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Robot avoidance controlling method and device

A control method and robot technology, applied in the field of data processing, can solve the problems of robot damage, increase of robot maintenance cost, inability to apply robot passive avoidance, etc., and achieve the effect of improving versatility and optimizing avoidance technology

Active Publication Date: 2017-04-26
北京如布科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned technology is mainly used in the scene where the robot is moving, and cannot be applied to the scene where the robot is passively avoiding. For example, when the robot is in a static state and a moving object approaches the robot, the robot cannot effectively avoid it; The treatment method is easy to cause damage to the robot. After a long time, it will increase the maintenance cost of the robot. If the obstacle is a person or an animal, it may cause harm to the person or animal. Therefore, the use of the above technologies will be limited.

Method used

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  • Robot avoidance controlling method and device

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Experimental program
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Embodiment 1

[0032] Figure 1a It is a flow chart of a robot avoidance control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where a robot avoids a moving object. The method can be executed by a robot avoidance control device, which can be controlled by a software and / or hardware, and generally can be integrated in the controller of the robot, the method of the present embodiment specifically includes the following steps:

[0033] S110. Acquire at least two object images in a detection direction by using a monocular camera, and identify at least one moving object in the object images.

[0034] In this embodiment, the monocular camera (camera including only one lens) can be configured on the head of the robot or other rotatable parts, for when the robot rotates to a detection direction, Take multiple images of the object.

[0035] Wherein, the shooting interval of multiple object images may be preset according to the actual situati...

Embodiment 2

[0052] Figure 2a It is a flow chart of a robot avoidance control method provided in Embodiment 2 of the present invention. This embodiment is optimized based on the above embodiments. In this embodiment, at least one moving object will be identified in the object image for specific optimization. The method is: identifying a moving foreground object from the at least two object images; marking the moving foreground object as white through binarization processing; combined into a moving object. Correspondingly, the method in this embodiment specifically includes:

[0053] S210. Acquire at least two object images in the detection direction through a monocular camera.

[0054] S220. Identify a moving foreground object from the at least two object images.

[0055] As mentioned earlier, moving foreground objects can be identified from multiple object images by using moving foreground object detection techniques. The algorithm used in the moving foreground object detection techn...

Embodiment 3

[0074] Figure 3a It is a flow chart of a robot avoidance control method provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above embodiments. In this embodiment, the height value of the moving object in geographic space is 0. The position coordinates are associated with the pixel coordinates of the moving object closest to the ground plane in the object image, and the position coordinates of the moving object in geographic space are calculated for further optimization. Correspondingly, the method in this embodiment specifically includes:

[0075] S310. Acquire at least two object images in a detection direction by using a monocular camera, and identify at least one moving object in the object images.

[0076] S320. Establish a three-dimensional measurement coordinate system according to the position of the monocular camera in geographic space; wherein, a projection point of the geometric midpoint of the monocular camera on a h...

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Abstract

Embodiments of the present invention disclose a robot avoidance controlling method and a device. The method comprises the steps of acquiring at least two object images in the detection direction by means of a monocular camera, and identifying at least moving object in the object images; according to the pixel coordinates of the moving object in the object images, calculating the position coordinates of the moving object in the geographic space; according to the real-time changing condition corresponding to the position coordinates of the moving object, predicting the corresponding motion state of the moving object; according to the motion state, controlling a robot to avoid the moving object. According to the technical scheme in the embodiments of the present invention, in the prior art, no effective solution for controlling the robot to avoid a moving obstacle is provided. Therefore, the above method provides an effective solution to solve the above problem. The robot avoidance technique is optimized, and the universality of the robot avoidance technical scheme is improved. Meanwhile, the advantages of low cost and good avoidance effect are realized.

Description

technical field [0001] Embodiments of the present invention relate to data processing technology, and in particular, to a robot avoidance control method and device. Background technique [0002] With the continuous advancement of artificial intelligence technology, people have higher and higher requirements for robot functions, and expect robots to have certain autonomous processing capabilities. [0003] In the practical application of the robot, in the process of autonomous walking or controlled walking, obstacles such as walls, furniture, and even people and animals inevitably appear in front of or on the side of the robot. Based on this, obstacle avoidance technology appears in the prior art during robot travel, for example: after the robot encounters an obstacle, the original route is changed through corresponding control to achieve the purpose of avoiding the obstacle. [0004] However, the above-mentioned technology is mainly used in the scene where the robot is movi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0094G05D1/02
Inventor 王奇雷宇
Owner 北京如布科技有限公司
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