Traversal path planning method for flaw detection robot containing concave obstacle map
A technology for traversing paths and robots, applied in the direction of instruments, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problems of increasing missed detection rate, safety accidents, etc., to reduce missed detection rate, The effect of reliable detection and improved detection efficiency
Pending Publication Date: 2022-02-11
上海交通大学宁波人工智能研究院
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However, due to the diversity of flaw detection environments, it is also common for concave obstacles to appear on the map. Simplifying a large number of obstacles into convex shapes will increase the missed detection rate, which may eventually lead to security incident
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[0043] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0044] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.
[0045] The invention provides a traversal path planning method for a flaw detection robot with a concave obstacle map, comprising t...
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The invention discloses a traversal path planning method for a flaw detection robot containing a concave obstacle map, which relates to the technical field of path planning and comprises the following steps of: 1, rasterizing the map to form a map matrix into a two-dimensional matrix containing a plurality of grids; 2, selecting a starting point; 3, searching angular points of all concave obstacles, and recording an entrance grid; 4, selecting a traversal path planning method as a basic scheme for traversing the two-dimensional matrix, and enabling the flaw detection robot to advance by one grid according to the selected basic scheme; 5, judging whether traversal of the map is completed or not, and if yes, ending traversal; 6, judging whether to enter a dead zone or not, if so, escaping from the dead zone, reaching the nearest non-traversed grid, skipping to the step 4, and continuing to advance by one grid according to the selected basic scheme; 7, judging whether the concave obstacle area is located in an entrance grid, and if yes, preferentially traversing the concave obstacle area; and 8, skipping to the step 4.
Description
technical field [0001] The invention relates to the technical field of path planning, in particular to a traversal path planning method for a flaw detection robot with a concave obstacle map. Background technique [0002] According to usage requirements, path planning is mainly divided into two types, namely, point-to-point path planning and fully traversal path planning. Among them, the path planning of complete traversal is a special path planning. The purpose is to find an optimal continuous path to cover the entire map. It is widely used in cleaning, flaw detection and other robots. [0003] The flaw detection robot is a kind of robot used to detect the surface of appliances or walls and pipes. There are many types of flaw detection robots, such as wheel type and adsorption type. For adsorption type flaw detection robots, a path planning solution that traverses the entire map quickly and completely is required. Different from the cleaning robot, since the detected targ...
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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 诸莹杰张克勤褚健杨根科王宏武
Owner 上海交通大学宁波人工智能研究院