WO2023197668A1 - Obstacle avoidance control method and apparatus for robot - Google Patents

Abstract

An obstacle avoidance control method and apparatus (400) for a robot (503), which relate to the technical field of computers. A specific implementation of the method comprises: collecting image data at the current moment by using an image collection device (501) of a robot (503), and acquiring first pose information of the robot (503) in a world coordinate system (S101); detecting an obstacle in the image data, and when the obstacle is detected, calculating first position information of the obstacle at the current moment in a coordinate system of the robot (503) (S102); at the moment following the current moment, acquiring second pose information of the robot (503) in the world coordinate system (S103); and according to the first pose information, the first position information and the second pose information, calculating second position information of the obstacle at the next moment in the coordinate system of the robot (503), so that the robot (503) performs obstacle avoidance according to the second position information (S104).

Description

Robot obstacle avoidance control method and device

Cross-references to related applications

This application claims the priority of Chinese patent application No. 202210373750.8, which is titled "A robot obstacle avoidance control method and device" and was submitted on April 11, 2022. The content disclosed in the above Chinese patent application is quoted in its entirety as part or all of this application.

Technical field

The present disclosure relates to the field of computer technology, and in particular, to a robot obstacle avoidance control method and device.

Background technique

The robot usually uses a three-dimensional (3D) camera for obstacle sensing and avoidance during movement. Specifically, the 3D camera generates data through calculation and transmits it back to the robot. The robot detects obstacles through a perception algorithm based on the data returned by the 3D camera. position so that obstacle avoidance can be performed based on this position when the robot moves.

In the process of implementing the present disclosure, there are at least the following problems in the prior art:

Due to the limitations of hardware computing power and data transmission, the data received by the robot is lagging. Coupled with the time-consuming perception algorithm itself, the position of the detected obstacle is lagging behind compared with the real situation, so the robot cannot Avoid obstacles in time, and the obstacle avoidance sensitivity is low.

Contents of the invention

In view of this, embodiments of the present disclosure provide a robot obstacle avoidance control method and device.

According to an aspect of an embodiment of the present disclosure, a robot obstacle avoidance control method is provided.

A robot obstacle avoidance control method according to an embodiment of the present disclosure includes: using an image acquisition device of the robot to collect image data at the current moment, and obtaining the first attitude information of the robot in the world coordinate system; detecting the image data Obstacle, when the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment; at the next moment after the current moment, obtain the position of the robot in the world The second pose information in the coordinate system; according to the first pose information, the first position information and the second pose information, calculate the second pose information of the obstacle in the robot coordinate system at the next moment. Position information, so that the robot can avoid obstacles according to the second position information.

According to one or more embodiments of the present disclosure, the position of the obstacle in the robot coordinate system at the next moment is calculated based on the first attitude information, the first position information and the second attitude information. The second position information includes: performing coordinate transformation on the first position information according to the first attitude information to obtain the third position information of the obstacle in the world coordinate system; according to the second position information pose information, perform coordinate transformation on the third position information, and obtain the second position information of the obstacle in the robot coordinate system at the next moment.

According to one or more embodiments of the present disclosure, the first position information includes first coordinates of a plurality of points on the obstacle; and according to the first attitude information, the first position information Performing coordinate transformation to obtain the third position information of the obstacle in the world coordinate system includes: performing coordinate transformation on the first coordinates of the plurality of points respectively according to the first attitude information to obtain the plurality of points. the second coordinates of the points in the world coordinate system; the second coordinates corresponding to the multiple points are used as the third position information of the obstacle in the world coordinate system.

According to one or more embodiments of the present disclosure, the next moment is the moment after the first position information is calculated; and the coordinate transformation is performed on the third position information according to the second pose information. , obtaining the second position information of the obstacle in the robot coordinate system at the next moment, including: performing coordinate transformation on the second coordinates corresponding to the plurality of points according to the second pose information, to obtain the The third coordinates of the multiple points in the robot coordinate system at the next moment; the third coordinates corresponding to the multiple points are used as the second position information of the obstacle in the robot coordinate system at the next moment.

