Automatic way-finding method for robot, robot, equipment and medium
A robotic and automatic technology, applied in instruments, non-electric variable control, vehicle position/route/height control, etc., can solve problems such as difficult development, inability to apply to actual use, increase hardware costs, etc., and achieve simple pathfinding logic Efficient, easy to operate hardware cost, the effect of reducing hardware cost
Pending Publication Date: 2021-09-24
惠州市宇林源科技有限公司
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Problems solved by technology
This map-based path planning method has a large amount of calculation, high requirements on the control chip, and increased hardware costs.
And the strategy is complex, the development is difficult, the cycle is long, and it is easy to generate loopholes in robot behavior
[0003] Some robots have low requirements on path coverage accuracy, such as spray robots, if the path planning method based on mapping is used for spray robots, it will easily lead to inefficient movement and complicated operation, which is not suitable for actual use
Method used
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[0022] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein.
[0023] see figure 1 , a kind of robot automatic pathfinding method of the present invention, comprises steps:
[0024] S1. Control the movement of the robot so that the positioning side of the robot is close to the wall. Specifically include:
[0025] S11. Determine whether the positioning side of the robot is feasible. If the positioning side is not feasible, continue to judge whether the front is feasible. If the front is feasible, control the robot to move forward in the current direction. If the front is not feasible, control the robot to turn in the direction opposite to the positioning side; ...
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The invention relates to an automatic way-finding method for a robot, the robot, equipment and a medium, and the method comprises the steps: S1, controlling the robot to move, and enabling the positioning side of the robot to be close to a wall surface; S2, entering a wall-attaching moving state, and controlling the robot to move close to the wall surface according to a wall-attaching moving strategy; and S3, if the obstacle exists in front of the robot, controlling the robot to bypass the obstacle according to an obstacle avoidance strategy, wherein the robot is made to return to the wall attaching moving state again. According to the invention, the robot can efficiently plan the path capable of entering each room in a simple, efficient, easy-to-operate and low-hardware-cost manner, and can stably bypass obstacles. The path-finding logic is simple and efficient, the dependence on the memory is small, and the hardware cost is effectively reduced.
Description
technical field [0001] The invention relates to the field of motion control, in particular to a robot automatic pathfinding method, robot, equipment and medium. Background technique [0002] The existing path planning methods for sweeping robots need to build maps and plan paths so that the robot can walk all the ground. This map-based path planning method has a large amount of calculation, and has high requirements on the control chip, which increases the hardware cost. Moreover, the strategy is complex, the development is difficult and the cycle is long, and it is easy to generate loopholes in robot behavior. [0003] Some robots have low requirements for path coverage accuracy, such as spraying robots. If the path planning method based on mapping is used for spraying robots, it will easily lead to inefficient movement and complicated operation, which is not suitable for actual use. The wall-along algorithm is more suitable for low-cost spray robots, but the existing wal...
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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221
Inventor 王震宇
Owner 惠州市宇林源科技有限公司