US 12,461,530 B2
Path generation method for robot, robot and computer-readable storage medium
Zhihao Zhang, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Huan Tan, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Feb. 24, 2023, as Appl. No. 18/113,624.
Claims priority of application No. 202210177948.9 (CN), filed on Feb. 24, 2022.
Prior Publication US 2023/0266764 A1, Aug. 24, 2023
Int. Cl. G05D 1/00 (2024.01); G06T 7/73 (2017.01)
CPC G05D 1/0214 (2013.01) [G06T 7/75 (2017.01); G06T 2200/04 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A computer-implemented path generation method for a robot, the method comprising:
based on a scene model of a current scene and a machine model corresponding to the robot, combined with multiple configurations of the robot, determining a plurality of initial points between a start point and an end point in the scene model, wherein each configuration of the robot comprises: a position of the robot in the current scene, and a state of each part of the robot;
removing redundant points from the plurality of the initial points to obtain necessary points among the initial points; and
connecting the necessary points to obtain a path between the start point and the end point;
wherein the method further comprises, before determining the plurality of initial points between the start point and the end point in the scene model,
obtaining one or more scene images of the current scene;
performing voxelization on the current scene according to the one or more scene images, generating an envelope corresponding to each obstacle in the current scene, and establishing the scene model corresponding to the current scene;
constructing a robot envelope according to model bodies corresponding to each part of the robot, and establishing the machine model corresponding to the robot according to the robot envelope.