Robot obstacle avoidance control system and method

Abstract

The invention discloses a robot obstacle avoidance control system and method. The method comprises the steps that current locating data of a robot is obtained, and whether or not an obstacle located within the range that the distance between the obstacle and the current locating position is smaller than the preset distance exists in a path from the current locating position to the target positionis determined according to the current locating data and position data of all obstacles in a predetermined moving region; if yes, the shortest distance between the robot and the obstacle is worked outaccording to the obtained locating data, a predetermined 3D model of the robot and a predetermined 3D model of the obstacle; the current robot movement direction is worked out according to the obtained locating data, the obtained shortest distance and the 3D model of the obstacle, and moving postures of the robot are controlled according to the obtained movement direction so as to avoid the obstacle. The robot obstacle avoidance control system can effectively control the robot to avoid the obstacles.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a robot obstacle avoidance control system and method. Background technique [0002] At present, autonomous mobile robots can be widely used in many scenarios, such as serving as a tour guide in an exhibition hall, leading visitors from one exhibition area to another; serving in restaurants, actively welcoming guests and leading them to order food on empty seats ; Guidance and patrol work in public places, moving along the route set by the program, someone needs help to stop and answer questions, etc. In these scenarios, how to prevent the robot from colliding with obstacles in the environment is an important technical issue. At present, autonomous mobile robots rely on their own sensors to locate and avoid obstacles. The usual obstacle avoidance solution in the industry is to install proximity sensors (such as ultrasonic, infrared, laser, etc.) on the robot. distance (for exa...

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Problems solved by technology

[0003] Existing obstacle avoidance schemes have the following disadvantages: first, obstacles can only be detected at the height plane where the sensor is located. For situations such as a four-legged table, assuming that the height of the sensor is 30 cm and the height of the table is 60 cm, the sensor cannot The detection of obstacles will eventually cause the robot to hit the table; second, obstacles can only be detected in the direction where the sensor is installed. If there is no sensor behind the robot, the backward movement will cause the robot to hit the obstacle

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