Obstacle identification and autonomous ideal-path planning method and apparatus for robot

Abstract

The present invention relates to the technical field of intelligent robots. Disclosed are an obstacle identification and autonomous ideal-path planning method and apparatus for a robot. By means of the present invention, obstacles can be identified during traveling, thereby avoiding damage to a crawler transfer robot; moreover, an ideal path can be planned on the basis of the terrain environment of a roadway, thereby saving on time and labor, and achieving high working efficiency. The solution involves: presetting an ideal path, wherein the ideal path comprises a start point and an end point; determining an actual path on the basis of the start point and the end point; constructing a virtual robot, simulating the situation of the robot traveling on the actual path, and determining whether the robot will collide with an obstacle; and if the robot will collide with an obstacle, adjusting the actual path, and if the robot will not collide with an obstacle, making the robot travel according to the actual path. The present invention is applied during the traveling of a robot.

Description

Method and device for robot to identify obstacles and autonomously plan ideal paths Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a method and device for robots to identify obstacles and autonomously plan ideal paths. Background Art

[0002] Traditional mining crawler transfer vehicles are mostly manually driven, and the width of the vehicle is relatively large, making it difficult to navigate the narrow spaces underground. With the development of intelligent coal mines, narrow mining crawler transfer vehicles have emerged. They can travel in mine tunnels, solving the problem of traditional mining transfer vehicles having difficulty navigating narrow spaces during actual use. However, common mining crawler transfer vehicles require remote control by workers during operation. In the dim environment underground, workers have poor visibility during operation and cannot identify obstacles. Misoperation can easily cause the crawler transfer machine to collide and be damaged. At the same time, mining crawler transfer vehicles have no autonomous operation mode and cannot plan the ideal path according to the terrain environment of the tunnel. The transportation and transfer process is time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0003] The present invention provides a method and device for robot recognition of obstacles and autonomous planning of ideal paths, which can recognize obstacles during driving, thus avoiding damage to the narrow crawler transfer robot for mining; at the same time, it can plan the ideal path according to the terrain environment of the tunnel, saving time and effort and improving work efficiency.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A first aspect of the present invention provides a method for a robot to identify obstacles and autonomously plan an ideal path, comprising:

[0006] An ideal path is preset; the ideal path includes a starting point and an end point.

[0007] Based on the starting point and the end point, an actual path is determined.

[0008] Build a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with obstacles:

[0009] If so, the actual path is adjusted.

[0010] If not, the robot is made to travel according to the actual path.

[0011] Furthermore, the robot's method for identifying obstacles and autonomously planning an ideal path, if yes, then adjusting the actual path, includes:

[0012] If so, identify the location or direction of the obstacle, and adjust the actual path according to the location and direction.

[0013] Furthermore, the robot's method for identifying obstacles and autonomously planning an ideal path may further include, after identifying the location or direction of the obstacle and adjusting the actual path according to the location and direction, the following steps:

[0014] Simulate the robot driving on the actual path again to determine whether the robot will collide with an obstacle:

[0015] If so, continue adjusting the actual path.

[0016] If not, the robot is made to travel according to the actual path.

[0017] Furthermore, the robot's method for identifying obstacles and autonomously planning an ideal path, based on the starting point and the end point, determines the actual path, including:

[0018] Based on the starting point and the end point, a laser scan is performed on the lane to obtain the actual structure of the lane, and the actual path is determined according to the actual structure of the lane.

[0019] A second aspect of the present invention provides a robot device for identifying obstacles and autonomously planning an ideal path, comprising:

[0020] The preset unit is used to preset an ideal path; the ideal path includes a starting point and an end point.

[0021] A determining unit is configured to determine an actual path based on the starting point and the end point.

[0022] The simulation unit is used to build a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with an obstacle:

[0023] If so, the actual path is adjusted.

[0024] If not, the robot is made to travel according to the actual path.

[0025] Furthermore, the robot's obstacle recognition and ideal path autonomous planning device also includes:

[0026] The re-simulation unit is used to re-simulate the robot driving on the actual path to determine whether the robot will collide with an obstacle:

[0027] If so, continue adjusting the actual path.

