CN110632929B - Danger avoiding method in automatic child walking process - Google Patents
Danger avoiding method in automatic child walking process Download PDFInfo
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- CN110632929B CN110632929B CN201910922306.5A CN201910922306A CN110632929B CN 110632929 B CN110632929 B CN 110632929B CN 201910922306 A CN201910922306 A CN 201910922306A CN 110632929 B CN110632929 B CN 110632929B
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses a danger avoiding method in the process of automatically walking a baby, which is suitable for an automatic walking baby robot with a mobile base and a child handrail at the front end of the mobile base, wherein the lower part of the child handrail is provided with a first camera, and the method comprises the following steps: the first camera is used for shooting an environment image of the moving base in the advancing direction, and whether the robot walking around the baby moves to the step edge or not is analyzed according to plane information fitted by a point cloud data set of the first camera; if the robot does not move to the edge of the step, whether an obstacle close to the robot walking the baby automatically exists in the child safety monitoring area or not is analyzed according to the environment image; if so, controlling the robot for walking the baby autonomously to avoid the obstacle; if the robot moves to the edge of the step, controlling the robot walking back and sending alarm information to the mobile equipment of the guardian; wherein, in this children's safety monitoring area, the distance of removal base and guardian does not exceed and predetermines guardianship distance.
Description
Technical Field
The invention relates to the technical field of trolleys, in particular to a danger avoiding method in an automatic baby walking process.
Background
The baby carriage is a tool vehicle designed for providing convenience for outdoor activities of children, has various vehicle types, is a favorite transportation tool for a baby to walk, and is a necessary product for a mother to take the baby to go shopping and go out. Modern stroller manufacturers have introduced various styles of strollers, such as folding, portable, flexible, and shock resistant, to take into account the diverse needs of parents and babies.
In every family that has children, children's handcart has become young parents and nurses good helper of child, but the adult can not look after children constantly, and children are because the age is little, do not have sufficient self-protection ability again, if appear other unknown accident or the perambulator moves to the ladder edge, cause the perambulator to appear empting or slide easily, then can threaten children's life. Therefore, it is necessary to develop a danger avoiding scheme during walking.
Disclosure of Invention
In view of the above-mentioned existing technical problems, the present invention provides a danger avoiding method in an automatic doll walking process, the danger avoiding method is applied to an automatic doll walking robot having a mobile base and a child handrail at the front end of the mobile base, the lower part of the child handrail is equipped with a first camera, the method includes: the first camera is used for shooting an environment image of the advancing direction of the mobile base, and whether the robot walking along the baby walker moves to the edge of a step or not is analyzed according to plane information fitted by a point cloud data set of the first camera; if the robot does not move to the edge of the step, whether an obstacle close to the robot walking the baby automatically exists in the child safety monitoring area or not is analyzed according to the environment image; if yes, controlling the robot for walking the baby automatically to avoid the obstacle; if the robot moves to the edge of the step, controlling the robot to retreat and sending alarm information to the mobile equipment of the guardian; wherein, in this children's safety monitoring area, the distance of removal base and guardian does not exceed and predetermines guardianship distance. This technical scheme utilizes the image information of first camera avoids the automatic danger factor in the certain area that moves ahead of robot of independently walking child to avoid robot of independently walking child collides fixed, moving obstacle or falls and frightens children, threatens children's life safety even.
Furthermore, the point cloud data set corresponding to the environment image of the advancing direction of the mobile base shot by the first camera is formed by coding the environment image information shot by the first camera in real time. The speed of image processing is improved.
Further, the plane information fitted to the point cloud data set is: and fitting the information contained in the plane formed by the point cloud blocks by using a RANSAC plane fitting method, wherein the information comprises the pixel information of each line on the plane. The plane information formed by line-by-line traversal fitting from near to far is facilitated.
Further, the method for analyzing whether the robot walking a baby automatically moves to the step edge according to the plane information fitted by the point cloud data set comprises the following steps: traversing the fitted plane line by line on the plane formed by the point cloud blocks fitted by the RANSAC plane fitting method, calculating the difference between the fitting height of the nth line in the fitted plane and the fitting height of the (n-1) th line in the fitted plane, if the height difference is greater than a preset threshold value, judging that the robot walking freely does not move to the step edge, otherwise, judging that the robot walking freely does not move to the step edge. Has the advantages of high speed and high precision.
Further, the method for controlling the robot walking outside the baby to avoid the obstacle comprises the following steps: and controlling the robot for walking the baby autonomously to move towards the direction opposite to the current advancing direction so as to be away from the obstacle. This technical scheme adopts the mode that the passive form was avoidd, and the low power dissipation can not disturb other people.
