阅读说明：本技术 障碍物检测方法、装置及系统 (Obstacle detection method, device and system ) 是由 王力 于 2018-08-07 设计创作，主要内容包括：本申请公开了一种障碍物检测方法、装置及系统,属于领域。该方法包括：在移动机器人的行驶过程中,向所述移动机器人所处区域的周围区域发射红外光；采集所述周围区域的图像；当所述图像中包含目标图案时,获取障碍物的第一位置信息,所述目标图案为被反光标志反射的红外光在所述图像中形成的图案,所述反光标志固定设置在所述障碍物表面。本发明有效地降低了障碍物检测的成本。本发明用于移动机器人的障碍物检测。(The application discloses a method, a device and a system for detecting obstacles, and belongs to the field. The method comprises the following steps: in the running process of the mobile robot, emitting infrared light to the surrounding area of the area where the mobile robot is located; acquiring an image of the surrounding area; when the image contains a target pattern, first position information of an obstacle is obtained, the target pattern is a pattern formed in the image by infrared light reflected by a reflective mark, and the reflective mark is fixedly arranged on the surface of the obstacle. The invention effectively reduces the cost of obstacle detection. The invention is used for obstacle detection of the mobile robot.)

1. An obstacle detection method, characterized in that the method comprises:

in the running process of the mobile robot, emitting infrared light to the surrounding area of the area where the mobile robot is located;

acquiring an image of the surrounding area;

when the image contains a target pattern, first position information of an obstacle is obtained, the target pattern is a pattern formed in the image by infrared light reflected by a reflective mark, and the reflective mark is fixedly arranged on the surface of the obstacle.

2. The method of claim 1, wherein obtaining first position information of an obstacle when a target pattern is included in the image comprises:

acquiring second position information of the target pattern in the image based on the image;

and acquiring the first position information based on the second position information.

3. The method of claim 2, wherein prior to said obtaining the first location information based on the second location information, the method further comprises:

determining a conversion matrix based on the setting position of image acquisition equipment and the setting position of the reflective mark, wherein the image acquisition equipment is used for acquiring the image of the surrounding area, and the conversion matrix is used for carrying out coordinate conversion on a space coordinate system where the reflective mark is located and an image coordinate system where pixel points in the image are located;

the obtaining the first location information based on the second location information includes:

and acquiring the first position information based on the second position information and the conversion matrix.

4. The method according to claim 2 or 3, wherein the obtaining second position information of the target pattern in the image based on the image comprises:

detecting the pixel value of each pixel point in the image to determine that the target pattern exists in the image;

second position information of the target pattern in the image is acquired.

5. The method of claim 4, wherein the detecting pixel values of the pixels in the image to determine that the target pattern exists in the image comprises:

and detecting the pixel value of each pixel point in the image through a connected domain detection algorithm so as to determine that the target pattern exists in the image.

6. The method of any of claims 1 to 3, wherein the obstacle comprises: shelves in the warehouse.

7. An obstacle detection apparatus, characterized in that the apparatus comprises:

the transmitting module is used for transmitting infrared light to the surrounding area of the area where the mobile robot is located in the driving process of the mobile robot;

the acquisition module is used for acquiring the image of the surrounding area;

the first acquisition module is used for acquiring first position information of an obstacle when the image contains a target pattern, wherein the target pattern is a pattern formed in the image by infrared light reflected by a reflective mark, and the reflective mark is fixedly arranged on the surface of the obstacle.

8. The apparatus of claim 7, wherein the first obtaining module is further configured to:

acquiring second position information of the target pattern in the image based on the image;

and acquiring the first position information based on the second position information.

9. The apparatus of claim 8, further comprising:

a second obtaining module to: determining a conversion matrix based on the setting position of image acquisition equipment and the setting position of the reflective mark, wherein the image acquisition equipment is used for acquiring the image of the surrounding area, and the conversion matrix is used for carrying out coordinate conversion on a space coordinate system where the reflective mark is located and an image coordinate system where pixel points in the image are located;

the first obtaining module is further configured to:

and acquiring the first position information based on the second position information and the conversion matrix.

10. The apparatus of claim 8 or 9, wherein the first obtaining module is further configured to:

detecting the pixel value of each pixel point in the image to determine that the target pattern exists in the image;

second position information of the target pattern in the image is acquired.

11. The apparatus of claim 10, wherein the first obtaining module is further configured to:

and detecting the pixel value of each pixel point in the image through a connected domain detection algorithm so as to determine that the target pattern exists in the image.

12. The apparatus of any of claims 7 to 9, wherein the obstacle comprises: shelves in the warehouse.

13. An obstacle detection system, characterized in that the system comprises: the mobile robot and a reflective mark fixedly arranged on the surface of the obstacle, wherein the reflective mark is used for reflecting infrared light emitted to the reflective mark, and the obstacle detection device of any one of claims 7 to 12 is deployed on the mobile robot.

14. The obstacle detection system according to claim 13, wherein the light-reflecting sign is fixedly provided at an intersection position of the obstacle and a travel surface of the mobile robot.

15. The obstacle detection system according to claim 13 or 14, wherein the obstacle detection system is deployed in a warehouse, the obstacle comprising: a shelf in the warehouse.