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Vision-based obstacle detection method, device, and mobile device

A technology of obstacle detection and mobile equipment, applied in the field of robotics, can solve problems such as reducing the service life of sweepers and affecting the accuracy of path planning, and achieve the effects of reducing design costs, avoiding contact detection, and improving reliability and detection accuracy

Active Publication Date: 2021-04-16
SHENZHEN TOPBAND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The traditional sweeper design mainly uses the collision method to sense the existence of obstacles, and this method will not only reduce the service life of the sweeper for a long time, but also affect the accuracy of path planning during its work

Method used

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  • Vision-based obstacle detection method, device, and mobile device
  • Vision-based obstacle detection method, device, and mobile device
  • Vision-based obstacle detection method, device, and mobile device

Examples

Experimental program
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no. 1 example

[0059] Specifically, such as figure 2As shown, the vision-based obstacle detection method of this embodiment includes the following steps:

[0060] Step S1. Obtain the current real-time image in the traveling direction of the mobile device collected by the image acquisition device.

[0061] Taking the sweeper as an example, the moving direction of the mobile device is the moving track of the sweeper, and the monocular camera installed in the moving direction of the sweeper can collect images in real time in the moving direction.

[0062] Wherein, the current real-time image in the traveling direction of the mobile device is a real-time image collected by the image acquisition device at the current moment during the movement of the mobile device.

[0063] Step S2. Analyze and process the current real-time image based on the visual positioning and map construction system to obtain obstacle information in the traveling direction of the mobile device; the obstacle information is...

no. 2 example

[0070] Such as image 3 As shown, the vision-based obstacle detection method of this embodiment includes the following steps on the basis of Embodiment 1:

[0071] Step S21 , performing clipping preprocessing on the current real-time image based on the preset region to obtain the region of interest.

[0072] Wherein, the preset area can be determined according to the conditions of the mobile device itself (such as the width of the mobile device) and the distance from obstacles.

[0073] By clipping and preprocessing the current real-time image to obtain the region of interest, the image processing data can be greatly reduced, the image processing rate can be improved, and the capability requirements for hardware devices can be reduced. For example, assume that the current real-time image is an image with a resolution of 640×480, and the preset area of ​​the mobile device is 100×100 (that is, the mobile device only needs to determine the obstacles in the image with a resolutio...

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Abstract

The invention relates to a vision-based obstacle detection method, device, and mobile device, which are applied to mobile devices. The mobile device includes an image acquisition device, which is arranged on the mobile device and is used to collect real-time images in the direction of travel of the mobile device; The vision-based obstacle detection method includes the following steps: S1. Obtain the current real-time image in the direction of travel of the mobile device collected by the image acquisition device; S2. Based on the visual positioning and map construction system, analyze and process the current real-time image to obtain the moving Obstacle information in the traveling direction of the device; the obstacle information is distance information between the obstacle in the traveling direction of the mobile device and the mobile device; S3. Control the mobile device to avoid obstacles according to the obstacle information. The invention can detect obstacles without contact, avoid contact detection, and improve the reliability and detection accuracy of mobile equipment.

Description

technical field [0001] The present invention relates to the field of robots, and more specifically, to a vision-based obstacle detection method, device, and mobile device. Background technique [0002] In recent years, the application of sweepers as household appliances in family life has become more and more popular, and it is inevitable that they often encounter various obstacles in their daily work. [0003] The traditional sweeper design mainly uses the collision method to sense the existence of obstacles, and this method will not only reduce the service life of the sweeper for a long time, but also affect the accuracy of path planning during its work. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide a vision-based obstacle detection method, device, and mobile device for the above-mentioned defects of the prior art. [0005] The technical solution adopted by the present invention to solve the technical proble...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/46G06K9/62G06T7/62G06T9/20
CPCG06T7/62G06T9/20G06V20/10G06V10/25G06V10/44G06F18/22
Inventor 郭睿
Owner SHENZHEN TOPBAND CO LTD
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