According to one or more embodiments of the present disclosure, calculating the first position information of the obstacle in the robot coordinate system at the current moment includes: traversing points on the obstacle, and calculating the traversed point at the current moment. The first coordinates in the robot coordinate system; use the first coordinates corresponding to multiple points on the obstacle as the first position information of the obstacle in the robot coordinate system at the current moment.

According to one or more embodiments of the present disclosure, the first posture information and the second posture information each include position information and posture information of the robot at the corresponding moment, wherein the position information is based on an odometer. It is collected or obtained by positioning the robot based on the positioning algorithm; the attitude information is obtained by reading the IMU unit.

According to one or more embodiments of the present disclosure, the method further includes: if the obstacle is not detected, performing again the step of collecting image data using the image acquisition device of the robot at the current moment.

According to another aspect of embodiments of the present disclosure, a robot obstacle avoidance control device is provided.

A robot obstacle avoidance control device according to an embodiment of the present disclosure includes: a first acquisition module, configured to collect image data using an image acquisition device of the robot at the current moment, and to acquire the first posture of the robot in a world coordinate system. Information; a position calculation module, used to detect obstacles in the image data, and when the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment; the second acquisition module , at the next moment after the current moment, obtain the second pose information of the robot in the world coordinate system; the obstacle avoidance control module is used to obtain the second pose information of the robot according to the first pose information, the first position information and the second pose information, and calculate the second position information of the obstacle in the robot coordinate system at the next moment, so that the robot can avoid the obstacle according to the second position information.

According to yet another aspect of embodiments of the present disclosure, an electronic device is provided.

An electronic device according to an embodiment of the present disclosure includes: one or more processors; a storage device configured to store one or more programs. When the one or more programs are executed by the one or more processors, The one or more processors are caused to implement a robot obstacle avoidance control method according to an embodiment of the present disclosure.

According to yet another aspect of embodiments of the present disclosure, a computer-readable medium is provided.

A computer-readable medium according to an embodiment of the present disclosure has a computer program stored thereon. When the program is executed by a processor, a robot obstacle avoidance control method according to an embodiment of the present disclosure is implemented.

Further effects of the above-mentioned non-conventional optional methods will be described below in conjunction with specific implementations.

Description of the drawings

The accompanying drawings are used for a better understanding of the present disclosure and do not constitute an improper limitation of the present disclosure. in:

Figure 1 is a schematic diagram of the main steps of a robot obstacle avoidance control method according to an embodiment of the present disclosure;

Figure 2 is a main flow diagram of a robot obstacle avoidance control method according to yet another embodiment of the present disclosure;

Figure 3 is a main flow diagram of a robot obstacle avoidance control method according to another embodiment of the present disclosure;

Figure 4 is a schematic diagram of the main modules of a robot obstacle avoidance control device according to an embodiment of the present disclosure;

Figure 5 is an exemplary system architecture diagram in which embodiments of the present disclosure may be applied;

FIG. 6 is a schematic structural diagram of a computer device suitable for implementing an electronic device according to an embodiment of the present disclosure.

Detailed ways

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the present disclosure are included to facilitate understanding and should be considered to be exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

Figure 1 is a schematic diagram of the main steps of a robot obstacle avoidance control method according to an embodiment of the present disclosure. As shown in Figure 1, the robot obstacle avoidance control method according to the embodiment of the present disclosure mainly includes the following steps:

Step S101: Use the image acquisition device of the robot to collect image data at the current moment, and obtain the first attitude information of the robot in the world coordinate system. The robot calls the image acquisition device at the current moment and triggers the image acquisition device to collect surrounding image data. At the same time, the pose information of the robot in the world coordinate system at the current moment is recorded. In order to facilitate the distinction, it is later called the first pose information.

