Obstacle detection and safe operation of mobile robots in healthcare scenarios
10.3969/j.issn.1005-202X.2025.11.012
- VernacularTitle:医护场景下移动机器人障碍物检测和安全运行
- Author:
Tao FU
1
;
Yuanhao LIU
;
Yinlong ZHANG
Author Information
1. 中国医科大学附属盛京医院计算机中心,辽宁 沈阳 110004
- Publication Type:Journal Article
- Keywords:
healthcare scenario;
mobile robot;
obstacle segmentation network;
safe operation
- From:
Chinese Journal of Medical Physics
2025;42(11):1478-1487
- CountryChina
- Language:Chinese
-
Abstract:
To realize speed regulation and safe distance maintenance of mobile robots based on obstacle detection in dynamic healthcare scenarios,a novel real-time obstacle segmentation and safe operation framework for healthcare robots is proposed.A tightly-coupled approach utilizing wheel encoders and monocular RGB images to calculate the robot's linear velocity is adopted.Concurrently,a healthcare scenario end-to-end obstacle segmentation network(HS-EOSN)model is established for precise obstacle segmentation,supplemented by a noise filtering method to accurately estimate obstacle distance.Finally,an adaptive control strategy is designed to dynamically regulate the robot's speed,thereby ensuring safety.The algorithm is tested on a developed mobile robot platform.Experimental results show that the proposed method achieves a velocity estimation error below 10%.For obstacle segmentation task,the mean average precision and mean intersection over union reach 96.87%and 94.35%,respectively;and the mean depth error is within 0.24 m.
