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Obstacle detection method, navigation method and device based on obstacle and robot

A technology of obstacle detection and navigation method, applied in the field of smart home, which can solve the problems of robot wandering, robot approaching back and forth or escaping from the position, etc.

Active Publication Date: 2022-03-01
YUNJING INTELLIGENCE (SHENZHEN) CO LTD +1
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Problems solved by technology

However, in the process of detecting obstacles, it will intermittently scan whether there is an obstacle at the same position. If the detected obstacle at this position is flickering, it is easy for the robot to approach or escape from this position back and forth. , there is a problem with the robot wandering

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  • Obstacle detection method, navigation method and device based on obstacle and robot
  • Obstacle detection method, navigation method and device based on obstacle and robot
  • Obstacle detection method, navigation method and device based on obstacle and robot

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[0130] Please refer to Figure 5 After the present invention identifies obstacles based on the above-mentioned various embodiments, a first embodiment of a navigation method based on the obstacles is proposed. Optionally, the navigation method includes the following steps:

[0131] Step S110, when the robot is navigating, if there is a mark of a first obstacle in the grid between the current position and the target position on the navigation map, ignore the first obstacle and generate the target travel path of the robot, wherein , the first obstacle is an intermittently detected obstacle;

[0132] Step S120, controlling the robot to move based on the target travel path.

[0133] This embodiment is applied to a robot, and the robot acquires the first obstacle marked on the navigation map and the second obstacle detected by other detection devices during the traveling process, and then according to the first obstacle and the second obstacle A target travel path of the robot is...

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Abstract

The invention discloses an obstacle detection method which comprises the following steps: when a sensor signal based on obstacle reflection is received, determining a target position of an obstacle on a navigation map according to the sensor signal; whether the obstacle is a first obstacle or not is recognized, and the first obstacle is an obstacle detected intermittently; and when the obstacle is the first obstacle, marking the first obstacle at the target position, so that the robot performs path planning based on the first obstacle marked on the navigation map in the advancing process, and the robot can plan an advancing path based on the first obstacle marked on the navigation map. Therefore, the situation that the robot wanders near the target position due to the fact that the robot gets close to or escapes from the first obstacle of the target position back and forth can be avoided.

Description

technical field [0001] The invention relates to the technical field of smart home, in particular to an obstacle detection method, an obstacle-based navigation method, a device and a robot. Background technique [0002] With the improvement of production level, robots have become common household appliances in people's lives, for example, cleaning robots. [0003] In order to avoid collision damage to the sweeping and cleaning device, the robot generally has an obstacle avoidance function. In general, when the robot detects an obstacle at a location, it will avoid the obstacle and regenerate the path; when it detects no obstacle, it may include the location into the path planning area. However, in the process of detecting obstacles, it will intermittently scan whether there is an obstacle at the same position. If the detected obstacle at this position is flickering, it is easy for the robot to approach or escape from this position back and forth. , there is a problem with t...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0253G05D1/0257G05D1/0225G05D1/0276
Inventor 夏俊超梁康华杨永森
Owner YUNJING INTELLIGENCE (SHENZHEN) CO LTD
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