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

Abstract

The present application discloses a method, device, equipment and storage medium for obstacle avoidance movement of a garbage grab. The method includes: obtaining a garbage pit grid model of the garbage storage where the garbage grab is located, determining the starting grid block and the ending grid block in the garbage pit grid model according to the current position and end point of the garbage grab, using the starting grid block and the end grid block as the two diagonal grid blocks of the grid matrix, determining the target grid matrix, and determining the first target grid block with the highest average height in the target grid matrix, using the average height of the first target grid block as the minimum moving height of the garbage grab, and driving the garbage grab to move in a straight line from the current position to the end point. 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 point 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.

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. Background Art

[0002] In the waste disposal process, a grab bucket is a core piece of equipment, responsible for grabbing and depositing waste. It requires frequent movement within the waste pit. However, the pit environment is harsh, filled with uneven obstacles such as piled up garbage and equipment parts. If the grab bucket collides with these obstacles, it can damage the equipment, halt waste disposal operations, and potentially cause safety incidents, contaminate the workplace, and severely impact processing efficiency and safety.

[0003] In the past, grab bucket obstacle avoidance relied primarily on the operator's experience and judgment. Operators controlled the garbage grab bucket and observed the surroundings from inside the vehicle. However, the dim lighting and heavy dust inside the garbage pit limited the operator's vision, making it difficult to accurately judge the position of the grab bucket and obstacles. Furthermore, manual operation lacked responsiveness, making it difficult to avoid obstacles in an emergency, leading to frequent collisions.

[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 progress of 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 the safe and stable progress of garbage disposal work.

[0006] In order to achieve the above objectives, the following specific plans are proposed:

[0007] A method for avoiding obstacles and moving a garbage grab bucket is 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 includes:

[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 about an average height of the grid block;

[0009] 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;

[0010] Determine a target grid matrix with the starting grid block and the ending grid block as two diagonal grid blocks of a grid matrix, and determine a first target grid block with 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 traversed grid block, determine whether there is a movement route from the starting grid block to the ending 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] 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 having the highest average height among the 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 end 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 the 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 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.

[0025] An obstacle avoidance movement device for a garbage grab bucket is 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 device includes:

[0026] A grid model acquisition unit 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;

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

[0028] a highest grid block determining unit, configured to determine a target grid matrix using the starting grid block and the ending 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;

[0029] The grab moving unit is used to drive the garbage grab to move in a straight line 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 includes:

[0031] a sorting unit, configured 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, configured to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether, when deleting the grid block, there exists a movement route from the starting grid block to the ending grid block in the target grid matrix; 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 movement 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 the 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 includes:

[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, configured to divide 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 construction unit is used to calculate the average height of each grid block to construct 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, configured to determine the height of each pixel point on the top-view plane based on the three-dimensional model of the garbage pit;

[0041] The height average calculation unit is used to calculate the average value of the heights of each pixel in each grid block of the three-dimensional garbage pit model as the mean height of the grid block, so as to construct the garbage pit grid model based on the average heights 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 above-mentioned obstacle-avoiding movement method for a garbage grab.

[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 contains multiple grid blocks, each grid block contains information about the average height of the grid block. Furthermore, 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 skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the 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 the 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 achieving 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-avoiding 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] This solution can be implemented using a terminal with data processing capabilities. This terminal can function as a garbage grab control vehicle, which can control the three-dimensional movement of the garbage grab. The garbage grab control vehicle can connect to a lidar scanner in a garbage pit to obtain information from the lidar scanner's scans of the garbage pit. The garbage grab control vehicle can create a three-dimensional model of the garbage depot based on the 3D information from the garbage pit radar scans, and then process the grid blocks to obtain a garbage pit grid model.

[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 in , 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. Therefore, 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). To make this landfill grid model more intuitive and user-friendly, the average height of each grid block can be represented by color, such as blue for a higher average height and green for a lower 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 ending grid block to which the garbage grab is to move in the garbage pit grid model according to the ending position to which the garbage grab is to move.

[0058] Specifically, when the LiDAR scanner scans the garbage pit, it also scans the garbage grab. The garbage grab control vehicle recognizes the radar scan data and analyzes the garbage grab and its corresponding grid block, using the garbage grab's current position as the starting grid block. Simultaneously, it obtains the garbage grab's operating information to determine its current task and, in turn, its final destination, using the garbage grab's final location as the final 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 ending grid block B (17, 2) corresponding to the garbage pit grid model can be determined.

[0060] Step S130 : Determine a target grid matrix with the starting grid block and the ending 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.

[0061] Specifically, such as 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 a total of 3*11=33 grid blocks. 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: Using the average height of the first target grid block as the minimum moving height of the garbage grab, drive the garbage grab to move in a straight line from the current position to the end position.

[0063] Specifically, such as 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 for a garbage grab provided in this embodiment obtains a grid model of the garbage pit of the garbage storage facility where the garbage grab is located. The garbage pit grid model includes multiple grid blocks, each of which contains information about the average height of the grid block. Furthermore, based on the current position of the garbage grab, the starting grid block of the garbage grab in the garbage pit grid model is determined. Based on the final position to which the garbage grab is to move, the final grid block to which the garbage grab is to move in the garbage pit grid model is determined. A target grid matrix is ​​determined using the starting grid block and the final grid block as the two diagonal grid blocks of the grid matrix. 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 movement height of the garbage grab, and the garbage grab is driven to move in a straight line from its current position to the final position. Thus, by using the garbage storage grid model to locate the highest point of obstacles within the movement area, the garbage grab moves above the highest point of the obstacles, accurately avoiding collisions with obstacles in the pit and ensuring safe and stable garbage disposal operations.

