Obstacle-avoiding moving method, device and equipment for garbage grab bucket and storage medium

Abstract

The invention discloses an obstacle avoidance moving method, device and equipment for a garbage grab bucket and a storage medium, and the method comprises the steps: obtaining a garbage pit grid model of a garbage library where the garbage grab bucket is located, and determining a starting point grid block and a terminal point grid block in the garbage pit grid model according to the current position and the terminal point of the garbage grab bucket, determining a target grid matrix by taking the starting point grid block and the terminal point grid block as two diagonal grid blocks of the grid matrix, determining a first target grid block with the highest average height in the target grid matrix, and taking the average height of the first target grid block as the lowest moving height of the garbage grab bucket; and driving the garbage grab bucket to linearly move from the current position to the terminal point. Therefore, the highest point of the obstacle in the moving area is found through the garbage library grid model, so that the garbage grab bucket moves at the position higher than the highest point of the obstacle, collision with the obstacle in a pit is accurately avoided, and it is guaranteed that garbage treatment work is safely and stably carried out.

Description

Technical Field

[0001] The present application relates to the technical field of garbage equipment processing, and more specifically, to an obstacle avoidance movement method, device, equipment and storage medium for a garbage grab bucket. Background Art

[0002] In the garbage disposal process, the garbage grab is the core equipment, responsible for grabbing and placing garbage, and needs to move frequently in the garbage pit. However, the garbage pit environment is harsh and full of uneven obstacles, such as piled up garbage, equipment parts, etc. Once the grab hits these obstacles, it will cause equipment damage, stagnate the garbage disposal work, and may also cause safety accidents, pollute the workplace, and seriously affect the efficiency and safety of the disposal.

[0003] In the past, grab bucket obstacle avoidance mainly relied on the operator's experience and judgment. The operator drove the garbage grab bucket control vehicle and observed the environment from inside the vehicle. However, the garbage pit was dimly lit and dusty, and the operator's vision was limited, making it difficult to accurately judge the position relationship between the grab bucket and obstacles. In addition, manual operation did not react quickly enough, and in an emergency, it was difficult to avoid obstacles in time, resulting in frequent collision accidents.

[0004] Based on this, how to design a fast and accurate garbage grabber obstacle avoidance movement method to reduce equipment damage and accidents and ensure the safe and stable garbage disposal work is an issue that needs attention. Summary of the invention

[0005] In view of the above problems, the present application provides an obstacle avoidance movement method, device, equipment and storage medium for a garbage grab to reduce equipment damage and accidents and ensure safe and stable garbage disposal work.

[0006] In order to achieve the above objectives, the specific plan is proposed as follows:

[0007] A method for avoiding obstacles and moving a garbage grab bucket is applied to a garbage grab bucket control vehicle, wherein the garbage grab bucket control vehicle is used to control the three-dimensional movement of the garbage grab bucket, and the method comprises:

[0008] Obtaining a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block;

[0009] According to the current position of the garbage grab, determine the starting grid block of the garbage grab in the garbage pit grid model, and according to the terminal position to be moved to, determine the terminal grid block to be moved to in the garbage pit grid model;

[0010] Determine a target grid matrix by taking the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block having the highest average height in the target grid matrix;

[0011] The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move in a straight line from the current position to the end position.

[0012] Optionally, the method further includes:

[0013] Sorting the grid blocks in the target grid matrix based on the order of average height from high to low;

[0014] Traverse each grid block of the target grid matrix in sorted order:

[0015] For each grid block traversed, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when deleting the grid block; if so, delete the grid block and update the target grid matrix to obtain the target grid matrix after deleting the grid block; if not, retain the grid block;

[0016] When all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix is ​​determined, and a second target grid block having the highest average height among all undeleted grid blocks is determined;

[0017] The average height of the second target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move from the current position to the terminal position according to the final moving route.

[0018] Optionally, the process of establishing a garbage pit grid model of the garbage pit where the garbage grab bucket is located includes:

[0019] Acquire three-dimensional information of a garbage pit where the garbage grab is located, and establish a three-dimensional model of the garbage pit based on the three-dimensional information;

[0020] Dividing the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top-view plane;

[0021] The average height of each grid block is calculated to construct a garbage pit grid model based on the average height of each grid block.

