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Method and equipment for avoiding obstacles

A technology of obstacles and equipment, applied in the field of intelligent robots, can solve problems such as slow planning speed

Inactive Publication Date: 2019-07-09
BEIJING SINEVA TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] The present invention provides a method and equipment for avoiding obstacles, which is used to solve the problem of slow planning speed when planning obstacle avoidance paths in the process of edge detection for obstacles in the prior art

Method used

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  • Method and equipment for avoiding obstacles
  • Method and equipment for avoiding obstacles

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Embodiment Construction

[0036] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0037] Such as figure 1 As shown, the embodiment of the present invention is a method for avoiding obstacles, including:

[0038] Step 100, for any obstacle on the planned path of the moving object, determine the expanded obstacle area of ​​the obstacle;

[0039] Step 101, determining the line between the entry point and exit point of the planned path passing through the expansion obstacle area;

[0040] Step 102, dividing the connect...

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Abstract

The invention discloses a method and equipment for avoiding obstacles, in order to solve the problem of low planning speed when an obstacle avoiding path is planned in the process of performing edge detection on the obstacles in the prior art. The method comprises the following steps of: aiming at any obstacle on a planned path, determining an expanded obstacle area of the obstacle; determining aconnection line between an entry point and an exit point of the planned path passing through the expanded obstacle area; dividing the connection line according to a set first distance to obtain a plurality of dividing points; determining boundary points of the expanded obstacle area with by using the division point as a starting point; and connecting the boundary points on the same side of the expanded obstacle area to determine a path avoiding the obstacle. According to the method of the invention, in the process of detecting the edge of the obstacle, when the path avoiding the obstacle is determined according to the boundary points of the expanded obstacle area, the path avoiding the obstacle can be quickly planned.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a method and equipment for avoiding obstacles. Background technique [0002] With the development of science and technology, smart mobile objects widely appear in real life, and most of them are used in commercial purposes such as reception at the front desk, reception at banks, and shopping guides in shopping malls. However, in existing application scenarios such as shopping malls, office halls, etc., in addition to some static objects such as walls, tables, chairs, and counters, there are also many dynamic objects such as pedestrians. At this time, smart mobile devices must avoid obstacles and continue To move forward to reach the destination or perform corresponding tasks, it is necessary to perform edge detection on obstacles before avoiding them, and determine the route to avoid them. [0003] At present, obstacle detection methods are mainly based on image processing algo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 许义恒郭若楠张弥韩松杉
Owner BEIJING SINEVA TECH
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