Method for obstacle avoidance of fusion of a plurality of data weights, storage device and mobile terminal

Abstract

The present invention relates to a method for obstacle avoidance of fusion of a plurality of data weights, a storage device and a mobile terminal. The method comprises the steps of: A, respectively setting corresponding coordinate points to a robot center, a laser radar, a 3D camera, an ultrasonic wave module and an infrared switch; B, performing TF conversion of a robot world coordinate to the same robot coordinate system; C, setting the point cloud data weight of the 3D camera as [Alpha], setting weights of data of the ultrasonic wave module and data of the infrared switch are [Beta], and performing location of data of the laser radar in a navigation map through a robot; D, presetting a safety value; and E, performing weight comparison with the preset safety value, and performing determination and obstacle avoidance. Four sensors mutually make up each shortcoming, different weight modes are added to perform data fusion, and therefore a robot performs autonomous motion in different scenes, and autonomous obstacle avoidance is more flexible and intelligent.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for merging multiple data weights to avoid obstacles, a storage device and a mobile terminal. Background technique [0002] At present, the autonomous movement of robots mainly uses laser radar to identify obstacles and map matching or image recognition and map matching through 3D cameras, and then ultrasonic radar or infrared proximity switches are used to assist obstacle avoidance. The data of each obstacle avoidance module independently plays the role of obstacle avoidance. This will cause the robot to move autonomously. When the laser radar or 3D camera does not recognize the obstacle, the auxiliary inspection obstacle sensor detects that the obstacle is in the When it is less than or equal to the set safety distance information, the robot is required to stop, and there is no information marking obstacles on the robot navigation map, which will cause the robot to stop until the...

AI Technical Summary

Problems solved by technology

The data of each obstacle avoidance module independently plays the role of obstacle avoidance. This will cause the robot to move autonomously. When the laser radar or 3D camera does not recognize the obstacle, the auxiliary inspection obstacle sensor detects that the obstacle is in the When it is less than or equal to the set safety distance information, the robot is required to stop, and there is no information on the robot navigation map to mark obstacles, which will cause the robot to stop until the auxiliary sensor does not detect obstacles

This makes it impossible for the robot to do autonomous motion planning that bypasses obstacles on its own

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