Edge walking method of robot and system thereof

A walking system and robot technology, applied in control/adjustment systems, instruments, two-dimensional position/channel control, etc., can solve problems such as inability to meet requirements, complex algorithms, and inability to complete, to improve walking efficiency, increase probability, Provides the effect of efficiency

Active Publication Date: 2017-02-22
SHANDONG ZHONGHAO PLASTIC IND CO LTD
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  • Abstract
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Problems solved by technology

[0004] In some occasions, the robot may only need to complete the welt walking in one area, that is, part of the welt route passes through the free area between the areas. At this time, the above research results cannot complete this task, and the environment needs to be obtained in advance. map, or a reference route
At the same time, the circular robot in the above study can rotate in situ when encountering a corner to achieve a turn, but since the robot is close to the obstacle when it is close to the edge, the turning behavior of the non-integrity-constrained robot must consider the kinematic factors such as the shape of the robot to avoid collisions
Therefore, the algorithm is more complicated for non-circular robots to walk along the edge, and the existing edge-to-edge algorithm cannot meet the requirements

Method used

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  • Edge walking method of robot and system thereof
  • Edge walking method of robot and system thereof
  • Edge walking method of robot and system thereof

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Embodiment Construction

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

[0053] In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".

[0054] The present ...

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Abstract

The invention discloses an edge walking method of a robot. The method comprises the following steps of stepS100, acquiring map information of a robot edge walking environment; stepS200, according to the acquired map information, filtering a blank interval and creating an initial route containing obstacle space information; stepS300, according to the initial route, carrying out simulation walking and correcting and creating a first route of robot edge walking; stepS400, making a robot complete edge walking according to the first route. The invention aims at providing the edge walking method of the robot and a system thereof. By using the method and the system, in an known environment, a nonholonomic restriction robot can complete whole edge walking following the generated route for one time and a collision or backing behavior is not generated so that robot walking efficiency is increased and safety is guaranteed.

Description

technical field [0001] The invention relates to the field of robot route planning, in particular to a method and system for walking along the edge of a robot. Background technique [0002] Edge-to-edge behavior, also known as wall-along behavior, refers to the behavior that a mobile robot can walk along the contour of an obstacle and maintain a certain distance. It is a basic and important ability of a mobile robot, especially an indoor mobile robot. In indoor cleaning, obstacle avoidance along the outline of obstacles, unfamiliar environment navigation, robot positioning and map construction, etc., wetting behavior is applied, especially the cleaning robots currently on the market generally have wetting ability to improve cleaning efficiency and cleaning effect. [0003] At present, most of the research on the welting problem focuses on the welting behavior of circular robots in unfamiliar environments. The scheme generally uses infrared, ultrasonic, sonar, laser and other...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 李建明张小章征贵
Owner SHANDONG ZHONGHAO PLASTIC IND CO LTD
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