[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 damage to the equipment, 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 requirements, the garbage grab is made to run as low as possible. The obstacle avoidance and movement method of the garbage grab provided in this application can 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 sorted order: For each traversed grid block, determine whether there is a movement route from the starting grid block to the ending 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 for the garbage grab to move from A to B will not be lost, so the grid block (8,2) can be deleted, and all 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 After all the grid blocks of the target grid matrix have been traversed, the remaining grid blocks 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. Using the average height of the second target grid block as the minimum moving height of the garbage grab, drive the garbage grab to move from the current position to the end position according to the final moving route.

[0072] It can be understood that compared with 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 move lower 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 a garbage pit grid model for the garbage pit where the garbage grab bucket is located mentioned in the above embodiment is introduced. The process may include:

[0074] S1. Obtain three-dimensional information of the garbage pit where the garbage grab 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 multiple grid blocks based on its top-view plane.

[0077] Specifically, such as 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 heights of the grid blocks.

[0079] Specifically, the height of each pixel point on the overhead plane can be determined based on the garbage pit three-dimensional model. 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 understood that each grid block may contain multiple pixels (e.g., 10 pixels), and the heights of these pixels may be obtained based on the data provided by the 3D model of the garbage pit. Therefore, the height of each grid block may be represented by the average of the heights of all pixels.

[0081] The following describes 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 configured to acquire a garbage pit grid model of the garbage dump 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, configured to determine a starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and to determine a terminal grid block to be moved to in the garbage pit grid model according to the terminal position to be moved to;

[0086] a highest grid block determining unit 13, configured to determine a target grid matrix using the starting grid block and the ending 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;

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

[0088] Optionally, the device further includes:

[0089] a sorting unit, configured 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, configured to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether, when deleting the grid block, there exists a movement route from the starting grid block to the ending grid block in the target grid matrix; 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 movement 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 the 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 includes:

[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, configured to divide 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 construction unit is used to calculate the average height of each grid block to construct 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, configured to determine the height of each pixel point on the top-view plane based on the three-dimensional model of the garbage pit;

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

[0100] The device for avoiding obstacles in moving a garbage grab provided in the embodiment of the present application can be applied to equipment for avoiding obstacles in moving 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 is shown. Figure 4 The hardware structure of the obstacle avoidance and movement 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), or one or more integrated circuits configured to implement the embodiments of the present invention;

[0103] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), 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 multiple grid blocks, and each grid block includes information about the average height of the grid block;

[0106] 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;

[0107] Determine a target grid matrix with the starting grid block and the ending grid block as two diagonal grid blocks of a grid matrix, and determine a first target grid block with 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] An 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 multiple grid blocks, and each grid block includes information about the average height of the grid block;

[0112] 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;

[0113] Determine a target grid matrix with the starting grid block and the ending grid block as two diagonal grid blocks of a grid matrix, and determine a first target grid block with 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 document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[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 be referenced to each other.

[0118] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one 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 is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for avoiding obstacles and moving 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 comprising: 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 about an average height of the grid block; 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; Determine a target grid matrix with the starting grid block and the ending grid block as two diagonal grid blocks of a grid matrix, and determine a first target grid block with the highest average height in the target grid matrix; Using the average height of the first target grid block as the minimum moving height of the garbage grab, driving the garbage grab to move linearly from the current position to the end position; The method further 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 traversed grid block, determine whether there is a movement route from the starting grid block to the ending 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. 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 having the highest average height among the 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 end position according to the final moving route.

2. 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 the 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.

3. The method according to claim 2, characterized in that Calculating 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.

4. 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, the device includes: A grid model acquisition unit 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; a starting and ending grid block determining unit, configured to determine a starting grid block of the garbage grab in the garbage pit grid model according to the current position of the garbage grab, and to determine a terminal grid block to be moved to in the garbage pit grid model according to the terminal position to be moved to; a highest grid block determining unit, configured to determine a target grid matrix using the starting grid block and the ending 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; a grab moving unit, configured to drive the garbage grab to move linearly from the current position to the end position, using the average height of the first target grid block as the minimum moving height of the garbage grab; a sorting unit, configured 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, configured to traverse each grid block of the target grid matrix in a sorted order: for each traversed grid block, determine whether, when deleting the grid block, there exists a movement route from the starting grid block to the ending grid block in the target grid matrix; 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 movement 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 the 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.

5. The device according to claim 4, 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, configured to divide 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 construction unit is used to calculate the average height of each grid block to construct the garbage pit grid model based on the average height of each grid block.

6. The device according to claim 5, characterized in that The garbage pit grid model construction unit includes: a pixel point height determination unit, configured to determine the height of each pixel point on the top-view plane based on the three-dimensional model of the garbage pit; The height average calculation unit is used to calculate the average value of the heights of each pixel in each grid block of the three-dimensional garbage pit model as the mean height of the grid block, so as to construct the garbage pit grid model based on the average heights of each grid block.

7. 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 as described in any one of claims 1-3.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the obstacle avoidance movement method of a garbage grab as described in any one of claims 1 to 3 is implemented.

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