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Autonomous obstacle avoidance method, device and system

An obstacle and obstacle information technology, applied in the control/regulation system, transportation and packaging, two-dimensional position/channel control and other directions, can solve the problems of easy collision with obstacles, long braking distance, and reduced safety performance, etc. Achieve the effect of reducing collisions, avoiding collisions, improving robustness and safety

Active Publication Date: 2020-05-19
NINEBOT (BEIJING) TECH CO LTD
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Problems solved by technology

[0003] However, for intelligent control mobile devices such as self-balancing vehicles, robots or self-driving vehicles, it is easy to imagine that although they are all equipped with a braking system, when braking in a fast-moving state, there will be a long braking distance. Risk of easy collision with obstacles, thereby reducing its safety performance

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  • Autonomous obstacle avoidance method, device and system
  • Autonomous obstacle avoidance method, device and system
  • Autonomous obstacle avoidance method, device and system

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Embodiment Construction

[0062] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments. It should be understood that the following examples are only used to explain and illustrate the present invention, but are not intended to limit the technical solution of the present invention.

[0063] At present, in the field of intelligent mobile technology, although they are all equipped with a braking system, when they brake in a fast-moving state, there will be a long braking distance and the risk of bumping into obstacles. Take the self-balancing car (also called somatosensory car, thinking car, and camera car) as an example. The self-balancing car mainly uses the gyroscope and acceleration sensor inside the car body to detect changes in the attitude of the car body, and uses the servo control system to accurately drive the motor to make corresponding adjustments to maintain the dynamic balance of the ...

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Abstract

The invention relates to an autonomous obstacle avoidance method, an autonomous obstacle avoidance device and an autonomous obstacle avoidance system that can be applied in the field of intelligent mobile technology. Among them, the autonomous obstacle avoidance method includes: establishing a front obstacle information map, and assigning a value to each pixel based on the detection results of the coverage area of ​​the N*N grid map through at least two sensors with different detection distances. The assignment performs path planning. The autonomous obstacle avoidance device includes a map creation module, an assignment module and a path planning module. The autonomous obstacle avoidance system includes at least one first sensor, at least one second sensor, at least one third sensor and an obstacle avoidance controller. The invention uses multi-level control to plan the walking path in advance to avoid obstacles, and takes emergency braking measures when the obstacles cannot be avoided to avoid collisions.

Description

technical field [0001] The present invention relates to the field of autonomous obstacle avoidance, in particular to an autonomous obstacle avoidance method, an autonomous obstacle avoidance device and an autonomous obstacle avoidance system, in particular to an autonomous obstacle avoidance method, an autonomous obstacle avoidance device and an autonomous obstacle avoidance system applicable to the field of intelligent mobile technology. failure system. Background technique [0002] At present, the field of intelligent mobile technology (including robots, automatic driving, self-balancing vehicles, etc.) has attracted the attention of professionals in the field of intelligent control and mobile devices. By combining the intelligent control technology with the mobile device, the autonomous mobile function of the mobile device can be realized, thus liberating people from the traditional control and driving work. New mobile carriers with intelligent control bring greater conv...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 任冠佼蒲立陈子冲王野
Owner NINEBOT (BEIJING) TECH CO LTD
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