Object-based sensing method and device, robot and storage medium

A robot and object technology, applied in the field of robot perception, can solve the problem of low efficiency of object perception

Active Publication Date: 2020-08-25
SHANGHAI GAOXIAN AUTOMATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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[0005] The invention provides an object-based perception method, device, robot and storage medium t...

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  • Object-based sensing method and device, robot and storage medium
  • Object-based sensing method and device, robot and storage medium
  • Object-based sensing method and device, robot and storage medium

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Embodiment Construction

[0094] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

[0095] figure 1 It is a schematic diagram of an application scenario of an object-based perception method provided by an embodiment of the present invention. like figure 1 As shown, during the movement of the robot 11, for example, when the robot 11 is autonomously navigating in a known map, it needs to perceive objects in the surrounding environment that affect the robot's movement, so as to control its own movement according to the perception results. The object in this embodiment may be a still life in the en...

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Abstract

The invention discloses an object-based sensing method and device, a robot and a storage medium. The method comprises the steps of establishing a graph structure according to at least one piece of collected point cloud data; clustering the point cloud data according to the weight values of the edges in the graph structure to obtain at least one class of marked semantic tags after clustering; determining the number of objects of which the distance to the robot is smaller than a preset first distance threshold value according to the clustered at least one class of marked semantic tags; and controlling the movement of the robot according to the number of the objects with the distance to the robot smaller than a preset first distance threshold. According to the method, when object perception is carried out, clustering is carried out on the collected point cloud data according to the graph structure established by the point cloud data, semantic segmentation is realized, so that the motion of the robot is controlled, the clustering process is simple and efficient, the object perception efficiency is improved, and the safety of the robot and the surrounding environment in the moving process is ensured.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robot perception, and in particular, to an object-based perception method, device, robot and storage medium. Background technique [0002] With the continuous development of computer technology, the development and perfection of robot sensor equipment and the popularization of robot operating systems, the trend of machine substitution is coming. The perception technology in robot movement is to analyze and calculate a series of sensor data to obtain the robot's understanding of the surrounding environment. At present, perception technology has been successfully applied in various fields such as unmanned driving, ports and terminals, and home services. Robust and precise perception is one of the core technologies of robots and a basic requirement for autonomous navigation of robots. When the robot is performing tasks, it should respond to the surrounding environment in a timely mann...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06K9/34
CPCG06V10/267G06F18/23G06F18/22Y02P90/02
Inventor 张伟义沈孝通秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH
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