Path planning method and device, intelligent robot and storage medium
An intelligent robot and path planning technology, which is applied in the direction of instruments, motor vehicles, transportation and packaging, etc., can solve the problems of poor welting effect and unsafe path inspection, and achieve the effect of low processing pressure
Pending Publication Date: 2020-08-25
SHANGHAI GAOXIAN AUTOMATION TECH
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Problems solved by technology
[0002] For the cleaning industry, whether it can achieve side-to-side cleaning is an important criterion for measuring the quality of a cleaning robot. However, in the process of moving along the side-to-side path, due to the influence of factors such as small obstacles and perceived noise, it is easy to cause the path The inspection is unsafe, thus triggering obstacle avoidance. In order to prevent obstacle avoidance, the current general settings will set a larger safety distance. Although the probability of obstacle avoidance triggering is guaranteed to be reduced, the edge effect is also worse.
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[0049] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, are only for explaining the embodiments of the present application, and should not be construed as limiting the embodiments of the present application.
[0050] see figure 1 and figure 2 , the path planning method of the embodiment of the present application can be used for the intelligent robot 100, and the path planning method includes steps:
[0051] 011: Obtain a preset initial path, the initial path includes one or more test paths;
[0052] 012: Perform a safety check on the test path within the predetermined distance from the intelligent robot 100 in the initial path;
[0053] 013: When the test path fails the safety check, offset ...
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The invention discloses a path planning method. The path planning method is applied to an intelligent robot and comprises: acquiring a preset initial path; performing safety inspection on a test path,within a preset distance from the intelligent robot, in the initial path; when the test path does not pass the security check, performing one or more offsets on the test path according to a predetermined step length; and after the deviated test path passes the security check, determining the deviated test path as a local final path. The invention further discloses a path generation device, an intelligent robot and a computer readable storage medium. The deviated test path passing the security check can be used as a local final path. The probability that obstacle avoidance is triggered due tothe influence of factors such as small obstacles and sensing noise points is reduced, and compared with the mode that obstacle avoidance is triggered to directly deviate by a preset safety distance toavoid obstacles, the deviated distance just passes safety inspection, but good welt can be achieved.
Description
technical field [0001] The present application relates to the technical field of automatic cleaning, in particular to a path planning method, a path planning device, an intelligent robot, and a computer-readable storage medium. Background technique [0002] For the cleaning industry, whether it can achieve side-to-side cleaning is an important criterion for measuring the quality of a cleaning robot. However, in the process of moving along the side-to-side path, due to the influence of factors such as small obstacles and perceived noise, it is easy to cause the path The inspection is not safe, thus triggering obstacle avoidance. In order to prevent obstacle avoidance, the current general setting will set a larger safety distance. Although the probability of obstacle avoidance triggering is guaranteed to be reduced, the welt effect is also worse. Contents of the invention [0003] In view of this, the present invention aims to solve one of the problems in the related art at ...
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IPC IPC(8): G06Q10/04G06F16/29G05D1/02
CPCG05D1/0257G06Q10/047G06F16/29
Inventor 陈飞卜大鹏陈侃霍峰秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH