An obstacle avoidance method, system, storage medium and robot applying the method
A robot and obstacle avoidance technology, applied in the field of robots, can solve the problems of complex control, large volume, and poor cleaning effect of large cleaning robots, so as to reduce the risk of collision and improve the cleaning effect.
Active Publication Date: 2021-06-04
汇智机器人科技(深圳)有限公司
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Problems solved by technology
[0004] The above-mentioned existing technical solutions have the following defects: for large-scale cleaning robots, due to their large size and complicated control, they are prone to being stuck or collided with obstacles when avoiding obstacles, so they need to be moved manually. Keep the large cleaning robot away from obstacles, which will leave more areas uncovered and eventually make the cleaning effect of the large cleaning robot poor
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[0071] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0072] refer to figure 1 , is an obstacle avoidance method disclosed in the present invention, comprising:
[0073] Obtain the preset set travel path, and set the travel path as the pre-planned route based on this cleaning task.
[0074] Obtain the center position of the robot and determine whether the center position of the robot is at the starting point of the set travel path. If the center position of the robot is at the start point of the set travel path, establish a temporary travel path and move according to the temporary travel path; if the center position of the robot is not at the start point of the set travel path When traveling to the start of the path, wait.
[0075] When establishing a temporary travel path, first take the current robot center position as the starting point, dynamically intercept the set cleaning route within the preset distanc...
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The invention relates to an obstacle avoidance method, which includes obtaining a preset set travel path; obtaining the center position of a robot, and determining whether the center position of the robot is at the starting point of the set travel path; if the center position of the robot is located at the start point of the set travel path, establishing Temporary travel path, and move according to the temporary travel path; judge in real time whether there is an obstacle on the current temporary travel path; if there is, stop moving and wait, if not, continue to move according to the temporary travel path; determine whether the current waiting time exceeds the preset If the waiting time exceeds, establish an obstacle avoidance path and move according to the obstacle avoidance path; while moving, determine whether there is an obstacle on the current temporary travel path, and return to the temporary travel path if there is no obstacle. The invention has the advantage of improving the cleaning effect.
Description
technical field [0001] The present invention relates to the technical field of robots, in particular to an obstacle avoidance method, system, storage medium and a robot applying the method. Background technique [0002] At present, cleaning robots are mainly engaged in hygienic cleaning and cleaning. [0003] Existing large-scale cleaning robots generally move and clean autonomously along the set route during their working process. When encountering obstacles, they re-plan the path to safely bypass the obstacle area and continue cleaning, so that they can complete the cleaning task in the specified area without human intervention. [0004] The above-mentioned existing technical solutions have the following defects: for large-scale cleaning robots, due to their large size and complicated control, they are prone to being stuck or collided with obstacles when avoiding obstacles, so they need to be moved manually. Keep the large cleaning robot away from obstacles, which will le...
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IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011A47L11/4061
Inventor 罗方龙潘何浩陈兆先张殿礼
Owner 汇智机器人科技(深圳)有限公司