Title:
METHOD AND DEVICE FOR UPDATING PLANNED PATH OF ROBOT
Document Type and Number:
WIPO Patent Application WO/2018/054080
Kind Code:
A1
Abstract:
A method and device for updating a planned path of a robot, the method comprising: acquiring a current carrier coordinate in real time in a movement process of a robot, and converting the current carrier coordinate into a current global coordinate of the robot (S101); calculating a movement speed estimation and a position estimation of the robot moving to a next site according to the current global coordinate and a current movement speed (S102); acquiring a three-dimensional coordinate point of a pixel point in a depth image representing an obstacle in a surrounding environment of the robot, and converting the three-dimensional coordinate point into a two-dimensional coordinate point so as to obtain a projection outline of the obstacle in the surrounding environment of the robot (S103); acquiring an angular point of the obstacle in the surrounding environment according to the two-dimensional coordinate point (S104); and finally, updating a planned path of the robot according to the position estimation and the angular point of the obstacle (S105). Said method utilizes speed and position information which is acquired by a sensor of the robot so as to carry out accurate positioning and avoidance of the obstacle; calculation in the path updating process is decreased by means of the conversion of the three-dimensional coordinate into the two-dimensional coordinate, and response speed of the path update is improved.
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Inventors:
LI JIANQIANG (CN)
DENG GENQIANG (CN)
LI SAILING (CN)
MING ZHONG (CN)
DENG GENQIANG (CN)
LI SAILING (CN)
MING ZHONG (CN)
Application Number:
PCT/CN2017/085352
Publication Date:
March 29, 2018
Filing Date:
May 22, 2017
Export Citation:
Assignee:
UNIV SHENZHEN (CN)
International Classes:
G01C21/00; G01C21/20
Foreign References:
| CN106441275A | 2017-02-22 | |||
| CN105222760A | 2016-01-06 | |||
| US20150304634A1 | 2015-10-22 |
Other References:
DENG, GENQIANG ET AL.: "SLAM: Depth Image Information for Mapping and Inertial Navigation System for Localization", 2016 ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS, 22 July 2016 (2016-07-22), pages 187 - 191, XP032953588
QU, XIWEN: "An Improved Harris Corner Detection Method", MECHANICAL & ELECTRICAL TECHNOLOGY, 31 August 2012 (2012-08-31), ISSN: 1672-4801
CAMPLANI, M. ET AL.: "Depth-Color Fusion Strategy for 3-D Scene Modelling with Kinect", IEEE TRANSACTIONS ON CYBERNETICS, vol. 43, no. 6, 31 December 2013 (2013-12-31), pages 1560 - 1571, XP055276696
QU, XIWEN: "An Improved Harris Corner Detection Method", MECHANICAL & ELECTRICAL TECHNOLOGY, 31 August 2012 (2012-08-31), ISSN: 1672-4801
CAMPLANI, M. ET AL.: "Depth-Color Fusion Strategy for 3-D Scene Modelling with Kinect", IEEE TRANSACTIONS ON CYBERNETICS, vol. 43, no. 6, 31 December 2013 (2013-12-31), pages 1560 - 1571, XP055276696
Attorney, Agent or Firm:
SHENZHEN YOUTH PATENT AND TRADEMARK AGENCY LTD. (CN)
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