[0022] Optionally, calculating the average height of each grid block includes:

[0023] Determining the height of each pixel point on the top-view plane according to the three-dimensional model of the garbage pit;

[0024] For each grid block of the garbage pit three-dimensional model, the average value of the heights of the pixels in the grid block is used as the mean height of the grid block.

[0025] An obstacle avoidance moving device for a garbage grab bucket is applied to a garbage grab bucket control vehicle, wherein the garbage grab bucket control vehicle is used to control the three-dimensional movement of the garbage grab bucket. The device comprises:

[0026] A grid model acquisition unit, used to acquire a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block;

[0027] A starting and ending grid block determining unit, used to determine the starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and determine the ending grid block to be moved to in the garbage pit grid model according to the ending position to be moved to of the garbage grab;

[0028] A highest grid block determining unit, used to determine a target grid matrix with the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block with the highest average height in the target grid matrix;

[0029] The grab moving unit is used to drive the garbage grab to move straightly from the current position to the end position by taking the average height of the first target grid block as the minimum moving height of the garbage grab.

[0030] Optionally, the device further comprises:

[0031] A sorting unit, used to sort the grid blocks in the target grid matrix based on the order of average height from high to low;

[0032] A grid block traversal unit is used to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when the grid block is deleted; if so, delete the grid block, and update the target grid matrix to obtain a target grid matrix with the grid block deleted; if not, retain the grid block;

[0033] a second target grid block determining unit, configured to determine, after all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix, and determine a second target grid block having the highest average height among all undeleted grid blocks;

[0034] A moving route driving unit is used to use the average height of the second target grid block as the minimum moving height of the garbage grab, and drive the garbage grab to move from the current position to the end position according to the final moving route.

[0035] Optionally, the device further comprises:

[0036] A garbage pit three-dimensional model building unit, used to obtain three-dimensional information of the garbage pit where the garbage grab is located, and build a three-dimensional model of the garbage pit based on the three-dimensional information;

[0037] A grid block division unit, used for dividing the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top view plane;

[0038] The garbage pit grid model building unit is used to calculate the average height of each grid block to build the garbage pit grid model based on the average height of each grid block.

[0039] Optionally, the garbage pit grid model construction unit includes:

[0040] A pixel point height determination unit, used to determine the height of each pixel point of the top-view plane according to the garbage pit three-dimensional model;

[0041] The height average value calculation unit is used to take the average value of the heights of each pixel point in each grid block of the garbage pit three-dimensional model as the mean height of the grid block, so as to construct the garbage pit grid model based on the average height of each grid block.

[0042] An obstacle avoidance mobile device for a garbage grab, comprising a memory and a processor;

[0043] The memory is used to store programs;

[0044] The processor is used to execute the program to implement the various steps of the obstacle avoidance movement method of the garbage grab as described above.

[0045] A storage medium stores a computer program, which, when executed by a processor, implements the various steps of the obstacle avoidance movement method of a garbage grab as described above.

[0046] By means of the above technical solution, the present application obtains the garbage pit grid model of the garbage storage where the garbage grab is located. The garbage pit grid model includes multiple grid blocks, each grid block includes information on the average height of the grid block. Further, according to the current position of the garbage grab, the starting grid block of the garbage grab in the garbage pit grid model is determined, and according to the terminal position to which the garbage grab is to be moved, the terminal grid block to be moved in the garbage pit grid model is determined. The starting grid block and the terminal grid block are used as the two diagonal grid blocks of the grid matrix to determine the target grid matrix, and the first target grid block with the highest average height in the target grid matrix is ​​determined. The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move in a straight line from the current position to the terminal position. It can be seen that the highest point of the obstacle in the moving area is found through the garbage storage grid model, so that the garbage grab moves at a position higher than the highest point of the obstacle, so as to accurately avoid collision with the obstacles in the pit and ensure the safe and stable progress of garbage disposal. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0048] Figure 1 A schematic diagram of a flow chart for realizing obstacle avoidance movement of a garbage grab provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of grid distribution of a garbage pit grid model provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the structure of a device for realizing obstacle avoidance movement of a garbage grab provided in an embodiment of the present application;

[0051] Figure 4 A schematic structural diagram of a device for realizing obstacle avoidance movement of a garbage grab provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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.