[0028] If not, the robot is made to travel according to the actual path.

[0029] The present invention provides a method and device for robot recognition of obstacles and autonomous planning of an ideal path, including: presetting an ideal path; the ideal path includes a starting point and an end point; determining an actual path based on the starting point and the end point; constructing a virtual robot, simulating the robot traveling on the actual path, and judging whether the robot will hit an obstacle: if so, adjusting the actual path; if not, making the robot travel along the actual path. Compared with the prior art, the present invention determines the actual path by presetting an ideal path, and judges whether the robot will hit an obstacle by simulating the robot traveling on the actual path. That is, the robot of the present invention can recognize obstacles in mine tunnels, thereby avoiding damage to narrow crawler transfer robots used in mines; and at the same time, it can plan an ideal path according to the terrain environment of the tunnel, saving time and effort and achieving high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The drawings are only used to illustrate the implementation methods and are not to be considered as limiting the present invention.

[0031] FIG1 is a flow chart of a method for a robot to identify obstacles and autonomously plan an ideal path according to an embodiment of the present invention;

[0032] FIG2 is a flow chart of another method for robot obstacle recognition and autonomous ideal path planning according to an embodiment of the present invention;

[0033] FIG3 is a schematic diagram of the structure of a device for robot obstacle recognition and autonomous ideal path planning according to an embodiment of the present invention;

[0034] FIG4 is a schematic diagram showing the structure of another device for robot obstacle recognition and ideal path autonomous planning in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention belongs; the terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The terms "including" and "having" and any variations thereof in the description and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions.

[0037] In the description of the embodiments of the present invention, technical terms such as "first" and "second" are used solely to distinguish between different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present invention, "plurality" means more than two, unless otherwise specifically defined.

[0038] In the description of the embodiments of the present invention, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exists simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0039] In the description of the embodiments of the present invention, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0040] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present invention.

[0041] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances. Example 1

[0042] An embodiment of the present invention provides a method for a robot to identify obstacles and autonomously plan an ideal path, as shown in FIG1 , including:

[0043] 101. Preset an ideal path; the ideal path includes a starting point and an end point.

[0044] In this embodiment, an ideal path includes a starting point and an end point, and this ideal path can be determined based on map information, user input, or other relevant data. Specifically, the user can input the starting point and end point through the robot navigation system, and the system automatically generates an ideal path. This path can be the shortest, fastest, or optimized based on other user preferences.

[0045] 102. Determine an actual path based on the starting point and the end point.

[0046] Based on the preset ideal path, the robot uses its own sensors, map data, and other possible data sources to determine an actual path. The actual path can be completely consistent with the ideal path, or it can be an optimization or adjustment of the ideal path.

[0047] 103. Construct a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with an obstacle:

[0048] Before determining the actual path, the system performs a virtual simulation to determine whether the robot is at risk of colliding with obstacles along the path. Specifically, the system uses the robot's built-in sensors (such as radar and cameras) to simulate driving along the actual path and determine whether the robot will collide with obstacles along the path.

[0049] 1031. If yes, adjust the actual path.

[0050] If the robot hits an obstacle during simulated driving, the system should automatically adjust the actual path until a safe path is found. This adjustment can be a small-scale avoidance or a large-scale path replanning.

[0051] 1032. If not, make the robot drive according to the actual path.

[0052] If the robot does not collide with any obstacles during the simulated driving, the system will confirm that this actual path is a safe path and make the robot drive according to this path.

[0053] It should be noted here that the detailed description of each step of this embodiment can refer to other embodiments and will not be repeated here.

