanoid robot, where the preset gait trajectory represents a foot movement trajectory of the humanoid robot;

[0101] A2. Determine the safe crossing range corresponding to the preset gait trajectory;

[0102] A3. judging whether the obstacle is within the safe crossing range according to the obstacle information;

[0103] A4. When the obstacle is within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle crossing strategy to cross the obstacle;

[0104] A5. When the obstacle is not within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0105] In the embodiment of the present application, according to the preset gait trajectory of the humanoid robot, that is, the foot movement trajectory, the safe crossing range covered by these trajectories can be determined. Then, according to the obstacle information, it is determined whether the obstacle is within the safe crossing range. If it is determined that the obstacle is within the safe crossing range, an obstacle avoidance instruction to cross the obstacle is sent to the humanoid robot so that the humanoid robot can cross the obstacle; if the obstacle is not within the safe crossing range, an obstacle avoidance instruction to avoid the obstacle is sent to the humanoid robot so that the humanoid robot can safely bypass the obstacle. Effectively ensure the smooth progress of the handling task, while ensuring the safety and operating efficiency of the humanoid robot in a complex environment.

[0106] Optionally, the above step A3, judging whether the obstacle is within the safe crossing range according to the obstacle information, may include the following steps:

[0107] A31. Determine height data and width data corresponding to the obstacle according to the obstacle information;

[0108] A32, intercepting the target transport route passing through the obstacle to obtain a partial transport route;

[0109] A33. Determine the obstacle crossing surface based on the part of the transport route;

[0110] A34. Acquire target height data corresponding to the spanning surface from the height data;

[0111] A35. Acquire target width data corresponding to the spanning surface from the width data;

[0112] A36. If both the target height data and the target width data are within the safe crossing range, it is determined that the obstacle is within the safe crossing range.

[0113] In the embodiment of the present application, the height data and width data of the obstacle are determined according to the obstacle information. The height data and width data of the obstacle are basic data for judging whether the obstacle can fall into the safe crossing range. By intercepting the target transport path passing through the obstacle, a partial transport route is obtained. The partial transport route can be a straight line crossing the obstacle. Based on the partial transport route, the crossing surface of the obstacle can be determined. The crossing surface represents one side of the obstacle when the humanoid robot crosses the obstacle. The target height data corresponding to the crossing surface is obtained from the height data of the obstacle. The target height data represents the highest height of the obstacle crossing surface. If the target height data of the obstacle is lower than the highest height of the safe crossing range, at the same time, the target width data corresponding to the crossing surface is obtained from the width data of the obstacle. The target width data represents the widest width of the obstacle crossing surface at the same height as the safe crossing range. If the target height data of the obstacle is lower than the highest height of the safe crossing range, no matter how the position of the obstacle crossing surface in the safe crossing range is, the target width data is always lower than the widest width of the safe crossing range at the same height, which can indicate that the obstacle is within the safe crossing range.

[0114] Specifically, the humanoid robot can also move sideways or diagonally. At this time, the safe crossing range of the humanoid robot is larger than when it moves in a straight line. The crossing surface of the obstacle determined based on the motion route can be kept within the safe crossing range as much as possible. The humanoid robot can directly cross the obstacle during the handling process without having to bypass the obstacle, thereby enabling the humanoid robot to perform the handling task safely and efficiently.

[0115] Optionally, the following steps may also be included:

[0116] B1. Obtaining body width data of the humanoid robot;

[0117] B2. determining a passable area around the obstacle based on the obstacle information and the body width data;

[0118] B3, selecting the node position closest to the humanoid robot in the traversable area to obtain a target avoidance position;

[0119] B4. Determine the target transport route based on the first initial position, the target transport position, the second initial position, and the target avoidance position.

[0120] In the embodiment of the present application, if it is determined that the obstacle is not within the safe crossing range, the target transport route can be replanned. After obtaining the body width data of the humanoid robot, the passable area around the obstacle can be determined based on the obstacle information and the body width data of the humanoid robot, and the humanoid robot can move in the passable area to bypass the obstacle. In the passable area, the node position closest to the humanoid robot is selected to obtain the target avoidance position. Based on the first initial position, the target transport position, the second initial position and the target avoidance position, the optimized target transport route can be determined to ensure that the humanoid robot can perform the transport task safely and efficiently in real time.

[0121] It can be seen that by implementing the embodiments of the present application, an environmental space interface is displayed; in response to a first operation on the environmental space interface, a target item to be transported, a first initial position corresponding to the target item, and a target transport position are determined; the second initial position of the humanoid robot is obtained; a target transport route is determined based on the first initial position, the target transport position, and the second initial position; in response to a second operation on the environmental space interface, an item transport instruction is sent to the humanoid robot, so that the humanoid robot transports the target item to the target transport position according to the target transport route; if there is an obstacle on the target transport route, obstacle information of the obstacle is obtained; an obstacle avoidance instruction is generated according to the obstacle information, and an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle, thereby improving the robot's transport efficiency.

[0122] See also Figure 6, Figure 6 is a block diagram of the functional units of an article handling device for controlling a humanoid robot provided in an embodiment of the present application, such as Figure 6 The article handling device 600 for controlling a humanoid robot is applied to a terminal device, the terminal device is connected to the humanoid robot, and the article handling device 600 for controlling a humanoid robot includes:

[0123] A display unit 601 is used to display an environment space interface, where the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object;

[0124] A determination unit 602 is used to determine, in response to a first operation on the environment space interface, a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object;

[0125] A receiving unit 603 is used to obtain a second initial position of the humanoid robot;

[0126] The determining unit 602 is further configured to determine a target transport route based on the first initial position, the target transport position and the second initial position;

[0127] A sending unit 604 is used for sending an object transport instruction to the humanoid robot in response to a second operation on the environment space interface, so that the humanoid robot transports the target object to the target transport position according to the target transport route;

[0128] The receiving unit 603 is further configured to obtain obstacle information of an obstacle if there is an obstacle on the target transport route;

[0129] The sending unit 604 is further configured to generate an obstacle avoidance instruction according to the obstacle information, and send the obstacle avoidance instruction to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0130] Optionally, the article handling device 600 for controlling the humanoid robot is further specifically used for:

[0131] Obtaining current power data of the humanoid robot;

[0132] Acquire target attribute information of the target object;

[0133] If the current power data does not meet the first preset condition, or the target attribute information does not meet the second preset condition, it is determined that the humanoid robot does not meet the carrying task condition;

[0134] A cancel transport instruction is sent to the humanoid robot so that the humanoid robot cancels transporting the target object.

[0135] Optionally, in determining the target transport route based on the first initial position, the target transport position and the second initial position, the determining unit 602 is specifically configured to:

[0136] Determine a first transport route between the first initial position, the target transport position, and the second initial position by a path planning algorithm;

[0137] Dividing the first transport route into n path nodes based on the environmental space interface; n is a positive integer;

[0138] Obtaining illumination data corresponding to each of the n path nodes at the current moment, to obtain n illumination data;

[0139] Determine the interference intensity of the n illumination data on the humanoid robot to obtain n interference intensities;

[0140] Determine the interference intensity greater than the preset interference intensity among the n interference intensities, and obtain m interference intensities; m is a positive integer less than or equal to n;

[0141] Determine m path nodes corresponding to the m interference intensities among the n path nodes as interference path nodes, and obtain m interference path nodes;

[0142] The first transport route is corrected according to the m interference path nodes to obtain the target transport route.

[0143] Optionally, in terms of correcting the first transport route according to the m interfering path nodes to obtain the target transport route, the determining unit 602 is further specifically configured to:

[0144] Determine m corresponding replacement nodes according to the m interference path nodes; the interference intensity of the illumination data of each replacement node on the humanoid robot is not greater than the preset interference intensity;

[0145] The m replacement nodes replace the m interfering path nodes on the first transport route to obtain n corrected path nodes;

[0146] The target transport route is obtained by connecting the n corrected path nodes through the path planning algorithm.

[0147] Optionally, the article handling device 600 for controlling the humanoid robot is further specifically used for:

[0148] Acquire a preset gait trajectory of the humanoid robot, wherein the preset gait trajectory represents a foot movement trajectory of the humanoid robot;

[0149] Determining a safe crossing range corresponding to the preset gait trajectory;

[0150] Determining whether the obstacle is within the safe crossing range according to the obstacle information;

[0151] When the obstacle is within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle crossing strategy to cross the obstacle;

[0152] When the obstacle is not within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0153] Optionally, the article handling device 600 for controlling the humanoid robot is further specifically used for:

[0154] Determine the height data and width data corresponding to the obstacle according to the obstacle information;

[0155] intercepting the target transport route passing through the obstacle to obtain a partial transport route;

[0156] Determine the crossing surface of the obstacle based on the portion of the transport route;

[0157] Acquire target height data corresponding to the spanning surface from the height data;

[0158] Acquire target width data corresponding to the spanning surface from the width data;

[0159] If both the target height data and the target width data are within the safe crossing range, it is determined that the obstacle is within the safe crossing range.

