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Mobile robot obstacle avoidance method based on phase detection, chip and robot

A mobile robot and phase detection technology, applied in the field of intelligent robots, can solve the problems of high price and insufficient density of three-dimensional information, and achieve the effect of accurate obstacle detection

Pending Publication Date: 2022-05-13
AMICRO SEMICON CORP
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Problems solved by technology

At present, the common technologies include structured light, binocular, 3d-tof, etc., but each of these technologies has some shortcomings, mainly focusing on problems such as high price and insufficient density of 3D information.

Method used

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  • Mobile robot obstacle avoidance method based on phase detection, chip and robot
  • Mobile robot obstacle avoidance method based on phase detection, chip and robot
  • Mobile robot obstacle avoidance method based on phase detection, chip and robot

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Embodiment Construction

[0018] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0019] Such as figure 1 and figure 2 As shown, a mobile robot obstacle avoidance method based on phase detection, phase detection is currently widely used in camera focus, using phase focus, phase focus, English: "Phase Detection Auto Focus", referred to as: PDAF. It literally means "phase detection autofocus", which can quickly perceive whether the focused object is in front of or behind the focal plane, and can achieve fast focusing. The present invention applies this technology to robot obstacle avo...

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Abstract

The invention discloses a mobile robot obstacle avoidance method based on phase detection, a chip and a robot, and the method comprises the following steps: S1, setting a phase detection module, and enabling the focusing distance of the phase detection module to be a set distance; s2, acquiring environment information through a phase detection module to obtain a plurality of groups of phase curves; s3, acquiring obstacle distance information based on the phase difference of the phase curve; s4, obstacle avoidance is realized based on the obstacle distance information; wherein each group of phase curves comprises two different brightness curves. According to the invention, image phase detection is applied to robot distance detection, a single camera can obtain relatively dense 3d distance information, and accurate obstacle detection is realized.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, and relates to an obstacle avoidance method for a mobile robot based on phase detection, a chip and a robot. Background technique [0002] Mobile robots need sensors to perceive the surrounding world, among which the perception of three-dimensional distance is the most important part. At present, the common technologies include structured light, binocular, 3d-tof, etc., but each of these technologies has some shortcomings, mainly focusing on problems such as high price and insufficient density of 3D information. Contents of the invention [0003] In order to solve the above technical defects, the technical solution of the present invention discloses a mobile robot obstacle avoidance method, chip and robot based on phase detection. This application applies image phase detection to robot distance detection, and a single camera can obtain relatively dense 3D distance information to ach...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0246
Inventor 赖钦伟肖刚军
Owner AMICRO SEMICON CORP
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