Further, the danger avoiding method further comprises the following steps: when the robot walking to the ladder edge automatically moves, the robot walking to the ladder edge automatically is controlled to retreat until the image point cloud data set collected by the first camera in real time does not have gradient change. The safety of children is ensured by detecting the image information of the steps in real time.
Drawings
Fig. 1 is a schematic structural view of an autonomous doll walking robot according to an embodiment of the present invention.
Fig. 2 is a flowchart of an automatic sliding doll method based on the robot for automatically sliding a doll according to the embodiment of the present invention.
Fig. 3 is a flowchart of a method for detecting a surrounding human body according to an embodiment of the present invention.
Fig. 4 is a flowchart of a danger avoiding method in an automatic doll walking process according to an embodiment of the present invention.
Reference numerals:
101. a vertical connecting rod with a camera 1011; 102. pushing the handle by hand; 103. a drive wheel; 104. a child seat; 105. a child armrest with a camera 1051; 106. a universal wheel; 107. and moving the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention provides an autonomous walking baby robot, which comprises a hand push handle 102, a vertical connecting rod 101, a child seat 104, a child handrail 105 and a mobile base 107, wherein the vertical connecting rod 101 is matched and connected with the hand push handle 102; the child seat 104 is mounted above the mobile base 107, and the child seat 104 and the mobile base 107 are a combined body of plastic and metal of the whole vehicle. The middle position of the child armrest 105 is horizontal, such design can enable both hands of a child to hold the child armrest 105 well and grasp the balance force of the child armrest, the lower portion of the child armrest 105 is mounted on the moving base 107 through a first fixing bracket (not shown in the figure), the first fixing bracket is also accommodated and assembled with a first camera 1051 and fixed through a hand nut screwing device (not marked in the figure), the view angle of the first camera 1051 covers the peripheral side of the advancing direction of the moving base 107, and the depression angle of the first camera 1051 can be used for detecting obstacles or the track of pedestrians on the peripheral side in the advancing direction of the moving base 107. The lower part of vertical connecting rod 101 passes through the second fixed bolster and installs the rear end at children's seat 104, the middle part of vertical connecting rod 101 is provided with second camera 1011, second camera 1011 set up the height and be greater than the height of riding the children at children's seat 104, it is fixed also through hand screw nut screwing device (not sign in the picture), children's seat 104 and peripheral environment are covered to second camera 1011's visual angle, can acquire the moving image of the children of sitting on children's seat 104 at least, and second camera 1011's elevation angle covers guardian or pedestrian's face image that the robot of independently walking a child was accompanied. Nut screwing device twists nut, position circle and lead screw including the main hand, the lead screw passes assembly screw on position circle, the camera in proper order and twists the nut spiro union with the main hand, and its shape all has certain tapering, can effectually prevent that the camera from rocking back and forth at the fixed bolster, can be firmly fasten these both together. In addition, a visual positioning and mapping module is integrated inside the mobile base 107 and is in cable connection with the first camera 1051 and the second camera 1052, a chip for navigation positioning and instant map construction and a peripheral circuit module are built in the visual positioning and mapping module, and are used for acquiring images of the first camera 1051 and the second camera 1052, performing image processing on the images, and extracting a two-dimensional or three-dimensional point cloud data set in the processed images to complete map construction. Compared with the chinese patent CN107215376B, in this embodiment, the functional module of the child stroller pulled by the unmanned aerial vehicle is integrated on the child stroller, and the positioning and navigation work is completed by using the cameras in different directions on the robot for walking a baby independently in cooperation with the visual positioning and mapping module, so that the mobile base pulls the robot for walking a baby independently to track the guardian without obstacle according to the image information acquired by the cameras. The cost of parents for purchasing the child handcart is reduced.
As shown in fig. 1, the robot for walking the baby autonomously further comprises a driving wheel 103 and a universal wheel 106 which are arranged below a child seat 104, the driving wheel 103 is arranged on the left side and the right side of a movable base 107, the wheel track of the driving wheel on the left side and the wheel track of the driving wheel on the right side of the movable base 107 are widened, the overturning prevention is facilitated, the safety factor and the stability of a vehicle body are increased scientifically, the distance between the widened rear wheels is as long as 55cm, and the rollover angle is prevented safely as high as 15 degrees. The mobile base 107 comprises a driving motor, and is used for driving the driving wheel 103 to drive the robot walking outside the baby to move autonomously according to a preset path; universal wheel 106 is installed in the front end that removes base 107 through rotatable support (not shown in the figure), supports independently walk child robot freely turns to, and 360 degrees universal wheel 106 helps independently walk child robot easily through low barrier, and the manipulation is nimble, is applicable to multiple road surface.
