Autonomous obstacle crossing method and system for robot and storage medium

Abstract

The invention provides an autonomous obstacle crossing method and system for a robot and a storage medium, and relates to the technical field of robot motion planning, and the method comprises the steps: judging whether a snake-shaped robot is in contact with an obstacle in the advancing direction or not through a pressure sensing device; the current obstacle type of the obstacle is determined through an image acquisition device; according to the current obstacle type, the motion posture of the head joint is determined; determining an inclination angle of the obstacle relative to the head joint according to the motion posture; updating the common gait curve according to the inclination angle to obtain an obstacle step curve; and according to the obstacle step curve, the snake-shaped robot is controlled to cross obstacles. By fusing pressure sensing and visual information, the movement effect of the snake-shaped robot when the snake-shaped robot encounters an obstacle is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot motion planning, and in particular to a robot autonomous obstacle surmounting method, system and storage medium. Background Art

[0002] At present, multi-joint bionic robots are attracting more and more attention due to their own super-redundant degrees of freedom. Among them, snake robots are a widely used type of multi-joint bionic robots. Snake robots can adapt to complex motion scenes by generating different motion gaits. For example, the traveling wave gait is used as the main motion gait of the robot in flat terrain, so as to control the robot's progress along the serpentine curve.

[0003] In related technologies, when a snake robot performs a traveling wave gait, if it encounters a small unknown obstacle on the path, the snake robot will collide with the obstacle, which greatly affects the movement speed and operation efficiency. When encountering a large unknown obstacle on the path, due to the viewing angle, it is difficult for the snake robot to observe the various parameters of the obstacle using a camera or lidar, and it can only change the path and bypass the obstacle. Both of the above situations will cause the snake robot to need to make complex movement adjustments when encountering an obstacle, which will affect the movement effect of the snake robot. Summary of the invention

[0004] The problem solved by the present invention is how to improve the movement effect of the snake-like robot when encountering obstacles.

[0005] In order to solve the above problems, the present invention provides a robot autonomous obstacle surmounting method, system and storage medium.

[0006] In a first aspect, the present invention provides a robot autonomous obstacle surmounting method, the method being applied to a snake-like robot, the snake-like robot comprising a head joint and a plurality of pitch joints, the head joint and all the pitch joints being connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device; The robot autonomous obstacle crossing method comprises: When the snake-like robot performs a normal traveling wave gait according to a normal gait curve, the pressure sensing device is used to determine whether the snake-like robot contacts an obstacle in the direction of travel; When the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle through the image acquisition device; Determining the movement posture of the head joint according to the current obstacle type; Determining, according to the motion posture, an inclination angle of the obstacle relative to the head joint; The normal gait curve is updated according to the inclination angle to obtain an obstacle step curve; According to the obstacle step curve, each pitch joint of the snake-like robot is controlled to traverse the obstacle in sequence until the last pitch joint completes the obstacle traverse.

[0007] Optionally, the pressure sensing device is arranged on the contact surface between the head joint and the ground, and judging whether the snake-like robot contacts an obstacle in the moving direction by the pressure sensing device includes: The pressure on the surface of the head joint in the direction of movement is detected by the pressure sensing device; when a pressure pulse output by the pressure sensing device is obtained, it is determined that the surface has surface pressure, and when a pressure pulse output by the pressure sensing device is not obtained, it is determined that the surface has no surface pressure; When the surface pressure exists on the surface, determining that the snake-like robot does not contact the obstacle in the moving direction; When the surface pressure does not exist on the surface, it is determined that the snake-like robot contacts the obstacle in the moving direction.

[0008] Optionally, when the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle by the image acquisition device includes: When the snake-like robot contacts the obstacle, an image of the head joint in the moving direction is acquired by the image acquisition device; Converting the image into an HSV spatial image, and performing saturation extraction on the HSV spatial image to obtain a saturation value of each pixel in the HSV spatial image; Determine the average value and the standard deviation average value of the saturation of the HSV spatial image according to the saturation value of each pixel; A current obstacle type of the obstacle is determined according to the average value and the standard deviation average value.

[0009] Optionally, determining the current obstacle type of the obstacle according to the average value and the standard deviation average value includes: When the average value and the standard deviation average value are both smaller than corresponding preset thresholds, it is determined that the image is in a gray state; When any value of the average value and the standard deviation average value is greater than the corresponding preset threshold, it is determined that the image is in a bright state; If the image is in the gray state, the current obstacle type is determined to be a convex type; If the image is in the bright state, the current obstacle type is determined to be a concave type.

[0010] Optionally, the current obstacle type includes a convex type and a concave type; the movement posture of the head joint is determined according to the current obstacle type, including; When the current obstacle type is the protrusion type, adjusting the movement posture of the head joint to a head-up movement; When the current obstacle type is the concave type, the movement posture of the head joint is adjusted to a head-down movement.

[0011] Optionally, determining the inclination angle of the obstacle relative to the head joint according to the motion posture includes: Determining a contact posture between the head joint and the obstacle according to the movement posture of the head joint; Determine the vertical height of the pressure generating position from the ground according to the pressure generating position of the surface pressure; The tilt angle is determined according to the vertical height.

[0012] Optionally, updating the normal gait curve according to the inclination angle to obtain an obstacle step curve includes: By means of the inclination angle, the step height, step width and inclination degree of the obstacle are determined in sequence; The normal gait curve is updated according to the step height, the step width and the inclination to obtain the obstacle step curve, wherein the obstacle step curve is a motion curve of the head joint on the obstacle.

