Obstacle avoidance method and device based on line laser

Abstract

The invention discloses an obstacle avoidance method and an obstacle avoidance device based on line laser. The obstacle avoidance method comprises the steps of: emitting two beams of crossed line laser to a target region; acquiring a target region image; calculating bright spot coordinates formed by the line laser in the target region image; judging whether an obstacle exists in the target regionor not according to the bright spot coordinates; if the obstacle exists and the height of the obstacle exceeds a preset obstacle crossing range, enabling a sweeper to avoid the obstacle; and if the obstacle does not exist or the height of the obstacle does not exceed the preset obstacle crossing range, enabling the sweeper to pass through the target region. According to the obstacle avoidance method and the obstacle avoidance device, the laser is shot by a camera after being reflected, and after the camera shoots a laser picture, coordinate analysis is carried out on bright spots in the picture, so that obstacles such as a power line are recognized, and winding and collision are prevented; a cliff and an overhigh lower step can further be recognized, and falling is prevented; in addition,an upper step within the obstacle crossing capacity can be recognized, missed sweeping is prevented, and therefore active obstacle avoidance is achieved, and the working efficiency of the sweeper is improved.

Description

technical field [0001] The present application relates to the technical field of sweeping robots, in particular to a line laser-based obstacle avoidance method and device. Background technique [0002] With the development of information technology and the continuous improvement of people's quality of life requirements, smart home products gradually appear in people's daily life. Among them, the representative sweeping robot is more and more popular with people, and the sweeping robot can replace people to perform Cleaning of the area. [0003] In the existing sweeping robot market, most sweeping robots do not have the function of identifying obstacles and actively avoiding them. It mainly relies on hitting the board to trigger the formation of obstacles. Sweeping robots without active obstacle avoidance function have poor user experience and cause great damage to furniture and walls. Small obstacles that cannot be cleaned will increase the probability of the sweeper getti...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present application provides a line laser-based obstacle avoidance method and device to solve the problem that the sweeping robot does not have an active obstacle avoidance function in the prior art, which leads to poor user experience of the sweeping robot and great damage to furniture and walls. , Small obstacles that cannot be cleaned will cause the sweeper to get stuck and the probability of sweeper brush winding will also increase.

Images