Unlock instant, AI-driven research and patent intelligence for your innovation.

Method and device for planning path along wall and computer readable storage medium

A path planning and path technology, applied in the field of robotics, can solve the problems of increasing system burden, complex detection scheme, reducing processing efficiency, etc., to achieve the effect of optimizing path planning efficiency, reducing sensor cost consumption, and improving accuracy and adaptability

Active Publication Date: 2022-01-04
JUXING TECH SHENZHEN CO LTD
View PDF6 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, if some robots in the prior art need to realize the walking mode along the wall, specific wall detection sensors need to be set in the robot, which brings high cost and complicated detection scheme. At the same time, additional sensors and Correlation processing algorithms increase system burden and reduce processing efficiency

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and device for planning path along wall and computer readable storage medium
  • Method and device for planning path along wall and computer readable storage medium
  • Method and device for planning path along wall and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] figure 1 It is the first flow chart of the path planning method along the wall provided by an embodiment of the present invention. This embodiment proposes a method for path planning along a wall, which includes:

[0048] S1. Obtain the wall area in the navigation map, and perform an expansion operation on the wall area with a preset distance as the radius;

[0049] S2. Taking the edge of the expanded wall region as an alternative path for the robot to walk along the wall;

[0050] S3. Determine whether each point on the original path of the robot matches the alternative path, and if so, replace the original path with the alternative path.

[0051] In this embodiment, firstly, the wall area in the navigation map is obtained, and an expansion operation is performed on the wall area with a preset distance as a radius. In this embodiment, it should first be explained that the robot applicable to the path planning method along the wall of this embodiment does not need to...

Embodiment 2

[0054] figure 2 It is the second flow chart of the path planning method along the wall provided by an embodiment of the present invention. Based on the above embodiment, the acquisition of the wall area in the navigation map, and performing an expansion operation on the wall area with a preset distance as a radius includes:

[0055] S11. Identify the navigation map of the robot according to the sensing data collected by the sensor and the preset identification reference;

[0056] S12. Obtain at least a section of the wall area in the navigation map, and perform an expansion operation on the wall area with the preset distance as the radius, wherein the preset distance is determined according to the distance between the center of the robot and the wall .

[0057] In this embodiment, firstly, the navigation map of the robot is identified according to the sensing data collected by the sensor and the preset identification criteria. Among them, taking SLAM as an example, first, ...

Embodiment 3

[0065] image 3 It is the third flow chart of the path planning method along the wall provided by an embodiment of the present invention. Based on the above embodiment, in order to better use the edge of the expanded wall region as an alternative path for the robot to walk along the wall, in this embodiment:

[0066] S21. Taking the expanded wall area as an obstacle area;

[0067] S22. Obtain the passing area in the navigation map, and use the boundary line between the obstacle area and the passing area as the alternative route.

[0068] In this embodiment, first, the expanded wall area is used as the obstacle area; then, the passage area in the navigation map is acquired, and the boundary line between the obstacle area and the passage area is used as the alternative path.

[0069] Specifically, in this embodiment, first, an expansion operation is performed on the wall area, that is, n pixels around black on the laser map image are also set to black. Among them, the black ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method and device for planning a path along a wall and a computer readable storage medium. The method comprises the following steps of acquiring a wall area in a navigation map, and conducting expansion operation on the wall area by taking a preset distance as a radius; then taking the edge of the expanded wall area as an alternative path of a robot for walking along the wall; and finally, judging whether each point of the robot on an original path is matched with the alternative path or not, and if yes, replacing the original path with the alternative path. An efficient and reliable scheme for planning the path along the wall is realized, the extra sensor cost consumption brought by the operation of planning the path along the wall to the robot is reduced, the accuracy and the adaptability of the robot in the process of walking along the wall are improved, and the path planning efficiency of the robot is further optimized.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method, device and computer-readable storage medium for path planning along a wall. Background technique [0002] In the existing technology, the robot runs according to the set navigation path. At the same time, it is also hoped that the robot can perform specific behaviors according to actual needs and environmental conditions to meet business needs. One of the specific behaviors is the walking mode along the wall . Walking along the wall mode means that when the robot runs near the wall, it can change the current path to a path along the wall. [0003] However, if some robots in the prior art need to realize the walking mode along the wall, specific wall detection sensors need to be set in the robot, which brings high cost and complicated detection scheme. At the same time, additional sensors and The related processing algorithm increases the system burden and reduc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664Y02P90/02
Inventor 高博刘俊斌
Owner JUXING TECH SHENZHEN CO LTD