As shown in fig. 1, two protection belts (not shown) are respectively led out from the vertical connecting rods 101 at the same position, and the two protection belts are used for fixing a child on the child seat 104 by cross-latching on two sides of the child seat 104. The safety of children in the moving process of the robot for walking the baby automatically is guaranteed, and particularly the children riding on the child seat 104 are prevented from falling off in the braking process of the driving wheel 103.
The embodiment further provides an automatic sliding baby method based on the robot for walking baby autonomously, and as shown in fig. 2, the automatic sliding baby method includes:
s1, storing images of guardians and images of children in advance, wherein the images comprise face image information and body posture image information of the guardians and the children.
Step S2, the second camera 1011 is called to collect a motion point cloud data set of the child on the child seat and a motion point cloud data set of the guardian, which are collected image data within the elevation coverage range of the second camera 1011, and the collected image data are mapped to a map constructed by the visual positioning and mapping module integrated with the mobile base 107, so as to establish an independent landmark and a child safety monitoring area based on the child, wherein the motion point cloud data set in the embodiment is formed by encoding image pixels collected by the second camera 1011, so that the robot walking for the child can track the pose of the guardian conveniently. The automatic sliding doll method is used for controlling the distance between the mobile base and the mobile equipment of the guardian in a constructed map not to exceed a preset monitoring distance, a child safety monitoring area covers an area range with the mobile base as a center and the preset monitoring distance as a radius, the guardian can be tracked by the mobile base in real time, the child safety monitoring area is within a transceiving range allowed by a communication signal between the mobile base and the mobile equipment of the guardian, and the mobile equipment of the guardian can be a wireless remote control device of the robot walking doll independently and can carry out real-time communication.
Step S3, calling a first camera 1051 to collect an obstacle point cloud data set on the peripheral side of the advancing direction of the mobile base 107, and establishing a road sign of an obstacle in a map constructed by a visual positioning and mapping module integrated with the mobile base 107; the landmarks of these obstacles may be geometric features such as corners for localization extracted from the obstacle point cloud data set by the visual localization and mapping module.
It should be noted that the independent landmarks based on the children, the road signs based on the obstacles, and the child safety monitoring area only form a sparse map, which is enough if only used for positioning, but the guardian also needs to be tracked in real time in the automatic walking process, and the robot walking autonomously needs to move along a reliable navigation path, so that the safety of the children is ensured, and the guardian is more relieved, therefore, the environment images within a range of 360 degrees captured by the second camera 1011 and the first camera 1051 are encoded into a point cloud data set and then mapped into the grids constructed by the visual positioning and mapping module, and the grids contain three states of occupation, idle and unknown, so as to express whether objects exist in the grids, so that the visual positioning and mapping module constructs a dense map based on the grids.
S4, constructing a grid map environment between the robot walking a baby autonomously and the guardian according to the road signs of the obstacles and the safety monitoring area based on children, wherein when a certain spatial position of the guardian is searched, the map can give information whether the position can pass or not, so that a path which tracks the guardian and is far away from the obstacles is searched in real time, then the mobile base 107 is controlled to move according to the path searched in real time, and then the path correction is carried out by utilizing the point cloud data set inserted in real time. Since the information of the images captured by the second camera 1011 and the first camera 1051 in the range of 360 ° is very rich, the difficulty of detecting the loopback in this embodiment is reduced.
Compared with the positioning of the unmanned aerial vehicle in the prior art, the method for visually positioning and immediately constructing the map, particularly the dense map constructed in the step S3 and the loop detection optimization performed in the step S4, overcomes the problems of large drift value and large design cost of the unmanned aerial vehicle in the prior art, improves the precision of the automatic sliding baby, ensures that the autonomous walking baby robot tracks the guardian in real time, and has higher accuracy in self return.
It is worth noting that although the robot for automatically walking a baby supports autonomous movement, the robot for automatically walking a baby can also be divided into the automatic baby walking mode and the manual baby walking mode, and in the manual baby walking mode, a guardian of a child can also push the robot for automatically walking a baby by using the hand push handle 102 and still push the robot for automatically walking a baby by hand.
As an embodiment, according to image information of a pre-stored body posture of a child, when detecting that a gravity center position of the child is away from a child seat by a preset safety distance, positioning current position information in real time, and sending reminding information to a mobile device of a guardian; this embodiment calls second camera 1011 and gathers children's on the children's seat activity point cloud data set, detects children and is in children's seat 104 predetermines safe distance internalization, and this embodiment uses this to predetermine safe distance and can mark children in the map that visual localization and drawing module structure establish as the radius and be in independently walk the monitoring range on the baby robot, regard as children's safe activity region, confine to children's seat 104's peripheral region, so predetermine safe distance and set up to 10cm. In the embodiment, the movement area of the child on the seat is planned, so that the movement of the child to the dangerous area beside the robot walking the child is initially prevented. Specifically, when the child is not fixed on the child seat by the protective belt, the child leaves the child seat and moves beyond the child safety activity area, the current position information of the gravity center of the child is located by being collected and detected by the second camera 1011, and the reminding information is sent to the mobile device of the guardian in real time; or when the child falls off from the child seat to exceed the child safety activity area, locating the current position information of the gravity center of the child, and sending reminding information to the mobile device of the guardian in real time.
As an example, as shown in fig. 3, a flowchart of a method for detecting a surrounding human body is provided, and the method as an implementation of the foregoing step S4 specifically includes the following steps:
s301, calling a second camera 1011 to acquire image information of the peripheral environment of the child seat 104, and then entering step S302; step S302, judging whether a human body appears in the preset safety distance of the child according to the image detection result of the step S301, if so, entering the step S303, otherwise, returning to the step S301 to continuously shoot the images around and detecting whether other human bodies exist around the child according to the shot images. And step S303, analyzing whether the face image shot by the second camera is matched with a face image of a pre-stored guardian, judging whether the face image is matched by calculating the similarity of key points of the image, if so, returning to the step S301 to continuously shoot the images around, detecting whether other human bodies exist around the child according to the shot images, and otherwise, entering the step S304. Step S304, the mobile base sends position request information to the mobile equipment of the guardian, and then the step S305 is carried out. Step S305, according to the response position information received by the robot walking the baby autonomously, tag information is made in the constructed grid map environment between the robot walking the baby autonomously and the guardian, and then a path which tracks the guardian and is far away from the obstacle is searched.
In this embodiment, the preset safety distance is set to 10cm to 40cm, and in this embodiment, 26cm; the matching means that after the shot face image is compared with a face image stored in advance, whether the similarity reaches more than 90% is analyzed. Specifically, the second camera 1011 at the middle part of vertical connecting rod 101 is utilized to shoot the image around children and judge whether other human bodies exist in the 26 centimetre scope of children according to the shot image, if detect other human bodies after, compare the facial image that shoots with the guardian face image information of prestoring, whether the similarity between the analysis both reaches more than 90%, if do not reach more than 90%, the robot of independently walking a walk baby continues to advance to guardian position along the route of planning in advance, and the removal base sends position request information to guardian's mobile device, prevents that children on the robot of independently walking a baby walk away, realizes that children follow guardian's function in real time.
As an embodiment, as shown in fig. 4, the present embodiment provides a danger avoiding method in an automatic doll walking process, where the method, as an implementation manner of the foregoing step S4, specifically includes the following steps:
step S401, shooting an environment image of the advancing direction of the mobile base by using the first camera, and then entering step S402.
And S402, fitting a plane formed by point cloud blocks by using a RANSAC plane fitting method according to an image point cloud data set obtained by encoding an environment image acquired by the first camera, and traversing the fitted plane line by line, so that the plane information formed by traversing and fitting the first camera line by line from near to far is facilitated. And then calculating the difference between the fitting height of the nth row in the fitting plane and the fitting height of the (n-1) th row in the fitting plane, if the height difference value is greater than a preset threshold value, judging that the robot walking the baby autonomously moves to the step edge, and then entering step S404, otherwise, performing step S403.
It should be noted that the point cloud data set corresponding to the environment image captured by the first camera in the advancing direction of the mobile base is encoded by the environment image information captured by the first camera in real time. The speed of image processing is improved. The step S402 has the advantages of high speed and high accuracy.
And S403, controlling the robot for walking the baby autonomously to keep moving forward, analyzing whether an obstacle is close to the robot for walking the baby autonomously in the child safety monitoring area or not according to the acquired image information, if so, entering S405, and otherwise, returning to S401. Since the path correction needs to be performed by using the point cloud data set inserted in real time in the step S4, in the process of analyzing the child safety monitoring area, scenes of different scales are taken into consideration in the step S406, the scale drift phenomenon is reduced, the phenomenon that the moving direction of an obstacle moving close to the robot walking out of the child is uncertain is avoided, and the drift correction time is saved. The detection range is limited in the child safety monitoring area because only pedestrians or automobiles around the robot walking the baby will affect the safety of the child; and moving obstacles (pedestrians or automobiles) outside the child safety monitoring area do not need to be considered, so that excessive calculation amount is avoided, the avoiding timeliness of the dangerous area is improved, and the safety of riding children is guaranteed. It is noted that the coverage of the child safety monitoring area of the present embodiment includes the child safety activity area of the previous embodiment.
