CN-122018542-A - Robot operation method, apparatus, computer device and storage medium

CN122018542ACN 122018542 ACN122018542 ACN 122018542ACN-122018542-A

Abstract

The application relates to a robot operation method, a robot operation device, computer equipment and a storage medium. The method comprises the steps of obtaining environment data and operation data collected on a current contact surface in the operation process of a target robot, determining at least one effective contact point of the target robot on a future contact surface according to the environment data and the operation data, determining a supporting area of the target robot according to a projection area surrounded by each effective contact point on the future contact surface, determining a stability margin of the target robot according to the supporting area, the operation data and unit normal vectors of each effective contact point, and adjusting an operation strategy of the target robot according to the size relation between the stability margin and a preset margin threshold. The method can effectively control the target robot to run autonomously in a complex unstructured environment.

Inventors

LI ZHENYU
LUO RIPING
DOU RUTING
ZHANG WEI
WANG SONG
WANG SHUAIBING
ZHU YONGXING
LIU ZHILIANG
CHEN XIAOLONG

Assignees

南方电网科学研究院有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. A method of robot operation, the method comprising: acquiring environmental data and operation data acquired on a current contact surface in the operation process of a target robot; Determining at least one effective contact point of the target robot on a future contact surface according to the environment data and the running data, wherein the future contact surface is a contact surface of the target robot within a preset forward distance, and the effective contact point is a point which is in contact with a wheel in the target robot and bears a load; Determining a supporting area of the target robot according to a projection area surrounded by each effective contact point on the future contact surface, wherein the supporting area is used for representing an area required by the robot to maintain stability on the future contact surface; Determining a stability margin of the target robot according to the supporting area, the operation data and unit normal vectors of each effective contact point, wherein the stability margin is used for representing the degree of overhead or overturning of the robot on the future contact surface; and adjusting the operation strategy of the target robot according to the size relation between the stability margin and a preset margin threshold.
2. The method of claim 1, wherein the operational data includes roll angle, pitch angle, and operational acceleration of the target robot, and wherein the determining the stability margin of the target robot based on the support region, the operational data, and the unit normal vector for each of the active contact points comprises: Determining the gravity center offset of the target robot according to the shortest distance from the centroid projection point of the target robot to the supporting area, and Determining a target normal load of the target robot according to the running acceleration and the unit normal vector of each effective contact point; and determining a stability margin of the target robot according to the gravity center offset, the roll angle, the pitch angle and the target normal load.
3. The method of claim 2, wherein said determining a target normal load for the target robot based on the unit normal vector for each of the active contact points and the operational acceleration comprises: Acquiring the mass of the target robot; determining a wheel normal load of at least one wheel in the target robot according to the mass, the running acceleration and the unit normal vector of each effective contact point; And selecting the minimum wheel normal load from the wheel normal loads of at least one wheel as the target normal load of the target robot.
4. The method of claim 1, wherein the operational data includes a lowest wheel point of at least one wheel of the target robot, and wherein the determining at least one effective contact point of the target robot on the future contact surface based on the environmental data and the operational data comprises: Determining an obstacle height interval of the target robot on the future contact surface according to the environment data; determining a reference obstacle height according to the magnitude relation between the interval width of the obstacle height interval and a preset width threshold value; And selecting at least one effective contact point from the lowest points of the wheels according to the reference obstacle height and a preset safety threshold value.
5. The method of claim 4, wherein the determining the reference obstacle height from a magnitude relationship between the interval width of the obstacle height interval and a preset width threshold comprises: Taking a median value of the intervals in the obstacle height interval as the reference obstacle height under the condition that the interval width of the obstacle height interval is smaller than a preset width threshold value; and taking the maximum value in the obstacle height section as the reference obstacle height under the condition that the section width of the obstacle height section is not smaller than a preset width threshold value.
6. The method of claim 4, wherein selecting at least one active contact point from the nadir of each wheel based on the reference obstacle height and a preset safety threshold comprises: Determining an equivalent obstacle height according to the difference between the reference obstacle height and a preset safety threshold; For each of the wheel nadir, determining the wheel nadir as the effective contact point if the height between the wheel nadir and the future contact surface is less than the equivalent obstacle height.
