Self-propelled device obstacle avoidance method and apparatus based on line laser, and device and medium
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Solution Overview
Problem
Existing obstacle avoidance methods for self-propelled devices, such as cleaning robots, struggle to accurately recognize and avoid loose wires due to their non-fixed posture and large spatial occupation, leading to potential interference and increased risk during operation.
Innovation Solution
A method and apparatus utilizing line laser recognition to identify wire-type obstacles by analyzing laser breakpoints in the recognition image, combined with image recognition to enhance accuracy, and performing obstacle avoidance actions based on comprehensive recognition results, including pixel marking and semantic segmentation for precise coordinate determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a general recognition method combined with line laser method is used, then common obstacles with fixed forms and sizes can be recognized accurately, but wire-type obstacles with non-fixed posture cannot be completely observed due to blind zones
Solution Approach 1:
The patent applies dynamics by making the line laser scanning process adaptive and dynamic. The robot adjusts its scanning behavior based on image recognition results - when a wire-type obstacle is detected, the system triggers targeted line laser scanning at specific angles and positions. This dynamic adjustment allows the system to adapt to the non-fixed posture of wires and eliminate blind zones, resolving the contradiction between measurement precision and adaptability.
Solution Approach 2:
The patent implements feedback by using image recognition results to guide line laser scanning operations. The system continuously monitors the environment through image recognition, and when wire-type obstacles are detected, this information feeds back to trigger appropriate line laser scanning responses. This closed-loop feedback mechanism enables the system to dynamically adjust its recognition strategy based on real-time conditions, improving both accuracy and adaptability.
2Productivity
If traditional line laser ranging is used, then ranging can be performed for obstacles, but the accuracy cannot meet requirements for thinner wires with low height
Solution Approach 1:
The patent applies local quality by making the line laser scanning targeted and localized rather than uniform. Instead of scanning all areas with the same intensity, the system uses image recognition to identify regions containing wire-type obstacles and concentrates scanning resources on those specific local areas. This localized scanning approach improves measurement precision for thin wires with low height while maintaining overall productivity.
Solution Approach 2:
The patent implements preliminary action by performing image recognition scanning before executing line laser ranging. The system first uses image recognition to pre-identify potential wire-type obstacles and their locations, then uses this preliminary information to guide the more precise line laser ranging operation. This preliminary action ensures that ranging resources are focused on relevant areas, improving accuracy for thin wires without sacrificing productivity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves the accuracy of wire-type obstacle recognition and avoidance, reducing the risk of interference by enabling precise navigation around loose wires, enhancing the reliability and safety of self-propelled devices.
Implementation Method 1
acquiring a line laser recognition image of the self-propelled device; determining whether a wire-type obstacle exists based on the line laser recognition image
Implementation Method 2
analyzing the line laser recognition image to determine whether a laser breakpoint exists
Data Source
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AI summary
A self-propelled device obstacle avoidance method and apparatus based on line laser, and a device and a medium. The method comprises: acquiring a line laser recognition image of a self-propelled device (S301); determining whether there is a wire-type obstacle according to the line laser recognition image, so as to obtain a line laser recognition result (S302); and executing a corresponding obstacle avoidance action according to the line laser recognition result (S303).