[0013] Optionally, controlling each pitch joint of the snake-like robot to traverse the obstacle in sequence according to the obstacle step curve until the last pitch joint completes the obstacle traverse includes: Determining the joint angle of the snake-like robot when performing a normal traveling wave gait according to the phase difference between two adjacent pitch joints and the traveling wave amplitude and movement frequency of each pitch joint; Determine, according to the real-time position of each pitch joint on the obstacle step curve and in combination with the spacing between adjacent pitch joints, a fitting joint angle required for each pitch joint when fitting the obstacle step curve; The obstacle step curve is fitted by using the fitting joint angle, and each pitch joint of the snake-like robot is controlled to traverse obstacles in sequence until the last pitch joint completes fitting the obstacle step curve.

[0014] In a second aspect, the present invention provides a robot autonomous obstacle crossing system, the system is applied to a snake-like robot, the snake-like robot comprises a head joint and a plurality of pitch joints, the head joint and all the pitch joints are connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device; The robot autonomous obstacle crossing system comprises: a sensing unit, used for determining, by means of the pressure sensing device, whether the snake-like robot contacts an obstacle in the direction of travel when the snake-like robot performs a normal traveling wave gait according to a normal gait curve; a judgment unit, configured to determine a current obstacle type of the obstacle through the image acquisition device when the snake-like robot contacts the obstacle; A posture analysis unit, used to determine the movement posture of the head joint according to the current obstacle type; a calculation unit, used to determine the inclination angle of the obstacle relative to the head joint according to the motion posture; A curve updating unit, used for updating the normal gait curve according to the inclination angle to obtain an obstacle step curve; The control unit is used to control each pitch joint of the snake-like robot to traverse the obstacle in sequence according to the obstacle step curve until the last pitch joint completes the obstacle traverse.

[0015] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned robot autonomous obstacle surmounting method is implemented.

[0016] The robot autonomous obstacle crossing method, system and storage medium of the present invention significantly improve the movement effect of the snake-like robot when encountering obstacles by integrating pressure perception and visual information. First, the pressure sensing device set at the head joint is used to monitor in real time whether the robot contacts the obstacle. The instant perception ability of the pressure sensing device is used to facilitate the robot to respond at the first time when encountering the obstacle, avoiding collision or stagnation caused by delayed detection of the obstacle. Once the obstacle is detected, the type of obstacle is determined by analyzing the image acquired by the image acquisition device. The type of obstacle provides key information for the subsequent action of the robot. The head joint movement posture determined according to the obstacle type further helps the robot adjust its posture to adapt to the shape of the obstacle, thereby enhancing the robot's adaptability to complex terrain. Subsequently, by determining the inclination angle of the obstacle and updating the ordinary gait curve to the obstacle step curve, the robot can accurately adjust the action of each pitch joint behind the head joint according to the obstacle step curve, so as to achieve a smooth and efficient obstacle crossing action. During the entire process, the robot no longer simply relies on preset gait patterns, but is able to dynamically adjust its own behavior based on real-time perceived environmental information, thereby demonstrating more flexible, stable and efficient movement effects when encountering obstacles, effectively improving the snake-like robot's autonomous obstacle surmounting capability and movement efficiency in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a robot autonomous obstacle surmounting method according to an embodiment of the present invention; Figure 2 A schematic structural diagram of a snake-like robot according to another embodiment of the present invention; Figure 3 This is a schematic diagram of a robot contacting an obstacle according to another embodiment of the present invention; Figure 4 This is a second schematic diagram of a robot contacting an obstacle according to yet another embodiment of the present invention; Figure 5 It is one of the schematic diagrams of obstacle height detection in another embodiment of the present invention; Figure 6 The second schematic diagram of obstacle height detection in another embodiment of the present invention; Figure 7 A schematic diagram of step width detection of an obstacle in another embodiment of the present invention; Figure 8 Schematic diagram of the structure of a robot autonomous obstacle surmounting system in another embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0019] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0020] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0023] Combination Figure 1 As shown, the present invention provides a robot autonomous obstacle surmounting method, the method is applied to a snake-like robot, the snake-like robot comprises a head joint and a plurality of pitch joints, the head joint and all the pitch joints are connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device.

[0024] Specifically, the snake-like robot includes a head joint and a plurality of pitch joints. In a preferred embodiment of the present invention, Figure 2As shown, the snake-like robot is divided into two parts, the head and the body. A thin film pressure sensor and a monocular camera capable of observing the front are arranged on the outer side of the bottom surface of the robot's head joint, which serve as a pressure sensing device and an image acquisition device respectively.

[0025] The robot autonomous obstacle crossing method comprises: When the snake-like robot performs a normal traveling wave gait according to a normal gait curve, the pressure sensing device is used to determine whether the snake-like robot contacts an obstacle in the traveling direction.

[0026] Specifically, when the snake robot performs a normal traveling wave gait, the pressure sensing device of the head joint monitors in real time whether it contacts an obstacle. The pressure sensing device can sensitively detect the contact between the head and the obstacle, and provide a trigger signal for subsequent obstacle identification and obstacle crossing. This instant perception capability enables the robot to respond as soon as it encounters an obstacle, avoiding collisions or stagnation caused by delayed obstacle detection, and improving the safety and adaptability of the robot in complex environments. The robot head also includes a wifi module for communicating with the host computer, which can transmit head pressure data and head camera images to the host computer, and receive control instructions from the host computer.

