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Autonomous navigation method and device for quadruped robot, computer equipment and storage medium

A quadruped robot and autonomous navigation technology, applied in instruments, motor vehicles, transportation and packaging, etc., can solve problems such as poor obstacle avoidance effect, and achieve the effect of improving obstacle avoidance effect, improving efficiency, and improving calculation accuracy

Pending Publication Date: 2020-10-09
广州市优普科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of the above-mentioned related technologies, the inventor believes that there is a defect that the obstacle avoidance effect of the intelligent robot is not good during the automatic walking process.

Method used

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  • Autonomous navigation method and device for quadruped robot, computer equipment and storage medium
  • Autonomous navigation method and device for quadruped robot, computer equipment and storage medium
  • Autonomous navigation method and device for quadruped robot, computer equipment and storage medium

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Embodiment Construction

[0056] The application will be described in further detail below in conjunction with the accompanying drawings.

[0057] At present, autonomous navigation technologies mainly include inertial navigation, magnetic navigation, distance sensor navigation, visual navigation and GPS navigation. Moreover, the accuracy of existing inertial navigation is very low. Magnetic navigation needs to lay tapes on the ground, so its application range is limited. Distance sensors have good effects in map construction and positioning, but the real-time obstacle avoidance effect is general. The camera on the robot perceives the surrounding environment, and realizes obstacle avoidance and navigation by extracting, detecting, and identifying features of the environment. However, the information contained is very rich, the amount of calculation is large, and the real-time performance is not good.

[0058] In one embodiment, as figure 1 As shown, the application discloses a quadruped robot autonomou...

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Abstract

The invention relates to the technical field of automatic cruise, in particular to an autonomous navigation method and device for a quadruped robot, computer equipment and a storage medium. The autonomous navigation method comprises the following steps: acquiring outdoor environment data through the laser radar technology, and constructing an outdoor map in real time based on the outdoor environment data; acquiring current position information of the quadruped robot and destination information, and generating an inspection path in the outdoor map; acquiring an outdoor environment type from theoutdoor environment data, and acquiring a preset obstacle avoidance model based on the outdoor environment type; and conducting scanning in the inspection path by using the obstacle avoidance model,and if obstacle information is scanned, generating a corresponding inspection obstacle avoidance scheme according to the obstacle information, wherein the inspection obstacle avoidance scheme comprises an obstacle bypassing scheme and an obstacle crossing scheme. The obstacle avoidance effect of the inspection robot in a cruising process can be improved.

Description

technical field [0001] The invention relates to the technical field of automatic cruising, in particular to a quadruped robot autonomous navigation method, device, computer equipment and storage medium. Background technique [0002] At present, the application of robot intelligent cruise technology has been very extensive, especially in the application scenarios of indoor inspection, such as inspection in large computer rooms or indoor sweeping robots. [0003] In the existing robot intelligent cruise technology, the intelligent robot is usually placed indoors, and a single and consistent indoor map is constructed by the intelligent robot, and then the indoor inspection or walking map is formulated according to the predetermined enlightenment position and destination position. route. [0004] In view of the related technologies mentioned above, the inventor believes that there is a defect that the intelligent robot has a poor obstacle avoidance effect during the automatic w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0257G05D1/0238B62D57/032
Inventor 袁进波
Owner 广州市优普科技有限公司