Robot obstacle avoidance method and robot

A robot and obstacle avoidance technology, applied in the field of robotics, can solve problems such as inability to adapt to robots, weak autonomy, and unsatisfactory obstacle avoidance effects, and achieve improved autonomous obstacle avoidance capabilities, reduced manual intervention, strong usability and practicality sexual effect

Pending Publication Date: 2020-08-04
SMART DYNAMICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, at present, the obstacle avoidance effect of most robots is not ideal, the autonomy is not strong, and often requires manual assistance to achieve the purpose of obstacle avoidance, such as the grid obstacle avoidance control method and the artificial potential field obstacle avoidance control method, even if they can Multiple ranging sensors are installed on the robot body to achieve the purpose of automatic detection of obstacles, and it cannot adapt to robots of different speeds

Method used

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  • Robot obstacle avoidance method and robot
  • Robot obstacle avoidance method and robot
  • Robot obstacle avoidance method and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Figure 1-a It is a schematic flowchart of a method for robot obstacle avoidance provided in Embodiment 1 of the present invention, and the method may include the following steps:

[0034] S101: Collect a depth image.

[0035] Wherein, the robot is a device for automatically performing work, which can accept human commands and run pre-programmed programs, thereby achieving the purpose of assisting or replacing human work; compared with the plane image, the depth image also includes There is distance information from the frame grabber to the object.

[0036] In one embodiment, the robot is a mobile robot.

[0037] In one embodiment, the mobile robot is a wheeled mobile robot.

[0038] In one embodiment, the depth image may be collected by a visual sensor of the robot, such as a 3D depth camera. It should be understood that the depth image is an image in the camera coordinate system.

[0039] It should be noted that, in order to obtain a larger visual range and achiev...

Embodiment 2

[0064] Figure 2-a The schematic flowchart of the method for robot obstacle avoidance provided in Embodiment 2 of the present invention is a further refinement and description of steps S103 and S104 in Embodiment 1 above. The method may include the following steps:

[0065] S201: Collect a depth image.

[0066] S202: Perform plane segmentation on the acquired depth image to obtain N segmentation units, where N is an integer greater than 1.

[0067] Wherein, the above steps S201-S202 are the same as the steps S101-S102 in the first embodiment, and the specific implementation process can refer to the description of the steps S101-S102, which will not be repeated here.

[0068] S203: Determine whether the area of ​​the segment unit with the largest area among the obtained segment units is larger than the first preset area, and if it is larger than the first preset area, obtain the angle between the normal line of the segment unit with the largest area and the preset direction ,...

Embodiment 3

[0096] image 3 It is a schematic structural diagram of the robot provided in the third embodiment of the present invention. Such as image 3 As shown, the robot 3 of this embodiment includes: a processor 30 , a memory 31 and a computer program 32 stored in the memory 31 and operable on the processor 30 . When the processor 30 executes the computer program 32, the steps in the first method embodiment above are implemented, for example, steps S101 to S106 shown in FIG. 1 . Alternatively, implement the steps in the second method embodiment above, such as steps S201 to S207 shown in FIG. 2 .

[0097] The robot may include, but not limited to, a processor 30 and a memory 31 . Those skilled in the art can understand that, image 3 It is only an example of the robot 3 and does not constitute a limitation to the robot 3. It may include more or less components than shown in the illustration, or combine certain components, or different components. For example, the robot may also in...

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Abstract

The invention is applicable to the technical field of robots, and provides a robot obstacle avoidance method and a robot. The robot obstacle avoidance method comprises the steps of acquiring a depth image, carrying out plane segmentation on the acquired depth image to obtain N segmentation units, judging whether the segmentation unit with the largest area in the obtained segmentation units is a preset horizontal plane or not; if the segmentation unit with the largest area is the preset horizontal plane, judging whether an obstacle exists in the preset horizontal plane or not, if an obstacle exists in the preset horizontal plane, respectively acquiring position information of the obstacle and position information of the robot, and controlling the robot to avoid the obstacle according to theobtained position information of the obstacle and the robot. Manual intervention can be reduced, and the autonomous obstacle avoidance capacity of the robot is improved.

Description

technical field [0001] The present invention relates to the field of robots, in particular to a method for robot obstacle avoidance, a robot and a computer-readable storage medium. Background technique [0002] As one of the most basic and critical functions in the robot, the obstacle avoidance function aims to prevent the robot from colliding during its travel and improve the service life of the robot. [0003] However, at present, the obstacle avoidance effect of most robots is not ideal, the autonomy is not strong, and often requires manual assistance to achieve the purpose of obstacle avoidance, such as the grid obstacle avoidance control method and the artificial potential field obstacle avoidance control method, even if they can Multiple ranging sensors are installed on the robot body to achieve the purpose of automatically detecting obstacles, and it cannot adapt to robots of different speeds. [0004] Therefore it is necessary to propose a new technical solution to ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06T7/11G06T7/70H04N13/204
CPCG05D1/0214G06T7/11G06T7/70G06T2207/10028
Inventor 王加加栾春雨周祖鸿王可可沈剑波
Owner SMART DYNAMICS CO LTD
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