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Sweeping robot, distance measuring and obstacle avoiding method and device thereof and readable storage medium

A sweeping robot and obstacle avoidance technology, applied in the field of visual matching, can solve the problem that the distance between the sweeping robot and the obstacle cannot be accurately and accurately identified.

Pending Publication Date: 2021-05-28
SHEN ZHEN 3IROBOTICS CO LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application aims to solve the problem that the sweeping robot in the prior art cannot accurately and accurately identify the distance between the sweeping robot and obstacles by providing a sweeping robot and its distance measuring method, device, and computer-readable storage medium. question

Method used

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  • Sweeping robot, distance measuring and obstacle avoiding method and device thereof and readable storage medium
  • Sweeping robot, distance measuring and obstacle avoiding method and device thereof and readable storage medium
  • Sweeping robot, distance measuring and obstacle avoiding method and device thereof and readable storage medium

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Embodiment Construction

[0039] It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

[0040] The main solution of the embodiment of the present application is: when the sweeping robot performs cleaning tasks, obtain the depth information of obstacles based on the dual TOF cameras; perform binocular stereo matching operations based on the depth information to obtain target depth information; through the The target depth information is used to calculate the distance between the obstacle and the cleaning robot.

[0041] In the prior art, when calculating the distance between the sweeping robot and obstacles, it is usually through dual RGB cameras, general structured light or TOF cameras. However, the resolution of TOF cameras is relatively low, it is difficult to improve, the system error and random error have a significant impact on the results, and the short-range measurement distance is not accurat...

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Abstract

The invention discloses a sweeping robot, a distance measuring and obstacle avoiding method and device thereof and a readable storage medium, and the method comprises the steps: obtaining the depth information of an obstacle based on a dual-TOF camera when the sweeping robot executes a sweeping task; performing binocular stereo matching operation based on the depth information to obtain target depth information and calculating the distance between the obstacle and the sweeping robot through the target depth information. The technical problem that the distance between the sweeping robot and the obstacle cannot be accurately calculated is solved, and the accuracy and precision of calculating the distance between the sweeping robot and the obstacle are improved.

Description

technical field [0001] The present application relates to the technical field of visual matching, and in particular to a sweeping robot, its ranging method, device and computer-readable storage medium. Background technique [0002] With the development of science and technology, more and more smart devices appear in people's lives, such as sweeping robots. In the process of performing cleaning tasks, the sweeping robot needs to control its walking path by obtaining object information in the cleaning environment, so as to ensure that the sweeping robot does not collide when cleaning. [0003] In the prior art, dual RGB cameras are usually matched with an optional lighting system, or the TOF camera method is used to realize the distance between the sweeping robot and the obstacle, but the TOF camera has relatively low resolution, systematic errors and random errors. It has a significant impact on the results, and the short-distance measurement distance is not accurate, but th...

Claims

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Application Information

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IPC IPC(8): A47L11/40A47L11/24
CPCA47L11/4061A47L11/24A47L2201/04
Inventor 杨勇宫海涛罗志康
Owner SHEN ZHEN 3IROBOTICS CO LTD
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