[0027] When the snake-like robot contacts the obstacle, the current obstacle type of the obstacle is determined by the image acquisition device.

[0028] Specifically, when the snake-like robot detects the contact of an obstacle through the pressure sensing device, the image acquisition device is immediately activated to determine the type of obstacle by analyzing the image taken by the head camera. Using visual information to classify obstacles and accurately identifying the obstacle type is the key to achieving effective obstacle crossing, because it determines the robot's subsequent movement posture adjustment and obstacle crossing strategy. Therefore, in a preferred embodiment of the present invention, through image processing technology, the robot can quickly identify the characteristics of the obstacle, provide an accurate basis for subsequent obstacle crossing actions, and enhance the robot's perception and recognition capabilities of complex terrain.

[0029] According to the current obstacle type, the movement posture of the head joint is determined.

[0030] Specifically, based on the identified obstacle type, the robot determines the movement posture of the head joint. By adjusting the posture of the head joint, the robot can better adapt to the shape of the obstacle and prepare for subsequent obstacle crossing. For example, if it is a raised obstacle, the robot may raise its head; if it is a sunken area, the robot may lower its head. This posture adjustment helps the robot remain stable when it contacts an obstacle, reduces collisions or jams caused by improper posture, and improves the smoothness and reliability of the obstacle crossing process.

[0031] According to the movement posture, the inclination angle of the obstacle relative to the head joint is determined.

[0032] Specifically, after the head joint adjusts its posture, the pressure sensor and the image acquisition device work together to determine the inclination angle of the obstacle relative to the head joint, further refining the perception of the shape of the obstacle. The accurate measurement of the inclination angle enables the robot to adjust its own motion trajectory more accurately. By calculating the inclination angle, the robot can estimate the height and slope of the obstacle, so as to make more reasonable movement adjustments during the obstacle crossing process, ensuring that each pitch joint can pass the obstacle smoothly, and improving the accuracy and success rate of obstacle crossing.

[0033] The normal gait curve is updated according to the inclination angle to obtain an obstacle step curve.

[0034] Specifically, according to the measured inclination angle, the robot updates the normal gait curve and generates an obstacle step curve that adapts to the obstacle. This step is the core of the obstacle crossing action. By updating the gait curve, the robot can adjust its movement mode from the normal traveling wave gait to the obstacle crossing gait that adapts to the obstacle. The generation of the obstacle step curve enables the robot to maintain a stable movement rhythm during the obstacle crossing process, and ensures that each pitch joint can move according to the predetermined trajectory, ensuring the continuity and coordination of the obstacle crossing action, and improving the stability and efficiency of the obstacle crossing.

[0035] According to the obstacle step curve, each pitch joint of the snake-like robot is controlled to traverse the obstacle in sequence until the last pitch joint completes the obstacle traverse.

[0036] Specifically, finally, according to the updated obstacle step curve, the robot controls each pitch joint to cross the obstacle in turn until the last pitch joint completes the obstacle crossing. This step is the execution stage of the obstacle crossing action. By accurately controlling the movement of each pitch joint, the robot can gradually overcome obstacles and achieve smooth obstacle crossing. The coordinated movement of each pitch joint ensures the overall stability of the robot during the obstacle crossing process, avoiding the overall imbalance or jamming of the robot caused by improper movement of a single joint.

[0037] The robot autonomous obstacle crossing method of the present invention significantly improves the movement effect of the snake-like robot when encountering obstacles by integrating pressure perception and visual information. First, the pressure sensing device set at the head joint is used to monitor in real time whether the robot contacts the obstacle. The instant perception ability of the pressure sensing device is used to facilitate the robot to respond at the first time when encountering the obstacle, avoiding collision or stagnation caused by delayed detection of the obstacle. Once the obstacle is detected, the type of obstacle is determined by analyzing the image acquired by the image acquisition device. The type of obstacle provides key information for the subsequent action of the robot. The head joint movement posture determined according to the obstacle type further helps the robot adjust its posture to adapt to the shape of the obstacle, thereby enhancing the robot's adaptability to complex terrain. Subsequently, by determining the inclination angle of the obstacle and updating the ordinary gait curve to the obstacle step curve, the robot can accurately adjust the action of each pitch joint behind the head joint according to the obstacle step curve, thereby achieving a smooth and efficient obstacle crossing action. During the entire process, the robot no longer simply relies on preset gait patterns, but is able to dynamically adjust its own behavior based on real-time perceived environmental information, thereby demonstrating more flexible, stable and efficient movement effects when encountering obstacles, effectively improving the snake-like robot's autonomous obstacle surmounting capability and movement efficiency in complex environments.

[0038] Optionally, the pressure sensing device is arranged on the contact surface between the head joint and the ground, and judging whether the snake-like robot contacts an obstacle in the moving direction by the pressure sensing device includes: The pressure on the surface of the head joint in the direction of movement is detected by the pressure sensing device; when a pressure pulse output by the pressure sensing device is obtained, it is determined that the surface has surface pressure, and when a pressure pulse output by the pressure sensing device is not obtained, it is determined that the surface has no surface pressure; When the surface pressure exists on the surface, determining that the snake-like robot does not contact the obstacle in the moving direction; When the surface pressure does not exist on the surface, it is determined that the snake-like robot contacts the obstacle in the moving direction.

