Indoor flying robot obstacle avoidance method and device, processing equipment and storage medium

Abstract

The invention discloses an indoor flying robot obstacle avoidance method and device, processing equipment and a storage medium, and the obstacle avoidance method comprises the following steps: S1, enabling a flying robot to fly based on a preset path, collecting the image information of an environment in front of flight through a camera, judging whether there is an obstacle or not through the image information of the environment in front of flight, if yes, executing S2, and if not, executing S3; s2, detecting a distance A between the obstacle and the camera, judging whether the obstacle is a slender strip-shaped hanging belt or not, if so, judging whether the distance A reaches a first safety distance threshold value or not, if so, crossing the obstacle to return to the original route by taking the obstacle as the circle center and the first safety distance threshold value as the radius, and if not, returning to the original route by taking the obstacle as the circle center and the first safety distance threshold value as the radius; judging whether the distance A reaches a second safety distance threshold value or not, if not, crossing the obstacle to return to the original route by an arc-shaped path taking the obstacle as the circle center and the second safety distance threshold value as the radius; wherein the second safety distance threshold value is smaller than the first safety distance threshold value. And S3, continuing to fly along the preset path.

Description

Technical Field

[0001] The invention relates to an obstacle avoidance method, device, processing equipment and storage medium for an indoor flying robot. Background Art

[0002] At present, some indoor places use flying robots for cruising. When cruising, they usually fly according to the set path. However, the indoor environment may change at any time. In this case, there may be obstacles hanging on the top of the flight path at any time. At this time, the flying robot needs to avoid them. When avoiding, it needs to return to the original path after taking the shortest possible avoidance route. The obstacle to be avoided may be a thin rope. In the process of the flying robot avoiding the obstacle, if the flying robot gets too close, the movement of the flying robot's rotor will drive the air to move, and then drive the thin rope to swing. During the swinging process, it may touch the rotor and then get entangled in the rotor. Summary of the invention

[0003] The purpose of the present invention is to provide an obstacle avoidance method for an indoor flying robot to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions:

[0004] An indoor flying robot obstacle avoidance method comprises the following steps:

[0005] S1: The flying robot flies based on a preset path, uses a camera to collect image information of the environment in front of the flight, and uses the image information of the environment in front of the flight to determine whether there is an obstacle. If so, execute S2, if not, execute S3;

[0006] S2: Detect the distance A between the obstacle and the camera, and determine whether the type of the obstacle is a slender strip suspension belt. If so, determine whether the distance A reaches the first safety distance threshold. If so, then take the obstacle as the center and an arc path with the first safety distance threshold as the radius to cross the obstacle and return to the original route. If not, determine whether the distance A reaches the second safety distance threshold. If not, then take the obstacle as the center and an arc path with the second safety distance threshold as the radius to cross the obstacle and return to the original route; wherein the second safety distance threshold is less than the first safety distance threshold.

[0007] S3: Continue to fly along the preset path.

[0008] 2. The obstacle avoidance method for an indoor flying robot according to claim 1, characterized in that: it also includes step S4;

[0009] S4: Monitor the remaining power consumption of the flying robot, and calculate the remaining flight mileage of the flying robot based on the remaining power consumption; compare the remaining flight mileage with the flight mileage to determine whether the remaining flight mileage is greater than the flight mileage, and whether the flight can continue; if so, continue to fly; if not, stop flying forward and turn around to return to the original path.

[0010] The present invention also provides a processing device, comprising: a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the above-mentioned indoor flying robot obstacle avoidance method when executing the computer program.

[0011] The present invention also provides a storage medium, on which a computer program is stored. When the computer program is run by a controller, the indoor flying robot obstacle avoidance method as described above is executed.

[0012] The beneficial effect of the present invention is that in the present invention, different avoidance routes can be set according to different obstacles to ensure the shortest crossing path under the premise of being able to cross safely. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] In the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positional or positional relationship. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific position, or to be constructed and operated in a specific position.

[0015] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0016] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0017] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0018] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0019] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0020] The present invention also provides an indoor flying robot obstacle avoidance method, comprising the following steps:

[0021] S1: The flying robot flies based on a preset path, uses a camera to collect image information of the environment in front of the flight, and uses the image information of the environment in front of the flight to determine whether there is an obstacle. If so, execute S2, if not, execute S3;

[0022] S2: Detect the distance A between the obstacle and the camera, determine whether the type of obstacle is a slender strip suspension belt, if so, determine whether the distance A reaches the first safety distance threshold, if so, then take the obstacle as the center and the first safety distance threshold as the radius to cross the obstacle and return to the original route, if not, determine whether the distance A reaches the second safety distance threshold, if not, then take the obstacle as the center and the second safety distance threshold as the radius to cross the obstacle and return to the original route; wherein the second safety distance threshold is less than the first safety distance threshold. (Here, the setting of the second safety distance threshold and the first safety distance threshold can be obtained through experiments before the implementation of the scheme)

[0023] S3: Continue to fly along the preset path.

[0024] In the present invention, different avoidance routes can be set according to different obstacles to ensure the shortest crossing path under the premise of being able to cross safely.

[0025] As a further embodiment of the present invention:

[0026] Also includes step S4;

[0027] S4: Monitor the remaining power consumption of the flying robot, calculate the remaining flight mileage of the flying robot based on the remaining power consumption; compare the remaining flight mileage with the flight mileage, and determine whether the remaining flight mileage is greater than the flight mileage, and whether the flight can continue; if so, continue to fly; if not, stop flying forward and turn around to return along the original path. Setting up such a scheme here can ensure that the flying robot can return normally when there is power.

[0028] As a further embodiment of the present invention:

[0029] Also includes step S5;

[0030] S5: When turning around and returning to the original path, the flying robot turns off the camera. Since the flying robot does not need to continue working at this time, the camera is turned off to save power. Moreover, the flying robot has saved the path it has walked before, so it does not need to consider the problem of detecting obstacles and avoiding them, and can directly return based on the original route.

[0031] The present invention provides an indoor flying robot obstacle avoidance device, comprising a flying robot and a camera;

[0032] Wherein, the flying robot flies based on a preset path;

[0033] The camera collects image information of the environment in front of the flight and uses the image information of the environment in front of the flight to determine whether there is an obstacle. If so, the flying robot detects the distance A between the obstacle and the camera, and determines whether the type of the obstacle is a slender strip suspension belt. If so, it determines whether the distance A reaches a first safety distance threshold. If so, then an arc path with the obstacle as the center and the first safety distance threshold as the radius passes over the obstacle and returns to the original route. If not, it determines whether the distance A reaches a second safety distance threshold. If not, then an arc path with the obstacle as the center and the second safety distance threshold as the radius passes over the obstacle and returns to the original route; wherein the second safety distance threshold is less than the first safety distance threshold; if not, the flying robot continues to fly along the preset path.

[0034] The present invention also provides a processing device, comprising: a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the above-mentioned indoor flying robot obstacle avoidance method when executing the computer program.

[0035] The present invention also provides a storage medium, on which a computer program is stored. When the computer program is run by a controller, the indoor flying robot obstacle avoidance method as described above is executed.

[0036] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. The protection scope of the present invention shall be subject to the protection scope of the claims. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. An indoor flying robot obstacle avoidance method, characterized in that: The following steps are involved: S1: The flying robot flies based on a preset path, uses a camera to collect image information of the environment in front of the flight, and uses the image information of the environment in front of the flight to determine whether there is an obstacle. If so, execute S2, if not, execute S3; S2: Detect the distance A between the obstacle and the camera, determine whether the type of the obstacle is a slender strip suspension belt, if so, determine whether the distance A reaches the first safety distance threshold, if so, then take the obstacle as the center and the first safety distance threshold as the radius to cross the obstacle and return to the original route, if not, determine whether the distance A reaches the second safety distance threshold, if not, then take the obstacle as the center and the second safety distance threshold as the radius to cross the obstacle and return to the original route; wherein the second safety distance threshold is less than the first safety distance threshold; S3: Continue to fly along the preset path.

2. The obstacle avoidance method for an indoor flying robot according to claim 1, characterized in that: Also includes step S4; S4: Monitor the remaining power consumption of the flying robot, and calculate the remaining flight mileage of the flying robot based on the remaining power consumption; compare the remaining flight mileage with the flight mileage to determine whether the remaining flight mileage is greater than the flight mileage, and whether the flight can continue; if so, continue to fly; if not, stop flying forward and turn around to return to the original path.

3. The obstacle avoidance method for an indoor flying robot according to claim 1, characterized in that: When turning around and returning to the original path, the flying robot turns off the depth camera.

4. An obstacle avoidance device for an indoor flying robot, characterized in that: Including flying robots, cameras; Wherein, the flying robot flies based on a preset path; The camera collects image information of the environment in front of the flight and uses the image information of the environment in front of the flight to determine whether there is an obstacle. If so, the flying robot detects the distance A between the obstacle and the camera, and determines whether the type of the obstacle is a slender strip suspension belt. If so, it determines whether the distance A reaches a first safety distance threshold. If so, it then takes the obstacle as the center and an arc path with the first safety distance threshold as the radius to cross the obstacle and return to the original route. If not, it is based on determining whether the distance A reaches a second safety distance threshold. If not, it then takes the obstacle as the center and an arc path with the second safety distance threshold as the radius to cross the obstacle and return to the original route; wherein the second safety distance threshold is less than the first safety distance threshold; if not, the flying robot continues to fly along the preset path.

5. A processing device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the indoor flying robot obstacle avoidance method according to claim 1 is implemented.

6. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is run by the controller, the indoor flying robot obstacle avoidance method as claimed in claim 1 is executed.