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Sweeping robot obstacle recognition and avoidance method based on depth vision

A sweeping robot and obstacle recognition technology, applied in the field of robots, can solve the problems of no path obstacles, entanglement of plastic bag obstacles, getting lost, etc., to achieve the effect of autonomous obstacle avoidance and no dead angle cleaning

Active Publication Date: 2022-02-15
哈尔滨鹏路智能科技有限公司 +1
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  • Application Information

AI Technical Summary

Problems solved by technology

However, my country's current research on sweeping robots is still in its infancy. Most of the existing obstacle avoidance methods of sweeping robots use passive response sensors such as lasers, ultrasonic waves, and pressure. These sensors often do not have the ability to judge path obstacles. Therefore, there is often the risk of getting stuck between the dining table or dining chairs, getting lost under the dining table, and being easily entangled by small obstacles such as plastic bags, indoor wires, and hangers

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  • Sweeping robot obstacle recognition and avoidance method based on depth vision
  • Sweeping robot obstacle recognition and avoidance method based on depth vision
  • Sweeping robot obstacle recognition and avoidance method based on depth vision

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Embodiment Construction

[0039] The present invention provides an embodiment of an obstacle recognition and obstacle avoidance method for a sweeping robot based on depth vision, in order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and achieve the above-mentioned purpose of the present invention , features and advantages can be more obvious and easy to understand, and the technical solution in the present invention will be described in further detail below in conjunction with the accompanying drawings:

[0040] The present invention first provides an embodiment of an obstacle recognition and obstacle avoidance method for a sweeping robot based on depth vision, such as figure 1 As shown, including: the present invention is realized by the following method: a method for obstacle recognition and obstacle avoidance of a sweeping robot based on depth vision, including:

[0041] Step 1 S101. Use the depth camera to collect inform...

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Abstract

The invention provides a sweeping robot obstacle recognition and avoidance method based on depth vision, which is used for enabling a sweeping robot to sense obstacles in a front working area in advance and adopt a corresponding obstacle avoidance mode according to the types of the obstacles. The sweeping robot obstacle recognition and avoidance method based on depth vision comprises the following six steps: firstly, carrying out information acquisition on an area in front of the sweeping robot by using a depth camera; then extracting spatial position information of each pixel point in the depth image, and marking a ground area; marking a path space region in the depth image, and segmenting an image of the obstacle; according to the obstacle image, using an x-axis and y-axis pixel distribution histogram and a depth histogram to distinguish the obstacle category; selecting a detour obstacle avoidance mode or a turn-back obstacle avoidance mode according to the obstacle category, and executing an obstacle avoidance operation; and finally, enabling the sweeping robot to run forwards and carry out normal sweeping, and executing the first five steps circularly.

Description

technical field [0001] The invention relates to the field of robots, in particular to a depth vision-based obstacle recognition and obstacle avoidance method for a sweeping robot. Background technique [0002] Nowadays, sweeping robots have gradually entered the public's field of vision, and their advantages of being able to easily clean up dust, hair, paper scraps and other garbage without manual operation are deeply loved by the majority of people. However, my country's current research on sweeping robots is still in its infancy. Most of the existing obstacle avoidance methods of sweeping robots use passive response sensors such as lasers, ultrasonic waves, and pressure. These sensors often do not have the ability to judge path obstacles. Therefore, there is often the risk of getting stuck between the dining table or dining chairs, getting lost under the dining table, and being easily entangled by small obstacles such as plastic bags, indoor wires, and hangers. [0003] Th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0221G05D1/0276
Inventor 王鹏赖楠旭柳长源
Owner 哈尔滨鹏路智能科技有限公司
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