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CN-121989219-A - Control method and device for auxiliary robot

CN121989219ACN 121989219 ACN121989219 ACN 121989219ACN-121989219-A

Abstract

The application discloses a control method and a control device for an auxiliary robot, and belongs to the technical field of robots. The method comprises the steps of obtaining a first image collected through collecting equipment, wherein the first image represents the distance between a contact part of a target object and the collecting equipment and the distance between the contact surface of the environment where the target object is located and the collecting equipment, dividing a first area and a second area from the first image, wherein the first area represents the distance between the contact part and the collecting equipment, the second area represents the distance between the contact surface and the collecting equipment, determining a first contact state of the target object according to the first area and the second area, wherein the first contact state represents whether the contact part is in contact with the contact surface, controlling an auxiliary robot according to the first contact state, and the auxiliary robot is used for assisting the movement of the target object, so that the auxiliary robot is used for assisting the walking, climbing and the like of the target object.

Inventors

  • Request for anonymity
  • Request for anonymity

Assignees

  • 极壳科技(上海)有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (10)

  1. 1. A control method of an auxiliary robot, the method comprising: Acquiring a first image acquired by acquisition equipment, wherein the first image represents the distance between a contact part of a target object and a contact surface of an environment where the target object is located and the acquisition equipment respectively; Segmenting a first region and a second region from the first image, the first region representing a distance between the contact member and the acquisition device, the second region representing a distance between the contact surface and the acquisition device; determining a first contact state of the target object according to the first area and the second area, wherein the first contact state represents whether the contact part contacts the contact surface or not; and controlling an auxiliary robot according to the first contact state, wherein the auxiliary robot is used for assisting the movement of the target object.
  2. 2. The method of claim 1, wherein the segmenting the first region and the second region from the first image comprises: Preprocessing the first image to obtain a preprocessed image, wherein the preprocessing comprises at least one of denoising, image clipping and information filtering; and dividing a first region and a second region from the preprocessed image.
  3. 3. The method of claim 2, wherein the segmenting the first region and the second region from the preprocessed image comprises: Performing image segmentation on the preprocessed image through an image segmentation model to obtain a first mask image and a second mask image, wherein the first mask image is used for describing whether each pixel point on the preprocessed image belongs to the contact component, and the second mask image is used for describing whether each pixel point belongs to the contact surface; determining a first area according to the first mask image; And determining a second area according to the second mask image.
  4. 4. The method of claim 1, wherein determining the first contact state of the target object from the first region and the second region comprises: Determining a distance between the contact member and the contact surface according to the first region and the second region; determining that the first contact state characterizes the contact member contacting the contact surface if the distance is less than a threshold value; if the distance is not less than the threshold, determining that the first contact state characterizes the contact member not contacting the contact surface.
  5. 5. The method according to any one of claims 1 to 4, further comprising: Acquiring continuous multi-frame second images acquired by the acquisition equipment, wherein the second images represent the distances between the contact component and the contact surface and the acquisition equipment respectively; Determining a plurality of second contact states from the multi-frame second image; Determining first motion information of the target object according to the plurality of second contact states, wherein the first motion information is used for representing the gesture and behavior characteristics of the target object when the target object moves; the controlling the auxiliary robot according to the first contact state includes: and controlling an auxiliary robot according to the first motion information and the first contact state.
  6. 6. The method of any one of claims 1 to 4, wherein the target object comprises a plurality of support members and a plurality of movable members for controlling the support members, the method further comprising: acquiring first motion data of the plurality of support members and second motion data of the plurality of movable members; determining second motion information of the target object according to the first motion data and the second motion data, wherein the second motion information is used for representing the gesture and behavior characteristics of the target object when the target object moves; the controlling the auxiliary robot according to the first contact state includes: and controlling an auxiliary robot according to the second motion information and the first contact state.
  7. 7. The method of claim 6, wherein determining second motion information for the target object based on the first motion data and the second motion data comprises: preprocessing the first motion data and the second motion data to obtain preprocessed data, wherein the preprocessing comprises at least one of denoising processing and calibration processing; second motion information of the target object is determined based on the pre-processing data.
  8. 8. The method of claim 6, wherein determining second motion information for the target object based on the first motion data and the second motion data comprises: determining attitude information of the plurality of support members according to the first motion data; determining a plurality of relative motion information according to the plurality of gesture information and the second motion data, wherein one relative motion information is used for describing the motion condition of one supporting component relative to the other supporting component; And determining second motion information of the target object according to the plurality of pieces of relative motion information.
  9. 9. A control device for an auxiliary robot, the device comprising: The acquisition module is used for acquiring a first image acquired by acquisition equipment, wherein the first image represents the distance between a contact part of a target object and the acquisition equipment and the distance between the contact surface of the environment where the target object is positioned and the acquisition equipment respectively; A segmentation module for segmenting a first region and a second region from the first image, the first region representing a distance between the contact member and the acquisition device, the second region representing a distance between the contact surface and the acquisition device; A determining module, configured to determine a first contact state of the target object according to the first area and the second area, where the first contact state characterizes whether the contact component contacts the contact surface; And the control module is used for controlling an auxiliary robot according to the first contact state, and the auxiliary robot is used for assisting the target object to move.
  10. 10. An electronic device, characterized in that it comprises a processor and a memory, in which at least one computer program is stored, which is loaded and executed by the processor, in order to carry out the control method of an auxiliary robot according to any one of claims 1 to 8.

