METHOD FOR DETECTING OBSTACLE FOR AUTONOMOUS NAVIGATION OF MOBILE ROBOT IN A LIMITRED SPACE

摘要

The present invention relates to a method of detecting an obstacle for the autonomous driving of a moving robot in a limited space, capable of increasing the stability of an autonomous driving robot based on artificial intelligence, which is used for short-distance driving such as human or material transportation and surveillance in a complex such as a university campus, a company, an institution, a town or the like, under a precondition suitable for the purpose. The method of detecting an obstacle for the autonomous driving of a moving robot in a limited space, which is used to track an autonomous driving robot in a predetermined complex through GPS and a stereo camera and estimate a route and calculate an obstacle in accordance with a result of the tracking, includes the following steps: enabling the robot to collect image information through the stereo camera; obtaining a depth image by pixel from the collected image information; data-filtering the obtained image to separate plane information and other information; recognizing information excluding plane information which is linear as an obstacle from the filtered information; dividing the location of the obstacle into three areas to determine which of the areas the obstacle is located in; and outputting a warning sound changing depending on the areas. Therefore, since a robot is operated in a state in which a load is applied, a quick movement of the robot can be guaranteed and the memory and calculation volume of the robot can be configured in a small size.