Step S102: Detect obstacles in the image data. If the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment. Based on the collected image data, the robot detects obstacles in the image data through a perception algorithm. When the obstacle is successfully detected, the current position of the obstacle relative to the robot is further calculated, which is also the first position information of the obstacle in the robot coordinate system at the current moment.

Step S103: At the next moment after the current moment, obtain the second pose information of the robot in the world coordinate system. Select a moment that lags behind the current moment as the next moment, and record the pose information of the robot in the world coordinate system at the next moment. In order to facilitate the distinction, it is later called the second pose information.

Step S104: Calculate the second position information of the obstacle in the robot coordinate system at the next moment according to the first posture information, the first position information and the second posture information, so that the The robot avoids obstacles according to the second position information.

In this step, based on the principle that the coordinates of the obstacle in the world coordinate system remain unchanged at different times, the robot's position at the next moment of the obstacle is calculated. This position is also the second position of the obstacle in the robot coordinate system at the next moment. information. Subsequently, the second position information is input into the robot control algorithm for obstacle avoidance, which eliminates the impact of the robot's movement from the current moment to the next moment, improves the robot's response speed for obstacle avoidance, and improves the obstacle avoidance sensitivity.

FIG. 2 is a main flow diagram of a robot obstacle avoidance control method according to yet another embodiment of the present disclosure. As shown in Figure 2, the robot obstacle avoidance control method according to the embodiment of the present disclosure is executed by the robot and mainly includes the following steps:

Step S201: Call the image acquisition device to collect image data at the current moment, and obtain the first attitude information of the robot in the world coordinate system at the current moment. Image acquisition equipment is used to collect surrounding image information during the movement of the robot, such as industrial cameras, depth cameras, etc.

At the current moment (can be recorded as time t ₀ ), the robot calls the image acquisition device and triggers it to start shooting a frame of image data; at the same time, the first attitude information of the robot in the world coordinate system is recorded at time t ₀ , which can be expressed as ( x ₀ ,y ₀ ,θ ₀ ).

In practical applications, the first attitude information includes the position information (x ₀ , y ₀ ) and attitude information θ ₀ of the robot at time t ₀ , where the position information (x ₀ , y ₀ ) can be collected based on the odometer, Or it can be obtained by positioning the robot based on the positioning algorithm; the attitude information θ ₀ is the heading angle of the robot in the world coordinate system at time t ₀ , which can be obtained by reading the inertial measurement unit (IMU).

Step S202: Detect obstacles in the image data through the perception algorithm, and determine whether the obstacle is successfully detected. If the obstacle is successfully detected, step S203 is executed; otherwise, step S201 is executed.

After the robot receives the image data returned from the image acquisition device, it is input into the robot's perception algorithm to detect obstacles in the image data. If an obstacle is detected during the execution of this round of robot obstacle avoidance control method, subsequent steps S203 to S206 will be executed; if no obstacle is detected, step S201 will be returned to perform the next round of robot obstacle avoidance control.

Step S203: Calculate the first position information of the obstacle in the robot coordinate system at the current moment through the perception algorithm. If an obstacle is detected from the image data, the perception algorithm continues to calculate the first position information of the obstacle in the robot coordinate system at the current moment.

In one embodiment, when calculating the first position information, it is necessary to traverse the points on the obstacle and calculate the first coordinate of the traversed point in the robot coordinate system at the current moment; then, the corresponding points on the obstacle are The first coordinate is used as the first position information of the obstacle in the robot coordinate system at the current moment. It can be seen from this that the first position information includes first coordinates of multiple points on the obstacle.

Let one of the points of the obstacle be recorded as p, then the first coordinate of point p in the robot coordinate system at the current moment can be expressed as p(x,y).

Step S204: At the next moment after the current moment, obtain the second pose information of the robot in the world coordinate system. Select a moment after the current moment as the next moment (can be recorded as t ₁ moment), and record the second pose information of the robot in the world coordinate system at t ₁ moment, which can be expressed as (x ₁ , y ₁ , θ ₁ ).

