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Method for predicting front road condition for mobile robot

A mobile robot, prediction method technology, applied in two-dimensional position/channel control and other directions, can solve problems such as non-universal significance, and achieve the effect of fast calculation speed

Active Publication Date: 2019-06-28
深圳玉禾田智慧城市运营集团有限公司
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Problems solved by technology

But this approach is not universal

Method used

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  • Method for predicting front road condition for mobile robot
  • Method for predicting front road condition for mobile robot
  • Method for predicting front road condition for mobile robot

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with accompanying drawing:

[0017] refer to figure 1 -3. A method for predicting road conditions ahead of the mobile robot, comprising a binocular stereo camera arranged at the front of the mobile robot, with a focal length of f, a baseline width of b, and a height of h. The optical axis of the binocular stereo camera is in line with The chassis of the mobile robot are parallel. The binocular stereo camera is the basic configuration of the mobile robot, which can output a single-purpose ordinary image and provide depth information for obstacle avoidance navigation.

[0018] It also includes a processor connected to the binocular stereo camera, and the processor sets the road condition prediction method ahead, including the following steps:

[0019] (1) The processor obtains the image pair f of the binocular stereo camera L and f R , forming depth information z=f 1 (x, y), x, y are the image plane...

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Abstract

The invention discloses a method for predicting a front road condition for a mobile robot. A device involved in the method comprises a binocular stereo camera disposed at a front portion of the mobilerobot, wherein an optical axis of the binocular stereo camera is parallel to a chassis of the mobile robot; the device further comprises a processor connected with the binocular stereo camera; the processor sets the front road condition prediction method which comprises the steps as follows: acquiring depth information z being equal to f1(x, y); calculating a projection angle theta being equal toarctan(y / f), and the vertical distance from a ground point to the optical axis l being equal to z.tan theta; calculating the unevenness f2(x,y) being equal to h-l, and binarizing f3(x,y); performingcorrosion and expansion operations on a binary map f3(x,y) to obtain majorization; dividing spurious data in f2(x, y) by utilizing a hadamard product of a matrix; and calculating the area s and the average unevenness of an uneven road surface according to the direction of travel. According to the method, the front road information is provided for the mobile robot based on the binocular stereo vision, and safe work is ensured.

Description

technical field [0001] The invention relates to a method for predicting road conditions ahead of a mobile robot, and belongs to the field of image processing of machine vision. Background technique [0002] Whether it is an outdoor mobile robot or an indoor mobile robot, most of them move with three or four wheels as the driving structure. The exception is that Boston Dynamics' biped or quadruped upright walking robots can overcome the problem of uneven road surfaces under laboratory conditions or limited practical environments, while most mobile robots work on a flat road surface, but encounter Uneven floors can cause accidents. The household vacuum cleaner is equipped with an infrared proximity sensor at the front end of the driving wheel. When the ground cannot be detected, it must be stopped to avoid falling. But this approach is not universal. [0003] Machine vision and the binocular stereo vision developed on this basis have the advantages of wide detection range a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘瑜
Owner 深圳玉禾田智慧城市运营集团有限公司
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