[0039] Specifically, in the autonomous obstacle surmounting method of the snake-like robot, detecting the surface pressure of the head joint in the direction of movement by means of a pressure sensing device is one of the key steps to achieve autonomous obstacle surmounting. Figure 3As shown in the figure, when the robot head encounters a raised obstacle, the top of the head will come into contact with the slope of the obstacle. At this time, the slope of the obstacle will give the robot a backward push, and the robot movement itself has forward momentum, so that the robot keeps the top of the head in contact with the slope of the obstacle. The pressure sensor at the bottom next to the top of the head will always be higher than the ground, so it will be suspended and no longer detect the contact force with the ground, thus determining that the robot head has encountered an obstacle step. Figure 3 As shown in the figure, when the robot head encounters a concave area, since the robot head joints can only move within a fixed range, the robot head will always be higher than the concave area, and the pressure sensor on its bottom will be suspended in the air, and the contact force with the ground will no longer be detected, thus determining that the robot head has encountered an obstacle. Figure 4 As shown in the detection curve of the pressure pulse, the asterisk indicates that the pressure pulse data generated when the pressure sensor no longer detects contact with the ground, thereby determining that the robot head encounters an obstacle.

[0040] In an embodiment of the present invention, through precise pressure detection, the robot can sense the presence of obstacles at the first time, thereby adjusting the movement posture and strategy in time, avoiding collision or stagnation caused by delayed detection of obstacles, which not only enhances the adaptability and flexibility of the robot in complex terrain, but also significantly improves the safety and reliability of the obstacle surmounting process, and reduces unnecessary time delays of the robot in the obstacle surmounting process.

[0041] Optionally, when the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle by the image acquisition device includes: When the snake-like robot contacts the obstacle, an image of the head joint in the moving direction is acquired by the image acquisition device; Converting the image into an HSV spatial image, and performing saturation extraction on the HSV spatial image to obtain a saturation value of each pixel in the HSV spatial image; Determine the average value and the standard deviation average value of the saturation of the HSV spatial image according to the saturation value of each pixel; A current obstacle type of the obstacle is determined according to the average value and the standard deviation average value.

[0042] Specifically, when the robot head contacts an obstacle, the image acquisition device will acquire images of the head joint in the direction of motion. Subsequently, these images are converted into HSV (Hue-hue, Saturation-saturation, Value-brightness) space images, and the saturation channel is extracted to obtain the saturation value of each pixel. By calculating the average and standard deviation of these saturation values, the characteristics of the image can be further analyzed. When the robot head contacts a raised obstacle, the image captured by the head camera will appear gray and single, and the color is unsaturated because the obstacle blocks the light; when it contacts a sunken area, the image color appears normal. Therefore, by converting the camera image into HSV space and extracting the saturation S channel image for calculation, the type of obstacle can be determined. Specifically, if the saturation average and standard deviation of the image meet certain conditions (for example, the average is lower than a certain threshold and the standard deviation is also lower than a certain threshold), the image is considered to be in a gray state, that is, the obstacle encountered in front is a raised obstacle; otherwise, it is a sunken area. This process uses image processing technology to distinguish the types of obstacles by analyzing the color characteristics of the image, providing an accurate basis for subsequent obstacle crossing actions.

[0043] In an embodiment of the present invention, by converting the image into HSV space and extracting saturation information, the robot can quickly and accurately determine whether the obstacle is convex or concave. This judgment method based on image features is not affected by changes in ambient light and has high robustness. After accurately identifying the obstacle type, the robot can adopt corresponding obstacle crossing strategies, such as adjusting the movement posture of the head joint, so as to cross the obstacle more effectively.

[0044] Optionally, determining the current obstacle type of the obstacle according to the average value and the standard deviation average value includes: When the average value and the standard deviation average value are both smaller than corresponding preset thresholds, it is determined that the image is in a gray state; When any value of the average value and the standard deviation average value is greater than the corresponding preset threshold, it is determined that the image is in a bright state; If the image is in the gray state, the current obstacle type is determined to be a convex type; If the image is in the bright state, the current obstacle type is determined to be a concave type.

[0045] Specifically, the obstacle type is determined by analyzing the saturation mean and standard deviation in the HSV space of the image. When the robot head contacts a raised obstacle, the image captured by the head camera will appear gray and monotonous, and the color will be unsaturated because the obstacle blocks the light. At this time, the mean and standard deviation of the saturation will be less than the preset threshold (for example, the mean threshold Tμ is 20.0, and the standard deviation threshold Tσ is 15.0). On the contrary, when the robot head contacts a concave area, the image color is displayed normally, and at least one of the mean and standard deviation of the saturation will be greater than the preset threshold. Therefore, by comparing these values ​​with the preset threshold, the state of the image can be accurately judged, and then it can be determined whether the obstacle is raised or concave. This process utilizes the statistical analysis method in image processing technology, and realizes the rapid identification of obstacle types through simple threshold judgment, providing an accurate basis for subsequent obstacle crossing actions. In a preferred embodiment of the present invention, when the robot head contacts a raised obstacle or a sunken area, the camera image of the head is obviously different. If it is a raised obstacle, the head camera will lack light input, the color appears gray and single, and the color is unsaturated. If it is a sunken area, the head camera image color is normal. Based on this, the camera image is converted into HSV space, and the saturation S channel image is extracted for calculation. The calculation formula for determining whether it is a raised obstacle is as follows: ; in, S i is the pixel value of the S channel, i Represents the pixel index, N is the total number of pixels, μ S and σ S are the mean and standard deviation of pixel saturation, T μ and T σ are the thresholds of the saturation mean and standard deviation, respectively. When the above formula is satisfied, the image is considered to be in a gray state, that is, the obstacle encountered in front of the robot is a convex obstacle, otherwise it is a concave area.

