Robot intelligent obstacle avoidance system and method based on stereoscopic vision

Abstract

The invention discloses a robot intelligent obstacle avoidance system and method based on stereoscopic vision. The system comprises a binocular camera, an industrial personal computer and an actuator.The industrial personal computer is connected with the binocular camera and the actuator respectively. The method comprises the steps that the binocular camera acquires video image information in theworking area of a robot, and sends the video image information to the industrial personal computer; the industrial personal computer receives video image information sent by the binocular camera, andcalculates the depth of each pixel according to the video image information and the internal and external parameters of the binocular camera to generate a depth image in the working area; the industrial personal computer further identifies an obstacle in the depth image according to deep learning, carries out three-dimensional reconstruction on the obstacle according to the depth image, calculates the three-dimensional coordinates of the obstacle, compares the three-dimensional coordinates with the motion path of the robot and detects whether the robot collides with the obstacle, adjusts themotion paths of the robot, generates corresponding motion path information, and transmits the motion path information to the actuator; and the actuator receives the motion path information given out by the industrial personal computer, and adjusts the motion path of the robot.

Description

technical field [0001] The invention relates to the field of robot obstacle avoidance, in particular to a robot intelligent obstacle avoidance system and method based on stereo vision. Background technique [0002] As one of the masterpieces of high technology in the 21st century, the development of robots is innovative and challenging, and has a huge impact on the development of the country. With the rise of "Industry 4.0" and "Made in China 2025", the robotics industry has also ushered in explosive opportunities and development. [0003] my country's robot industry is developing rapidly, especially the demand for industrial robots is soaring. However, with the development of science and technology and market demand, traditional industrial robots can no longer meet people's requirements. Robots that work closely together in the working environment, and the most important prerequisite for human-machine collaboration is to ensure the safety of the human-machine. Therefore, th...

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Problems solved by technology

[0005] So far, the visual recognition and positioning methods used in the field of robotics are greatly affected by ambient light, the recognition effect is not good, the positioning accuracy is low, and the application environment has many restrictions, which are increasingly unable to meet the requirements.

The document with the application number 201611197327.8 discloses a vision-based obstacle avoidance method for manipulators, and discloses a method for matching and identifying feature points based on feature point extraction based on SIFT algorithm and edge point extraction based on wavelet transform. The accuracy rate of obstacles is not high, and it is greatly affected by the background environment and light changes. The high error matching rate is not suitable for high-precision man-machine collaborative work environments.

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