Edgewise path selection method for obstacle crossing of robot, chip and robot
A path selection and robot technology, applied to machine parts, instruments, vacuum cleaners, etc., can solve the problems of inaccurate map obstacle marking, insufficient map accuracy, and robot collision with obstacles, etc.
Active Publication Date: 2020-11-17
AMICRO SEMICON CORP
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Problems solved by technology
However, in the existing visual sweeping robots, due to factors such as the map accuracy is not high enough, the map obstacle marking is not accurate enough, and the robot is not accurate enough to walk along the navigation path during the navigation process, it is easy to cause the robot to collide with the robot during the navigation process. obstacle
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[0026] 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. To further illustrate the various embodiments, the present invention is provided with accompanying drawings. These drawings are a part of the disclosure of the present invention, which are mainly used to illustrate the embodiments, and can be combined with related descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should understand other possible implementations and advantages of the present invention. Components in the figures are not drawn to scale, and similar component symbols are generally used to denote similar components.
[0027] In the patent of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear" etc. indicate orientation or posi...
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The invention discloses an edgewise path selection method for obstacle crossing of a robot, a chip and the robot, and the edgewise path selection method comprises the steps: firstly planning an edgewise prediction path for obstacle crossing of the robot, and selecting a preset inflection point meeting a guide condition on a preset navigation path; wherein the robot is provided with a navigation path formed by connecting inflection points in advance, and the inflection points are used for guiding the robot to move to a final navigation target point; then, according to the distance information between all the edge behavior points on each edge prediction path and the preset inflection points meeting the guide conditions on the same navigation path, selecting the edge prediction path with theminimum deviation degree relative to the navigation path; therefore, after the robot collides with the obstacle, the robot walks in the edge direction of the selected edge prediction path to achieve rapid obstacle crossing, the collision frequency of the robot in the obstacle crossing process is reduced, the robot is prevented from deviating from the navigation path too far, and the intelligent level of the robot is improved.
Description
technical field [0001] The invention relates to the technical field of robots walking along edges, in particular to a method for selecting a path along edges for a robot to overcome obstacles, a chip and a robot. Background technique [0002] Controlling robot navigation is to control the robot to walk from one coordinate point on the map to another coordinate point. Generally, it searches for a path from the map first, and then walks according to this path until it reaches the target point. However, in the existing visual sweeping robots, due to factors such as insufficient map accuracy, inaccurate map obstacle marking, and inaccurate walking along the navigation path during the navigation process, it is easy to cause the robot to collide with the robot during the navigation process. obstacle. [0003] At present, how to quickly cross these obstacles by finding the correct direction has always been a difficult point in the robot navigation process. Contents of the invent...
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IPC IPC(8): A47L11/24A47L11/40G05D1/02
CPCG05D1/0214A47L11/24A47L11/40A47L11/4002A47L11/4011A47L11/4061A47L2201/04G05D1/0274G05D1/0227G05D1/0217A47L9/2852
Inventor 李明
Owner AMICRO SEMICON CORP