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Unmanned equipment road surface obstacle detection method and device, unmanned equipment and storage medium

An obstacle detection and equipment technology, applied in image analysis, image enhancement, instruments, etc., can solve problems such as missed obstacle detection, limited vertical resolution, and affecting the normal operation and safety of unmanned equipment, so as to improve safety, The effect of improving resolution and improving detection accuracy

Pending Publication Date: 2022-05-24
GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the vertical resolution of the multi-line lidar is limited, and only part of the line beam will be hit on the object, which will lead to missed detection of small-sized obstacles, affecting the normal operation and safety of unmanned equipment

Method used

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  • Unmanned equipment road surface obstacle detection method and device, unmanned equipment and storage medium
  • Unmanned equipment road surface obstacle detection method and device, unmanned equipment and storage medium
  • Unmanned equipment road surface obstacle detection method and device, unmanned equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] figure 2 This is a flowchart of an unmanned equipment road obstacle detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to the detection of small road obstacles, and the method can be implemented by the unmanned equipment road obstacle detection device provided by the embodiment of the present invention. to execute, the apparatus may be implemented in software and / or hardware, and configured in the unmanned equipment provided by the embodiments of the present invention, such as figure 2 As shown, the method specifically includes the following steps:

[0070] S201 , acquiring a point cloud collected by the lidar during the traveling process of the unmanned device.

[0071] During the traveling process of the unmanned equipment, the unmanned equipment drives the lidar to continuously scan the environment around the unmanned equipment. Lidar emits a laser beam consisting of multiple (eg 32 or 64 lines) lasers and receives r...

Embodiment 2

[0084] Figure 3A This is a flowchart of a method for detecting road obstacles by unmanned equipment provided in Embodiment 2 of the present invention. This embodiment is refined on the basis of the above-mentioned Embodiment 1, and describes in detail the steps in the method for detecting road obstacles by unmanned equipment. The specific implementation process, such as Figure 3A As shown, the method includes:

[0085] S301. Acquire a point cloud collected by the lidar during the traveling process of the unmanned device.

[0086] During the traveling process of the unmanned equipment, the unmanned equipment drives the lidar to continuously scan the environment around the unmanned equipment to obtain point clouds.

[0087] In the embodiment of the present invention, the unmanned equipment is cleaning equipment such as sweeping robots and unmanned sweeping vehicles. Common application environments of such equipment include urban roads, parks, sidewalks, etc., and the road co...

Embodiment 3

[0134] Figure 4 A schematic structural diagram of a road obstacle detection device for unmanned equipment provided in Embodiment 3 of the present invention, such as Figure 4 As shown, the device includes:

[0135] The point cloud acquisition module 401 is used to acquire the point cloud collected by the laser radar during the traveling process of the unmanned equipment;

[0136] A suspected obstacle determination module 402, configured to determine a suspected obstacle on the travel path of the unmanned equipment based on the point cloud;

[0137] A target point cloud acquisition module 403, configured to control the lidar to scan the area where the suspected obstacle is located at at least two different angles to obtain at least two frames of target point clouds;

[0138] a point cloud fusion module 404, configured to fuse the target point clouds of the at least two frames to obtain a dense point cloud;

[0139] A real obstacle determination module 405, configured to det...

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Abstract

The invention discloses an unmanned equipment road surface obstacle detection method and device, unmanned equipment and a storage medium. After the point cloud collected by the laser radar in the advancing process of the unmanned equipment is obtained, the suspected obstacle on the advancing path of the unmanned equipment is determined based on the point cloud, the laser radar is controlled to scan the area where the suspected obstacle is located at at least two different angles, at least two frames of target point clouds are obtained, and then the at least two frames of target point clouds are fused to obtain the target obstacle. And on the basis of the dense point cloud, determining a real obstacle on the advancing path of the unmanned equipment. The area where the suspected obstacle is located is scanned at at least two different angles, the density of light spots hit on the suspected obstacle is increased, the resolution of the laser radar and the coverage rate of the point cloud on the suspected obstacle are improved, then the obstacle detection precision is improved, the situation that normal operation of unmanned equipment is affected due to missing detection is avoided, and the detection efficiency is improved. And the safety of the unmanned equipment is improved.

Description

technical field [0001] Embodiments of the present invention relate to a detection technology for obstacles of unmanned equipment, and in particular, to a method, device, unmanned equipment and storage medium for detecting road obstacles of unmanned equipment. Background technique [0002] In recent years, with the rapid development of artificial intelligence and robotics, unmanned equipment has begun to be applied to various industries. [0003] Unmanned equipment needs to have a good perception of the surrounding environment during driving, including perception of road structures, detection of obstacles and other unmanned equipment. Reliable environmental awareness plays a vital role in autonomous cruise control, collision warning and path planning. [0004] The detection of existing obstacles is mainly through multi-line lidar detection. Multi-line lidar is not affected by light and can detect obstacles during the day and night. However, the vertical resolution of multi-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/10G06T5/50G06K9/62G06V10/762
CPCG06T7/0002G06T5/50G06T7/10G06T2207/10044G06T2207/10028G06F18/23
Inventor 黄彬杨晓东王鑫王利红
Owner GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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