US 12,093,047 B2
Obstacle avoidance method and apparatus, and warehousing robot
Han Lin, Shenzhen (CN)
Assigned to HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed by HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed on Jul. 15, 2021, as Appl. No. 17/377,009.
Application 17/377,009 is a continuation of application No. PCT/CN2020/075136, filed on Feb. 13, 2020.
Claims priority of application No. 201910041517.8 (CN), filed on Jan. 16, 2019; and application No. 201920073568.4 (CN), filed on Jan. 16, 2019.
Prior Publication US 2021/0341930 A1, Nov. 4, 2021
Int. Cl. G05D 1/00 (2024.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0223 (2013.01); G06V 20/10 (2022.01); G06V 20/58 (2022.01)] 16 Claims
OG exemplary drawing
 
1. An obstacle avoidance method applied to a warehousing robot, wherein the method comprises:
obtaining working state information;
determining a detection region according to the working state information; and
performing braking if an obstacle exists in the detection region;
wherein the working state information comprises a working mode;
wherein the determining the detection region according to the working state information comprises:
determining the detection region according to the working mode;
wherein the determining the detection region according to the working mode comprises:
in a case where the working mode is a linear mode, determining the detection region to be quadrangular;
in a case where the working mode is a rotation mode, determining the detection region to be circular.