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Stair detection method and device and mobile robot

A mobile robot and detection method technology, applied in the field of environmental perception, can solve problems such as the lack of detection stairs and the inability to ensure the movement of mobile robots

Pending Publication Date: 2021-03-19
深圳一清创新科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems in the above related technologies: for indoor mobile robots, if they want to shuttle between different floors, recognizing stairs has become an indispensable function, while The mobile robots currently on the market do not have the function of detecting stairs, and only regard the stairs as non-walking areas, which cannot guarantee that the mobile robot can move on the stairs

Method used

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  • Stair detection method and device and mobile robot
  • Stair detection method and device and mobile robot
  • Stair detection method and device and mobile robot

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Embodiment 1

[0077] The embodiment of the present invention provides a staircase detection method, please refer to figure 2 , which shows a flow chart of a stair detection method provided by an embodiment of the present invention, the stair detection method can be applied in the above application scenarios and figure 1 In the described mobile robot, the method includes but is not limited to the following steps:

[0078] Step 110: Obtain point cloud data around the current scene where the mobile robot is located;

[0079] In the embodiment of the present invention, the depth camera as described in the above application scenario can be used to collect the point cloud data. Preferably, the depth camera adopts an RGB-D camera, which has depth information perception capabilities and color information perception capabilities. Ability to provide fast and stable geometric reconstruction capabilities on single frame data. And, the way to obtain the point cloud data around the current scene where...

Embodiment 2

[0153] The embodiment of the present invention provides a stair detection device, please refer to Figure 8 , which shows the structure of a stair detection device provided in an embodiment of the present invention, the stair detection device 200 includes: a data acquisition module 210, a ground detection module 220, a scene segmentation module 230, a stair detection module 240 and a stair modeling Module 250. in,

[0154] The data acquisition module 210 is configured to acquire point cloud data around the current scene where the mobile robot is located;

[0155] The ground detection module 220 is configured to determine the ground in the current scene according to the point cloud data, and establish a ground coordinate system;

[0156] The scene segmentation module 230 is configured to perform plane segmentation on the point cloud data to determine the plane in the current scene;

[0157] The staircase detection module 240 is configured to classify the planes in the ground...

Embodiment 3

[0165] The embodiment of the present invention also provides a mobile robot, please refer to Figure 9 , which shows the ability to execute Figure 2 to Figure 7 The hardware structure of the mobile robot of the staircase detection method. The mobile robot 10 may be figure 1 The mobile robot 10 is shown. The mobile robot 10 includes a depth camera 11 mounted on the mobile robot 10 .

[0166] The mobile robot 10 also includes: at least one processor 12 connected to the depth camera 11; and a memory 13 communicated with the at least one processor 12, Figure 9 A processor 12 is taken as an example. The memory 13 stores instructions executable by the at least one processor 12, the instructions are executed by the at least one processor 12, so that the at least one processor 12 can perform the above-mentioned Figure 2 to Figure 7 The described staircase detection method. The processor 12 and the memory 13 may be connected via a bus or in other ways, Figure 9 Take connecti...

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Abstract

The embodiment of the invention relates to the technical field of environmental perception, and discloses a stair detection method and device, and the method comprises the steps: obtaining the point cloud data around a current scene where a mobile robot is located, determining the ground in the current scene according to the point cloud data, and building a ground coordinate system; performing plane segmentation on the point cloud data to determine a plane in the current scene, classifying the plane in the ground coordinate system, screening out a horizontal step surface in the plane, and finally according to the horizontal step surface, establishing and outputting the visualized three-dimensional model of the stair structure and the spatial pose information of the three-dimensional model.According to the stair detection method provided by the embodiment of the invention, the mobile robot can accurately detect the pose of the stair structure in the current scene and establish the three-dimensional model of the stair structure.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of environment perception, and in particular to a staircase detection method, device and mobile robot. Background technique [0002] Stairs are a very common and important architectural structure in indoor scenes. They are erected between two floors of a building and are used for people to move up and down between floors. They are shaped like steps. In order to assist or replace humans in their work, various indoor mobile robots have appeared on the market today. They are usually small in size and can move freely indoors. They integrate sensor technology, information processing, electronic engineering, computer engineering, Multidisciplinary research results such as automation control engineering and artificial intelligence represent the highest achievement of mechatronics and are currently one of the most active fields of science and technology development. At present, in order to all...

Claims

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Application Information

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IPC IPC(8): G06T7/77G06T7/11G06T7/187G06T17/00
CPCG06T7/77G06T7/11G06T7/187G06T17/00G06T2207/10028G06T2207/30252G06T2207/30261
Inventor 钟礼唐刘明
Owner 深圳一清创新科技有限公司
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