Indoor intelligent mobile robot and control method

A mobile robot and control method technology, applied in the field of robotics, can solve the problems of reducing the stability and reliability of target recognition, use site restrictions, and low flexibility, reducing matching and dynamic feature interference, ensuring real-time performance, and enhancing robustness. awesome effect

Inactive Publication Date: 2018-11-06
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the indoor intelligent mobile robots currently in use generally need to rely on the laid magnetic track to achieve tracking movement, which brings problems of complex system, low flexibility, and will be limited by the use of the site
In addition, existing indoor int

Method used

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  • Indoor intelligent mobile robot and control method
  • Indoor intelligent mobile robot and control method
  • Indoor intelligent mobile robot and control method

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[0033] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, those of ordinary skill in the art can imagine various implementations of the indoor intelligent mobile robot and control method of the present invention. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solutions of the present invention, and should not be regarded as all of the present invention or as a limitation or limitation to the technical solutions of the present invention.

[0034] Such as figure 1 As shown, as an implementation manner, an indoor intelligent mobile robot includes a host computer 1, an industrial computer 2, a sports chassis 3, an infrared obstacle avoidance mechanism 5, and a three-dimensional lidar 6 (ie figure 1 Lidar positioning mechanism in the). The upper computer 1 and the industrial computer 2 are connected through a data network,...

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Abstract

The invention provides an indoor intelligent mobile robot and a control method. The global advancing path of the robot includes a plurality of key point positions of the path; when an obstacle existsin the advancing path, an obstacle avoidance point is arranged out of the original path, a local path of the robot advancing to the obstacle avoidance point from the current key point is planned, andafter the robot advances to the obstacle avoidance point along the local path, a local path of the robot advancing to a next key point from the obstacle avoidance point is planned again; and if a newobstacle appears during the process of the robot advancing along the local path, another obstacle avoidance point is set. A three-dimensional lidar is adopted for laser oblique shooting, the scanningpoint of the laser avoids a dynamic obstacle, and thus, laser data reflecting the surrounding environment information are acquired for building a surrounding environment map. Trackless autonomous navigation in an indoor complex environment with human mobility can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an indoor intelligent mobile robot and a control method. Background technique [0002] Indoor intelligent mobile robots are more and more widely used in restaurants, offices and other places. However, the indoor intelligent mobile robots currently in use generally need to use the laid magnetic track to realize the tracking movement, which brings about the problems of complex system, low flexibility, and will be limited by the use of the site. In addition, existing indoor intelligent mobile robots are easily disturbed by moving crowds, which will reduce the stability and reliability of target recognition. Therefore, existing indoor intelligent mobile robots cannot realize trackless autonomous navigation in a complex environment where people flow. Contents of the invention [0003] The invention provides an indoor intelligent mobile robot and a control method, which ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0242G05D1/0257
Inventor 郭健赵超何文敏吴益飞李胜
Owner NANJING UNIV OF SCI & TECH
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