Obstacle recognition method, apparatus, electronic device, and storage medium
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorsWeiyan CAI, Mingli GUO
Life of this patent
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Abstract
The present disclosure provides an obstacle recognition method, an apparatus, an electronic device, and a storage medium. The method includes: acquiring a laser image of a target area; extracting candidate laser strips from the laser image; obtaining a theoretical position of a reference laser line in the laser image; screening a valid laser stripe from the candidate laser stripes based on the theoretical position; and obtaining the position of an obstacle based on the position of the valid laser strip in a world coordinate system
Claims21
An obstacle identification method, wherein the method comprises:
- acquiring a laser image of a target area;
- extracting candidate laser strips from the laser image;
- obtaining a theoretical position of a reference laser line in the laser image;
- screening a valid laser stripe from the candidate laser stripes based on the theoretical position;
- and
- obtaining the position of an obstacle based on the position of the valid laser strip in a world coordinate system.
2-19. (canceled)
A mobile robot, wherein the mobile robot comprises:
- a robot body;
- a horizontal laser module disposed on the robot body, wherein the horizontal laser module includes an infrared laser emitter and a camera;
- and the horizontal laser module is used to acquire a laser image of a target area and send the laser image to a controller;
- an inertial measurement unit disposed in the robot body and used to obtain a posture of the mobile robot in a world coordinate system and send the posture to the controller;
- and
- wherein the controller is configured to:
- extract candidate laser strips from the laser image;
- obtain a theoretical position of a reference laser line in the laser image;
- screen a valid laser stripe from the candidate laser stripes based on the theoretical position;
- and
- obtain the position of an obstacle based on the position of the valid laser strip in the world coordinate system.
An electronic device, comprising:
- a processor, and
- a memory for storing a program,
- wherein the program comprises instructions which, when executed by the processor, cause the electronic device to:
- acquire a laser image of a target area;
- extract candidate laser strips from the laser image;
- obtain a theoretical position of a reference laser line in the laser image;
- screen a valid laser stripe from the candidate laser stripes based on the theoretical position;
- and
- obtain the position of an obstacle based on the position of the valid laser strip in a world coordinate system.
Dependencies are inferred from the claim text.