In practical applications, the second pose information includes the robot's position information (x ₁ , y ₁ ) and attitude information θ ₁ at time t ₁ . Similarly, the position information (x ₁ , y ₁ ) can be collected based on the odometer. , or obtained by positioning the robot based on the positioning algorithm; the attitude information θ ₁ is the heading angle of the robot in the world coordinate system at time t ₁ , which can be obtained by reading the IMU unit.

Step S205: Calculate the second position information of the obstacle in the robot coordinate system at the next moment based on the first posture information, the first position information and the second posture information. This step is used to offset the obtained position of the obstacle relative to the robot and the robot's own displacement to remove changes in relative posture caused by the movement of the robot between time t ₀ and time t ₁ .

Specifically, first, coordinate transformation is performed on the first position information based on the first posture information to obtain the third position information of the obstacle in the world coordinate system; then, coordinate transformation is performed on the third position information based on the second posture information. , obtain the second position information of the obstacle in the robot coordinate system at the next moment.

In the embodiment, when calculating the third position information, first coordinate transformation is performed on the first coordinates of multiple points on the obstacle based on the first attitude information to obtain the second coordinates of the multiple points in the world coordinate system. ;Then the second coordinates corresponding to the multiple points are used as the third position information of the obstacle in the world coordinate system.

When calculating the second position information, first perform coordinate transformation on the second coordinates corresponding to multiple points on the obstacle based on the second pose information, and obtain the third coordinates of the multiple points in the robot coordinate system at the next moment. ;Then use the third coordinates corresponding to the multiple points as the second position information of the obstacle in the robot coordinate system at the next moment.

Take the calculation of the third coordinate of point p in the robot coordinate system at time t ₁ as an example. Assume that the obstacle is stationary in the world coordinate system. Since point p is in the world coordinate system If the coordinates below remain unchanged, the following formula can be obtained:

The above formula indicates that the coordinates of point p in the world coordinate system at time t ₀ are the same as the coordinates of point p in the world coordinate system at time t ₁ . Since (x ₀ ,y ₀ ,θ ₀ ), (x ₁ ,y ₁ ,θ ₁ ) and p(x,y) in this formula are all known quantities, it can be calculated that the robot coordinates of point p at time t ₁ The third coordinate p(x′,y′) under the system.

It should be noted that although this embodiment assumes that the obstacle is stationary, in practical applications, it is not necessary to consider whether the obstacle is moving or stationary. Even if the obstacle is moving, this embodiment can also eliminate the impact caused by the movement of the robot. Lag issues. By converting each point of the obstacle according to the above formula, the new obstacle coordinates can be calculated. At this time, the relative pose change of the robot from time t ₀ to time t ₁ can be eliminated.

Step S206: Input the second position information to the robot control algorithm for obstacle avoidance. After the execution of this step is completed, step S201 can be continued to perform the next round of robot obstacle avoidance control.

Figure 3 is a main flow diagram of a robot obstacle avoidance control method according to another embodiment of the present disclosure. As shown in Figure 3, the robot obstacle avoidance control method according to the embodiment of the present disclosure is executed by the robot, and the robot is equipped with an odometer and an IMU unit, and mainly includes the following steps:

Step S301: Call the 3D camera to collect image data at the current moment, and obtain the first attitude information of the robot in the world coordinate system at the current moment through the odometer and IMU unit. The robot calls the 3D camera at the current moment, triggering it to start shooting a frame of image data; at the same time, by reading the data of the odometer and IMU unit at the current moment, the first attitude information of the robot in the world coordinate system at the current moment is obtained.

Step S302: Detect obstacles in the image data through the perception algorithm, and determine whether the obstacle is successfully detected. If the obstacle is successfully detected, step S303 is executed; otherwise, step S301 is executed. The specific implementation of this step can be found in step S202, which will not be described again here.

Step S303: Calculate the first position information of the obstacle in the robot coordinate system at the current moment through the perception algorithm. The specific implementation of this step can be found in step S203, which will not be described again here.

