CN113238561B - Human body bathing obstacle avoidance method and system - Google Patents
Human body bathing obstacle avoidance method and system Download PDFInfo
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Abstract
The invention relates to a human body bathing obstacle avoidance method and system. And then judging whether the measured distance is smaller than or equal to a preset safe distance or not to obtain a first judgment result. And when the first judgment result is yes, controlling the robot to stop working, and when the first judgment result is no, controlling the robot to continue working. Furthermore, the human body bathing obstacle avoidance method and the human body bathing obstacle avoidance system can dynamically detect the distance between the robot and the human body, can keep the distance between the robot and the human body within a safe distance when the position and the posture of the human body are changed, and complete the obstacle avoidance work of the robot in the human body bathing process.
Description
Technical Field
The invention relates to the technical field of human body obstacle avoidance, in particular to a human body bathing obstacle avoidance method and system applied to a human body bathing process.
Background
In the field of artificial intelligence era, the application of intelligent sensing is more and more extensive, and the use of various sensors brings great convenience to the life of people. On an unmanned automobile, an infrared sensor is utilized to cooperate with ultrasonic dynamic detection, comparative analysis and logic judgment, and a logic control signal is output to a microcontroller processing system to control the advancing speed and direction of the automobile, so that obstacles are effectively avoided. Based on the fact that the blind people lose visual function, the blind people face great challenges and dangers in life and bring heavy burden to society and family, and in order to help vision-impaired people to safely move forward and improve and guarantee the living ability and personal safety of the vision-impaired people, electronic blind guiding systems are continuously developed in all countries of the world. The system detects environmental information in all directions around the blind person through the reflection principle of infrared rays, converts collected data information into sound signals, timely reminds the blind person to avoid dangerous obstacles, minimizes the danger degree of the blind person, analyzes actual motion data and verifies the feasibility of the system. A plurality of difficulties in life are effectively solved through the infrared sensor and the ultrasonic sensor, and the method has the advantages of high data acquisition speed, high precision, simplicity in operation, convenience in data processing and the like.
However, the prior art obstacle avoidance systems are rarely used in bathing environments.
Disclosure of Invention
The invention aims to provide a human body bathing obstacle avoidance method and system, which can be used for avoiding obstacles in a human body bathing process.
In order to achieve the purpose, the invention provides the following scheme:
a human body bathing obstacle avoidance method comprises the following steps:
controlling the robot to start working, and acquiring the distance between the robot and a human body in the working process to obtain a measured distance;
judging whether the measured distance is smaller than or equal to a preset safety distance or not to obtain a first judgment result;
when the first judgment result is yes, controlling the robot to stop working;
and when the first judgment result is negative, controlling the robot to continue working.
On the other hand, the invention also provides a human body bathing obstacle avoidance system, which comprises a control module, a robot and a distance measurement module;
the robot and the distance measuring module are both in communication connection with the control module; the distance measuring module is arranged on an end effector of the robot;
the distance measuring module is used for acquiring the distance between the robot and a human body in the working process of the robot and transmitting the distance to the control module;
the control module is used for obtaining a measured distance according to the distance and judging whether the measured distance is smaller than or equal to a preset safe distance, if so, the robot is controlled to stop working, and if not, the robot is controlled to continue working.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a human body bathing obstacle avoidance method and system. And then judging whether the measured distance is less than or equal to a preset safety distance or not to obtain a first judgment result. And when the first judgment result is yes, controlling the robot to stop working, and when the first judgment result is no, controlling the robot to continue working. Furthermore, the human body bathing obstacle avoidance method and the human body bathing obstacle avoidance system can dynamically detect the distance between the robot and the human body, can keep the distance between the robot and the human body within a safe distance when the position and the posture of the human body are changed, and complete the obstacle avoidance work of the robot in the human body bathing process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a method for avoiding obstacles in a human body bath provided in embodiment 1 of the present invention.
Fig. 2 is a flowchart of a robot teaching method according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a method for constructing a three-dimensional point cloud model of an obstacle according to embodiment 1 of the present invention.
Fig. 4 is a system block diagram of a human body bathing obstacle avoidance system provided in embodiment 2 of the present invention.
