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Slope detection method, driving equipment and storage medium

A technology for driving equipment and detection methods, which is applied in the field of intelligent robots and can solve problems affecting the working effect of cleaning robots

Pending Publication Date: 2021-07-09
苏州洁飞环境科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, a cleaning robot with a certain ability to climb a slope encounters a slope with a small slope during the cleaning process. How this cleaning robot works

Method used

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  • Slope detection method, driving equipment and storage medium
  • Slope detection method, driving equipment and storage medium
  • Slope detection method, driving equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057]In this embodiment, a single-line laser radar 102 is set on the robot 101. The installation position of the single-line laser radar 102 in this embodiment and the specific process of implementing the slope detection method of the present application based on the single-line laser radar 102 will be described in detail below with reference to the accompanying drawings.

[0058] image 3 A schematic diagram of an application scenario of a slope detection method is shown according to an embodiment of the present application. Such as image 3 As shown, the front end surface 1011 of the robot 101 is provided with a single-line laser radar 102 , and there is a slope obstacle 103 in the traveling direction of the robot 101 . Let the coordinate system with the laser emission point of the single-line laser radar 102 as the coordinate origin be the sensor coordinate system, for example image 3 As shown in the planar Cartesian coordinate system XOY, the single-line laser radar 10...

Embodiment 2

[0112] This embodiment introduces the specific implementation process of the slope detection method of the present application by setting two single-line laser radars on the robot 101 .

[0113] Figure 7a-Figure 7b A schematic diagram of another application scenario of the slope detection method applied in this embodiment is shown. Such as Figure 7a A single-line laser radar 102-1 is arranged above the central point of the lower edge line of the front end face 1011 of the robot 101 shown, and a single-line laser radar 102-2 is arranged at the center of the upper edge of the front end face 1011 of the robot 101, and the single-line laser radar 102-1 The laser scanning plane 102-1' intersects the laser scanning plane 102-2' of the single-line lidar 102-2 at O 1 o 2 . and Figure 7a The mounting positions shown correspond accordingly to the Figure 7b Shown is a top view perspective from the top of robot 101 .

[0114] The difference from the first embodiment above is th...

Embodiment 3

[0128] This embodiment introduces the specific implementation process of the slope detection method of the present application by setting three single-line laser radars on the robot 101 .

[0129] Figure 10 A schematic diagram of another application scenario of the slope detection method applied in this embodiment is shown. Such as Figure 9 As shown, a single-line laser radar 102-1 is arranged above the center point of the lower edge line of the front end surface 1011 of the robot 101, and a single-line laser radar 102-2 and 102-3 are respectively arranged at both ends of the upper edge of the front end surface 1011 of the robot 101. . Single-line laser radars 102-1, 102-2, and 102-3 return the original point cloud coordinates returned by the slope detection on the ground in the direction of travel of the robot 101, and the processor 204 of the robot 101 determines the moving direction of the robot 101 based on the returned original point cloud coordinates. Whether the ob...

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Abstract

The invention relates to the technical field of intelligent robots, and discloses a slope detection method, driving equipment and a storage medium, and the method comprises the steps of: acquiring a first coordinate value obtained when a single-line laser radar detects an obstacle, wherein the first coordinate value is determined by referring to a coordinate system of the single-line laser radar; performing coordinate conversion on the first coordinate value to obtain a second coordinate value, wherein the second coordinate value is determined by referring to a coordinate system of the driving equipment; and determining whether the obstacle is a slope based on the second coordinate value. Polar coordinate values of a plurality of detection points are acquired through the single-line laser radar, Cartesian coordinate values of a reference driving equipment coordinate system are obtained after coordinate system conversion and coordinate origin conversion, and barrier points are screened based on vertical coordinate values in the coordinates for linear fitting analysis, so that the purpose of slope detection is achieved; the method can further determine the gradient or the slope angle except the slope, is high in accuracy, is high in sensitivity, facilitates the improvement of the obstacle avoidance performance of the robot, and is low in implementation cost.

Description

technical field [0001] The present application relates to the technical field of intelligent robots, and in particular to a slope detection method, a driving device, and a storage medium. Background technique [0002] Intelligent driving equipment, such as unmanned robots, can be used in various fields such as inspection, sanitation, express delivery, and dining services. The emergence of unmanned robots has greatly liberated the labor force and brought artificial intelligence to people's lives. More convenience. [0003] In order to meet the needs of various usage scenarios, unmanned robots generally need to have various perception capabilities, such as the ability to perceive obstacles and avoid obstacles during travel. [0004] Existing multi-line 3D lidar sensors generally use Vector Field Histogram (VFH) to extract obstacle features based on the 3D point cloud information returned by the sensor to determine obstacle targets for obstacle avoidance. It can identify slop...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/88G01C9/00
CPCG01S17/88G01C9/00
Inventor 不公告发明人
Owner 苏州洁飞环境科技有限公司