Obstacle detection method and device, self-walking robot and storage medium

Abstract

The embodiment of the invention provides an obstacle detection method and device, a self-walking robot, a storage medium and an obstacle detection method. The obstacle detection method comprises stepsof obstacle information collected by an image collection device being converted into a depth image; converting the depth image into a point cloud image, and determining coordinate data of each reference point on the obstacle; selecting an effective analysis range in the height direction from the point cloud picture; and based on the coordinate data of each reference point, analyzing whether an obstacle exists in the effective analysis range or not. According to the method, any object in the advancing route of the self-walking robot can be detected, the limitation of an existing method on thetypes of obstacles is broken through, meanwhile, the defect of the detection height of laser equipment is overcome, the obstacle detection capacity of the self-walking robot is further improved, and the obstacle avoidance performance of the self-walking robot is improved.

Description

technical field [0001] The present disclosure relates to the technical field of self-propelled robots, and in particular to an obstacle detection method and device, a self-propelled robot and a storage medium. Background technique [0002] With the development of artificial intelligence technology, various intelligent robots have emerged, such as sweeping robots, mopping robots, vacuum cleaners, and weeding machines. These cleaning robots can automatically identify obstacles around them during work and perform obstacle avoidance operations on them. These cleaning robots not only liberate labor, save labor costs, but also improve cleaning efficiency. [0003] However, the image acquisition device of the existing sweeping robot can only recognize limited types of obstacles, often by matching the captured obstacle images with the images stored in the previous database, and when the matching is successful, the shooting target is recognized as Certain kinds of obstacles, such as...

AI Technical Summary

Problems solved by technology

[0003] However, the image acquisition device of the existing sweeping robot can only recognize limited types of obstacles, often by matching the captured obstacle images with the images stored in the previous database, and when the matching is successful, the shooting target is recognized as Certain kinds of obstacles, such as shoes, etc.

In addition, the sweeping robot can also identify obstacles through the laser equipment, but the laser equipment is usually set on the top surface of the sweeping robot, and the laser equipment emits in the horizontal direction and recognizes the obstacles around the sweeping robot after receiving the signal. Since the sweeping robot itself has a certain height , and the laser device also has a certain height, so that the laser device can only detect obstacles that are higher than the height of the sweeping robot body, so some obstacles with low heights will be touched by mistake, and the user experience is not good

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