[0053] The present application scheme can be implemented based on a terminal with data processing capabilities, which can be a garbage grab control vehicle, and the garbage grab control vehicle can control the three-dimensional movement of the garbage grab. The garbage grab control vehicle can be connected to a laser radar scanner in a garbage pit to obtain information about the laser radar scanner scanning the garbage pit. The garbage grab control vehicle can establish a three-dimensional model of the garbage warehouse based on the three-dimensional information scanned by the garbage pit radar, and thus obtain a garbage pit grid model by grid block processing.

[0054] Next, combine Figure 1 The obstacle avoidance movement method of the garbage grab bucket of the present application may include the following steps:

[0055] Step S110: Obtain a garbage pit grid model of the garbage storage where the garbage grab is located.

[0056] The garbage pit grid model may include multiple grid blocks, each of which contains information about the average height of the grid block. Figure 2 As shown, the grid blocks of the garbage pit grid model can be arranged in the form of a grid matrix, and the number of each grid block represents the average height of the grid block. The garbage pit grid model can be marked with coordinates, such as Figure 2 There are 18 grids in the X direction and 6 grids in the Y direction. The coordinates of the grid block with an average height of 24.39 in the lower left corner are (1,1), and the coordinates of the grid block with an average height of 16.70 in the upper right corner are (18,6). Considering the more intuitive and clearer and more comfortable use of the garbage pit grid model, the average height of each grid block can be represented by color, such as blue for a high average height and green for a low average height.

[0057] Step S120: Determine the starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and determine the terminal grid block to be moved to in the garbage pit grid model according to the terminal position to be moved to.

[0058] Specifically, when the laser radar scanner scans the garbage pit, it also scans the garbage grab. After the garbage grab control vehicle recognizes the radar scanning data, it can analyze the garbage grab and its corresponding grid block, so that the current position of the garbage grab is used as the starting grid block. At the same time, the working information of the garbage grab can be obtained to determine the current execution task of the garbage grab, and then determine the end position of the garbage grab to be moved to, so that the end position of the garbage grab is used as the end grid block.

[0059] Examples include Figure 2 According to the current position of the garbage grab and the destination position to be moved to, the starting grid block A (7, 4) and the end grid block B (17, 2) corresponding to the garbage pit grid model can be determined.

[0060] Step S130 , determining a target grid matrix with the starting grid block and the ending grid block as two diagonal grid blocks of the grid matrix, and determining a first target grid block with the highest average height in the target grid matrix.

[0061] Specifically, Figure 2 As shown, the starting grid block A (7, 4) and the ending grid block B (17, 2), then the grid matrix can be determined based on these two grid blocks as Figure 2 In the red rectangular area, the grid matrix includes 3*11=33 grid blocks in total. Among these 33 grid blocks, it can be determined that the first target grid block with the highest average height is (8,2), and the average height of this grid block is 27.31.

[0062] Step S140: Taking the average height of the first target grid block as the minimum moving height of the garbage grab, the garbage grab is driven to move in a straight line from the current position to the end position.

[0063] Specifically, Figure 2 As shown, the garbage grab can be driven from position A to position B along the red arrow straight line at a moving height higher than 27.31.

[0064] The obstacle avoidance movement method of the garbage grab provided in this embodiment obtains the garbage pit grid model of the garbage storage where the garbage grab is located. The garbage pit grid model includes multiple grid blocks, and each grid block includes information on the average height of the grid block. Further, according to the current position of the garbage grab, the starting grid block of the garbage grab in the garbage pit grid model is determined, and according to the terminal position to which the garbage grab is to be moved, the terminal grid block to be moved in the garbage pit grid model is determined. The starting grid block and the terminal grid block are used as two diagonal grid blocks of the grid matrix to determine the target grid matrix, and the first target grid block with the highest average height in the target grid matrix is ​​determined. The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move straightly from the current position to the terminal position. It can be seen that the highest point of the obstacle in the moving area is found through the garbage storage grid model, so that the garbage grab moves at a position higher than the highest point of the obstacle, so as to accurately avoid collision with the obstacles in the pit and ensure the safe and stable progress of garbage disposal.

