US 12,443,190 B2
Robot traveling method, and electronic device
Enqiong Tang, Beijing (CN); Chao Wang, Beijing (CN); Xiujun Yao, Beijing (CN); and Chenguang Gui, Beijing (CN)
Assigned to Jingdong Technology Information Technology Co., Ltd., Beijing (CN)
Appl. No. 18/037,174
Filed by Jingdong Technology Information Technology Co., Ltd., Beijing (CN)
PCT Filed Dec. 17, 2021, PCT No. PCT/CN2021/139330
§ 371(c)(1), (2) Date May 16, 2023,
PCT Pub. No. WO2022/179270, PCT Pub. Date Sep. 1, 2022.
Claims priority of application No. 202110204861.1 (CN), filed on Feb. 23, 2021.
Prior Publication US 2024/0004389 A1, Jan. 4, 2024
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0214 (2013.01) [G05D 1/024 (2013.01); G05D 1/0274 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot traveling method, operated in a scenario lacking positioning information, comprising:
detecting an obstacle, and obtaining first coordinate points of the detected obstacle in a first coordinate system, wherein the first coordinate system is a coordinate system of an obstacle detector, the obstacle detector is used for detecting whether there is an obstacle existing in the surroundings of the robot and guiding the robot to travel by avoiding obstacles;
obtaining second coordinate points of the obstacle in a second coordinate system by performing coordinate system transformation on the first coordinate points, wherein the second coordinate system is a coordinate system of a robot;
obtaining a first azimuth corresponding to each second coordinate point, traversing all the first azimuths, and determining a farthest target coordinate point that the robot is allowed to reach when the robot walks along a currently traversed first azimuth by performing coordinate axis rotation on all the second coordinate points based on the currently traversed first azimuth, wherein the farthest target coordinate point is a farthest coordinate point of contact with an obstacle that the robot is capable to reach along the first azimuth due to a limitation of a body of the robot; and
obtaining a target azimuth deviation of the robot based on the target coordinate point corresponding to each first azimuth, and controlling the robot to travel based on the target azimuth deviation;
wherein obtaining the second coordinate points of the obstacle in the second coordinate system by performing the coordinate system transformation on the first coordinate points, comprises:
obtaining a position relation between a geometric center point of the obstacle detector and a geometric center point of the robot;
obtaining, based on the position relation, a first offset on the first coordinate axis and a second offset on the second coordinate axis of each first coordinate point; and
for each of the first coordinate points, obtaining a second coordinate point by performing translation and transformation on the first coordinate point based on the first offset and the second offset.