Step S304: At the next moment after the first position information is calculated, obtain the second pose information of the robot in the world coordinate system through the odometer and IMU unit. In this embodiment, the next time is a time after the first position information is calculated.

Step S305: Calculate the second position information of the obstacle in the robot coordinate system at the next moment based on the first posture information, the first position information and the second posture information. The specific implementation of this step can be found in step S205, which will not be described again here.

Step S306: Input the second position information to the robot control algorithm for obstacle avoidance, and then execute step S301. After this round of obstacle avoidance control is completed, the next round of robot obstacle avoidance control can be carried out.

The robot obstacle avoidance control method in the embodiment of the present disclosure uses the moment after the first position information is calculated as the next moment, and then performs compensation calculations on the position information of the obstacle, so that the delay period (that is, the perception of the obstacle avoidance process) can be eliminated. Due to the impact of hardware computing power, data transmission limitations, and the time-consuming perception algorithm (all delays corresponding to the robot movement), the mobile robot uses a 3D camera for obstacle perception during the movement due to the lag in the delay detection results. This leads to problems such as delayed obstacle avoidance and reduced sensitivity.

FIG. 4 is a schematic diagram of the main modules of a robot obstacle avoidance control device according to an embodiment of the present disclosure. As shown in Figure 4, the robot obstacle avoidance control device 400 according to the embodiment of the present disclosure mainly includes:

The first acquisition module 401 is used to collect image data using the image acquisition device of the robot at the current moment, and obtain the first attitude information of the robot in the world coordinate system. The robot calls the image acquisition device at the current moment and triggers the image acquisition device to collect surrounding image data. At the same time, the current pose information of the robot in the world coordinate system is recorded, that is, the first pose information.

The position calculation module 402 is used to detect obstacles in the image data, and when the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment. Based on the collected image data, the robot detects obstacles in the image data through a perception algorithm. When the obstacle is successfully detected, the current position of the obstacle relative to the robot is further calculated, which is also the first position information of the obstacle in the robot coordinate system at the current moment.

The second acquisition module 403 acquires the second pose information of the robot in the world coordinate system at the next moment after the current moment. Select a moment that lags behind the current moment as the next moment, and record the pose information of the robot in the world coordinate system at the next moment, that is, the second pose information.

The obstacle avoidance control module 404 is used to calculate the second position information of the obstacle in the robot coordinate system at the next moment based on the first attitude information, the first position information and the second attitude information. , so that the robot can avoid obstacles according to the second position information.

Based on the principle that the coordinates of the obstacle in the world coordinate system remain unchanged at different times, this module calculates the position of the robot at the next moment of the obstacle, which is also the second position information of the obstacle in the robot coordinate system at the next moment. Subsequently, the second position information is input into the robot control algorithm for obstacle avoidance, which eliminates the impact of the robot's movement from the current moment to the next moment, improves the robot's obstacle avoidance response speed, and improves obstacle avoidance sensitivity.

In addition, the robot obstacle avoidance control device 400 in the embodiment of the present disclosure may also include: a repeated execution module (not shown in Figure 4), which is used to execute the above-mentioned step again when the obstacle is not detected. Steps to collect image data using the robot's image acquisition equipment at the current moment.

As can be seen from the above description, based on the position of the obstacle relative to the robot at the current moment, the robot pose at the current moment and the lagged next moment, the position of the obstacle relative to the robot at the next moment is calculated, and obstacle avoidance is performed according to this position. This eliminates the impact of the robot's movement in the period from the current moment to the next moment, improves the robot's response speed to obstacle avoidance, and improves its obstacle avoidance sensitivity.

FIG. 5 shows an exemplary system architecture 500 to which a robot obstacle avoidance control method or a robot obstacle avoidance control device according to embodiments of the present disclosure can be applied.

As shown in Figure 5, the system architecture 500 may include an image acquisition device 501, a network 502 and a robot 503. Network 502 is a medium used to provide a communication link between image capture device 501 and robot 503 .

