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An obstacle identification method, an obstacle identification device and a mobile robot

An obstacle identification, mobile robot technology, applied in obstacle identification device, mobile robot and computer readable storage medium, obstacle identification method field, can solve the problem of false detection, height difference and so on

Active Publication Date: 2022-03-22
深圳优地科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, due to the height difference between the slope and the ground, the recognition technology based on the single-point ranging sensor can easily cause false detection when dealing with the slope environment.

Method used

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  • An obstacle identification method, an obstacle identification device and a mobile robot
  • An obstacle identification method, an obstacle identification device and a mobile robot
  • An obstacle identification method, an obstacle identification device and a mobile robot

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Embodiment Construction

[0031] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0032] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and / or collections thereof.

[0033] It should...

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Abstract

This application is applicable to the field of robot technology, and provides an obstacle identification method, an obstacle identification device, a mobile robot, and a computer-readable storage medium. The method includes: acquiring the sensing data on the detection plane collected by the sensor ; converting the sensing data into first two-dimensional point cloud data based on a first coordinate system, wherein the first coordinate system is located on the detection plane; extracting height from the first two-dimensional point cloud data The target two-dimensional point cloud data below the ground level, wherein the target two-dimensional point cloud data is used to characterize the target object; according to the target two-dimensional point cloud data, it is identified whether the target object is a ladder. Through the above method, the mobile robot can accurately identify the stair environment and the ramp environment.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to an obstacle identification method, an obstacle identification device, a mobile robot and a computer-readable storage medium. Background technique [0002] The recognition technology for falling environments such as stairs and cliffs is an important means to ensure the safety of mobile robots. At present, mobile robots usually use a single-point ranging sensor (also called a cliff sensor) to identify the falling environment, that is, the single-point ranging sensor transmits a ranging signal to the ground. If there is a large gap between the detected ground distance and the actual ground distance deviation, it is determined that there is a drop environment. [0003] However, due to the height difference between the slope and the ground, the recognition technology based on the single-point ranging sensor is easy to cause false detection when dealing with the s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/931G05D1/02
CPCG05D1/0214
Inventor 夏舸刘文泽
Owner 深圳优地科技有限公司