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Laser obstacle avoidance method and device

A technology of laser and obstacle avoidance, applied in measuring devices, instruments, and re-radiation of electromagnetic waves, etc., can solve the problems of no solution and low walking efficiency of robots.

Active Publication Date: 2021-09-14
北京云迹科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The biggest problem with this measurement is that in a dynamic scene where people are involved, due to the residual effect of obstacles, the walking efficiency of the robot is low, and it is only suitable for use in a storage environment without dynamic objects.
[0003] For the problems existing in related technologies, no effective solutions have been proposed yet

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  • Laser obstacle avoidance method and device
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Embodiment Construction

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0054] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The present application discloses a laser obstacle avoidance method and device, wherein the method includes: determining the obstacle information of the nearest obstacle; determining the retention time of the nearest obstacle according to the obstacle information; The obstacle information of the object and the retention time are used for path planning. The purpose of reducing the vibration during robot walking is achieved by dynamically setting the obstacle retention time, thereby achieving the technical effect that the robot can ensure smooth movement in the obstacle environment, effectively avoid planning paths back and forth, and reduce the walking vibration rate.

Description

technical field [0001] The present application relates to the technical field of robot obstacle avoidance, in particular, to a laser obstacle avoidance method and device. Background technique [0002] The operating environment of mobile robots is complex and diverse, and there are insurmountable obstacles such as ditches, ridges, and stairs. Due to the good accuracy and range of laser sensors, laser sensors are often used for obstacle detection in the prior art. For the obstacles detected by the laser, the common obstacle avoidance strategy is to reserve the obstacle according to the corresponding position of the measured value in the cost map, and update it according to the fixed timeout time or wait for the next scan to this area. The biggest problem with this measurement is that in a dynamic scene where people are involved, due to the residual effect of obstacles, the walking efficiency of the robot is low, and it is only suitable for use in a storage environment without ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01S17/93
CPCG01C21/20G01S17/93
Inventor 支涛陈波
Owner 北京云迹科技股份有限公司