A robot obstacle avoidance method, device and system
A robot and obstacle avoidance technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large labor cost and low model accuracy.
Active Publication Date: 2021-04-09
HUAWEI TECH CO LTD
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[0007] The embodiment of the present application provides a robot obstacle avoidance method, device and system, which solves the problems of high labor cost and low accuracy of the trained model in the process of using machine learning methods for dilemma identification
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[0039] Existing methods for robots (such as sweeping robots) to identify difficulties require manual collection of sample data, and these collected sample data also need to be manually labeled, which will bring a large human cost input. And the process of manual labeling can also make mistakes. Exemplarily, the robot is a sweeping robot as an example for description. For example, when the sweeping robot is in the Figure 3A The position shown, when the person is from such as Figure 3A Observing from the angle shown, it can be considered that the sweeping robot is stuck in the gap between the fixed object and the ground and cannot continue to move. At this time, the manual will mark it as trapped. However, the sweeping robot may not be blocked by the gap and can continue to work in the gap. In this way, the label information of the sample data will be incorrectly marked. In addition, most of the sample data currently collected are environmental pictures taken from the user'...
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The embodiment of the present application discloses a robot obstacle avoidance method, device and system, which relate to the field of electronic equipment, and solve the problems of high labor cost and low accuracy of the trained model in the process of using machine learning methods to identify difficulties. The specific solution is: the robot acquires sample information at N moments during the movement process. Among them, the sample information at each of the N times includes: environment image information used to indicate the environment where the robot is located at this time, location information used to indicate the location of the robot at this time, and information used to indicate whether the robot is under control at this time. Label information for stuck state. The robot sends the sample information of the M moments in the N moments to the server. The robot receives from the server the dilemma recognition model trained by the sample information collected by one or more robots. The robot avoids obstacles while moving according to the dilemma recognition model. The embodiment of the present application is used in the process of moving the robot.
Description
technical field [0001] The present application relates to the field of electronic equipment, and in particular to a robot obstacle avoidance method, device and system. Background technique [0002] Robots (such as sweeping robots) have been widely used in people's daily life. Since the robot's work is almost completely autonomous, it often encounters some trapped situations during the work process. At present, robots can be trained to recognize dilemmas and avoid obstacles by using machine learning methods. [0003] Among them, the more common machine learning methods include supervised learning and reinforcement learning. In supervised learning, it is necessary to manually collect a large amount of sample data, and manually label these sample data with corresponding trapped or untrapped labels, and then perform supervised learning model training on the labeled sample data to obtain the corresponding model. So that the robot can judge whether it needs to avoid obstacles a...
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IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1679B25J9/1697
Inventor 徐学军
Owner HUAWEI TECH CO LTD