Obstacle detection method and apparatus for robot, and medium and electronic device
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorWeiyan CAI
Life of this patent
Estimating the term…
Abstract
An obstacle detection method for a robot, and the method includes: obtaining three-dimensional point cloud data of an obstacle in a first coordinate system, the first coordinate system being a coordinate system established by the robot at a current position with the robot as an origin; fusing the three-dimensional point cloud data in a robot-centered raster map to determine obstacle raster points in the raster map; performing clustering on the obstacle raster points to obtain at least one set of obstacle raster points; and generating an obstacle object in the raster map based on the set of obstacle raster points.
Claims21
An obstacle detection method for a robot, comprising:
- obtaining three-dimensional point cloud data of an obstacle in a first coordinate system, the first coordinate system being a coordinate system established by the robot at a current position with the robot as an origin;
- fusing the three-dimensional point cloud data in a robot-centered raster map to determine obstacle raster points in the raster map;
- performing clustering on the obstacle raster points to obtain at least one set of obstacle raster points;
- and
- generating an obstacle object in the raster map based on the set of obstacle raster points.
(canceled)
A non-transitory computer-readable storage medium storing a computer program thereon, wherein the computer program, when loaded and executed by a processor, causes the processor to realize an obstacle detection method for a robot, and the method comprises:
- obtaining three-dimensional point cloud data of an obstacle in a first coordinate system, the first coordinate system being a coordinate system established by the robot at a current position with the robot as an origin;
- fusing the three-dimensional point cloud data in a robot-centered raster map to determine obstacle raster points in the raster map;
- performing clustering on the obstacle raster points to obtain at least one set of obstacle raster points;
- and
- generating an obstacle object in the raster map based on the set of obstacle raster points.
An electronic device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, operations performed by an obstacle detection method for a robot are realized, and the method comprises:
- obtaining three-dimensional point cloud data of an obstacle in a first coordinate system, the first coordinate system being a coordinate system established by the robot at a current position with the robot as an origin;
- fusing the three-dimensional point cloud data in a robot-centered raster map to determine obstacle raster points in the raster map;
- performing clustering on the obstacle raster points to obtain at least one set of obstacle raster points;
- and
- generating an obstacle object in the raster map based on the set of obstacle raster points.
Dependencies are inferred from the claim text.