[0046] In the embodiment of the present invention, by setting a clear threshold, the robot can quickly distinguish between the gray and bright states of the image, thereby accurately determining the type of obstacle. This method is not only simple and efficient, but also has strong robustness to changes in ambient light and can work stably under different lighting conditions.

[0047] Optionally, the current obstacle type includes a convex type and a concave type; the movement posture of the head joint is determined according to the current obstacle type, including; When the current obstacle type is the protrusion type, adjusting the movement posture of the head joint to a head-up movement; When the current obstacle type is the concave type, the movement posture of the head joint is adjusted to a head-down movement.

[0048] Specifically, when the current obstacle type is identified as a convex type, the robot adjusts the movement posture of the head joint to head-up movement; conversely, when the current obstacle type is identified as a concave type, the robot adjusts the movement posture of the head joint to head-down movement. This adjustment is based on the physical properties of the obstacle: convex obstacles require the robot to raise its head to avoid collision and climb smoothly, while concave areas require the robot to lower its head to ensure a smooth transition. This movement posture adjustment based on the obstacle type allows the robot to adapt to different types of obstacles more flexibly, improving the success rate and efficiency of obstacle crossing.

[0049] In an embodiment of the present invention, by adjusting the movement posture of the head joint according to the type of obstacle, the robot can respond to different types of obstacles more accurately, reducing collisions or jams caused by improper posture. This flexible adjustment mechanism not only improves the robot's autonomy and flexibility, but also significantly improves the robot's reliability and practicality in actual applications.

[0050] Optionally, determining the inclination angle of the obstacle relative to the head joint according to the motion posture includes: Determining a contact posture between the head joint and the obstacle according to the movement posture of the head joint; Determine the vertical height of the pressure generating position from the ground according to the pressure generating position of the surface pressure; The tilt angle is determined according to the vertical height.

[0051] Specifically, first, according to the movement posture of the head joint (raising the head or lowering the head), the contact posture of the head joint and the obstacle is determined. Then, the vertical height of the position from the ground is determined by the pressure generating position detected by the pressure sensing device. Finally, the inclination angle of the obstacle is calculated using the vertical height. When the robot head contacts the raised obstacle and raises its head, the head joint contacts the slope of the obstacle, and the pressure sensor detects the pressure pulse. By analyzing the position of the pressure pulse and the posture of the head joint, the vertical height of the pressure generating position from the ground can be determined. Using the trigonometric function relationship, combined with the vertical height and the movement parameters of the head joint, the inclination angle of the obstacle is calculated. This process not only relies on the precise data of the pressure sensor, but also combines the movement posture of the head joint, so that the robot can accurately sense the inclination of the obstacle and provide key parameters for subsequent obstacle crossing actions.

[0052] In the embodiment of the present invention, by accurately determining the inclination angle of the obstacle, the robot can more accurately adjust its own motion trajectory to ensure that each pitch joint can smoothly pass the obstacle. This precise perception and adjustment mechanism not only reduces collisions or jams caused by improper posture, but also improves the consistency and coordination of the obstacle crossing process.

[0053] Optionally, updating the normal gait curve according to the inclination angle to obtain an obstacle step curve includes: By means of the inclination angle, the step height, step width and inclination degree of the obstacle are determined in sequence; The normal gait curve is updated according to the step height, the step width and the inclination to obtain the obstacle step curve, wherein the obstacle step curve is a motion curve of the head joint on the obstacle.

[0054] Specifically, first use the previously determined inclination angle to determine the step height, step width and inclination degree of the obstacle in turn. These parameters are obtained by analyzing the pressure sensor data and the movement posture of the head joint. When the robot head contacts the obstacle and determines the inclination angle, the step height and width of the obstacle can be calculated through the pressure pulse position detected by the pressure sensor and the movement posture of the head joint. For example, when the robot head passes the top of the slope of the obstacle, the head pressure sensor will be suspended again, at which time the height of the obstacle can be determined. Through these parameters, combined with the plane step curve theory, the ordinary gait curve is updated to generate an obstacle step curve that adapts to the obstacle. The obstacle step curve describes the movement trajectory of the head joint on the obstacle, so that the robot can smoothly cross the obstacle according to the predetermined trajectory. Combined with Figure 5 As shown in the figure, if the snake-like robot is crawling and climbing a raised obstacle slope, the pressure sensor on the robot's head will continue to contact the obstacle slope, thereby detecting pressure pulses. This state continues until the head passes the top of the obstacle slope. At this time, the head pressure sensor will be suspended again, thereby realizing the height detection of the obstacle. Figure 6 As shown in the figure, if the snake-like robot is crawling and climbing the slope of the concave area, after detecting the slope inclination angle, the head joint module is kept in horizontal motion so that the head pressure sensor remains suspended. The body joint behind the head joint is continuously fitted to the concave slope until the pressure sensor of the head contacts the ground and generates a pressure pulse. At this time, the measured obstacle height is the height of the concave area.

