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Anti-foot-pressing detection method and terminal

A detection method and detection terminal technology, applied in the field of mobile robots, can solve problems such as high misjudgment rate, hidden dangers of normal machine operation, and pedestrian judgment, so as to avoid presser foot accidents and reduce the time for data collection and data processing.

Pending Publication Date: 2021-11-23
汤恩智能科技常熟有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And there is a high misjudgment rate in the case of short distance, pedestrians not moving and complex environment
In many complex application scenarios, it may not be possible to make timely and correct pedestrian judgments, causing great hidden dangers to the normal operation of the machine

Method used

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  • Anti-foot-pressing detection method and terminal
  • Anti-foot-pressing detection method and terminal
  • Anti-foot-pressing detection method and terminal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] Please refer to figure 1 , Figure 3 to Figure 7 , a kind of anti-presser foot detection method, comprises steps:

[0068] S1. Install a single-point laser obliquely downwards directly in front of the robot. Directly behind the left and right rear wheels of the robot, the position is close to the left and right rear wheels, the position directly in front is close to the left and right rear wheels, and the position directly in front is away from the left and right rear wheels. Install the single point laser under.

[0069] Specifically, please refer to image 3 , the robot in this embodiment is a three-wheeled robot, then the left and right wheels only include the left and right rear wheels, and the left and right rear wheels include the left rear wheel and the right rear wheel. From the perspective of the left and right positions of the wheels, the left rear wheel can also be called the left wheel, and the right rear wheel can also be called the left wheel. Rear whee...

Embodiment 2

[0095] Please refer to figure 1 , Figure 8 The difference between the present embodiment and the first embodiment is that the present embodiment is a four-wheel robot, and the left and right wheels include the left and right rear wheels and the left and right front wheels, the left and right rear wheels include the left rear wheel and the right rear wheel, and the left and right front wheels include Left front wheel and right front wheel, and from the position of wheel, left rear wheel and left front wheel also can be collectively referred to as left wheel, right rear wheel and right front wheel also can be collectively referred to as right wheel.

[0096] S1', please refer to Figure 8 , install single-point laser 1 directly behind the left rear wheel and close to the left rear wheel; install single-point laser 2 directly in front of the left rear wheel and close to the left rear wheel; install single-point laser 2 behind the left front wheel and close to the left front whe...

Embodiment 3

[0109] Please refer to figure 2 , an anti-presser foot detection terminal, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, one of the first or second embodiments is realized Each step of the anti-presser foot detection method.

[0110] In summary, the present invention provides an anti-presser foot detection method and a terminal. A single-point laser is installed obliquely downwards directly in front of the robot, and is located directly behind the left and right rear wheels, close to the position directly in front of the left and right rear wheels. The position of the left and right rear wheels and the position directly in front away from the left and right rear wheels are respectively installed with single-point lasers downward, and the human feet can be detected by the single-point laser installed obliquely downward and the single-point laser far away from the le...

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Abstract

The invention discloses an anti-foot-pressing detection method and terminal, and the method comprises the steps: obliquely and downwards installing single-point lasers in front of a robot, and downwards installing the single-point lasers in the positions, close to the left and right rear wheels, in front of the left and right rear wheels and away from the left and right rear wheels, in front of the left and right rear wheels; the feet of a person can be detected through the single-point laser installed obliquely downwards and the single-point laser away from the left wheel and the right wheel, and due to the fact that the single-point laser for detecting the feet has a certain distance from the left wheel and the right wheel, timely braking after the feet of the person are detected is facilitated; in order to prevent foot pressing, the single-point laser close to the left and right wheels only detects the height of an obstacle, the time of data acquisition and data processing can be shortened, the robot can stop in time when the single-point laser close to the human foot and far away from the left and right wheels does not detect the human foot, the human foot suddenly stretching into the vehicle bottom is prevented from being pressed, and foot pressing accidents are avoided.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a method and terminal for detecting an anti-presser foot. Background technique [0002] Robot anti-presser foot detection can use a variety of sensors, such as depth cameras, infrared sensors, and ultrasonic sensors. Commonly used humanoid detection methods include frame difference method, optical flow method, and background difference method. Usually, a large amount of data needs to be collected for related calculations, so as to judge the pedestrian's position and avoid the robot from pressing on the pedestrian's foot during driving. [0003] Due to the characteristics of the sensor itself and the influence of environmental factors, sensors such as depth cameras, infrared sensors, and ultrasonic sensors require a large amount of data calculations when detecting pedestrians. And there is a high misjudgment rate in the case of short distance, pedestrians not moving and complex envir...

Claims

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Application Information

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IPC IPC(8): G01V8/10G01B11/02
CPCG01V8/10G01B11/02
Inventor 不公告发明人
Owner 汤恩智能科技常熟有限公司
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