Method and device for determining movement trajectory, mobile robot and storage medium

A technology for mobile robots and moving trajectories, which is applied in instruments, image analysis, image enhancement, etc., and can solve problems such as low accuracy of moving trajectories and the inability of mobile robots to safely pass through narrow passages

Active Publication Date: 2020-04-21
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiments of the present invention provide a method and device for determining a moving trajectory, a mobile robot and a storage medium, so as to solve the technical problems in the prior art that the accuracy of the moving trajectory of the mobile robot is low and the mobile robot cannot safely pass through the narrow passage

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  • Method and device for determining movement trajectory, mobile robot and storage medium
  • Method and device for determining movement trajectory, mobile robot and storage medium
  • Method and device for determining movement trajectory, mobile robot and storage medium

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Embodiment 1

[0033] Embodiment 1 of the present invention provides a method for determining a movement trajectory. The method can be executed by a device for determining a movement trajectory, wherein the device can be implemented by software and / or hardware, and generally can be integrated in a mobile robot. figure 1 It is a schematic flow chart of the method for determining the movement trajectory provided by Embodiment 1 of the present invention, such as figure 1 As shown, the method includes:

[0034] S101. Obtain scanning information within a set distance range of the mobile robot.

[0035] Wherein, the scanning information may be the relative position information of the mobile robot and the obstacle, which may include information such as the direction and distance between the obstacle and the mobile robot. The set distance range can be set as required, and it can be greater than, equal to or smaller than the maximum scanning range of the mobile robot. Considering the accuracy of ...

Embodiment 2

[0048] figure 2 It is a schematic flowchart of a method for determining a movement trajectory provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments. In this embodiment, "determine the current relative position information between the narrow aisle boundary and the mobile robot according to the scanning information and the preset narrow aisle boundary model" Further optimization is: input the scan information into the preset narrow channel boundary model, and obtain the relative position image output by the narrow channel boundary model; if the relative position image contains For non-background pixel points, select the non-background pixel points with the maximum occurrence probability value as the real display position of the narrow channel boundary in each target pixel area composed of the non-background pixel points to represent the real display position of the narrow channel boundary , the image fea...

Embodiment 3

[0071] Figure 4 It is a schematic flowchart of a method for determining a movement trajectory provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above embodiments. Further, before determining the moving trajectory of the mobile robot according to the current relative position information, it further includes: determining that the narrow channel is the mobile robot Target narrow passage through which to reach the end position.

[0072] Further, before determining the moving track of the mobile robot according to the current relative position information, it also includes: determining the current scanning time according to the displacement information of the mobile robot and the last relative position information of the mobile robot Check the position information of the mobile robot and the boundary of the narrow channel; if the check position information is not the same as the current relative position information, Bayesian is ...

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Abstract

The invention discloses a method and device for determining a moving trajectory, a mobile robot and a storage medium. The method includes the following steps: acquiring scan information within a set distance range of the mobile robot; determining current relative position information of a narrow channel boundary and the mobile robot according to the scan information, wherein the width difference between the narrow channel and the mobile robot is less than a fixed width threshold; and determining a moving trajectory of the mobile robot according to the current relative position information to achieve that the mobile robot passes through the narrow channel. In the embodiment of the invention, by adopting the above technical scheme, the moving trajectory of the mobile robot can be determinedaccording to the relative position of the mobile robot and the narrow channel boundary, the planning accuracy of the moving trajectory can be improved, and the occurrence of the situation that the mobile robot shakes right and left when passing through the narrow channel can be avoided so as to ensure that mobile robot can safely pass through the narrow channel.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a method and device for determining a moving track, a mobile robot and a storage medium. Background technique [0002] With the development of automatic control technology, mobile robots are more and more applied to production, military and service fields to replace human labor or tasks with high intensity, cumbersome or dangerous tasks. . [0003] At present, when realizing the automatic operation of a mobile robot, the average value of the position coordinates of the largest particle cluster corresponding to the mobile robot at the current moment is usually used as the current position of the mobile robot through particle filter technology, and then the mobile robot is planned based on the current position The movement trajectory in the next cycle or the next few cycles, and control the mobile robot to move according to the planned movement trajectory. [0004] Howe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06T7/277G06T7/73
CPCG06T7/246G06T7/277G06T7/73G06T2207/20041G06T2207/20076G06T2207/20081G06T2207/30241G06T2207/30252
Inventor 谢琨
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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