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Method and device for controlling slope motion of robot under semantic map, and storage medium

A semantic map, motion control technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve problems such as robot stagnation and abnormal robot movement

Active Publication Date: 2019-10-25
佳木斯市奥义智能科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In the process of going uphill, if the speed of the robot is too high, it may cause the robot to hang in the air when leaving the uphill, making the robot move abnormally

Method used

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  • Method and device for controlling slope motion of robot under semantic map, and storage medium
  • Method and device for controlling slope motion of robot under semantic map, and storage medium
  • Method and device for controlling slope motion of robot under semantic map, and storage medium

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Embodiment Construction

[0056]The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts all belong to the protection scope of the present invention.

[0057] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusion, and the terms "first" and "second" are only for the purpose of distinguishing Nomenclature, without distinction of numerical magnitude or order. For example, a process, method, system, product or device comprising a series of steps or units ...

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Abstract

The embodiment of the invention discloses a method and device for controlling the slope motion of a robot under a semantic map, and a storage medium. The method comprises the following steps that: a slope-like landform is constructed according to the actual landform of a running environment map of a robot, wherein the semantic attribute of the slope-like landform is a slope and the slope edges ofthe slope-like landform at least include an upper slope edge and a lower slope edge; when the current running to the slope-like landform is identified based on semantic information, a relative positional relationship between a robot and the slope-like landform is determined according to a robot coordinate system and an environmental map coordinate system; the robot is determined to be in a going up or going down state currently according to the relative positional relationship and the type of the slope edge which the robot passes; and on the basis of the state type of the robot, correspondingmotion state parameters are selected to control the motion of the robot. According to the invention, the slope-like landform in the robot motion environment is identified through the semantic map information, so that the motion state of the robot is controlled in the slope-like landform range reasonably; and thus the robot moves smoothly and stably.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to a method, device, and storage medium for controlling robot slope movement under a semantic map. Background technique [0002] With the development of robot technology, robots have been widely used in all aspects of life. Restaurant service robots belong to a category of service robots, which mainly provide functions such as delivery and ordering for modern restaurants. Due to the increase in labor costs, the labor cost of restaurant service personnel is getting higher and higher. Using robots to replace some waiters to serve customers, such as ordering and delivering food, can not only improve service efficiency, reduce the number of service personnel, but also build restaurants. Features, build a restaurant brand, and reduce labor costs. As a special kind of public service robot, restaurant service robot is a comprehensive system with autonomy, adaptability and in...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 李沁泠侍启山
Owner 佳木斯市奥义智能科技有限公司
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