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Robot obstacle avoidance method based on depth sensor

A technology of depth sensor and robot, which is applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve the problems of expensive equipment, difficult path planning, and inability to detect the shape of obstacles, and achieve high accuracy, convenient path planning, and improved avoidance. effect of impediment to rationality

Active Publication Date: 2017-01-04
广东大仓机器人科技有限公司
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Problems solved by technology

[0004] For this reason, the technical problem to be solved by the present invention is that the obstacle avoidance method used in the robot navigation system in the prior art belongs to single point detection, cannot detect the shape of the obstacle, it is very difficult to plan the path, and the equipment is expensive. Sensor-Based Robotic Obstacle Avoidance

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  • Robot obstacle avoidance method based on depth sensor
  • Robot obstacle avoidance method based on depth sensor
  • Robot obstacle avoidance method based on depth sensor

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Embodiment Construction

[0041] Such as figure 1 Shown, a kind of robot obstacle avoidance method based on depth sensor of the present invention comprises the following steps:

[0042] S1: Install a depth sensor on the robot and initialize the device. Such as figure 2 As shown, the depth sensor includes an infrared emitter 1 and an infrared camera 2, and the infrared emitter and the infrared camera are horizontally arranged in parallel. The depth sensor is similar to binocular recognition, but one of the cameras becomes an infrared emitter and the other becomes an infrared camera, and the infrared camera emits multiple light spots 3 in the environment 4 .

[0043] S2: Turn on the depth sensor, and acquire depth information of multiple obstacles within the field of view according to the depth sensor. image 3 In order to obtain a schematic diagram of the depth information of the light spot, the step S2 specifically includes the following steps:

[0044] S21: The infrared emitter radiates infrared ...

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Abstract

The invention discloses a robot obstacle avoidance method based on a depth sensor. Due to the arrangement of the depth sensor, depth information in the whole visual field of a robot can be acquired at a time; distances and shapes of obstacles can be calculated according to the depth information, so that the robot can plan obstacle avoidance routes in advance, and real-time modeling of the environment can be realized. The method does not need expensive equipment, and is good in detection effect, convenient in route planning and high in accuracy; the response speed of the robot and the rationality of obstacle avoidance are greatly improved, so that the robot can walk freely in a rapidly changing environment.

Description

Technical field: [0001] The invention belongs to the technical field of robot obstacle avoidance, and in particular relates to a robot obstacle avoidance method based on a depth sensor. Background technique: [0002] The birth of robots and the establishment and development of robotics is one of the most convincing achievements of automatic control in the 20th century, and it is a major achievement of human science and technology progress in the 20th century. Since the birth of robots in the 1960s, with the development of electronic technology, computer technology, signal processing and artificial intelligence technology, great progress has been made in just a few decades. With the development of robot technology, more and more robots with intelligent characteristics have penetrated into our production and life. Obstacle avoidance is the basis of robot navigation. Obstacle avoidance mainly includes obstacle detection and detour. The robot moves in a certain scene. Its walki...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/20
Inventor 胡昌
Owner 广东大仓机器人科技有限公司
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