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Non-horizontal-orientation single-line positioning obstacle avoidance method and device, equipment and storage medium

A non-horizontal, single-line technology, applied in two-dimensional position/channel control, transportation and packaging, non-electric variable control, etc., and can solve problems such as restricting applications

Pending Publication Date: 2021-06-04
BEIJING BOOCAX TECH CO LTD +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Existing robots mostly use single-line laser sensors for composition and positioning. On the one hand, single-line lasers are used for obstacle avoidance on a horizontal one-dimensional plane, and on the other hand, depth cameras are used to assist obstacle avoidance. restrict its practical application

Method used

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  • Non-horizontal-orientation single-line positioning obstacle avoidance method and device, equipment and storage medium
  • Non-horizontal-orientation single-line positioning obstacle avoidance method and device, equipment and storage medium
  • Non-horizontal-orientation single-line positioning obstacle avoidance method and device, equipment and storage medium

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Embodiment Construction

[0051] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0053] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." ...

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Abstract

The invention discloses a non-horizontal-orientation single-line positioning obstacle avoidance method, which comprises the steps of acquiring sensor data in real time, wherein the sensor data comprises time parameters, establishing a single-line obstacle layer on a cost map, marking the sensor data on the single-line obstacle layer, clearing sensor data to obtain an obstacle, and performing path planning according to the obstacle. In this way, the obstacles are effectively marked and removed on the map in time, collision with the obstacles is effectively reduced, the influence on the trafficability on the path is reduced, and therefore the path can be planned to achieve the obstacle avoidance effect under the condition that a depth camera is not used.

Description

technical field [0001] The present disclosure relates to the field of robot path planning, and in particular to a non-horizontally oriented single-line positioning obstacle avoidance method, device, equipment and storage medium. Background technique [0002] Existing robots mostly use single-line laser sensors for composition and positioning. On the one hand, single-line lasers are used for obstacle avoidance on a horizontal one-dimensional plane, and on the other hand, depth cameras are used to assist obstacle avoidance. restrict its practical application. Contents of the invention [0003] In view of this, the present disclosure proposes a non-horizontal orientation single-line positioning obstacle avoidance method, including: [0004] Acquiring sensor data in real time; the sensor data includes time parameters; [0005] Create a single-line obstacle layer in the cost map; [0006] marking the sensor data on the single-line obstacle layer; [0007] Obtaining obstacle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0253G05D1/0223G05D1/0221G05D1/0276
Inventor 谢传泉浦剑涛张东泉张志尚
Owner BEIJING BOOCAX TECH CO LTD
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