[0055] In a preferred embodiment of the present invention, the common gait curve is updated according to the step height, step width and inclination, and the convex or concave part of each obstacle is abstracted as a step curve, which is a piecewise function. The first half of the piecewise function is a one-dimensional Gaussian function, which describes the inclination state of the obstacle edge, and the second half of the function is a constant, which represents the platform height of the obstacle or concave step. 3.717σ is taken as the segmentation point in the step curve piecewise function, because for the Gaussian function, the height decays to 0.1% of the maximum value at 3.717σ away from the peak along the x-axis, and this error can be ignored when the robot is fitting the curve.

[0056] Since the shape of the obstacle is irregular, the shape between the obstacle and the ground can be abstracted into multiple step curves through the above method, so that the entire obstacle step curve is composed of multiple single step curves. The parametric equation of a single step curve is: ; Among them, x is the displacement along the direction of robot movement, z is the height from the ground, h is the step height, w is the step width, σ is the inclination of the step, and e is a constant.

[0057] For the obstacle step curve of a combination of multiple steps, the following formula can be used to accumulate it: ; in, h n,last For the front n The height of the combined steps is x n,last is the length of the first n steps in the x-axis direction, h n , w n , σ n are the height, width, and inclination of the nth step respectively.

[0058] For n The slope of the steps will be affected by σ n and h n The combined influence of the angle of inclination is estimated by trigonometric calculation, considering that the width of the step at the inclination is 3.717 σ n , tilt angle θ n The calculation formula is as follows: ; in, h nis the height of the nth step, σ n is the inclination of the nth step.

[0059] In another preferred embodiment of the present invention, the head pressure sensor is still used to constantly detect whether the head touches a new obstacle. When the head touches a new obstacle step, it is determined that the head has completed the step of the previous obstacle, and the distance from the top of the step of the previous obstacle to the starting point of the new obstacle is used as the width of the step of the previous obstacle, so that subsequent joints follow the movement of the head joint. Figure 7 As shown in the figure, when the snake robot head detects a new obstacle step, the width of the current obstacle step can be calculated. Assuming that the new obstacle step is the n+1th step, the calculation formula for the current step width is as follows: ; in, x n,last is the length of the first n steps in the x-axis direction, x n-1,last is the length of the first n-1 steps in the x-axis direction.

[0060] In an embodiment of the present invention, by accurately updating the gait curve, the robot can generate a motion trajectory that adapts to the specific shape of the obstacle, ensuring that each pitch joint can pass the obstacle smoothly, which not only improves the continuity and coordination of the obstacle surmounting process, but also reduces collisions or jams caused by improper posture, thereby improving the success rate and efficiency of obstacle surmounting.

[0061] Optionally, controlling each pitch joint of the snake-like robot to traverse the obstacle in sequence according to the obstacle step curve until the last pitch joint completes the obstacle traverse includes: Determining the joint angle of the snake-like robot when performing a normal traveling wave gait according to the phase difference between two adjacent pitch joints and the traveling wave amplitude and movement frequency of each pitch joint; Determine, according to the real-time position of each pitch joint on the obstacle step curve and in combination with the spacing between adjacent pitch joints, a fitting joint angle required for each pitch joint when fitting the obstacle step curve; The obstacle step curve is fitted by using the fitting joint angle, and each pitch joint of the snake-like robot is controlled to traverse obstacles in sequence until the last pitch joint completes fitting the obstacle step curve.

[0062] Specifically, first, according to the phase difference between two adjacent pitch joints, the traveling wave amplitude of each pitch joint and the movement frequency, the joint angle of the snake robot when performing the ordinary traveling wave gait is determined. These parameters are the basic parameters for the normal movement of the snake robot, ensuring that the robot can move forward smoothly according to the predetermined gait curve. Then, according to the real-time position of each pitch joint on the obstacle step curve, combined with the spacing between adjacent pitch joints, the fitting joint angle required for each pitch joint when fitting the obstacle step curve is determined. Therefore, it is necessary to dynamically fit the obstacle step curve to ensure that each joint can accurately adapt to the shape of the obstacle. After the robot head determines the step height, width and inclination of the obstacle, the ordinary gait curve is updated by these parameters to generate the obstacle step curve. Then, the real-time data of the head pressure sensor and the image acquisition device are used to dynamically adjust the angle of each pitch joint so that it can pass the obstacle smoothly. For example, when the robot head passes over the top of the slope of the obstacle, the subsequent pitch joints will gradually adjust the angle according to the obstacle step curve, climb the obstacle in turn, until the last pitch joint completes the obstacle crossing.

[0063] In a preferred embodiment of the present invention, the multi-joint robot can perform two-dimensional morphological fitting on the step curve, and the i-th pitch joint angle of the robot is: ; Where s represents the arc length of the step curve starting from x=0, ρ(s) represents the curvature of the curve, and m represents the distance between the two pitch joints. represents the position of the step curve where the i-th pitch joint is located, so Indicates the joint angles required for the robot joints to fit the step curve; represents the joint angle required for the robot to perform a normal traveling wave gait, where A represents the traveling wave amplitude, is the movement frequency, It represents the phase difference between two adjacent joint angles. By superimposing the two, it can ensure that the robot can move forward stably on the basis of fitting the step curve.

