Title:
ROBOT SPEED LIMITING METHOD AND APPARATUS, AND ELECTRONIC DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/099113
Kind Code:
A1
Abstract:
A robot speed limiting method and apparatus, and an electronic device, which can improve the efficiency and accuracy of robot speed limiting, and reduce the amount of calculation for robot speed limiting. The method comprises: during the traveling process of a robot, detecting an obstacle point cloud by means of a sensor on the robot (S102); when the obstacle point cloud is detected, according to speed data of the robot at the current moment, calculating a first trajectory parameter of a first arc trajectory of the robot at the current moment (S104); screening a plurality of pre-constructed contour cost maps to obtain a second arc trajectory and a third arc trajectory, which match the first trajectory parameter of the first arc trajectory (S106), wherein different contour cost maps comprise different arc trajectories which are collected in advance, arc radii of the arc trajectories are different, and the arc radius of the first arc trajectory is between the arc radius of the second arc trajectory and the arc radius of the third arc trajectory; and performing speed limiting on the robot according to speed limiting values, corresponding to the obstacle point cloud, of the second arc trajectory and the third arc trajectory (S108).
Inventors:
WU JIAMIN (CN)
RAN QINGZE (CN)
JIN DAPING (CN)
BU DAPENG (CN)
QIN BAOXING (CN)
CHENG HAOTIAN (CN)
RAN QINGZE (CN)
JIN DAPING (CN)
BU DAPENG (CN)
QIN BAOXING (CN)
CHENG HAOTIAN (CN)
Application Number:
PCT/CN2023/127381
Publication Date:
May 16, 2024
Filing Date:
October 27, 2023
Export Citation:
Assignee:
SHANGHAI GAUSSIAN AUTOMATION TECH DEVELOPMENT CO LTD (CN)
International Classes:
G05D1/00
Foreign References:
| CN115686019A | 2023-02-03 | |||
| CN112558610A | 2021-03-26 | |||
| CN106338996A | 2017-01-18 | |||
| CN112506202A | 2021-03-16 | |||
| CN113778106A | 2021-12-10 | |||
| CN111289008A | 2020-06-16 | |||
| CN114661038A | 2022-06-24 | |||
| CN111752276A | 2020-10-09 | |||
| CN114690767A | 2022-07-01 | |||
| CN112540602A | 2021-03-23 | |||
| CN111123947A | 2020-05-08 | |||
| CN115311646A | 2022-11-08 | |||
| JP2019021202A | 2019-02-07 | |||
| US20210018912A1 | 2021-01-21 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
Download PDF: