Obstacle avoidance control method and system combining depth camera and ultrasonic wave for robot

Abstract

The invention discloses an obstacle avoidance control method and system combining a depth camera and an ultrasonic wave for a robot. The system includes a depth data camera and an ultrasonic ranging module installed on the robot; A control module for processing obstacle information of external obstacle objects; a display screen for displaying obstacle information; the depth data camera and the ultrasonic ranging module are respectively electrically connected to the input of the control module, and the output of the control module is connected to the The display screen is electrically connected; the depth data camera captures a depth image with a current body posture of 0.3-4m and a shooting angle of 60 degrees in real time and determines whether there are external obstacles; Whether there are internal obstacles within. The invention realizes the blind spot detection of the environment by the robot, and can effectively avoid obstacles during the walking process.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an obstacle avoidance control method and system for a robot combined with a depth camera and ultrasonic waves. Background technique [0002] Intelligent robots, such as sweeping robots, are more and more widely used in family life. To achieve flexible, efficient and intelligent movement, robots need to have the function of autonomous navigation. Map creation, positioning and path planning are the three key elements of autonomous navigation. Map creation and positioning are interdependent. Without an environmental map, the position of the robot cannot be accurately calibrated. If the initial position is uncertain, the created map will lack As a reference point, the position and map creation of the robot in an unknown environment will be realized by simultaneous positioning and map creation, that is, the mobile robot gradually expands the breadth of the map stored by itself as it ex...

AI Technical Summary

Problems solved by technology

However, compared with household robots, the cost is relatively high. Relative positioning is to determine the current position of the robot by measuring the distance and direction of the robot relative to the initial position. , such as speed gyro, accelerometer, etc.

The point of the navigation reckoning algorithm is calculated by the robot itself, and does not require external perception information. It is certain that the drift error will cause the small error to increase infinitely with the accumulation of time, so the error is large

[0004] Based on the above description, traditional robot positioning and obstacle avoidance methods can only avoid obstacles that are long distances away from the robot, so there are limitations such as errors, blind spots, and reflection angles.

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