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Robot, obstacle avoidance control method and device thereof and storage medium

A control method and robot technology, which can be used in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc., and can solve problems such as obstacles in the existing route of robots and misjudgment of obstacles.

Inactive Publication Date: 2019-03-08
INT INTELLIGENT MACHINES CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing obstacle avoidance is usually made by the robot automatically avoiding after detecting an obstacle, and re-planning a new route, so that when encountering a moving obstacle, the robot will avoid it, but in fact the moving obstacle just happens to be in the robot's current position It is only in the direction of travel, and does not hinder the robot's existing route, or, due to the deviation of long-distance detection, it misjudged obstacles that are not on the robot's existing route, and performed unnecessary obstacle avoidance

Method used

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  • Robot, obstacle avoidance control method and device thereof and storage medium
  • Robot, obstacle avoidance control method and device thereof and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Please refer to figure 1 , A robot obstacle avoidance control method, including the following steps:

[0036] Step S101: When no obstacle is detected in the running direction or the obstacle disappears, the robot advances at a preset initial speed.

[0037] Step S102: When it is detected that the distance between the obstacle in the running direction of the robot and the robot is the first distance, the robot advances at a first deceleration; wherein, the first deceleration is less than the initial speed.

[0038] Step S103: When it is detected that the distance between the obstacle in the running direction of the robot and the robot is the second distance, the robot advances at the second deceleration.

[0039] Among them, the second distance is smaller than the first distance, and the second deceleration is less than the first deceleration. The specific value can be set and adjusted according to the use situation and actual needs.

[0040] Step S104: When it is detected that th...

Embodiment 2

[0050] A robot obstacle avoidance control device includes:

[0051] The first detection module is used for the robot to advance at a preset initial speed when no obstacle is detected in the running direction or the obstacle disappears.

[0052] The second detection module is used for when detecting that the distance between the obstacle in the running direction of the robot and the robot is the first distance, the robot advances at the first deceleration;

[0053] The third detection module is used for when detecting that the distance between the obstacle in the running direction of the robot and the robot is the second distance, the robot advances at the second deceleration;

[0054] The fourth detection module is used to stop the robot from moving forward when it is detected that the distance between the obstacle in the running direction of the robot and the robot is the third distance;

[0055] The fourth detection module includes a detection sub-module and a path planning sub-module...

Embodiment 3

[0059] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructions, or by instructions to control related hardware. The instructions can be stored in a computer-readable storage medium. And loaded and executed by the processor.

[0060] To this end, an embodiment of the present invention provides a storage medium in which multiple instructions are stored, and the instructions can be loaded by a processor to execute any of the steps in the obstacle avoidance control of a robot provided by the embodiments of the present invention. For example, the instruction can perform the following steps:

[0061] When no obstacle is detected in the running direction or the obstacle disappears, the robot advances at the preset initial speed;

[0062] When it is detected that the distance between the obstacle in the running direction of the robot and the robot is the first distance, the rob...

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PUM

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Abstract

The invention discloses an obstacle avoidance control method of a robot. The method comprises the steps that 1) when there is no obstacle or an obstacle disappears according to detection, the robot forwards at the preset initial speed; when it is detected that distance between the obstacle and the robot equals a first distance, the robot forwards at a first deceleration; and when it is detected that distance between the obstacle and the robot equals a third distance, the robot stops forwarding. Different distances are arranged and provided with corresponding decelerations respectively, so thatthe robot decelerates to approach the obstacle, and if the obstacle disappears in the period, the robot needs not to avoid the obstacle any more.

Description

Technical field [0001] The present invention relates to the technical field of obstacle avoidance, in particular to a method, device, storage medium and robot for controlling obstacle avoidance of a robot. Background technique [0002] With the continuous advancement of technology, the field of intelligent robots has developed rapidly, and obstacle detection and avoidance are important manifestations of its level of intelligence. Good obstacle avoidance function is an important guarantee for safe walking of mobile robots. The existing obstacle avoidance usually involves the robot automatically circumventing the obstacle after detecting the obstacle, and re-planning a new route, so that when encountering a moving obstacle, the robot will avoid it, but in fact the moving obstacle is just currently in the robot. It is only in the direction of travel, which does not hinder the robot's existing route, or the deviation of the long-distance detection leads to misjudgment of obstacles t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0238G05D1/0255
Inventor 杨光雨黄巍伟
Owner INT INTELLIGENT MACHINES CO LTD