Description of the symbols:
1-a control module; 2-a robot; 3-a ranging module; 4-laser SLAM scanning module; 5-an alarm module; 6-nixie tube display module; 7-a key module; 8-a data communication module; a 9-L298N motor drive module; 10-nixie tube driving module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a human body bathing obstacle avoidance method and system, which can achieve obstacle avoidance in a human body bathing process.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Example 1:
at present, an intelligent bathing system for providing service for disabled old people exists, the disabled old people have poor mobility, the intelligent bathing system comprises a bathing robot, and intelligent scrubbing work is provided for the old people through the bathing robot. However, in the bathing process, the position and posture of the human body are changed, so if the bathing robot only works according to the path planning performed through the original human body shape, the robot cannot be guaranteed not to touch the human body in the bathing process, and obstacle avoidance in the bathing process cannot be realized. Based on this, there is a need in the prior art for a human body bathing obstacle avoidance method which can be applied to a bathing process.
Based on the above problem, the present embodiment is to provide a human body bathing obstacle avoidance method, as shown in fig. 1, the obstacle avoidance method includes:
s1: controlling the robot to start working, and acquiring the distance between the robot and a human body in the working process to obtain a measured distance;
when the distance between the robot and the human body in the working process is obtained, the distance of each time point can be continuously obtained in real time, or the distances of different time points can be obtained discontinuously, and at the moment, the time length of the interval between every two adjacent time points is random. Any way of obtaining the distance between the robot and the human body during the work process is within the protection scope of the embodiment, which is not limited in any way. Of course, it can be understood by those skilled in the art that, in order to determine whether the measured distance is within the safe distance more accurately, a data acquisition mode of continuously acquiring the distance at each time point in real time may be selected.
Because the position and posture of the human body can change during the bathing process, and the distance acquired by the ranging module is complex and changeable, the distance set of a plurality of continuous time periods is acquired instead of directly taking the acquired distance as the measurement distance, and each distance set comprises a preset number of distances. And then, according to the distance set, calculating the measuring distance corresponding to each time period by using an arithmetic mean filtering method, and then comparing the measuring distance with a preset safe distance, so that a more effective measuring distance can be obtained in advance by using the arithmetic mean filtering method, and obstacle avoidance can be completed more accurately. Specifically, distance values measured by the ranging module within a period of time are obtained, and the distance values are assumed to be a 1 、a 2 、a 3 …a n And n is a preset number, and then the distance data in the time period is filtered by an arithmetic mean filtering method to obtain the measured distance b.
The formula corresponding to the algorithm average filtering method is as follows:
s2: judging whether the measured distance is smaller than or equal to a preset safety distance or not to obtain a first judgment result;
since different areas of the human body have different conditions, the present embodiment sets different preset safety distances based on the different areas of the human body, that is, each area corresponds to a preset safety distance. Before determining whether the measured distance is less than or equal to the preset safe distance, the obstacle avoidance method of this embodiment may determine, in real time, the area type of the human body currently measured by the robot, and then determine the preset safe distance according to the area type. The types of regions of the human body may include an upper body, a lower body, a head, feet, and the like. Of course, other body region dividing manners are also possible, for example, the body region types include arms, legs, head, and the like.
In order to accurately determine the type of the human body region currently measured by the robot, before bathing is started and after the human body is positioned on a bathing chair, the human body is firstly divided according to the region division mode, for example, the human body is divided into feet, a lower body, an upper body and a head, then the human body is scanned in regions through a laser SLAM scanning module to obtain human body point cloud data of different regions, then a human body curved surface model is constructed according to the human body point cloud data of all the regions, and human body information is collected in advance. And then the control module determines the region type of the human body currently measured by the robot in real time according to the pre-constructed human body curved surface model.
In the embodiment, S2 is utilized, different preset safe distances are adopted according to different areas of a human body, and whether the measured distance is smaller than or equal to the preset safe distance or not is judged, so that bathing can be better matched.
S3: when the first judgment result is yes, controlling the robot to stop working;
s4: and when the first judgment result is negative, controlling the robot to continue working.