The user can interact with the robot 503 through the network 502 using the image capture device 501 to receive or send messages, etc. The image acquisition device 501 may be various electronic devices with image acquisition functions, including but not limited to industrial cameras.

The robot 503 can be a terminal product that provides various services. It can call the image acquisition device 501 to collect image data, detect obstacles, calculate the second position information of the obstacles, and perform obstacle avoidance and other processes.

It should be noted that the robot obstacle avoidance control method provided in the embodiment of the present application is generally executed by the robot 503. Correspondingly, the robot obstacle avoidance control device is generally provided in the robot 503.

It should be understood that the number of image acquisition devices, networks and robots in Figure 5 is only illustrative. Depending on implementation needs, you can have any number of image acquisition devices, networks, and robots.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a computer-readable medium.

The electronic device of the present disclosure includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, such that the one or more programs Multiple processors implement a robot obstacle avoidance control method according to an embodiment of the present disclosure.

The computer-readable medium of the present disclosure has a computer program stored thereon. When the program is executed by a processor, a robot obstacle avoidance control method according to an embodiment of the present disclosure is implemented.

Referring now to FIG. 6 , a schematic structural diagram of a computer system 600 suitable for implementing an electronic device according to an embodiment of the present disclosure is shown. The electronic device shown in FIG. 6 is only an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 6 , computer system 600 includes a central processing unit (CPU) 601 that can operate according to a program stored in a read-only memory (ROM) 602 or loaded from a storage portion 608 into a random access memory (RAM) 603 And perform various appropriate actions and processing. In the RAM 603, various programs and data required for the operation of the computer system 600 are also stored. CPU 601, ROM 602 and RAM 603 are connected to each other through bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., speakers, etc.; and a storage section 608 including a hard disk, etc. ; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. Driver 610 is also connected to I/O interface 605 as needed. Removable media 611, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

In particular, according to embodiments of the present disclosure, the process described in the above main step diagram may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the main step diagram. In such embodiments, the computer program may be downloaded and installed from the network via communication portion 609, and/or installed from removable media 611. When the computer program is executed by the central processing unit (CPU) 601, the above-described functions defined in the system of the present disclosure are performed.

It should be noted that the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmed read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block in the block diagram or flowchart illustration, and combinations of blocks in the block diagram or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented by special purpose hardware-based systems that perform the specified functions or operations. Achieved by a combination of specialized hardware and computer instructions.

The modules involved in the embodiments of the present disclosure can be implemented in software or hardware. The described module can also be provided in a processor. For example, it can be described as: a processor includes a first acquisition module, a position calculation module, a second acquisition module and an obstacle avoidance control module. Among them, the names of these modules do not constitute a limitation on the module itself under certain circumstances. For example, the first acquisition module can also be described as “using the image acquisition equipment of the robot to acquire image data at the current moment, and acquire the "Module for the first attitude information of the robot in the world coordinate system".

As another aspect, the present disclosure also provides a computer-readable medium. The computer-readable medium may be included in the device described in the above embodiments; it may also exist separately without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by a device, the device includes: collecting image data by using the image acquisition device of the robot at the current moment, and obtaining the image data of the robot. The first attitude information in the world coordinate system; detecting obstacles in the image data, and when the obstacle is detected, calculating the first position information of the obstacle in the robot coordinate system at the current moment; At the next moment after the current moment, obtain the second pose information of the robot in the world coordinate system; according to the first pose information, the first position information and the second pose information , calculate the second position information of the obstacle in the robot coordinate system at the next moment, so that the robot can avoid obstacles according to the second position information.

According to the technical solution of the embodiment of the present disclosure, based on the position of the obstacle relative to the robot at the current moment, the robot pose at the current moment and the lagged next moment, the position of the obstacle relative to the robot at the next moment is calculated, and avoidance is performed according to this position. Obstacles eliminate the impact of the robot's movement from the current moment to the next moment, improve the robot's response speed to avoid obstacles, and improve the sensitivity of obstacle avoidance.

