Physical forbidden zone detection and global relocation method for service robot

Abstract

The invention provides a physical forbidden zone detection and global relocation method for a service robot. The method comprises the following steps of manually identifying a physical forbidden zone edge which is preset in a working scene and cannot be entered by the service robot; the service robot continuously detecting whether a manual identifier exists in the working scene or not during operation; when the manual identification information exists in the working scene, identifying the manual identifier, and confirming the position and the course angle information of the service robot relative to the manual identifier; according to the position and the course angle information of the service robot relative to the manual identifier, controlling the motion track of the service robot, and forbidding entering the corresponding physical forbidden zone; and according to the absolute position of the artificial identifier in a global map, obtaining a possible position and a course angle range of the service robot in the global map of the working scene, and applying a global positioning algorithm to realize the accurate global repositioning of the service robot.

Description

technical field [0001] The disclosure relates to a detection and global relocation method of a physical restricted area of ​​a service robot, which belongs to the technical field of intelligent control. Background technique [0002] At present, service robots have been widely used in commercial scenarios, such as commercial promotion robots, commercial cleaning robots, shopping guide robots, and supermarket delivery robots, etc., mainly to realize intelligent applications serving consumers in consumer scenarios. With the development of technology, service robots are loved and welcomed by consumers due to their intelligence and cost-effectiveness, and their brand image has been greatly improved. They are also increasingly used in various commercial scenarios. . [0003] In commercial scenarios, due to the existence of steps, escalators, elevators, and various entertainment equipment, there are many people and even children running around, the environment is often complicated...

AI Technical Summary

Problems solved by technology

[0003] In commercial scenarios, due to the presence of steps, escalators, elevators, and various entertainment equipment, there are many people and even children running around, the environment is often complicated, and sometimes the passage that the service robot can drive is very narrow, or even has no way to go.

When a service robot performs various set service tasks in a commercial scenario, it must first ensure the safety of operation without safety accidents, and cannot actively collide with pedestrians, especially the elderly and children, and cannot fall from the steps. Inability to run onto an escalator resulting in a fall

Especially for facilities such as escalators in supermarkets, because they are constantly moving equipment, there is a relative height difference in the steps, and service robots generally cannot stand still on escalators. Traditionally, anti-drop sensors or cliffs installed downwards on service robots Sensors are also not effective in preventing

[0004] The traditional method of setting restricted areas and prohibited lines through software can only play a role when the positioning of the service robot is accurate.

When the dynamic changes in the environment are relatively large, the service robot is easy to lose its position and get lost, so it is impossible to restrict the service robot from running over steps and walking to dangerous prohibited areas such as escalators through software restricted areas and forbidden lines.

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