In order to consider only the obstacle avoidance problem of the human body and ignore the influence of the obstacle in the bathing area on the motion path of the robot during the operation of the robot, that is, to achieve obstacle avoidance between the robot and the obstacle, before controlling the robot to start operating, the obstacle avoidance method of the embodiment further includes teaching the robot, as shown in fig. 2, the step may include:
s01: performing SLAM three-dimensional laser scanning on the bathing area by using a laser SLAM scanning module to obtain point cloud data of the obstacle; the barrier is an immovable object in the bathing area;
the robot control system comprises a robot, a control module, a laser SLAM scanning module, a control module and a control module, wherein the laser SLAM scanning module is arranged on the robot, the control module controls the robot to move in a bathing area, the laser SLAM scanning module is used for carrying out depth measurement on obstacles in the bathing area in the moving process, and meanwhile, the robot is positioned, namely, the laser SLAM scanning module is used for actively scanning the obstacles in the bathing area to obtain point cloud data of the obstacles. The obstacle can be regarded as other fixed objects except the human body in the bathing area, and is generally a bathing chair in the bathing area.
S02: constructing a three-dimensional point cloud model of the obstacle based on the point cloud data;
specifically, as shown in fig. 3, S02 may include:
s021: dividing the point cloud data by using a grid division method to obtain divided point cloud data;
1) Constructing a cuboid bounding box according to the spatial position of the point cloud data;
for spatially scattered point cloud data, the maximum value and the minimum value of all data points included in the point cloud data are firstly solved, specifically, the maximum value and the minimum value of coordinates of all data points on an X axis, a Y axis and a Z axis are respectively determined, the combination of the minimum value of the X axis, the minimum value of the Y axis and the minimum value of the Z axis is used as the minimum value, the combination of the maximum value of the X axis, the maximum value of the Y axis and the maximum value of the Z axis is used as the maximum value, and namely, the maximum range of the point cloud data is selected as a boundary. And then establishing a minimum cuboid bounding box parallel to the coordinate axes according to the maximum value and the minimum value.
2) Dividing the cuboid bounding box according to a preset side length to obtain a plurality of three-dimensional grids;
that is, the rectangular parallelepiped bounding box is divided into a series of small cubes according to a given dividing side length (i.e., a preset side length), and each small cube is called a grid.
3) And dividing all the data points into the corresponding three-dimensional grids according to the spatial position of each data point in the point cloud data to obtain divided point cloud data.
S022: denoising the value of each data point in the divided point cloud data by using a median filtering method to obtain denoised point cloud data;
and for each data point, sequencing the depth values of all the data points in the grid taking the current data point as the center in a sequence from small to large, and selecting the sequenced middle value as the depth value of the current data point.
S023: and performing curved surface reconstruction on the denoised point cloud data by utilizing a Delaunay triangulation algorithm to obtain a three-dimensional point cloud model of the obstacle.
Meanwhile, the three-dimensional coordinates of the three-dimensional point cloud model can be obtained.
In this embodiment, by using S02, a three-dimensional point cloud model of an obstacle is constructed by preprocessing the acquired point cloud data, where the preprocessing includes partitioning, denoising, and surface reconstruction.
S03: and teaching the robot based on the three-dimensional point cloud model, so that the robot avoids the movement of the obstacle in the working process.
The control module marks the obstacle through the three-dimensional coordinates of the three-dimensional point cloud model, namely, the coordinate range of the boundary of the obstacle is recorded, and the marked obstacle is applied to the process of teaching the robot. During the teaching process of the robot, the program for controlling the movement of the robot can be modified in a program through the marked obstacle, for example, when a coordinate program for the movement of the robot is written, the coordinate included in the obstacle part is avoided, the obstacle is avoided for the movement of the mechanical arm, and the obstacle avoidance between the robot and the fixed obstacle is realized.
The obstacle avoidance method provided by the embodiment is mainly applied to a bathing process, and plays a role in safety and work assistance. In considering old man's bathing process safety problem, adopt flexible arm teaching and vision to combine together, can reduce the emergence of potential safety hazard.
