Robot depth camera blind area scene anti-falling detection method

The invention provides a robot depth camera blind area scene anti-falling detection method, and belongs to the technical field of robots, and the method comprises the steps: enabling the fixed pose of a depth camera to face the forward direction of a robot, and enabling the depth camera to be fixed at a downward pitch angle; interference of a visual blind area is eliminated by calculating a detection result, multiple equidistant motions are carried out, whether a change value of the calculation result is consistent with a motion distance is verified, and thus an accurate observation value of the sag distance in a scene with a blind area is obtained. And the risk that the robot falls can be effectively reduced, so that the safety of the robot is better guaranteed. 本发明提供一种机器人深度相机有盲区场景防跌落检测方法，属于机器人技术领域，本发明将深度相机固定位姿朝机器人正向方向、且有朝下的俯仰角固定；通过对检测结果进行计算剔除视觉盲区的干扰，并进行多次等距运动，验证计算结果变化值是否与运动距离一致，从而得出在有盲区的场景下对凹陷距离的准确观测值。可有效降低机器人跌落的风险，从而更好地保证机器人的安全。