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Method and electronic device for avoiding obstacles

A technology for electronic equipment and obstacles, which is applied in the electronic field and can solve problems such as inability to identify transparent obstacles.

Active Publication Date: 2019-08-23
NINEBOT (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention solves the technical problem that the visual obstacle avoidance system in the prior art cannot identify transparent obstacles by providing a method and electronic equipment for avoiding obstacles

Method used

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  • Method and electronic device for avoiding obstacles
  • Method and electronic device for avoiding obstacles

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0078] This embodiment provides a method for avoiding obstacles, which is applied to an electronic device equipped with a driving device, and the driving device is used to provide a driving force for the electronic device, so that the electronic device can generate displacement.

[0079] In the specific implementation process, the electronic equipment can be: a ground robot (for example: a balance car), or a drone (for example: a multi-rotor drone, or a fixed-wing drone), or an electric vehicle, etc. Here, this embodiment does not specifically limit what kind of device the electronic device is.

[0080] In the specific implementation process, an image sensor and an ultrasonic module are arranged on the electronic device, and the image sensor may specifically be an RGBD image sensor. The advantages of the RGBD image sensor are long measurement distance, high measurement accuracy, and low cost. It is unable to identify transparent obstacles such as glass, but the ultrasonic modu...

Embodiment 2

[0095] Based on the same inventive concept, the method for avoiding obstacles will be described in detail below by taking the electronic device as a balancing car as an example.

[0096] Such as figure 1 As shown, this embodiment provides a method for avoiding obstacles, which is applied to a balance car, including:

[0097] Step S101: Obtain first data collected by an image sensor, and obtain second data collected by an ultrasonic module.

[0098]In the specific implementation process, an image sensor and an ultrasonic module are installed on the balance car. The image sensor can specifically be an RGBD image sensor. The advantages of the RGBD image sensor are long measurement distance, high measurement accuracy, and low cost. The disadvantage is that it cannot identify glass Transparent obstacles such as glass, and the ultrasonic module can just identify transparent obstacles such as glass, thus making up for the defects of the RGBD image sensor. Here, the ultrasonic modul...

Embodiment 3

[0131] Based on the same inventive concept, the method for avoiding obstacles will be described in detail below by taking the electronic device as an example of an unmanned aerial vehicle.

[0132] Such as figure 1 As shown, this embodiment provides a method for avoiding obstacles, which is applied to unmanned aerial vehicles, including:

[0133] Step S101: Obtain first data collected by an image sensor, and obtain second data collected by an ultrasonic module.

[0134] Such as Figure 5a As shown, the unmanned aerial vehicle is specifically a fixed-wing unmanned aerial vehicle, and the unmanned aerial vehicle is mainly composed of a fuselage 501 and a wing 502, wherein two sets of image sensors and ultrasonic modules can be set, and one set is installed on the unmanned aerial vehicle. Below (for example: the RGBD image sensor 503a and the ultrasonic module 504a are installed below the fuselage 501 or the wing 502), for detecting obstacles below the drone; another group is i...

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Abstract

The invention discloses a method for avoiding obstacles, the method is applied to electronic equipment with a driving device, and the method is as follows: obtaining first data collected by an image sensorand obtaining second data collected by an ultrasonic wave module, wherein the first data contains depth image information of the ground and a first obstacle, and the second data contains shape information of a second obstacle and distance information of the second obstacle and the electronic equipment; generating an obstacle map on the basis of the first data and the second data; navigating the electronic equipment based on the obstacle map to avoiding the electronic equipment from the first obstacle and the second obstacle. The method solves the technical problems that a visual obstacle avoidance system in the prior art cannot recognize a transparent obstacle. At the same time, the invention also discloses the electronic equipment.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a method for avoiding obstacles and electronic equipment. Background technique [0002] During the navigation process, whether the robot can automatically recognize the obstacles on the robot's navigation track, and whether it can avoid the obstacles in time, is an important aspect that affects the safe operation of the mobile robot. Such a system is called an "automatic obstacle avoidance system". [0003] At present, the mainstream robot automatic obstacle avoidance systems mainly include: laser radar TOF (Time of flight, time of flight) ranging obstacle avoidance system, and visual obstacle avoidance system. [0004] Most advanced visual obstacle avoidance systems use RGBD (Red Green Blue Depth) image sensors as obstacle avoidance sensors. The advantages of RGBD image sensors are long measurement distance, high measurement accuracy, and low cost. In the absence of a map,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00
CPCG01C21/005
Inventor 冷静陈子冲廖方波
Owner NINEBOT (BEIJING) TECH CO LTD