Intelligent obstacle avoidance method, and mowing robot and storage medium
AssigneeShenzhen Mammotion Innovation Co., Limited
InventorsWeifu ZHANG, Ning WANG, Zhenhao HUANG
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Abstract
Disclosed in the present disclosure is an intelligent obstacle avoidance method. An obstacle in a current path may be detected; a first obstacle avoidance path is generated with a first parameter based on a detection result, and a mowing robot is controlled to operate; if the obstacle is detected again in the first obstacle avoidance path, a second obstacle avoidance path is generated with a second parameter, and the mowing robot is controlled to operate; and the above steps are repeated until the obstacle is bypassed.
Claims20
An intelligent obstacle avoidance method, comprising:
- detecting an obstacle in a travel path of an autonomous robot;
- generating a first obstacle avoidance path with a first parameter based on a detection result, and controlling the mowing robot to operate based on the first obstacle avoidance path;
- generating a second obstacle avoidance path with a second parameter, when the obstacle is detected again in the first obstacle path;
- controlling the mowing robot to operate based on the second obstacle avoidance path, the second parameter being greater than the first parameter;
- and
- adjusting a parameters of path generation until the obstacles in the travel path are avoided;
- wherein after the obstacle is detected again in the first obstacle avoidance path, the method further comprises:
- determining whether the obstacle moves when the mowing robot operates based on the first obstacle avoidance path;
- and
- performing the step of generating a second obstacle avoidance path with a second parameter when the obstacle does not move, or
- generating a first obstacle avoidance path again with a current position of the mowing robot, and controlling the mowing robot to operate based on the first obstacle avoidance path when the obstacle moves.
A mowing robot, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the program, when executed by the processor, causes the processor to perform an intelligent obstacle avoidance method, the intelligent obstacle avoidance method comprising:
- detecting an obstacle in a travel path of an autonomous robot;
- generating a first obstacle avoidance path with a first parameter based on a detection result, and controlling the mowing robot to operate based on the first obstacle avoidance path;
- generating a second obstacle avoidance path with a second parameter, when the obstacle is detected again in the first obstacle path;
- controlling the mowing robot to operate based on the second obstacle avoidance path, the second parameter being greater than the first parameter;
- and
- adjusting a parameters of path generation until the obstacles in the travel path are avoided;
- wherein after the obstacle is detected again in the first obstacle avoidance path, the method further comprises:
- determining whether the obstacle moves when the mowing robot operates based on the first obstacle avoidance path;
- and
- performing the step of generating a second obstacle avoidance path with a second parameter when the obstacle does not move, or
- generating a first obstacle avoidance path again with a current position of the mowing robot, and controlling the mowing robot to operate based on the first obstacle avoidance path when the obstacle moves.
A non-transitory storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform an intelligent obstacle avoidance method, the intelligent obstacle avoidance method comprising:
- detecting an obstacle in a travel path of an autonomous robot;
- generating a first obstacle avoidance path with a first parameter based on a detection result, and controlling the mowing robot to operate based on the first obstacle avoidance path;
- generating a second obstacle avoidance path with a second parameter, when the obstacle is detected again in the first obstacle path;
- controlling the mowing robot to operate based on the second obstacle avoidance path, the second parameter being greater than the first parameter;
- and
- adjusting a parameters of path generation until the obstacles in the travel path are avoided;
- wherein after the obstacle is detected again in the first obstacle avoidance path, the method further comprises:
- determining whether the obstacle moves when the mowing robot operates based on the first obstacle avoidance path;
- and
- performing the step of generating a second obstacle avoidance path with a second parameter when the obstacle does not move, or
- generating a first obstacle avoidance path again with a current position of the mowing robot, and controlling the mowing robot to operate based on the first obstacle avoidance path when the obstacle moves.
Dependencies are inferred from the claim text.