[0064] In the embodiment of the present invention, by precisely controlling the angle of each pitch joint, the robot can generate a motion trajectory adapted to the shape of a specific obstacle, ensuring that each pitch joint can smoothly pass through the obstacle. Especially when facing complex terrain and variable obstacles, this dynamic adjustment mechanism not only improves the consistency and coordination of the obstacle crossing process, but also reduces collisions or jams caused by improper posture, thereby improving the success rate and efficiency of obstacle crossing.

[0065] Combination Figure 8As shown, the present invention also provides a robot autonomous obstacle crossing system, the system is applied to a snake-like robot, the snake-like robot comprises a head joint and a plurality of pitch joints, the head joint and all the pitch joints are connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device; The robot autonomous obstacle crossing system comprises: a sensing unit, used for determining, by means of the pressure sensing device, whether the snake-like robot contacts an obstacle in the direction of travel when the snake-like robot performs a normal traveling wave gait according to a normal gait curve; a judgment unit, configured to determine a current obstacle type of the obstacle through the image acquisition device when the snake-like robot contacts the obstacle; A posture analysis unit, used to determine the movement posture of the head joint according to the current obstacle type; a calculation unit, used to determine the inclination angle of the obstacle relative to the head joint according to the motion posture; A curve updating unit, used for updating the normal gait curve according to the inclination angle to obtain an obstacle step curve; The control unit is used to control each pitch joint of the snake-like robot to traverse the obstacle in sequence according to the obstacle step curve until the last pitch joint completes the obstacle traverse.

[0066] The robot autonomous obstacle crossing system of the present invention significantly improves the movement effect of the snake-like robot when encountering obstacles by integrating pressure perception and visual information. First, the pressure sensing device set at the head joint is used to monitor in real time whether the robot contacts the obstacle. The instant perception ability of the pressure sensing device is used to facilitate the robot to respond at the first time when encountering the obstacle, avoiding collision or stagnation caused by delayed detection of the obstacle. Once the obstacle is detected, the type of obstacle is determined by analyzing the image acquired by the image acquisition device. The type of obstacle provides key information for the subsequent action of the robot. The head joint movement posture determined according to the obstacle type further helps the robot adjust its posture to adapt to the shape of the obstacle, thereby enhancing the robot's adaptability to complex terrain. Subsequently, by determining the inclination angle of the obstacle and updating the ordinary gait curve to the obstacle step curve, the robot can accurately adjust the action of each pitch joint behind the head joint according to the obstacle step curve, thereby achieving a smooth and efficient obstacle crossing action. During the entire process, the robot no longer simply relies on preset gait patterns, but is able to dynamically adjust its own behavior based on real-time perceived environmental information, thereby demonstrating more flexible, stable and efficient movement effects when encountering obstacles, effectively improving the snake-like robot's autonomous obstacle surmounting capability and movement efficiency in complex environments.

[0067] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the robot autonomous obstacle surmounting method as described above is implemented.

[0068] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations: When the snake-like robot performs a normal traveling wave gait according to a normal gait curve, the pressure sensing device is used to determine whether the snake-like robot contacts an obstacle in the direction of travel; When the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle through the image acquisition device; Determining the movement posture of the head joint according to the current obstacle type; Determining, according to the motion posture, an inclination angle of the obstacle relative to the head joint; The normal gait curve is updated according to the inclination angle to obtain an obstacle step curve; According to the obstacle step curve, each pitch joint of the snake-like robot is controlled to traverse the obstacle in sequence until the last pitch joint completes the obstacle traverse.

[0069] The computer-readable storage medium of the present invention significantly improves the movement effect of the snake-like robot when encountering obstacles by integrating pressure perception and visual information. First, the pressure sensing device set at the head joint is used to monitor in real time whether the robot contacts the obstacle. The instant perception ability of the pressure sensing device is used to facilitate the robot to respond at the first time when encountering the obstacle, avoiding collision or stagnation caused by delayed detection of the obstacle. Once the obstacle is detected, the type of obstacle is determined by analyzing the image acquired by the image acquisition device. The type of obstacle provides key information for the subsequent action of the robot. The head joint movement posture determined according to the obstacle type further helps the robot adjust its posture to adapt to the shape of the obstacle, thereby enhancing the robot's adaptability to complex terrain. Subsequently, by determining the inclination angle of the obstacle and updating the ordinary gait curve to the obstacle step curve, the robot can accurately adjust the action of each pitch joint behind the head joint according to the obstacle step curve, thereby achieving a smooth and efficient obstacle crossing action. During the entire process, the robot no longer simply relies on preset gait patterns, but is able to dynamically adjust its own behavior based on real-time perceived environmental information, thereby demonstrating more flexible, stable and efficient movement effects when encountering obstacles, effectively improving the snake-like robot's autonomous obstacle surmounting capability and movement efficiency in complex environments.

[0070] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A robot autonomous obstacle crossing method, characterized in that: The method is applied to a snake-like robot, the snake-like robot comprising a head joint and a plurality of pitch joints, the head joint and all the pitch joints are connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device; The robot autonomous obstacle crossing method comprises: When the snake-like robot performs a normal traveling wave gait according to a normal gait curve, the pressure sensing device is used to determine whether the snake-like robot contacts an obstacle in the direction of travel; When the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle through the image acquisition device; Determining the movement posture of the head joint according to the current obstacle type; Determining, according to the motion posture, an inclination angle of the obstacle relative to the head joint; The normal gait curve is updated according to the inclination angle to obtain an obstacle step curve; According to the obstacle step curve, each pitch joint of the snake-like robot is controlled to traverse the obstacle in sequence until the last pitch joint completes the obstacle traverse.