Step S404, controlling the robot to move back, and in this embodiment, controlling the robot to move back until the image point cloud data set collected by the first camera in real time does not have gradient change, because the gray scale map corresponding to the dense map constructed by the visual positioning and mapping module in this embodiment has an obvious gradient in the step edge region. The step ensures the safety of children by detecting the image information of the steps in real time.
Step S405, controlling the robot to avoid an obstacle, in this embodiment, moving in the opposite direction of the current forward direction in the child safety activity area to get away from the obstacle. The step is to control the robot for walking the baby automatically to move towards the direction opposite to the current advancing direction so as to be far away from the obstacle. The passive avoidance mode is adopted in the embodiment, the power consumption is low, and other people cannot be interfered.
Alarm information is then sent to the guardian's mobile device. Because autonomic child robot of sauntering removes along the route of tracking guardian and keeping away from the barrier, so this embodiment can be through installing speaker on the robot of independently sauntering sends the alarm sound of certain decibel, warns when dodging the pedestrian, prevents that the pedestrian from playing the cell-phone and not noticing and bump over at the low head robot of sauntering. The aforementioned guardian is understood to be an immediate relative of the aforementioned child. This embodiment utilizes the image information of first camera avoids the danger factor in the certain region of autonomic walking child robot automatically move to avoid autonomic walking child robot collides fixed, moving obstacle or falls and disturbs children, threatens children's life safety even.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (4)
1. The utility model provides an automatic danger evasion method in child process of sauntering, its characterized in that, this danger evasion method is applicable to one kind and possesses the removal base and on the robot of independently sauntering child of the children's handrail of removing the base front end, the lower part of children's handrail is equipped with first camera, and this method includes:
the first camera is used for shooting an environment image of the moving base in the advancing direction, and whether the robot walking around the baby moves to the step edge or not is analyzed according to plane information fitted by a point cloud data set of the first camera;
if the robot does not move to the edge of the step, whether an obstacle close to the robot walking the baby automatically exists in the child safety monitoring area or not is analyzed according to the environment image; if so, controlling the robot for walking the baby autonomously to avoid the obstacle;
if the robot moves to the edge of the step, controlling the robot to retreat and sending alarm information to the mobile equipment of the guardian;
wherein, in the child safety monitoring area, the distance between the mobile base and the guardian does not exceed the preset monitoring distance;
the method for analyzing whether the robot walking a baby automatically moves to the step edge according to the plane information fitted by the point cloud data set comprises the following steps:
traversing the fitted plane line by line on a plane formed by point cloud blocks fitted by a RANSAC plane fitting method, calculating the difference between the fitting height of the nth line in the fitted plane and the fitting height of the (n-1) th line in the fitted plane, if the height difference is greater than a preset threshold value, judging that the robot walking freely does not move to the step edge, otherwise, judging that the robot walking freely does not move to the step edge;
the danger avoiding method further comprises the following steps: when the robot walking to the ladder edge automatically moves, the robot walking to the ladder edge automatically is controlled to retreat until the image point cloud data set collected by the first camera in real time does not have gradient change.
2. The danger avoiding method according to claim 1, wherein the point cloud data set corresponding to the environment image captured by the first camera in the advancing direction of the moving base is encoded by environment image information captured by the first camera in real time.
3. The hazard avoidance method of claim 2, wherein the plane information fitted to the point cloud dataset is: and fitting the information contained in the plane formed by the point cloud blocks by using a RANSAC plane fitting method, wherein the information comprises the pixel information of each line on the plane.
4. The danger avoiding method according to claim 1, wherein the method for controlling the robot for walking a child to avoid an obstacle comprises the following steps: and controlling the robot for walking the baby autonomously to move towards the direction opposite to the current advancing direction so as to be away from the obstacle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910922306.5A CN110632929B (en) | 2019-09-27 | 2019-09-27 | Danger avoiding method in automatic child walking process |
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| CN201910922306.5A CN110632929B (en) | 2019-09-27 | 2019-09-27 | Danger avoiding method in automatic child walking process |
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| CN110632929A CN110632929A (en) | 2019-12-31 |
| CN110632929B true CN110632929B (en) | 2022-10-14 |
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