Robot safe obstacle avoidance method and device, robot and storage medium
A robotic and safe technology, applied in the field of robotics, can solve problems such as high price, hidden safety hazards, and difficult to identify obstacles
Pending Publication Date: 2022-04-29
YANTAI JEREH OILFIELD SERVICES GROUP
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] In the specific implementation, lidar is mainly divided into three-dimensional (3-dimension, 3D) lidar and two-dimensional (2-dimension, 2D) lidar; among them, 2D lidar can only detect obstacles on the plane where the radar is located, low Obstacles on this plane cannot be detected; 3D lidar can obtain spatial obstacle information, but the price is very expensive
However, no matter whether indoor robots use 2D lidar or 3D lidar, they cannot detect mirror-reflective objects and transparent objects, which poses a great safety hazard
In order to solve the safety problems caused by only using lidar for obstacle detection, existing indoor robots use depth cameras and 2D lidar for navigation and obstacle avoidance. Obstacles are difficult to identify through the depth camera, and specular reflection objects and transparent objects cannot be detected
[0004] It can be seen that the navigation and obstacle avoidance methods of indoor robots in the prior art have great potential safety hazards.
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0059] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.
[0060] In a specific implementation, laser devices such as 3D lidar and 2D lidar and depth cameras are installed in the front area of the indoor robot, so that the indoor robot can only detect obstacle information in the front area, while the left, right, and rear of the indoor robot Obstacle information cannot be detected, which lead...
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
Login to View More Abstract
The invention relates to a robot safe obstacle avoidance method and device, a robot and a storage medium, and relates to the technical field of robotics.The robot safe obstacle avoidance method comprises the steps that obstacle information of a first area is recognized through first detection equipment of the robot, and if the obstacle information is target obstacle information, the robot is started; if yes, a static change map of the robot is updated according to the target obstacle information to obtain a first static change map, the first static change map is updated according to the first detection information and the auxiliary detection information to obtain a second static change map, the first detection information is information detected by the first detection equipment, and the auxiliary detection information is information detected by the second detection equipment; the auxiliary detection information is first ground distance information detected by auxiliary detection equipment in the robot, updating the second static change map according to second ground distance information detected by the auxiliary detection equipment to obtain a third static change map, and performing path planning according to the third static change map. And obtaining the driving path information of the robot.
Description
technical field [0001] The present application relates to the field of robot technology, and in particular to a method, device, robot and storage medium for safe obstacle avoidance of a robot. Background technique [0002] At present, the navigation and obstacle avoidance method of indoor robots is mainly to detect obstacles through laser radar, and carry out path planning based on the detected obstacles to realize navigation and obstacle avoidance. [0003] In the specific implementation, lidar is mainly divided into three-dimensional (3-dimension, 3D) lidar and two-dimensional (2-dimension, 2D) lidar; among them, 2D lidar can only detect obstacles on the plane where the radar is located, low Obstacles on this plane cannot be detected; 3D lidar can obtain spatial obstacle information, but the price is very expensive. However, whether indoor robots use 2D lidar or 3D lidar, they cannot detect mirror-reflective objects and transparent objects, which poses a great safety haza...
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
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0253G05D1/0255G05D1/0257G05D1/0214G05D1/0221G05D1/0276
Inventor 李涛刘德政王宗文
Owner YANTAI JEREH OILFIELD SERVICES GROUP