Obstacle avoidance control method and system for robot walking along edge
A control method and robot technology, which is applied in the field of mobile robots, can solve the problems of affecting the working efficiency of robots, the inability of robots to recognize low obstacles, and shortening the service life of robots, etc.
Pending Publication Date: 2020-11-06
AMICRO SEMICON CORP
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Problems solved by technology
At present, existing robots usually use infrared signals, monocular cameras or collision sensors to detect whether obstacles have encountered obstacles. This technical solution usually has the situation that the robot cannot recognize low obstacles during the actual robot walking along the edge, causing the robot to Crash directly into obstacles without slowing down, and even the robot pushes the obstacle to continue walking along the side, which affects the working efficiency of the robot and shortens the service life of the robot
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[0022] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. It should be understood that the embodiments of the invention described below are only used to explain the present invention, not to limit the present invention.
[0023] An embodiment of the present invention provides an obstacle avoidance control method when a robot walks along a side, the robot includes a binocular camera, a TOF sensor, an IMU sensor and a control unit, combined figure 1 As shown, the control method includes the following steps: the robot is currently in the sidewalk mode; the binocular camera collects image information and transmits it to the control unit; the TOF sensor collects obstacle information and transmits it to the control unit; the IMU sensor collects IMU data, And transmit it to the control unit; the control unit controls the robot to perform different obstacle av...
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The invention discloses an obstacle avoidance control method for robot walking along edge. The control method comprises the following steps: the robot is in an edge walking mode at present; a binocular camera collects image information and transmits the image information to a control unit; a TOF sensor collects obstacle information and transmits the obstacle information to the control unit; an IMUsensor collects IMU data and transmits the IMU data to the control unit; and the control unit controls the robot to execute different obstacle avoidance actions in an edge walking mode according to the image information, the obstacle information and the IMU data. According to the invention, the accuracy of acquiring obstacle information by the robot is improved, the visual blind area range of therobot is reduced, the robot is efficiently controlled to avoid and bypass obstacles in the edge walking mode, and the working efficiency of the robot is greatly improved. The invention further discloses an obstacle avoidance control system for robot walking along edge.
Description
technical field [0001] The invention relates to the field of mobile robots, in particular to an obstacle avoidance control method and a control system for a robot walking along a side. Background technique [0002] With the rapid development of social economy and technological level, more and more emerging fields use robots to perform tasks. At present, existing robots usually use infrared signals, monocular cameras or collision sensors to detect whether obstacles have encountered obstacles. This technical solution usually has the situation that the robot cannot recognize low obstacles during the actual robot walking along the edge, causing the robot to It directly crashes into obstacles without slowing down, and there is even a problem that the robot pushes the obstacle and continues to walk along the side, which affects the working efficiency of the robot and shortens the service life of the robot. Contents of the invention [0003] In order to solve the above problems,...
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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 梁毅恒李永勇肖刚军
Owner AMICRO SEMICON CORP