2. The robot autonomous obstacle surmounting method according to claim 1, characterized in that: The pressure sensing device is disposed on the contact surface between the head joint and the ground, and judging whether the snake-like robot contacts an obstacle in the moving direction by the pressure sensing device includes: The pressure on the surface of the head joint in the direction of movement is detected by the pressure sensing device; when a pressure pulse output by the pressure sensing device is obtained, it is determined that the surface has surface pressure, and when a pressure pulse output by the pressure sensing device is not obtained, it is determined that the surface has no surface pressure; When the surface pressure exists on the surface, determining that the snake-like robot does not contact the obstacle in the moving direction; When the surface pressure does not exist on the surface, it is determined that the snake-like robot contacts the obstacle in the moving direction.

3. The robot autonomous obstacle surmounting method according to claim 1, characterized in that: When the snake-like robot contacts the obstacle, determining the current obstacle type of the obstacle by the image acquisition device includes: When the snake-like robot contacts the obstacle, an image of the head joint in the moving direction is acquired by the image acquisition device; Converting the image into an HSV spatial image, and performing saturation extraction on the HSV spatial image to obtain a saturation value of each pixel in the HSV spatial image; Determine the average value and the standard deviation average value of the saturation of the HSV spatial image according to the saturation value of each pixel; A current obstacle type of the obstacle is determined according to the average value and the standard deviation average value.

4. The robot autonomous obstacle surmounting method according to claim 3, characterized in that: The determining the current obstacle type of the obstacle according to the average value and the standard deviation average value includes: When the average value and the standard deviation average value are both smaller than corresponding preset thresholds, it is determined that the image is in a gray state; When any value of the average value and the standard deviation average value is greater than the corresponding preset threshold, it is determined that the image is in a bright state; If the image is in the gray state, the current obstacle type is determined to be a convex type; If the image is in the bright state, the current obstacle type is determined to be a concave type.

5. The robot autonomous obstacle surmounting method according to claim 1, characterized in that: The current obstacle type includes a convex type and a concave type; the movement posture of the head joint is determined according to the current obstacle type, including; When the current obstacle type is the protrusion type, adjusting the movement posture of the head joint to a head-up movement; When the current obstacle type is the concave type, the movement posture of the head joint is adjusted to a head-down movement.

6. The robot autonomous obstacle surmounting method according to claim 2, characterized in that: Determining the inclination angle of the obstacle relative to the head joint according to the motion posture includes: Determining a contact posture between the head joint and the obstacle according to the movement posture of the head joint; Determine the vertical height of the pressure generating position from the ground according to the pressure generating position of the surface pressure; The tilt angle is determined according to the vertical height.

7. The robot autonomous obstacle surmounting method according to claim 1, characterized in that: The updating of the normal gait curve according to the inclination angle to obtain an obstacle step curve includes: By means of the inclination angle, the step height, step width and inclination degree of the obstacle are determined in sequence; The normal gait curve is updated according to the step height, the step width and the inclination to obtain the obstacle step curve, wherein the obstacle step curve is a motion curve of the head joint on the obstacle.

8. The robot autonomous obstacle surmounting method according to claim 1, characterized in that: According to the obstacle step curve, controlling each pitch joint of the snake-like robot to traverse the obstacle in sequence until the last pitch joint completes the obstacle traverse, comprises: Determining the joint angle of the snake-like robot when performing a normal traveling wave gait according to the phase difference between two adjacent pitch joints and the traveling wave amplitude and movement frequency of each pitch joint; Determine, according to the real-time position of each pitch joint on the obstacle step curve and in combination with the spacing between adjacent pitch joints, a fitting joint angle required for each pitch joint when fitting the obstacle step curve; The obstacle step curve is fitted by using the fitting joint angle, and each pitch joint of the snake-like robot is controlled to traverse obstacles in sequence until the last pitch joint completes fitting the obstacle step curve.

9. A robot autonomous obstacle crossing system, characterized in that: The system is applied to a snake-like robot, which includes a head joint and a plurality of pitch joints, wherein the head joint and all the pitch joints are connected in sequence, wherein the head joint is provided with a pressure sensing device and an image acquisition device; The robot autonomous obstacle crossing system comprises: a sensing unit, used for determining, by means of the pressure sensing device, whether the snake-like robot contacts an obstacle in the direction of travel when the snake-like robot performs a normal traveling wave gait according to a normal gait curve; a judgment unit, configured to determine a current obstacle type of the obstacle through the image acquisition device when the snake-like robot contacts the obstacle; A posture analysis unit, used to determine the movement posture of the head joint according to the current obstacle type; a calculation unit, used to determine the inclination angle of the obstacle relative to the head joint according to the motion posture; A curve updating unit, used for updating the normal gait curve according to the inclination angle to obtain an obstacle step curve; The control unit is used to control each pitch joint of the snake-like robot to traverse the obstacle in sequence according to the obstacle step curve until the last pitch joint completes the obstacle traverse.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot autonomous obstacle surmounting method according to any one of claims 1 to 8 is implemented.

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