Obstacle material detection method based on ultrasonic data and robot control method
A detection method and technology for obstacles, which are used in the re-radiation of sound waves, two-dimensional position/channel control, and the use of sound waves/ultrasonic waves/infrasonic waves to analyze solids, etc. The effect of detection accuracy
Pending Publication Date: 2022-06-07
AMICRO SEMICON CORP
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[0002] Obstacle detection is an important detection method for robots. At present, it mainly recognizes objects through deep learning models. However, it is impossible to distinguish drooping bed sheets, coffee table curtains, table curtains, curtains and other light and thin objects from traversable large items indoors. Obstacles, causing the robot to move forward in the original planning direction, there is a risk that the robot's wheel shaft will be caught by some thin and traversable obstacles such as bed sheets, coffee table curtains, table curtains, and curtains
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[0016] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
[0017] The non-contact obstacle avoidance method in the prior art uses a single sensor including a monocular camera, a two-dimensional laser, etc., and generally calculates the distance distribution of nearby obstacles by recording the reflection time difference of the optical signal. Due to the limitations of a single sensor, only It is impossible to obtain perfect obstacle information by relying on one sensor. For example, the material classification and identification of obstacles on the road cannot be realized, so that different obstacle avoidance strategies cannot be adopted for obstacles of different types of materials.
[0018] As an embodiment, the present invention discloses an obstacle material detection method based on ultrasonic information, the obstacle material detect...
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The invention discloses an obstacle material detection method based on ultrasonic data and a robot control method. The obstacle material detection method is applied to a mobile robot equipped with an ultrasonic sensor and a three-dimensional perception sensor. The obstacle detection method comprises the steps that when it is detected that ultrasonic data of a preset detection area is larger than or equal to a preset threshold value, the mobile robot determines that an obstacle occupying the preset detection area is made of a hard material; when it is detected that the ultrasonic data of the preset detection area is smaller than a preset threshold value, the mobile robot determines that an obstacle occupying the preset detection area is made of a soft material; wherein the preset detection area is located in an overlapped space area of a sensing space area of the three-dimensional perception sensor and a detection space area of the ultrasonic sensor and is not occupied by the mobile robot.
Description
technical field [0001] The invention relates to the technical field of obstacle material detection, in particular to an obstacle material detection method and a robot control method based on ultrasonic information. Background technique [0002] Obstacle detection is an important detection method for robots. At present, objects are mainly recognized through deep learning models. However, it is impossible to distinguish sagging bed sheets, tea table curtains, table curtains, curtains and other light and thin objects from large traversable objects indoors. Obstacles, causing the robot to move forward in the original planned direction, the robot's axles are at risk of being caught by some thin and traversable obstacles such as sagging sheets, tea table curtains, table curtains, and curtains. SUMMARY OF THE INVENTION [0003] In order to solve the above-mentioned technical problems, the obstacle detection method and robot control method disclosed in the present invention that i...
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IPC IPC(8): G01S15/93G01S15/86G01S17/08G01C3/00G01N29/04G05D1/02
CPCG01S15/93G01S15/86G01S17/08G01C3/00G01N29/04G05D1/0246G05D1/0255G01N2291/023G01N2291/269
Inventor 赖钦伟
Owner AMICRO SEMICON CORP