Intelligent mobile service robot with laser and vision fusion obstacle avoidance system

Abstract

The invention relates to the field of intelligent mobile service robots and discloses an intelligent mobile service robot with a laser and vision fusion obstacle avoidance system. The laser and visionfusion obstacle avoidance system comprises a hardware system and a navigation obstacle avoidance system, wherein the hardware system comprises a depth camera, a laser radar, an airborne PC, a motioncontrol board and a motor driver; the navigation obstacle avoidance system comprises an obstacle positioning and data conversion module, an obstacle classification and recognition module, a data fusion module, a laser navigation frame, a chassis driving module and a chassis motion control module; the chassis motion control module operates on the motion control board, and the rest of the navigationobstacle avoidance system operates on the airborne PC; and the laser radar, the depth camera and the motion control board are connected with the airborne PC, and the motor driver is connected with the motion control board. The system fuses a vision sensor in two-dimensional laser obstacle avoidance, the type and the three-dimensional information of the obstacle are considered in obstacle avoidance, and the accuracy, the robustness and the environmental adaptability for obstacle avoidance of the intelligent mobile service robot are improved.

Description

technical field [0001] The invention relates to the field of intelligent mobile service robots, in particular to the field of obstacle avoidance systems for intelligent mobile service robots. Background technique [0002] The intelligent mobile service robot can continuously move autonomously in multiple scenes in real time, interact with the environment and personnel through various sensors such as voice, vision, and touch, and provide corresponding services to replace the roles of lobby managers and waiters. It can be applied to homes, Hotel, bank, airport and other scenes. In order to ensure safety, the service robot needs to avoid obstacles such as tables, chairs, animals, and people in the scene in time during its autonomous movement. The obstacle avoidance method of intelligent mobile service robots generally obtains the position information of external obstacles through sensors, plans a local path on the cost map, and moves along the planned path through the motion c...

AI Technical Summary

Problems solved by technology

[0003] At present, the obstacle avoidance methods of service robots mainly include ultrasonic obstacle avoidance and TOF obstacle avoidance. Infrared rays or lasers emit beams of specific wavelengths, record the reflection time difference, and calculate the distance distribution of nearby obstacles; the existing obstacle avoidance methods use single sensors such as ultrasound and two-dimensional lasers. Due to the limitations of a single sensor, only rely on One type of sensor cannot obtain perfect obstacle information; ultrasonic obstacle avoidance has high requirements on the smoothness of the reflective surface, and safety issues cannot be guaranteed when facing obstacles with no reflective ability or weak reflective ability; two-dimensional laser avoidance The classification and recognition of obstacles in the environment cannot be realized, so different obstacle avoidance strategies are adopted for different categories, and because the two-dimensional laser can only capture the surrounding environment information on the same height plane as the laser sensor, so for special-shaped obstacles Objects, such as a hollow table, a hollow door at the bottom, etc., whose exact location cannot be judged

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