Example 2:
the present embodiment is configured to provide a human body bathing obstacle avoidance system, and as shown in fig. 4, the obstacle avoidance method described in embodiment 1 is used to perform work, where the obstacle avoidance system includes a control module 1, a robot 2, and a distance measurement module 3. Robot 2 and ranging module 3 all with control module 1 communication connection, ranging module 3 installs on robot 2's end effector.
The distance measurement module 3 is used for acquiring the distance between the robot 2 and the human body in the working process of the robot 2 and transmitting the distance to the control module 1. The control module 1 is used for obtaining a measured distance according to the distance and judging whether the measured distance is smaller than or equal to a preset safe distance, if so, the robot 2 is controlled to stop working, and if not, the robot 2 is controlled to continue working.
Because the position and posture of the human body can change during the bathing process, and the distance acquired by the distance measurement module 3 is complex and variable, the acquired distance is not directly used as the measurement distance in the embodiment, but the control module 1 is used for acquiring distance sets of a plurality of continuous time periods, each distance set comprises a preset number of distances, and it should be noted that the embodiment divides the total working process duration of the robot 2 (i.e. the total bathing process duration) into a plurality of continuous time periods. And then, according to the distance set, calculating the measuring distance corresponding to each time period by using an arithmetic mean filtering method, and then comparing the measuring distance with a preset safe distance, so that a more effective measuring distance can be obtained in advance by using the arithmetic mean filtering method, and obstacle avoidance can be completed more accurately.
As an optional implementation manner, the control module 1 in this embodiment may adopt a single chip microcomputer, specifically an STC89C52 type single chip microcomputer. The single chip microcomputer is mainly used for optimizing and upgrading on the basis of an 8051 kernel, is compatible with all functions of 8051, is high in running speed compared with 8051, does not have two identical ID numbers because of the fact that the single chip microcomputer is provided with an ADC (analog to digital converter), a 4-path PWM (pulse width modulation) and two serial ports, and is high in encryption performance and good in interference resistance. The STC89C52 type single chip microcomputer has the working voltage of 3.3-5.5V and the working frequency not higher than 40MHZ. The STC89C52 type single chip microcomputer is provided with 32 general IO ports, different ports are different in structure and function, and most of the ports can be written in and output. The P0 port has no pull-up resistor inside, so that the P0 port can be directly used as a headquarter expansion without adding external components, and when the P0 port is used as an IO port, an external pull-up resistor is required. The single chip microcomputer also has the functions of EEPROM and watchdog, RAM with 512 bytes, FLASH with 8K bytes, full-duplex serial port, and 3 16-bit timers/counters. The STC89C52 type single chip microcomputer has two types of interruption: timer interrupts and external interrupts. The timer interrupt is a system interrupt when the time reaches a set time. When the external input signal has a falling edge, external interruption can occur, when the external circuit is a low-level circuit, the external interruption can also occur, and the low-level circuit can also enable the single chip microcomputer to recover from the power failure mode. The part of the circuit connected with the RST pin of the single chip microcomputer is a reset circuit, and the reset circuit can realize reset by continuously supplying high level to the RST pin of the single chip microcomputer for 2us, so that the RST of the single chip microcomputer is connected with VCC through a capacitor and is grounded through a resistor. The electric capacity department can connect the button in parallel, and then the obstacle avoidance system of this embodiment still includes button module 7, and button module 7 includes button and reset circuit, through the manual operation button, utilizes reset circuit to carry out automatic re-setting to the singlechip.
It should be noted that if the single chip microcomputer has a requirement, the single chip microcomputer can be replaced by an STM32 series single chip microcomputer, and an STM32 MCU integrates high performance, real-time performance, digital signal processing, low power consumption and low voltage, and has rich interfaces.
The distance measuring module 3 can adopt an ultrasonic distance measuring module or an infrared distance measuring module. Specifically, if the amount of water vapor is small during the bathing process, the distance between the human body and the robot 2 can be acquired by using an infrared ranging module, and the infrared ranging module comprises a camera and an infrared sensor. When the water vapor is more in the bathing process, the ultrasonic ranging module is adopted. The ultrasonic ranging module comprises an ultrasonic sensor, wherein the ultrasonic sensor comprises an ultrasonic transmitter and a receiver, and is used for realizing ultrasonic ranging, providing data support for the robot 2 to avoid a human body and further completing safe work of the robot 2 to the human body when working. The ultrasonic sensor of the embodiment has the advantages of high frequency, short wavelength, small diffraction phenomenon and great penetrating power to liquid and solid, and can better complete the obstacle avoidance function in a bathing environment compared with an infrared sensor.