[0065] Considering that there are usually some facilities such as bridges, driving tracks, and unloading ports above the garbage pit. If the garbage grab is too high, it may collide with these facilities, causing equipment damage, or even causing the grab to fall, causing a safety accident, and endangering the lives of on-site workers. In addition, to lift and move the garbage grab at a higher level, the electrical system of the control vehicle needs to provide greater power, which will increase the burden on electrical equipment such as motors and inverters, easily cause electrical failures, and also increase energy consumption. Therefore, under the premise of meeting the obstacle avoidance requirement, the garbage grab is made to run as low as possible. The obstacle avoidance and movement method of the garbage grab provided in the present application may also include:

[0066] S1. Sort the grid blocks in the target grid matrix based on the order of average height from high to low.

[0067] S2. Traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when deleting the grid block. If so, delete the grid block and update the target grid matrix to obtain the target grid matrix of the deleted grid block. If not, retain the grid block.

[0068] Examples include Figure 2 First, traverse the grid block (8,2) with the highest average height. After deleting the grid block (8,2), the route of the garbage grabber from A to B will not be lost, so the grid block (8,2) can be deleted, and all the remaining grid blocks are traversed in order.

[0069] S3. After all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix is ​​determined, and a second target grid block with the highest average height among all undeleted grid blocks is determined.

[0070] Examples include Figure 2 , when all the grid blocks of the target grid matrix have been traversed, the grid blocks that have not been deleted are (7,4), (8,4), (9,4), (10,4), (11,4), (12,4), (13,4), (14,4), (15,4), (16,4), (17,4), (17,3) and (17,2). The final moving route is determined to be: A (7,4) → (8,4) → (9,4) → (10,4) → (11,4) → (12,4) → (13,4) → (14,4) → (15,4) → (16,4) → (17,4) → (17,3) → B (17,2). The second target grid block is determined to be grid block A (7,4) with an average height of 26.50.

[0071] S4. Taking the average height of the second target grid block as the minimum moving height of the garbage grab, the garbage grab is driven to move from the current position to the end position according to the final moving route.

[0072] It can be understood that compared with using the average height of grid block (8, 2) as the minimum moving height of the garbage grab, the average height of grid block (7, 4) is lower. Under the premise of meeting the obstacle avoidance requirement, the garbage grab can be moved to a lower position to avoid collision with the facilities above the garbage pit, while saving the energy consumption of the garbage grab control vehicle.

[0073] In some embodiments of the present application, the process of establishing the garbage pit grid model of the garbage pit where the garbage grab bucket is located mentioned in the above embodiment is introduced, and the process may include:

[0074] S1. Obtain three-dimensional information of a garbage pit where a garbage grab bucket is located, and establish a three-dimensional model of the garbage pit based on the three-dimensional information.

[0075] Specifically, the three-dimensional information of the garbage pit can be obtained by scanning the garbage storage using a lidar scanner.

[0076] S2. Divide the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top-view plane.

[0077] Specifically, Figure 1 As shown, the top view plane can be divided into 0.5m*0.5m grid blocks. The position coordinates of each grid block can be defined as (m, n), and each grid block can be uniquely identified using an X-direction number and a Y-direction number.

[0078] S3. Calculate the average height of each grid block to construct a garbage pit grid model based on the average height of each grid block.

[0079] Specifically, the height of each pixel point on the overhead plane can be determined based on the garbage pit three-dimensional model, and for each grid block of the garbage pit three-dimensional model, the average value of the height of each pixel point in the grid block is used as the mean height of the grid block.

[0080] It is understandable that each grid block may contain multiple pixels (such as 10 pixels), and the heights of these pixels may be obtained based on the data provided by the three-dimensional model of the garbage pit. Therefore, the height of each grid block may be represented by the average value of the heights of all pixels.

[0081] The following is a description of the device for achieving obstacle avoidance movement of a garbage grab provided in an embodiment of the present application. The device for achieving obstacle avoidance movement of a garbage grab described below and the method for achieving obstacle avoidance movement of a garbage grab described above can be referenced to each other.

