Automatic walking device and robot

Abstract

The application discloses an automatic walking device comprising a control processing device disposed inside the automatic walking device, a visual image sensor and a multi-line laser radar. The visual image sensor and the multi-line laser radar are arranged at one side of the marching direction of the automatic walking device. The multi-line laser radar emits multiple detecting laser beams basedon a preset angle and determines characteristic information of an obstacle based on reflected signals of the detecting laser beams; the visual image sensor is used for acquiring image information of the marching direction of the automatic walking device. A control processing device calculates and performs the motion strategy of the automatic walking device according to the obstacle characteristicinformation obtained by the multi-line laser radar and the image information, obtained by the visual image sensor, of the marching direction. The application also discloses a robot. Therefore, obstacles with certain heights can be detected; the small-sized obstacles are not neglected; the blind area occurrence is avoided in the detection process; the installation of the camera is reduced, therebyreducing the algorithm difficulty and the manufacturing cost.

Description

technical field [0001] The present application relates to the technical field of laser scanning, in particular to an automatic walking device and a robot. Background technique [0002] With the development of laser technology, laser scanning technology is widely used in the fields of measurement, transportation, unmanned driving and mobile robots. [0003] Lidar is a kind of radar that works in the optical band (special band). Lidar is active detection and does not depend on external lighting conditions or the radiation characteristics of the target itself. It only needs to emit its own laser beam. Echo signal to obtain target information. It can emit a laser beam with a very small divergence angle, with little multipath effect, and can detect low-altitude / ultra-low-altitude targets. [0004] At present, most mobile robots are configured as a combination of single-line lidar and multiple cameras to achieve obstacle avoidance, that is, the single-line lidar emits a laser be...

AI Technical Summary

Problems solved by technology

[0006] 1) The data acquired by single-line lidar is 2D data, which cannot distinguish information such as the height of the target. Some small objects will be ignored and eventually become obstacles that affect the operation of the mobile robot;

[0007] 2) Single-line lidar cannot obtain road surface information, and needs to cooperate with the camera to read and judge the ground information, which increases the difficulty of the algorithm and the manufacturing cost;

[0008] 3) The single-line laser radar can only obtain one plane information of the object, and the coverage area is small, so the obtained obstacle information is not complete; when working in a specific working environment, it is difficult to achieve fast and accurate positioning

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