Specifically, the ultrasonic ranging module adopts an ultrasonic module HC-SR04 which is composed of an ultrasonic transmitter, a receiver and a control circuit, the maximum range is 4m, the minimum range is 2cm, and the ranging precision can reach 3mm. The module has stable performance, accurate measurement distance, high module precision and small blind area, and is generally used for the items of robot obstacle avoidance, object distance measurement, public security, parking lot detection and the like. The HC-SR04 ultrasonic module has four pins, including trigger signal Trig, echo signal Echo, power supply VCC and GND, and the measurement period is more than 60 ms. When Trig receives more than 10us of pulses, HC-SR04 internally has 8 levels of 40kHZ and detects echoes. When Echo just receives Echo, setting 1 (the received signal exceeds a certain range and is not enough to HC-SR04 and the timer is not counted by 1), starting counting times by the singlechip timer, setting 0 until Echo does not receive the signal, recording TH + TL machine periods, and obtaining distance by multiplying time and sound velocity, wherein one machine period needs 12 oscillation periods, and the time can be calculated.
The obstacle avoidance system of the embodiment further comprises a laser SLAM scanning module 4, and the laser SLAM scanning module 4 is in communication connection with the control module 1. The laser SLAM scanning module 4 is used for carrying out SLAM three-dimensional laser scanning on the bathing area to obtain point cloud data of the barrier, and transmitting the point cloud data to the control module 1. The barrier is a fixed object in the bathing area. The control module 1 is further used for constructing a three-dimensional point cloud model of the obstacle based on the point cloud data, and teaching the robot 2 based on the three-dimensional point cloud model, so that the robot 2 avoids the movement of the obstacle in the working process, and further the obstacle avoidance between the robot 2 and the fixed obstacle is realized.
The obstacle avoidance system of the embodiment may further include an alarm module 5, and the alarm module 5 is in communication connection with the control module 1. The control module 1 is further configured to control the alarm module 5 to alarm when the measured distance is less than or equal to the preset safe distance, and the alarm module 5 may be an audible alarm and/or a light alarm, and specifically may be composed of a buzzer, and is configured to alarm when the measured distance is less than or equal to the preset safe distance. The obstacle avoidance system can further comprise a nixie tube display module 6, and the nixie tube display module 6 is in communication connection with the control module 1. The control module 1 is also used for transmitting the measured distance to the nixie tube display module 6 for displaying in real time. The nixie tube display module 6 is a four-digit nixie tube and is used for displaying the measurement distance calculated by the control module 1. Of course, the nixie tube display module 6 may also display the distance collected by the distance measurement module 3. The obstacle avoidance system further comprises a data communication module 8, and the data communication module 8 is in communication connection with the control module 1. The data communication module 8 is a wireless transmission module, and can specifically adopt a Wi-Fi module. Data communication between the single chip microcomputer and the PC end is carried out through the data communication module 8, and data collected and recorded by the system are transmitted back to the PC end of the monitoring room in real time. In order to realize the driving of the nixie tube display module 6 and the robot 2, the obstacle avoidance system of the embodiment further includes an L298N motor driving module 9 and a nixie tube driving module 10, wherein the L298N motor driving module 9 is respectively connected with the robot 2 and the control module 1, and is mainly used for driving the robot 2 to stably operate. The nixie tube driving module 10 is respectively connected with the nixie tube display module 6 and the control module 1, and is mainly used for driving the display process of the nixie tube display module 6.