[0160] Optionally, the article handling device 600 for controlling the humanoid robot is further specifically used for:

[0161] Acquiring body width data of the humanoid robot;

[0162] Determine a passable area around the obstacle based on the obstacle information and the body width data;

[0163] Selecting a node position closest to the humanoid robot in the traversable area to obtain a target avoidance position;

[0164] The target transfer route is determined based on the first initial position, the target transfer position, the second initial position, and the target avoidance position.

[0165] The article handling device for controlling a humanoid robot described in the present application is applied to a terminal device, which is connected to the humanoid robot and displays an environmental space interface; in response to a first operation on the environmental space interface, a target article to be handled, a first initial position corresponding to the target article, and a target handling position are determined; a second initial position of the humanoid robot is obtained; a target handling route is determined based on the first initial position, the target handling position, and the second initial position; in response to a second operation on the environmental space interface, an article handling instruction is sent to the humanoid robot, so that the humanoid robot handles the target article to the target handling position according to the target handling route; if there is an obstacle on the target handling route, obstacle information of the obstacle is obtained; an obstacle avoidance instruction is generated according to the obstacle information, and the obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle, thereby improving the robot's handling efficiency.

[0166] See also Figure 7 , Figure 7 : is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. The terminal device may include a processor, a memory, a communication interface, and one or more programs. The processor, the memory, and the communication interface may be interconnected through a bus; the one or more programs are stored in the memory and are configured to be executed by the processor, and the terminal device is connected to a humanoid robot; in the embodiment of the present application, the program includes instructions for executing the following steps:

[0167] Displaying an environment space interface, wherein the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object;

[0168] In response to a first operation on the environment space interface, determining a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object;

[0169] Acquiring a second initial position of the humanoid robot;

[0170] determining a target transport route based on the first initial position, the target transport position, and the second initial position;

[0171] In response to a second operation on the environment space interface, sending an object transport instruction to the humanoid robot so that the humanoid robot transports the target object to the target transport position according to the target transport route;

[0172] If there is an obstacle on the target transport route, obtaining obstacle information of the obstacle;

[0173] An obstacle avoidance instruction is generated according to the obstacle information, and the obstacle avoidance instruction is sent to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

[0174] The terminal device described in the present application can display an environmental space interface. The user can send corresponding operation instructions to the humanoid robot by operating the environmental space interface. By determining the target object and the target transportation position of the target object in the environmental space interface, as well as determining the initial position of the humanoid robot, the target transportation route of the humanoid robot can be determined. During the transportation process, the humanoid robot can cross obstacles, thereby improving the transportation efficiency of the humanoid robot.

[0175] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiment, and the above computer includes a terminal device.

[0176] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a terminal device.

[0177] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

[0178] The steps of the method or algorithm described in the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, mobile hard disks, read-only compact disks (CD-ROMs) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a terminal device or a management device. Of course, the processor and the storage medium can also exist in a terminal device or a management device as discrete components.

[0179] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0180] The modules / units included in the devices and products described in the above embodiments may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units. For example, for the devices and products applied to or integrated in the chip, the modules / units included therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for the devices and products applied to or integrated in the chip module, the modules / units included therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as chip, circuit module, etc.) or different components of the chip module, or at least some of the modules / units may be implemented in the form of software programs. It is implemented in the form of a software program that runs on a processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in hardware such as circuits; for various devices and products applied to or integrated in the terminal equipment, the various modules / units contained therein can be implemented in hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or different components in the terminal equipment, or at least some of the modules / units can be implemented in the form of a software program that runs on a processor integrated inside the terminal equipment, and the remaining (if any) modules / units can be implemented in hardware such as circuits.

[0181] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific implementation method of the embodiments of the present application and is not intended to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A method for controlling an object carrying method of a humanoid robot, characterized in that: Applied to a terminal device, the terminal device is connected to a humanoid robot, and the method comprises: Displaying an environment space interface, wherein the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object; In response to a first operation on the environment space interface, determining a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object; Acquiring a second initial position of the humanoid robot; determining a target transport route based on the first initial position, the target transport position, and the second initial position; In response to a second operation on the environment space interface, sending an object transport instruction to the humanoid robot so that the humanoid robot transports the target object to the target transport position according to the target transport route; If there is an obstacle on the target transport route, obtaining obstacle information of the obstacle; generating an obstacle avoidance instruction according to the obstacle information, and sending the obstacle avoidance instruction to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle; Wherein, determining the target transport route based on the first initial position, the target transport position and the second initial position includes: Determine a first transport route between the first initial position, the target transport position, and the second initial position by a path planning algorithm; Dividing the first transport route into n path nodes based on the environmental space interface; n is a positive integer; Obtaining illumination data corresponding to each of the n path nodes at the current moment, to obtain n illumination data; Determine the interference intensity of the n illumination data on the humanoid robot to obtain n interference intensities; Determine the interference intensity greater than the preset interference intensity among the n interference intensities to obtain m interference intensities, where m is a positive integer less than or equal to n; Determine m path nodes corresponding to the m interference intensities among the n path nodes as interference path nodes, and obtain m interference path nodes; The first transport route is corrected according to the m interference path nodes to obtain the target transport route.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining current power data of the humanoid robot; Acquire target attribute information of the target object; If the current power data does not meet the first preset condition, or the target attribute information does not meet the second preset condition, it is determined that the humanoid robot does not meet the carrying task condition; A cancel transport instruction is sent to the humanoid robot so that the humanoid robot cancels transporting the target object.

