Robot control method based on contour recognition, storage medium and mobile robot
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A technology of mobile robot and control method, which is applied in the field of computer vision, and can solve problems such as affecting normal work and poor obstacle avoidance performance
Inactive Publication Date: 2020-07-17
XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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[0004] The present invention overcomes one of the deficiencies of the prior art and provides a robot control method based on contour recognition, a storage medi
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no. 1 example
[0042] Please refer to figure 1 and figure 2 , this embodiment provides a robot control method based on contour recognition, which is applied to the controller 11 of the mobile robot 10 , and in this embodiment, the mobile robot 10 further includes a structured light module 12 .
[0043] When the method is applied to the controller 11 of the mobile robot 10, step S110-step S140 are executed.
[0044] Step S110: Obtain image data collected by the structured light module 12 .
[0045] Step S120: Process the image data to obtain three-dimensional contour information of the target object in the image data.
[0046] Step S130: Using the trained neural network model to recognize the three-dimensional contour information of the target object, so as to obtain a recognition result corresponding to the three-dimensional contour information of the target object.
[0047] Step S140: Control the moving path and / or behavior of the mobile robot 10 according to the three-dimensional conto...
Embodiment 2
[0089] This embodiment also provides a storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory ( ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), magnetic memory, magnetic disk, optical disk, server, App application store, etc., on which computer programs are stored, and the computer When the program is executed by one or more processors, the robot control method based on contour recognition in Embodiment 1 can be realized.
[0090] For the specific implementation process of the steps of the above method, refer to Embodiment 1, and this embodiment will not be repeated here.
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Abstract
The invention discloses a robot control method based on contour recognition, a storage medium and a mobile robot. The robot control method comprises the following steps: acquiring image data collectedby a structural light module; processing the image data to obtain three-dimensional contour information of a target object in the image data; recognizing the three-dimensional contour information ofthe target object using a trained neural network model to obtain a recognition result corresponding to the three-dimensional contour information of the target object; and controlling a movement path and/or behavior of the mobile robot according to the three-dimensional contour information of the target object and the recognition result corresponding to the three-dimensional contour information ofthe target object. By the method, the reliability of obstacle avoidance during working of the robot can be effectively guaranteed. Further, neither furniture nor the robot is damaged by collision withan obstacle. Thus, normal operation of the mobile robot cannot be adversely affected.
Description
technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a robot control method based on contour recognition, a storage medium and a mobile robot. Background technique [0002] A mobile robot is a machine device designed to automatically perform a specific job. Mobile robots can not only accept human command, but also run pre-programmed programs, and can also act according to principles and programs formulated with artificial intelligence technology, and mobile robots can be used indoors or outdoors, and can be used in industry, business or home, for example, available It is used to replace security patrols, greeters or orderers, or replace people to clean the ground, and can also be used for family companionship and office assistance. [0003] When mobile robots such as autonomous cleaning robots, escort robots, and welcome robots move in working mode, due to the complexity of the working scene environment, existing mobile ...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 檀冲王颖张书新
Owner XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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