An obstacle identification device and an obstacle identification method
An obstacle identification and obstacle technology, which is used in measuring devices, measuring distances, manual floor scrubbing machines, etc., can solve problems such as inability to install robots in close proximity, deviation of measurement results, and reduction of robot moving efficiency, and achieve an efficient real-time environment. The effect of detection, improving mobile efficiency and reducing trial and error costs
Active Publication Date: 2019-05-14
YUTOU TECH HANGZHOU
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[0003] However, this obstacle sensing method can only be measured at a limited angle relative to the body itself, because the sensors (such as physical switches, ultrasonic sensors, infrared sensors) have a certain volume and cannot be densely installed on the robot, resulting in measurement results There is a large deviation, and when the obstacle is in the measurement blind area, it is necessary to adjust the robot body posture to make up for this blind area measurement defect, which reduces the moving efficiency of the robot
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[0035] The present invention will be further described below with reference to the drawings and specific embodiments, but it is not a limitation of the present invention.
[0036] Such as figure 1 As shown, the obstacle recognition device of the present invention is arranged on the body of the mobile robot 3, preferably on the top of the mobile robot. The obstacle recognition device includes:
[0037] The phase difference laser sensor 1 is provided with a camera (not shown in the figure) and a laser beam emitter (not shown in the figure). The laser beam emitter is used to emit a laser beam, and the phase difference laser sensor 1 receives what is captured by the camera The position of the bright light spot diffusely reflected by the laser beam on the object relative to the camera, and the distance between the obstacle and the phase difference laser sensor 1 is measured by the triangulation method. The ranging of this phase difference laser sensor has the characteristics of high a...
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Provided are an obstacle recognition device and obstacle recognition method belonging to the field of robot design and manufacturing. The obstacle recognition device is disposed on the main body of a mobile robot (3), and mainly comprises a phase difference laser sensor (1) used for emitting a laser beam and, according to the bright spot from the laser beam diffusely reflected on an obstacle, obtaining the distance of the obstacle; the phase difference laser sensor (1) is arranged on a horizontally rotational device (2) so as to perform 360° detection of obstacles around the horizontally rotational device when it rotates, such that the mobile robot (3) has the capability to detect its environment in real time and in a highly effective manner; thus the efficiency of motion of the robot is improved and reducing the cost of trial and error.
Description
Technical field [0001] The invention relates to the field of robot design and manufacture, and in particular to an obstacle recognition device and an obstacle recognition method. Background technique [0002] At present, robots with mobile requirements (such as sweeping robots) will use physical switches, ultrasonic or infrared sensors and other measuring devices to calculate in real time whether there are obstacles in the forward direction of the robot. If an obstacle is detected, it will send relevant signals to the controller to control the robot. Change the route in order to achieve the goal of the robot not hitting the wall, avoiding the failure of the robot's subsequent walking route after encountering obstacles during the walking process. [0003] However, this obstacle sensing method can only measure at a limited angle relative to the body itself, because the sensors (such as physical switches, ultrasonic sensors, infrared sensors) themselves have a certain volume and canno...
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IPC IPC(8): G01C3/00
CPCA47L11/24A47L11/28
Inventor 蔡明峻
Owner YUTOU TECH HANGZHOU