Obstacle avoidance method and device, robot and computer readable storage medium
A robot and obstacle avoidance technology, applied in the field of control, can solve problems such as estimating the range of obstacle avoidance
Inactive Publication Date: 2018-11-02
BEIJING ORION STAR TECH CO LTD
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[0005] The purpose of the embodiments of the present invention is to provide an obstacle avoidance method, device, robot and computer-readable storage medium to solve the technical problem of how to estimate the obstacle avoidance range
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[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0063]In the application of robot obstacle avoidance, the existing technology cannot predict the obstacle avoidance range, but only adopts the way of stopping to avoid collision between the robot and the moving obstacle. In this regard, in order to solve the technical problem of how to accurately determine the obstacle avoidance range, an embodiment of the present invention provides an obstacle avoidance method. This obstacle avoidance method is applied to rob...
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An embodiment of the invention provides an obstacle avoidance method, an obstacle avoidance device, a robot and a computer readable storage medium. The obstacle avoidance method comprises the steps of: monitoring a moving object in a working environment, and acquiring motion information of the moving object; predicting a motion trajectory of the moving object according to the motion information; if a motion trajectory of the moving object and a predetermined navigation path of the robot satisfy an intersection condition, determining an obstacle avoidance range according to intersection information; acquiring a current position of the robot; if a distance between the obstacle avoidance range and the current position of the robot satisfies a first preset condition, controlling the robot to re-plan the navigation path; and if a distance between the obstacle avoidance range and the current position of the robot satisfies a second preset condition, controlling the robot to reduce a motion speed or stop moving. According to the obstacle avoidance method, the obstacle avoidance device, the robot and the computer readable storage medium, since the obstacle avoidance range is determined according to the motion information of the moving object, the obstacle avoidance range can be estimated precisely, and the security of the robot is further improved.
Description
technical field [0001] The present invention relates to the field of control technology, in particular to an obstacle avoidance method, device, robot and computer-readable storage medium. Background technique [0002] At present, as a machine system that simulates human beings in terms of perception-thinking-effects, robots have been widely used in various fields such as industry and life. When the robot works in the environment of various fields, there may be moving obstacles in its surrounding environment at any time. At this time, the robot is required to avoid the obstacle. [0003] When an existing robot detects a moving obstacle, it usually stops in order to avoid colliding with the obstacle. [0004] Although the robot can successfully avoid obstacles in the above obstacle avoidance mode, the robot needs to stop to wait for the moving obstacle to leave before continuing to move; therefore, the prior art has the defect that the range of obstacle avoidance cannot be e...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0242G05D1/0251G05D1/0255G05D1/0285
Inventor 王雪松
Owner BEIJING ORION STAR TECH CO LTD