[0082] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a device for realizing obstacle avoidance movement of a garbage grab bucket disclosed in an embodiment of the present application.

[0083] like Figure 3 As shown, the device may include:

[0084] A grid model acquisition unit 11 is used to acquire a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block;

[0085] A starting and ending grid block determining unit 12 is used to determine the starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and determine the ending grid block to be moved to in the garbage pit grid model according to the ending position to be moved to of the garbage grab;

[0086] The highest grid block determining unit 13 is used to determine a target grid matrix with the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block with the highest average height in the target grid matrix;

[0087] The grab moving unit 14 is used to drive the garbage grab to move straightly from the current position to the end position by taking the average height of the first target grid block as the minimum moving height of the garbage grab.

[0088] Optionally, the device further comprises:

[0089] A sorting unit, used to sort the grid blocks in the target grid matrix based on the order of average height from high to low;

[0090] A grid block traversal unit is used to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when the grid block is deleted; if so, delete the grid block, and update the target grid matrix to obtain a target grid matrix with the grid block deleted; if not, retain the grid block;

[0091] a second target grid block determining unit, configured to determine, after all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix, and determine a second target grid block having the highest average height among all undeleted grid blocks;

[0092] A moving route driving unit is used to use the average height of the second target grid block as the minimum moving height of the garbage grab, and drive the garbage grab to move from the current position to the end position according to the final moving route.

[0093] Optionally, the device further comprises:

[0094] A garbage pit three-dimensional model building unit, used to obtain three-dimensional information of the garbage pit where the garbage grab is located, and build a three-dimensional model of the garbage pit based on the three-dimensional information;

[0095] A grid block division unit, used for dividing the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top view plane;

[0096] The garbage pit grid model building unit is used to calculate the average height of each grid block to build the garbage pit grid model based on the average height of each grid block.

[0097] Optionally, the garbage pit grid model construction unit includes:

[0098] A pixel point height determination unit, used to determine the height of each pixel point of the top-view plane according to the garbage pit three-dimensional model;

[0099] The height average value calculation unit is used to take the average value of the heights of each pixel point in each grid block of the garbage pit three-dimensional model as the mean height of the grid block, so as to construct the garbage pit grid model based on the average height of each grid block.

[0100] The device for avoiding obstacles in the movement of a garbage grab provided in the embodiment of the present application can be applied to equipment for avoiding obstacles in the movement of a garbage grab, such as a garbage grab control vehicle. Optionally, Figure 4 The hardware structure diagram of the equipment for avoiding obstacles and moving the garbage grab bucket is shown in FIG. Figure 4 The hardware structure of the obstacle avoidance mobile device of the garbage grab may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0101] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0102] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0103] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0104] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0105] Obtaining a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block;

[0106] According to the current position of the garbage grab, determine the starting grid block of the garbage grab in the garbage pit grid model, and according to the terminal position to be moved to, determine the terminal grid block to be moved to in the garbage pit grid model;

[0107] Determine a target grid matrix by taking the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block having the highest average height in the target grid matrix;

[0108] The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move in a straight line from the current position to the end position.

[0109] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0110] The embodiment of the present application further provides a storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0111] Obtaining a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block;

[0112] According to the current position of the garbage grab, determine the starting grid block of the garbage grab in the garbage pit grid model, and according to the terminal position to be moved to, determine the terminal grid block to be moved to in the garbage pit grid model;

[0113] Determine a target grid matrix by taking the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block having the highest average height in the target grid matrix;

[0114] The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move in a straight line from the current position to the end position.

[0115] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0116] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0117] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can refer to each other.

[0118] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An obstacle avoidance moving method for a garbage grab bucket, characterized in that: Applied to a garbage grab bucket control vehicle, the garbage grab bucket control vehicle is used to control the three-dimensional movement of the garbage grab bucket, the method comprises: Obtaining a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block; According to the current position of the garbage grab, determine the starting grid block of the garbage grab in the garbage pit grid model, and according to the terminal position to be moved to, determine the terminal grid block to be moved to in the garbage pit grid model; Determine a target grid matrix by taking the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block having the highest average height in the target grid matrix; The average height of the first target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move in a straight line from the current position to the end position.