3. The method according to claim 1, characterized in that The step of correcting the first transport route according to the m interference path nodes to obtain the target transport route includes: Determine m corresponding replacement nodes according to the m interference path nodes; the interference intensity of the illumination data of each replacement node on the humanoid robot is not greater than the preset interference intensity; The m replacement nodes replace the m interfering path nodes on the first transport route to obtain n corrected path nodes; The target transport route is obtained by connecting the n corrected path nodes through the path planning algorithm.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquire a preset gait trajectory of the humanoid robot, wherein the preset gait trajectory represents a foot movement trajectory of the humanoid robot; Determining a safe crossing range corresponding to the preset gait trajectory; Determining whether the obstacle is within the safe crossing range according to the obstacle information; When the obstacle is within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle crossing strategy to cross the obstacle; When the obstacle is not within the safe crossing range, an obstacle avoidance instruction is sent to the humanoid robot, so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle.

5. The method according to claim 4, characterized in that The determining, according to the obstacle information, whether the obstacle is within the safe crossing range includes: Determine the height data and width data corresponding to the obstacle according to the obstacle information; intercepting the target transport route passing through the obstacle to obtain a partial transport route; Determine the crossing surface of the obstacle based on the portion of the transport route; Acquire target height data corresponding to the spanning surface from the height data; Acquire target width data corresponding to the spanning surface from the width data; If both the target height data and the target width data are within the safe crossing range, it is determined that the obstacle is within the safe crossing range.

6. The method according to claim 4, characterized in that The method further comprises: Acquiring body width data of the humanoid robot; Determine a passable area around the obstacle based on the obstacle information and the body width data; Selecting a node position closest to the humanoid robot in the traversable area to obtain a target avoidance position; The target transfer route is determined based on the first initial position, the target transfer position, the second initial position, and the target avoidance position.

7. An article handling device for controlling a humanoid robot, characterized in that: Applied to a terminal device, the terminal device is connected to a humanoid robot; the article handling device for controlling the humanoid robot comprises: A display unit, used for displaying an environment space interface, wherein the environment space interface is a three-dimensional graphical interface constructed by the humanoid robot according to three-dimensional space information of the environment collected in real time, and the environment space interface includes at least one object; a determination unit, configured to determine, in response to a first operation on the environment space interface, a target object to be transported, a first initial position corresponding to the target object, and a target transport position; the target object is any one of the at least one object; A receiving unit, used for acquiring a second initial position of the humanoid robot; a determination unit, further configured to determine a target transport route based on the first initial position, the target transport position, and the second initial position; a sending unit, configured to send an object transport instruction to the humanoid robot in response to a second operation on the environmental space interface, so that the humanoid robot transports the target object to the target transport position according to the target transport route; The receiving unit is further configured to obtain obstacle information of an obstacle if there is an obstacle on the target transport route; The sending unit is further used to generate an obstacle avoidance instruction according to the obstacle information, and send the obstacle avoidance instruction to the humanoid robot so that the humanoid robot adopts an obstacle avoidance strategy to avoid the obstacle; Wherein, determining the target transport route based on the first initial position, the target transport position and the second initial position includes: Determine a first transport route between the first initial position, the target transport position, and the second initial position by a path planning algorithm; Dividing the first transport route into n path nodes based on the environmental space interface; n is a positive integer; Obtaining illumination data corresponding to each of the n path nodes at the current moment, to obtain n illumination data; Determine the interference intensity of the n illumination data on the humanoid robot to obtain n interference intensities; Determine the interference intensity greater than the preset interference intensity among the n interference intensities to obtain m interference intensities, where m is a positive integer less than or equal to n; Determine m path nodes corresponding to the m interference intensities among the n path nodes as interference path nodes, and obtain m interference path nodes; The first transport route is corrected according to the m interference path nodes to obtain the target transport route.

8. A terminal device, characterized in that: include: A processor, a memory, a communication interface, and one or more programs; The one or more programs are stored in the memory and configured to be executed by the processor, the programs comprising instructions for executing the steps in the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 6.

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