Description

Control method and device for auxiliary robot Technical Field The embodiment of the application relates to the technical field of robots, in particular to a control method and device for an auxiliary robot. Background With the development of robot technology, the functions of robots are increasing. Some robots have auxiliary capabilities, and the target object can be bound to an auxiliary robot, through which the target object is assisted to walk, climb, etc. Robots with assistance capability are called assistance robots, and how to control the assistance robots is a problem to be solved. Disclosure of Invention The application provides a control method and a control device for an auxiliary robot, which can be used for solving the problems in the related art. In a first aspect, there is provided a control method of an auxiliary robot, the method comprising: Acquiring a first image acquired by acquisition equipment, wherein the first image represents the distance between a contact part of a target object and a contact surface of an environment where the target object is located and the acquisition equipment respectively; Segmenting a first region and a second region from the first image, the first region representing a distance between the contact member and the acquisition device, the second region representing a distance between the contact surface and the acquisition device; determining a first contact state of the target object according to the first area and the second area, wherein the first contact state represents whether the contact part contacts the contact surface or not; and controlling an auxiliary robot according to the first contact state, wherein the auxiliary robot is used for assisting the movement of the target object. In a second aspect, there is provided a control device for an auxiliary robot, the device comprising: The acquisition module is used for acquiring a first image acquired by acquisition equipment, wherein the first image represents the distance between a contact part of a target object and the acquisition equipment and the distance between the contact surface of the environment where the target object is positioned and the acquisition equipment respectively; A segmentation module for segmenting a first region and a second region from the first image, the first region representing a distance between the contact member and the acquisition device, the second region representing a distance between the contact surface and the acquisition device; A determining module, configured to determine a first contact state of the target object according to the first area and the second area, where the first contact state characterizes whether the contact component contacts the contact surface; And the control module is used for controlling an auxiliary robot according to the first contact state, and the auxiliary robot is used for assisting the target object to move. In a third aspect, an electronic device is provided, where the electronic device includes a processor and a memory, where at least one computer program is stored in the memory, where the at least one computer program is loaded and executed by the processor, so that the electronic device implements the control method of any of the auxiliary robots described above. In a fourth aspect, there is also provided a computer readable storage medium having stored therein at least one computer program loaded and executed by a processor to cause an electronic device to implement a control method of an auxiliary robot as described in any of the above. In a fifth aspect, there is also provided a computer program, the computer program being at least one, the at least one computer program being loaded and executed by a processor to cause an electronic device to implement a control method of any one of the auxiliary robots described above. In a sixth aspect, there is also provided a computer program product having at least one computer program stored therein, the at least one computer program being loaded and executed by a processor to cause an electronic device to implement a control method of any one of the auxiliary robots described above. The technical scheme provided by the application has at least the following beneficial effects: In the technical scheme provided by the application, the first image is acquired through the acquisition equipment, and the first area and the second area are segmented from the first image. Because the first region represents the distance between the contact part of the target object and the acquisition equipment, and the second region represents the distance between the contact surface of the environment where the target object is located and the acquisition equipment, whether the contact part contacts the contact surface or not can be determined according to the first region and the second region, and the first contact state is obtained. The object is periodically alternated during movement, i.e. the contact p