The obstacle avoidance system provided by the embodiment is mainly applied to the coordination work of a bath process and a robot, the pose of a human body can change along with the change of a bath state in the bath process, the obstacle avoidance system can carry out distance measurement and obstacle avoidance work in the bath process, the robot and the human body can keep a safe distance, different values of the safe distance are set according to different areas of the human body, when the distance between the tail end of the robot and the surface of the human body is smaller than the set safe distance, the obstacle avoidance system gives an alarm, the robot stops working, and the bath work is carried out after the robot is adjusted.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A human body bathing obstacle avoidance method is characterized by comprising the following steps:
controlling the robot to start working, and acquiring the distance between the robot and a human body in the working process by using an ultrasonic ranging module to obtain a measured distance; the robot is a robot for providing scrubbing work for a human body;
determining the area type of a human body currently measured by the robot in real time, and determining a preset safety distance according to the area type;
judging whether the measured distance is smaller than or equal to the preset safe distance or not to obtain a first judgment result;
when the first judgment result is yes, controlling the robot to stop working;
when the first judgment result is negative, controlling the robot to continue working;
before controlling the robot to start working, the obstacle avoidance method further comprises the following steps:
performing SLAM three-dimensional laser scanning on the bathing area by using a laser SLAM scanning module to obtain point cloud data of the obstacle; the barrier is an immovable object in the bathing area;
constructing a three-dimensional point cloud model of the obstacle based on the point cloud data;
and teaching a robot based on the three-dimensional point cloud model, so that the robot avoids the movement of the obstacle in the working process.
2. An obstacle avoidance method according to claim 1, wherein the constructing of the three-dimensional point cloud model of the obstacle based on the point cloud data specifically comprises:
dividing the point cloud data by using a grid division method to obtain divided point cloud data;
denoising the value of each data point in the divided point cloud data by using a median filtering method to obtain denoised point cloud data;
and performing curved surface reconstruction on the denoised point cloud data by using a Delaunay triangulation algorithm to obtain a three-dimensional point cloud model of the obstacle.
3. An obstacle avoidance method according to claim 2, wherein the dividing of the point cloud data by using a grid division method to obtain the divided point cloud data specifically comprises:
constructing a cuboid bounding box according to the spatial position of the point cloud data;
dividing the cuboid bounding box according to a preset side length to obtain a plurality of three-dimensional grids;
and dividing all the data points into the corresponding three-dimensional grids according to the spatial position of each data point in the point cloud data to obtain divided point cloud data.
4. An obstacle avoidance method according to claim 1, wherein the obtaining of the distance between the robot and the human body in the working process to obtain the measured distance specifically comprises:
acquiring a distance set of a plurality of continuous time periods; the set of distances comprises a predetermined number of distances;
and calculating the corresponding measuring distance of each time period by using an arithmetic mean filtering method according to the distance set.
5. A human body bathing obstacle avoidance system is characterized by comprising a control module, a robot and a distance measurement module;
the robot and the ranging module are both in communication connection with the control module; the distance measurement module is mounted on an end effector of the robot; the robot is a robot for providing scrubbing work for a human body; the distance measuring module is an ultrasonic distance measuring module;
the distance measurement module is used for acquiring the distance between the robot and the human body in the working process of the robot and transmitting the distance to the control module;
the control module is used for obtaining a measured distance according to the distance and judging whether the measured distance is smaller than or equal to a preset safe distance, if so, the robot is controlled to stop working, and if not, the robot is controlled to continue working; the preset safety distance is determined according to the type of the human body region currently measured by the robot;
the obstacle avoidance system further comprises a laser SLAM scanning module; the laser SLAM scanning module is in communication connection with the control module;
the laser SLAM scanning module is used for carrying out SLAM three-dimensional laser scanning on a bathing area to obtain point cloud data of an obstacle and transmitting the point cloud data to the control module; the barrier is an immovable object in the bathing area;
the control module is also used for constructing a three-dimensional point cloud model of the obstacle based on the point cloud data and teaching the robot based on the three-dimensional point cloud model so that the robot can avoid the movement of the obstacle in the working process.
6. An obstacle avoidance system according to claim 5, further comprising an alarm module; the alarm module is in communication connection with the control module;
the control module is also used for controlling the alarm module to give an alarm when the measured distance is less than or equal to the preset safe distance.
7. An obstacle avoidance system according to claim 5, further comprising a nixie tube display module; the nixie tube display module is in communication connection with the control module;
the control module is also used for transmitting the measured distance to the nixie tube display module in real time for displaying.
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