Self-moving robot animal recognition and avoidance method and storage medium thereof

Abstract

The invention discloses a self-moving robot animal recognition and avoidance method and a storage medium thereof, and the method comprises the steps: collecting the environmental information around aself-moving robot, obtaining an RGB image and a depth image, and carrying out the recognition of an animal through employing a CNN; removing pixels of the animal , to achieve the visual inertia speedometer calculating a conversion matrix between the b1 frame and the b2 frame of the mobile robot to extract pixels of an animal part, calculating a conversion matrix between the b1 frame and the b2 frame to convert a depth map of an animal into a point cloud map, and matching the point cloud maps between the b1 frame and the b2 frame by using ICP; and enabling the conversion matrix of the animal under the b1-frame coordinate system to drive the self-moving robot to move, so that the conversion matrix of the coordinate system after movement and the b1-frame reference system is a pose relationship which enables the self-moving robot to keep constant with the animal. According to the invention, the escape capability of the self-moving robot is improved, and the practicability, intelligence andenvironmental interactivity of the self-moving robot are also improved.

Description

technical field [0001] The present invention relates to the field of self-moving robots, in particular, to a method for identifying animals, estimating the movement of animals, and avoiding animals by a self-moving robot, as well as a storage medium, so as to improve the practicability, intelligence and environment interaction of the self-moving robot. Background technique [0002] Self-mobile robots work in indoor environments, and pets are the most common animals in indoor environments. The self-mobile robot is not only affected by animals during the movement process, but also affects the animal's environment. For example, being chased by animals during the movement of the self-mobile robot will not only cause damage to the self-mobile robot, but may also injure the animal. itself. At present, most indoor self-mobile robots do not have the function of recognizing and avoiding animals, so the above problems are prone to occur, resulting in certain defects in the practicali...

AI Technical Summary

Problems solved by technology

The self-mobile robot is not only affected by animals during the movement process, but also affects the animal's environment. For example, being chased by animals during the movement of the self-mobile robot will not only cause damage to the self-mobile robot, but may also injure the animal. itself

At present, most indoor self-mobile robots do not have the function of recognizing and avoiding animals, so the above problems are prone to occur, resulting in certain defects in the practicality, intelligence and environmental interaction of self-mobile robots.

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