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Obstacle detection method and device, computer equipment and storage medium

A technology of obstacle detection and detection area, which is applied in the field of computer vision, can solve the problems of weak detection ability of laser radar, etc., and achieve the effect of facilitating subsequent calculation, reducing interference and accurate judgment

Inactive Publication Date: 2022-07-08
赛宝创新(重庆)科技有限公司
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Problems solved by technology

[0004] Based on this, an obstacle detection method, device, computer equipment and storage medium are provided to solve the problem of weak lidar detection capability in the prior art

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  • Obstacle detection method and device, computer equipment and storage medium
  • Obstacle detection method and device, computer equipment and storage medium
  • Obstacle detection method and device, computer equipment and storage medium

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Embodiment Construction

[0064] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

[0065] The obstacle detection method provided in this application can be applied to such as figure 1 in the application environment shown. The work implement 101 detects the object 103 through the lidar 102 . The lidar 102 acquires point cloud data in a preset detection area, performs filtering processing on the point cloud data, and obtains preprocessed data; establishes a coordinate system according to the detection area, and converts the preprocessed data into a coordinate system with the coordinates The coordinate data corresponding to the system; the detection a...

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Abstract

The invention relates to an obstacle detection method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring point cloud data of a detection area, and processing the point cloud data to obtain preprocessed data; establishing a coordinate system, and converting the preprocessed data into coordinate data corresponding to the coordinate system; dividing the detection area into a plurality of grids, judging whether the grids are occupied by an object, if the grids are occupied by the object, judging that the grids are object occupied grids, adding all the grids to obtain a multi-dimensional grid, traversing the multi-dimensional grid, and obtaining object information of the object; constructing a prediction model according to the object information, and predicting the object to obtain state information of the object; and constructing a threat field according to the state information, calculating a threat coefficient, judging whether the object is about to threaten, if so, judging the object as an obstacle, and giving out an early warning. The method can detect obstacles in multiple aspects, and compared with a traditional detection technology using a laser radar, the method has the advantage that the detection capability is remarkably improved.

Description

technical field [0001] The present application relates to the field of computer vision technology, and in particular, to an obstacle detection method, apparatus, computer equipment and storage medium. Background technique [0002] Computer vision refers to a simulation of biological vision using computers and related equipment. Its main task is to obtain three-dimensional information of the corresponding scene by processing the collected pictures or videos. In an industrial environment, it can be realized by computer vision technology. Environmental perception, and lidar, as a main environmental perception sensor, plays an important role in detecting objects in the environment. [0003] At present, in the traditional industrial environment, when performing industrial automation operations, the working equipment will use lidar to detect objects in the current environment to identify obstacles that may threaten the operation of the working equipment, but these detection method...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93G01S7/48
CPCG01S17/93G01S7/4802
Inventor 张鹏佘思稹
Owner 赛宝创新(重庆)科技有限公司
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