A robot path planning method and system
A path planning and robot technology, applied in the electronic field, can solve the problems of inability to judge the size of obstacles, lack of overall path planning ability, and large limitations, and achieve the effect of improving the overall path planning ability
Active Publication Date: 2021-07-13
深圳市华讯方舟光电技术有限公司
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[0004] The purpose of the embodiments of the present invention is to provide a robot path planning method and system, aiming to solve the lack of overall path planning ability and the inability to judge the size of obstacles in the path planning scheme of the above-mentioned household robot, even a small obstacle is Bots must be made to avoid bypassing, very restrictive issues
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[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0048] figure 1 It is a specific implementation flowchart of a robot path planning method provided by an embodiment of the present invention. see figure 1 As shown, a robot path planning method provided in this embodiment includes:
[0049] In S101, a 3D somatosensory camera installed on the top of the robot is used to collect real-time 3D point cloud data of obstacles within a preset range in front of the robot.
[0050] In this embodiment, since the 3D somatosensory camera installed on the top of the robot is used to collect the obstacle information in front of the robot, all obstacle informat...
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The invention provides a robot path planning method and system, which relate to the field of electronic technology. The method includes: using a 3D somatosensory camera installed on the top of the robot to collect in real time 3D point cloud data of obstacles within a preset range in front of the robot; performing background clipping on the 3D point cloud data to remove background data in the 3D point cloud data; The cluster extraction algorithm divides the 3D point cloud data after removing the background data into multiple point cloud blocks; calculates the three-dimensional space volume of each point cloud block separately; judges whether the three-dimensional space volume of each point cloud block is smaller than the preset volume threshold ; If it is less than the preset volume threshold, remove the point cloud block from the 3D point cloud data to re-establish the area map within the preset range in front of the robot; perform path planning according to the area map. The present invention can improve the overall path planning ability of the robot, so that the robot ignores small obstacles when performing path planning, and plans an optimal path for the robot.
Description
technical field [0001] The invention belongs to the field of electronic technology, and in particular relates to a robot path planning method and system. Background technique [0002] Household robots are special robots serving human beings, mainly engaged in household services, maintenance, maintenance, repair, transportation, cleaning and guardianship. According to statistics from the United Nations Economic Commission for Europe and the International Robotics Association, by the end of 2007, 4.1 million household service robots had entered people's lives. In my country, home intelligent robots, as a newly developed industry, have become the focus of the national "Eleventh Five-Year Plan" development plan. [0003] As a key issue in the autonomous movement of robots, path planning plays an important role in the research of related technologies of robots. The existing home robot path planning scheme generally uses a 2D laser scanner located at the bottom of the robot to d...
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IPC IPC(8): G05D1/02
CPCG05D1/0251
Inventor 胡瑞端赵术开
Owner 深圳市华讯方舟光电技术有限公司