7. A robotic running device, the device comprising: The acquisition module is used for acquiring environmental data and operation data acquired on the current contact surface in the operation process of the target robot; The contact module is used for determining at least one effective contact point of the target robot on a future contact surface according to the environmental data and the running data, wherein the future contact surface is a contact surface of the target robot within a preset forward distance, and the effective contact point is a point which is in contact with a wheel in the target robot and bears a load; The support module is used for determining a support area of the target robot according to a projection area surrounded by each effective contact point on the future contact surface, wherein the support area is used for representing an area required by the robot to maintain stability on the future contact surface; The margin module is used for determining the stability margin of the target robot according to the supporting area, the operation data and the unit normal vector of each effective contact point, wherein the stability margin is used for representing the degree of overhead or overturning of the robot on the future contact surface; And the control module is used for adjusting the operation strategy of the target robot according to the magnitude relation between the stability margin and the preset margin threshold.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Robot operation method, apparatus, computer device and storage medium Technical Field The present application relates to the field of robots, and in particular, to a method and apparatus for operating a robot, a computer device, and a storage medium. Background With the rapid development of robot technology, all-terrain robots are increasingly widely used in ruins exploration, disaster relief and other tasks. Such task environments are typically extremely unstructured roadways throughout random rubble, soft earth and rubble, requiring extremely high autonomy and passability of the robot. In the conventional technology, in order to cope with obstacle crossing challenges of complex terrains, two modes are generally adopted, namely, passive adaptation to terrains by strengthening mechanical structures (such as increasing suspension stroke and using large-diameter wheels), and implementation of a conservative active control strategy, such as deceleration or shutdown protection when excessive inclination angle of a vehicle body or skidding of wheels are detected. However, the conventional method at present has problems of response lag and low efficiency. The reinforced mechanical structure can raise physical passing limit, but cannot intelligently predict sudden overhead (the wheel is empty and the support is lost) or whole vehicle overturning (overturning) risks. Whereas passive response control based on the current state tends to be such that when an unstable state is detected, the vehicle is already at a dangerous edge and even an accident has occurred. Therefore, the existing coping method cannot perform prospective identification and active intervention before risk occurs, and it is difficult to realize efficient autonomous passage of the robot on the complex unstructured road surface on the premise of ensuring safety. Disclosure of Invention In view of the foregoing, it is desirable to provide a robot operation method, apparatus, computer device, and storage medium capable of effectively controlling autonomous travel of a target robot in a complex unstructured environment. In a first aspect, the present application provides a robot operation method, including: acquiring environmental data and operation data acquired on a current contact surface in the operation process of a target robot; Determining at least one effective contact point of the target robot on a future contact surface according to the environmental data and the operation data, wherein the future contact surface is a contact surface of the target robot within a preset forward distance, and the effective contact point is a point which is in contact with a wheel in the target robot and bears a load; According to the projection area surrounded by each effective contact point on the future contact surface, determining a support area of the target robot, wherein the support area is used for representing the area required by the robot to maintain stability on the future contact surface; Determining a stability margin of the target robot according to the supporting area, the operation data and the unit normal vector of each effective contact point, wherein the stability margin is used for representing the degree of overhead or overturning of the robot on a future contact surface; And adjusting the operation strategy of the target robot according to the size relation between the stability margin and the preset margin threshold. In one embodiment, the operational data includes roll angle, pitch angle and operational acceleration of the target robot, and determining a stability margin of the target robot based on the support region, the operational data and a unit normal vector for each effective contact point comprises: determining the gravity center offset of the target robot according to the shortest distance from the centroid projection point of the target robot to the supporting area, and determining the target normal load of the target robot according to the running acceleration and the unit normal vector of each effective contact point; and determining the stability margin of the target robot according to the gravity center offset, the roll angle, the pitch angle and the target normal load. In one embodiment, determining a target normal load of the target robot based on the unit normal vector and the running acceleration of each active contact point comprises: acquiring the quality of a target robot; Determining the normal load of at least one wheel of the target robot according to the mass, the running acceleration and the unit normal vector of each effective contact point; and selecting the minimum wheel normal load from the wheel normal loads of at least one wheel as the target normal load of the target robot. In one embodiment, the operational data includes a lowest wheel point of at least one wheel of the target robot, and determining at least one effective contact point of the target robot on a future contact surface based on the environme