The above-mentioned products can execute the methods provided by the embodiments of the present disclosure, and have corresponding functional modules and beneficial effects for executing the methods. For technical details that are not described in detail in this embodiment, please refer to the methods provided by the embodiments of this disclosure.

The above-mentioned specific embodiments do not constitute a limitation on the scope of the present disclosure. It will be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this disclosure shall be included in the protection scope of this disclosure.

Claims (10)

A robot obstacle avoidance control method, including: Use the image acquisition device of the robot to collect image data at the current moment, and obtain the first attitude information of the robot in the world coordinate system; Detect obstacles in the image data, and when the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment; At the next moment after the current moment, obtain the second pose information of the robot in the world coordinate system; According to the first posture information, the first position information and the second posture information, calculate the second position information of the obstacle in the robot coordinate system at the next moment, so that the robot can move according to the required The second position information is used to avoid obstacles. The method according to claim 1, wherein the position of the obstacle in the robot coordinate system at the next moment is calculated based on the first attitude information, the first position information and the second attitude information. The second location information includes: According to the first attitude information, perform coordinate transformation on the first position information to obtain the third position information of the obstacle in the world coordinate system; According to the second pose information, coordinate transformation is performed on the third position information to obtain the second position information of the obstacle in the robot coordinate system at the next moment. The method of claim 2, wherein the first position information includes first coordinates of a plurality of points on the obstacle; The step of performing coordinate transformation on the first position information according to the first attitude information to obtain the third position information of the obstacle in the world coordinate system includes: According to the first posture information, perform coordinate transformation on the first coordinates of the plurality of points respectively to obtain the second coordinates of the plurality of points in the world coordinate system; The second coordinates corresponding to the plurality of points are used as the third position information of the obstacle in the world coordinate system. The method according to claim 3, wherein the next time is the time after the first position information is calculated; Performing coordinate transformation on the third position information according to the second pose information to obtain the second position information of the obstacle in the robot coordinate system at the next moment includes: According to the second pose information, perform coordinate transformation on the second coordinates corresponding to the multiple points respectively to obtain the third coordinates of the multiple points in the robot coordinate system at the next moment; The third coordinates corresponding to the plurality of points are used as the second position information of the obstacle in the robot coordinate system at the next moment. The method according to claim 1, wherein calculating the first position information of the obstacle in the robot coordinate system at the current moment includes: Traverse the points on the obstacle and calculate the first coordinate of the traversed point in the robot coordinate system at the current moment; The first coordinates corresponding to the multiple points on the obstacle are used as the first position information of the obstacle in the robot coordinate system at the current moment. The method according to claim 1, wherein the first posture information and the second posture information each include the position information and posture information of the robot at the corresponding moment, wherein, The position information is obtained based on the odometer collection, or the robot is positioned based on the positioning algorithm; the attitude information is obtained by reading the IMU unit. The method according to any one of claims 1 to 6, wherein the method further comprises: If the obstacle is not detected, the step of collecting image data using the image acquisition device of the robot at the current moment is performed again. A robot obstacle avoidance control device, including: The first acquisition module is used to collect image data using the image acquisition device of the robot at the current moment, and obtain the first attitude information of the robot in the world coordinate system; A position calculation module, used to detect obstacles in the image data, and when the obstacle is detected, calculate the first position information of the obstacle in the robot coordinate system at the current moment; The second acquisition module acquires the second pose information of the robot in the world coordinate system at the next moment after the current moment; An obstacle avoidance control module, configured to calculate the second position information of the obstacle in the robot coordinate system at the next moment based on the first posture information, the first position information and the second posture information, So that the robot can avoid obstacles according to the second position information. An electronic device including: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described in any one of claims 1-7. A computer-readable medium having a computer program stored thereon, which implements the method according to any one of claims 1-7 when executed by a processor.

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