Automatic walking equipment and door passing method based on laser radar and depth camera

Abstract

The embodiment of the invention discloses automatic walking equipment and an automatic walking equipment door passing method based on a laser radar and a depth camera, relates to the technical field of intelligent walking equipment, can automatically correct the position of the equipment in a scene with low hardware cost, and realizes safe and accurate passing through the center of a door. The method comprises the following steps of: a laser radar 5 and a depth camera 4 are connected to a master controller 2 through a USB line 1; a battery 3 is respectively connected with the master controller 2, the depth camera 4, the laser radar 5, the hub motor 6, an encoder 7 and a steering mechanism 8 through electric wires; a support is arranged on the upper surface of a chassis 10, a depth camera (4) is installed at the top of the support, the support is located on the central axis of the chassis 10, and the laser radar (5) and the depth camera (4) are arranged along the central axis of the chassis 10; and the encoder 7 is connected with the hub motor 6, and the hub motor 6 is connected with the master controller 2. The equipment is suitable for automatic equipment door passing.

Description

technical field [0001] The invention relates to the technical field of intelligent walking equipment, in particular to an automatic walking equipment and a door-to-door method for the automatic walking equipment based on a laser radar and a depth camera. Background technique [0002] At present, unmanned driving technology is developing rapidly, but the main application scenarios are outdoors. For indoor intelligent automatic walking equipment (such as automatic walking equipment), the most widely used is the magnetic navigation AGV car. This technology is mature and reliable, but it also has obvious shortcomings. Indoor navigation is carried out by pasting magnetic strips on the ground. This method of navigation will be mechanically damaged by hard objects such as metal passing through the loop, which will have a certain impact on navigation, and is only suitable for use in some factory environments. [0003] However, in other occasions, such as hospitals, restaurants, off...

AI Technical Summary

Problems solved by technology

For indoor intelligent automatic walking equipment (such as automatic walking equipment), the most widely used is the magnetic navigation AGV car. This technology is mature and reliable, but it also has obvious shortcomings. Indoor navigation is carried out by pasting magnetic strips on the ground. This method of navigation will be mechanically damaged by metal and other hard objects passing through the loop, which will have a certain impact on navigation and is only suitable for use in some factory environments.

[0003] However, in other occasions, such as hospitals, restaurants, offices and other occasions, unmanned vehicles are also required. At this time, the magnetic navigation AGV car is not competent, and the cost of outdoor unmanned vehicles is relatively high, and the algorithm and logic are not suitable for indoor scenes.

For example, a very inconspicuous but insurmountable problem: in order for intelligent automatic walking equipment to realize autonomous navigation in the indoor environment, it is inevitable that an important problem is how to safely pass through various doors in the room.

This method requires a large number of door samples and requires a lot of computing time. If the sample size is not rich enough, it cannot adapt to the identification of various doors, and it is difficult to deal with some non-mainstream door frame designs that pay attention to design aesthetics.

Images