2. The method according to claim 1, characterized in that Also includes: Sorting the grid blocks in the target grid matrix based on the order of average height from high to low; Traverse each grid block of the target grid matrix in sorted order: For each grid block traversed, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when deleting the grid block; if so, delete the grid block and update the target grid matrix to obtain the target grid matrix after deleting the grid block; if not, retain the grid block; When all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix is ​​determined, and a second target grid block having the highest average height among all undeleted grid blocks is determined; The average height of the second target grid block is used as the minimum moving height of the garbage grab, and the garbage grab is driven to move from the current position to the terminal position according to the final moving route.

3. The method according to claim 1, characterized in that The process of establishing the garbage pit grid model of the garbage pit where the garbage grab bucket is located includes: Acquire three-dimensional information of a garbage pit where the garbage grab is located, and establish a three-dimensional model of the garbage pit based on the three-dimensional information; Dividing the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top-view plane; The average height of each grid block is calculated to construct a garbage pit grid model based on the average height of each grid block.

4. The method according to claim 3, characterized in that The calculation of the average height of each grid block includes: Determining the height of each pixel point on the top-view plane according to the three-dimensional model of the garbage pit; For each grid block of the three-dimensional model of the garbage pit, the average value of the heights of the pixels in the grid block is used as the mean height of the grid block.

5. An obstacle avoidance moving device for a garbage grab, characterized in that: Applied to a garbage grab bucket control vehicle, the garbage grab bucket control vehicle is used to control the three-dimensional movement of the garbage grab bucket, and the device includes: A grid model acquisition unit, used to acquire a garbage pit grid model of the garbage storage where the garbage grab is located, wherein the garbage pit grid model includes a plurality of grid blocks, and each grid block includes information on an average height of the grid block; A starting and ending grid block determining unit, used to determine the starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and determine the ending grid block to be moved to in the garbage pit grid model according to the ending position to be moved to of the garbage grab; A highest grid block determining unit, configured to determine a target grid matrix with the starting grid block and the end grid block as two diagonal grid blocks of the grid matrix, and determine a first target grid block with the highest average height in the target grid matrix; The grab moving unit is used to drive the garbage grab to move straightly from the current position to the end position by taking the average height of the first target grid block as the minimum moving height of the garbage grab.

6. The device according to claim 5, characterized in that Also includes: A sorting unit, used to sort the grid blocks in the target grid matrix based on the order of average height from high to low; A grid block traversal unit is used to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether there is a moving route from the starting grid block to the end grid block in the target grid matrix when the grid block is deleted; if so, delete the grid block, and update the target grid matrix to obtain a target grid matrix with the grid block deleted; if not, retain the grid block; a second target grid block determining unit, configured to determine, after all grid blocks of the target grid matrix have been traversed, a final moving route consisting of all undeleted grid blocks in the target grid matrix, and determine a second target grid block having the highest average height among all undeleted grid blocks; A moving route driving unit is used to use the average height of the second target grid block as the minimum moving height of the garbage grab, and drive the garbage grab to move from the current position to the end position according to the final moving route.

7. The device according to claim 5, characterized in that Also includes: A garbage pit three-dimensional model building unit, used to obtain three-dimensional information of the garbage pit where the garbage grab is located, and build a three-dimensional model of the garbage pit based on the three-dimensional information; A grid block division unit, used for dividing the three-dimensional model of the garbage pit into a plurality of grid blocks based on its top view plane; The garbage pit grid model building unit is used to calculate the average height of each grid block to build the garbage pit grid model based on the average height of each grid block.

8. The method according to claim 7, characterized in that The garbage pit grid model construction unit comprises: A pixel point height determination unit, used to determine the height of each pixel point of the top-view plane according to the garbage pit three-dimensional model; The height average value calculation unit is used to take the average value of the heights of each pixel point in each grid block of the garbage pit three-dimensional model as the mean height of the grid block, so as to construct the garbage pit grid model based on the average height of each grid block.

9. An obstacle avoidance mobile device for a garbage grab, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the obstacle avoidance movement method of the garbage grab bucket as described in any one of claims 1-4.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, each step of the obstacle avoidance movement method of the garbage grab bucket as described in any one of claims 1 to 4 is implemented.

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