Control method for preventing robot from pressing feet in dense people stream scene
A control method and robot technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system and other directions, can solve the problems of pedestrian foot collision or crushing, hidden safety hazards, etc., to prevent collision or crushing effect
Pending Publication Date: 2020-03-31
SHANGHAI YOGO ROBOTICS CO LTD
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Problems solved by technology
[0004] In view of the above-mentioned technical problems, the purpose of the present invention is to overcome the fact that robots in the prior art can easily collide or crush the feet of pedestrians in crowded scenes, such as large-scale event exhibitions, channel queuing, crowded elevators, etc., resulting in safety problems. hidden dangers, so as to provide a robot that can effectively overcome the above technical problems in the use process to prevent the control method of the presser foot in the dense crowd scene
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[0052] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0053] like figure 1 As shown, the present invention provides a control method for a robot to prevent the presser foot in a dense crowd scene, the method comprising:
[0054] Using different detection information of sensor components to establish the area division of obstacles;
[0055] The robot is controlled according to the area division; wherein,
[0056] like Image 6 As shown, the area division includes: obstacle zone Za, human foot estimated zone Zb, and safety zone Zc; is the estimated human foot area Zb, and the area extending from the estimated human foot area Zb is the safety area Zc.
[0057] In the above scheme, the robot described should have ...
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The invention discloses a control method for preventing a robot from pressing feet in a dense people flow scene, and the method is characterized by comprising the steps: building the regional divisionof an obstacle through the different detection information of a sensor assembly; controlling the robot according to the area division, wherein the region division comprises an obstacle region, a human foot estimation region and a safety region, and the obstacle area is the area where the detected human body is located, the area, extending outwards by the human foot protection distance, of the obstacle area is the human foot pre-estimation area, and the area, extending outwards by the human foot pre-estimation area, of the obstacle area is the safety area. The problems that in the prior art, arobot easily collides or grinds feet of pedestrians in crowded scenes such as large-scale activity exhibitions, channel queuing and elevator squeezing, and potential safety hazards are generated aresolved.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a control method for a robot to prevent a presser foot in a scene of dense crowds. Background technique [0002] Service robots with autonomous mobility need to work in the same space as humans. In order to have high mobility efficiency, service robots are mostly wheeled structures. The high-precision and high-resolution obstacle sensors (such as lasers, images, etc.) installed on the robot are generally prone to blind spots at lower heights. Although most of such robots can achieve better pedestrian avoidance However, in scenes with dense crowds, such as large-scale events and exhibitions, aisle queuing, and crowded elevators, it is easy to collide or crush pedestrians' feet, causing safety hazards. [0003] Therefore, it is an urgent problem to be solved in the present invention to provide a control method for preventing the presser foot of the robot in a dense crowd sce...
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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0242G05D1/0246G05D1/0255G05D1/0257G05D1/0223G05D1/0214G05D1/0289G05D1/0276
Inventor 江源
Owner SHANGHAI YOGO ROBOTICS CO LTD