Quadruped robot blind guiding system and method

Abstract

The invention discloses a quadruped robot blind guiding system and method. The system comprises an environment information obtaining module which is used for obtaining the three-dimensional point cloud information of an environment; an environment perception and exploration module used for carrying out semantic modeling on the environment according to the three-dimensional point cloud information to form an incremental grid map, obtaining an area through which people and the blind guiding robot can pass in parallel in the environment according to the semantic information of the incremental grid map, and forming a passable map, and marking dynamic obstacles in the passable map to form an environment composite map; a path planning module used for analyzing the environment composite map by utilizing the probability road map to obtain all global paths suitable for the robot to move, and selecting an optimal global path from all the global paths; and a robot used for guiding the user to move along the optimal global path. A safe barrier-free path suitable for a robot and a blind person to pass through can be planned according to sensed environment information, and autonomous guidance for the blind person is achieved.

Description

technical field [0001] The invention relates to the technical field of mobile service robots, in particular to a quadruped robot blind guiding system and method. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Eyes are the most important tool for people to perceive the surrounding environment. The problem of visual impairment has seriously affected people's normal life. The guide tools used by most visually impaired people are walking sticks with simple functions. With the rapid development of today's society, simple walking sticks can no longer adapt to the current situation. However, the biological guide methods represented by guide dogs have not been popularized due to the high training cost, long training cycle and life span. As intelligent machines are becoming more and more mature, guide robots with excellent performance are the sol...

AI Technical Summary

Problems solved by technology

[0006] Chinese patent document 111110529A discloses "a mechanical guide dog based on machine vision". The mechanical guide dog detects the surrounding environment through the visual components installed on the main body, but has no traction device, path planning, voice interaction and other functions. Unable to meet the needs of guiding the blind in complex environments

[0007] Chinese patent document 112932911A discloses a "blind-guiding robot based on a hybrid perception system". This blind-guiding robot uses a variety of sensors to detect the environment, avoid obstacles and identify targets, but does not have the function of fast and smooth path planning.

[0008] Environmental perception and exploration of robots are the prerequisites for them to adapt to complex and unknown environments. Current environmental perception methods often focus on passive processing and processing of external information. Current robots do not have the ability to actively perceive and acquire environmental information.

In addition, guide robots often need to travel through environments with dense crowds and dynamic changes. The fast and stable path planning ability is not only the basis for the robot to traverse multiple navigation points, but also the prerequisite for autonomous guidance of blind people. The current guide robots do not Capable of fast and smooth path planning

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