Robot dodging method and device

A robot and avoidance distance technology, applied in the field of robotics, can solve the problems of re-encounter in another channel and the inability to realize reasonable avoidance of robots, and achieve the effect of reasonable avoidance

Active Publication Date: 2019-01-04
广州安商智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Because the control system of the robot itself has the ability to plan the path by itself, when encountering obstacles, the robot can rely on its own control system to re-plan the current movement path, realize the autonomous avoidance of obstacles, and carry out autonomous movement. Therefore, the two Or multiple robots may use another channel as an avoidance path at the same time, and then may meet again in another channel, and reasonable avoidance between robots cannot be achieved

Method used

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  • Robot dodging method and device

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0026] Please refer to image 3 , image 3 A flow chart of a robot avoidance method provided by an embodiment of the present invention is shown. The method includes the following steps:

[0027] Step S101 , according to the preset paths of the first robot and the preset paths of the second robot, it is judged whether there is a path intersection between the preset paths of the first robot and the preset paths of the second robot.

[0028] In the embodiment of the present invention, the preset path of the first robot 300 is the movement path planned by the background server 100 for the first robot 300 in advance, and the preset path of the first robot 300 includes at least two sequentially arranged One navigation point, the first robot 300 passes through each first navigation point in turn according to the order of the first navigation points, the preset path of the second robot 400 is the movement path planned by the background server 100 in advance for the second robot 400, t...

Embodiment approach

[0029] As an implementation, the method of judging whether there is a path intersection between the preset path of the first robot 300 and the preset path of the second robot 400 according to the preset path of the first robot 300 and the preset path of the second robot 400 may be :

[0030] First, calculating a plurality of navigation distances between each first navigation point and each second navigation point;

[0031] Secondly, the multiple navigation distances are sorted to obtain the minimum navigation distance among the multiple navigation distances;

[0032] Finally, when the minimum navigation distance is less than the preset safety distance, it is determined that there is a path intersection between the preset path of the first robot and the preset path of the second robot.

[0033] In the embodiment of the present invention, the preset safe distance refers to the minimum distance value that can pass smoothly without changing the current moving path when the first ...

no. 2 example

[0099] Please refer to Image 6 , Image 6 A schematic block diagram of a robot avoidance device 200 provided by an embodiment of the present invention is shown. The robot avoidance device 200 is applied to the background server 100 , which includes a judgment module 201 ; an acquisition module 202 ; a determination module 203 ; and an avoidance module 204 .

[0100] The judging module 201 is configured to judge whether there is a path intersection between the preset paths of the first robot and the preset paths of the second robot according to the preset paths of the first robot and the preset paths of the second robot.

[0101] In the embodiment of the present invention, the acquiring module 201 is configured to execute step S101.

[0102] The acquiring module 202 is configured to acquire the position information of the intersection point, the current position information of the first robot, and the current position information of the second robot when the preset path of t...

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Abstract

The invention relates to the technical field of robots, and provides a robot dodging method and device. The method includes obtaining the position information of a cross point, the current position information of a first robot and the current position information of a second robot when a preset path of the first robot and the preset path of the second robot exist path crossing; determining a dodging robot and a dodged robot from the first robot and the second robot according to the preset path of the first robot, the preset path of the second robot, the current position information of the first robot, the current position information of the second robot and the position information of the cross point; and calculating the dodging wait duration and dodging point of the dodging robot according to the current position information of the dodging robot, the current position information of the dodged robot and the position information of the cross point. Reasonable dodging between the encountered robots can be realized by reasonably determining the dodging robot, the dodging waiting duration and dodging point.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a robot avoidance method and device. Background technique [0002] Because the control system of the robot itself has the ability to plan the path by itself, when encountering obstacles, the robot can rely on its own control system to re-plan the current movement path, realize the autonomous avoidance of obstacles, and carry out autonomous movement. Therefore, the two Or multiple robots may use another channel as an avoidance path at the same time, and then may meet again in another channel, and reasonable avoidance between robots cannot be achieved. Contents of the invention [0003] The purpose of the embodiments of the present invention is to provide a robot avoidance method and device, which can realize reasonable avoidance between the encountering robots by reasonably determining the priority of the robots, the avoidance time and the avoidance points of the avoiding...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B25J9/16
CPCB25J9/1666G05D1/0217G05D2201/0217
Inventor 刘亚军谢庆华
Owner 广州安商智能科技有限公司
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