[0054] An embodiment of the present invention provides a method for a robot to identify obstacles and autonomously plan an ideal path, including: presetting an ideal path; the ideal path includes a starting point and an end point; determining an actual path based on the starting point and the end point; constructing a virtual robot, simulating the robot traveling on the actual path, and judging whether the robot will hit an obstacle: if so, adjusting the actual path; if not, making the robot travel along the actual path. Compared with the prior art, the embodiment of the present invention determines the actual path by presetting an ideal path, and judges whether the robot will hit an obstacle by simulating the robot traveling on the actual path. That is, the robot of the present invention can identify obstacles in mine tunnels, avoiding damage to the crawler transfer robot; at the same time, it can plan an ideal path according to the terrain environment of the tunnel, saving time and effort and improving work efficiency. Example 2

[0055] An embodiment of the present invention provides a method for a robot to identify obstacles and autonomously plan an ideal path, as shown in FIG2 , including:

[0056] 201. Preset an ideal path; the ideal path includes a starting point and an end point.

[0057] 202. Determine an actual path based on the starting point and the end point.

[0058] Specifically, based on the starting point and the end point, a laser scan is performed on the lane to obtain the actual structure of the lane, and the actual path is determined according to the actual structure of the lane.

[0059] 203. Construct a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with an obstacle:

[0060] 2031. If yes, adjust the actual path.

[0061] Specifically, by identifying the location or direction of the obstacle, the actual path is adjusted according to the location and direction.

[0062] 20311. Simulate the robot again to drive on the actual path and determine whether the robot will collide with an obstacle:

[0063] 203111. If yes, continue adjusting the actual path.

[0064] 203112. If not, the robot is made to travel along the actual path.

[0065] 2032. If not, make the robot drive according to the actual path.

[0066] It should be noted here that the detailed description of each step of this embodiment can refer to other embodiments and will not be repeated here.

[0067] An embodiment of the present invention provides a method for a robot to identify obstacles and autonomously plan an ideal path, including: presetting an ideal path; the ideal path includes a starting point and an end point; determining an actual path based on the starting point and the end point; constructing a virtual robot, simulating the robot traveling on the actual path, and judging whether the robot will hit an obstacle: if so, adjusting the actual path; if not, making the robot travel along the actual path. Compared with the prior art, the embodiment of the present invention determines the actual path by presetting an ideal path, and judges whether the robot will hit an obstacle by simulating the robot traveling on the actual path. That is, the robot of the present invention can identify obstacles in mine tunnels, avoiding damage to the crawler transfer robot; at the same time, it can plan an ideal path according to the terrain environment of the tunnel, saving time and effort and improving work efficiency.

[0068] At the same time, when an obstacle is identified in the mine tunnel, the driving path is adjusted according to the location or direction of the obstacle. After the adjustment, the robot is simulated again to drive on the actual path to determine whether the robot will collide with the obstacle, further avoiding damage to the crawler transfer robot. Example 3

[0069] An embodiment of the present invention provides a robot device for identifying obstacles and autonomously planning an ideal path, as shown in FIG3 , including:

[0070] The preset unit 31 is used to preset an ideal path; the ideal path includes a starting point and an end point.

[0071] The determining unit 32 is configured to determine an actual path based on the starting point and the end point.

[0072] The simulation unit 33 is used to construct a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with an obstacle:

[0073] If so, adjusting the actual path;

[0074] If not, the robot is made to travel according to the actual path.

[0075] It should be noted here that the detailed description of each component of this embodiment can refer to other embodiments and will not be repeated here.

[0076] An embodiment of the present invention provides a robot device for identifying obstacles and autonomously planning an ideal path, comprising: a preset unit for presetting an ideal path; the ideal path includes a starting point and an end point; a determination unit for determining an actual path based on the starting point and the end point; and a simulation unit for constructing a virtual robot, simulating the robot traveling on the actual path, and determining whether the robot will collide with an obstacle: if so, adjusting the actual path; if not, causing the robot to travel along the actual path. Compared to the prior art, the embodiment of the present invention determines the actual path by presetting an ideal path, and determines whether the robot will collide with an obstacle by simulating the robot traveling on the actual path. That is, the robot of the present invention can identify obstacles in mine tunnels, avoiding damage to crawler transfer robots; and can also plan an ideal path based on the terrain environment of the tunnel, saving time and effort and increasing work efficiency. Example 4

[0077] An embodiment of the present invention provides a robot device for identifying obstacles and autonomously planning an ideal path, as shown in FIG4 , including:

[0078] The preset unit 41 is used to preset an ideal path; the ideal path includes a starting point and an end point.

