Indoor robot obstacle avoidance method and device
An indoor robot and obstacle avoidance technology, applied in the field of robot navigation, can solve problems such as update frequency safety hazards, collisions, collision accidents, etc.
Inactive Publication Date: 2019-11-26
北京云迹科技股份有限公司
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The obstacle information in the costmap will be updated as the obstacles in the robot environment move, but this update frequency has certain security risks
For example, when the robot senses an obstacle in front of it while moving, the robot enters the obstacle avoidance strategy and passes on the left or right side of the obstacle, and when the robot turns left or right, the obstacle will enter the blind area of the sensor device Field of view, when the costmap is updated, the pixel information of the obstacle remaining in the costmap will be cleared. At this time, the robot thinks that there is no obstacle. Due to the principle of optimal path, the robot will turn to walk the nearest path again. After the robot turns, there will be May collide with an obstacle, i.e. a collision accident
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[0023] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
[0024] The embo...
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The invention provides an indoor robot obstacle avoidance method and device. The method comprises the following steps: receiving laser data detected by a laser and image data acquired by an image acquisition device; processing the laser data and image data to obtain first obstacle information corresponding to the laser data and second obstacle information corresponding to the image data; storing the first obstacle information in a first obstacle layer of a cost map and storing the second obstacle information in the first obstacle layer and a second obstacle layer of the cost map, wherein the second obstacle information in the two obstacle layer is removed after being kept for a preset time; and carrying out obstacle avoidance according to the obstacle information in the first obstacle layer and in the second obstacle layer of the cost map. By setting the second obstacle layer to temporarily retain the obstacle information having semantic meaning, an indoor robot is allowed to obtain the obstacle information in a blind area when turning to avoid obstacles, thereby avoiding colliding with an obstacle in the blind area.
Description
technical field [0001] The present application relates to the technical field of robot navigation, in particular, to an obstacle avoidance method and device for an indoor robot. Background technique [0002] At present, indoor robots mostly perceive obstacles through sensor devices such as lasers or cameras, build maps to avoid obstacles, and present obstacle information obtained through perception in the form of a cost map. The obstacle information in the costmap will be updated as the obstacles in the robot environment move, but this update frequency has certain security risks. For example, when the robot senses an obstacle in front of it while moving, the robot enters the obstacle avoidance strategy and passes on the left or right side of the obstacle, and when the robot turns left or right, the obstacle will enter the blind area of the sensor device Field of view, when the costmap is updated, the pixel information of the obstacle remaining in the costmap will be clear...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246
Inventor 支涛李梦男
Owner 北京云迹科技股份有限公司