[0079] The determining unit 42 is configured to determine an actual path based on the starting point and the end point.

[0080] The simulation unit 43 is used to construct a virtual robot, simulate the robot driving on the actual path, and determine whether the robot will collide with an obstacle:

[0081] If so, the actual path is adjusted.

[0082] If not, the robot is made to travel according to the actual path.

[0083] The re-simulation unit 44 is used to re-simulate the robot driving on the actual path to determine whether the robot will collide with an obstacle:

[0084] If so, continue adjusting the actual path.

[0085] If not, the robot is made to travel according to the actual path.

[0086] An embodiment of the present invention provides a robot device for identifying obstacles and autonomously planning an ideal path, comprising: a preset unit for presetting an ideal path; the ideal path includes a starting point and an end point; a determination unit for determining an actual path based on the starting point and the end point; and a simulation unit for constructing a virtual robot, simulating the robot traveling on the actual path, and determining whether the robot will collide with an obstacle: if so, adjusting the actual path; if not, causing the robot to travel along the actual path. Compared to the prior art, the embodiment of the present invention determines the actual path by presetting an ideal path, and determines whether the robot will collide with an obstacle by simulating the robot traveling on the actual path. That is, the robot of the present invention can identify obstacles in mine tunnels, avoiding damage to crawler transfer robots; and can also plan an ideal path based on the terrain environment of the tunnel, saving time and effort and increasing work efficiency.

[0087] At the same time, when an obstacle is identified in the mine tunnel, the driving path is adjusted according to the location or direction of the obstacle. After the adjustment, the simulation unit simulates the robot driving on the actual path again to determine whether the robot will collide with the obstacle, further avoiding damage to the crawler transfer robot.

[0088] It should be noted here that the detailed description of each component of this embodiment can refer to other embodiments and will not be repeated here.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for a robot to recognize obstacles and autonomously plan an ideal path, characterized in that, Including: A preset ideal path; the ideal path includes a starting point and an ending point; Based on the starting point and the ending point, determine an actual path; Construct a virtual robot, simulate the robot traveling on the actual path, and determine whether the robot will hit an obstacle: If so, adjust the actual path; If not, make the robot travel along the actual path.

2. The method for a robot to identify obstacles and autonomously plan an ideal path according to claim 1, wherein If so, adjusting the actual path includes: If so, identify the location or direction of the obstacle, and adjust the actual path according to the location and the direction.

3. The method for a robot to identify obstacles and autonomously plan an ideal path according to claim 2, wherein If so, after identifying the location or direction of the obstacle and adjusting the actual path according to the location and the direction, further includes: Simulate the robot traveling on the actual path again, and determine whether the robot will hit an obstacle: If so, continue to adjust the actual path; If not, make the robot travel along the actual path.

4. The method for a robot to identify obstacles and autonomously plan an ideal path according to claim 1, characterized in that, Based on the starting point and the ending point, determining the actual path includes: Perform a laser scan on the roadway based on the starting point and the ending point, obtain the actual structure of the roadway, and determine the actual path according to the actual structure of the roadway.

5. An apparatus for a robot to identify obstacles and autonomously plan an ideal path, characterized in that, Including: A preset unit for presetting an ideal path; The ideal path includes a starting point and an ending point; A determination unit for determining an actual path based on the starting point and the ending point; A simulation unit for constructing a virtual robot, simulating the robot traveling on the actual path, and determining whether the robot will hit an obstacle: If so, adjust the actual path; If not, make the robot travel along the actual path.

6. The robot obstacle recognition and ideal path autonomous planning device according to claim 5, characterized in that, Further including: A re-simulation unit for simulating the robot traveling on the actual path again, and determining whether the robot will hit an obstacle: If so, continue to adjust the actual path; If not, make the robot travel along the actual path.

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