A Door Opening Judgment Method Based on Depth Image and Azimuth Angle

A technology of depth image and azimuth angle, which can be applied to measurement devices, instruments, optical devices, etc., can solve problems such as the lack of a method for judging door opening, and achieve the effect of high research significance, simple operation method and accurate calculation results.

Active Publication Date: 2017-02-15
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0003] At present, there is no in-depth research on robot door opening technology in China, so the method of judging the door opening is relatively lacking.

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  • A Door Opening Judgment Method Based on Depth Image and Azimuth Angle
  • A Door Opening Judgment Method Based on Depth Image and Azimuth Angle
  • A Door Opening Judgment Method Based on Depth Image and Azimuth Angle

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Embodiment Construction

[0034] A detailed description will be given below of embodiments of the present invention. Although the present invention will be described and illustrated in conjunction with some specific embodiments, it should be noted that the present invention is not limited to these embodiments. On the contrary, any modification or equivalent replacement made to the present invention shall be included in the scope of the claims of the present invention.

[0035] In addition, in order to better illustrate the present invention, numerous specific details are given in the specific embodiments below. It will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, processes, components and circuits are not described in detail so as to highlight the gist of the present invention.

[0036] figure 1 It is a flowchart of a method for judging door opening according to an embodiment of the prese...

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Abstract

The invention discloses a door opening degree judgment method based on a depth image and an azimuth angle. According to the method, non-contact measurement is adopted, on the premise of carrying out landmark calibration on a door handle, the door handle is located in an RGB image obtained through Kinect, meanwhile, data of the position, above the right portion of the located position, of the depth image are obtained in the depth image, finally plane fitting is carried out by adopting a feature value method according to the depth data, a plane equation is obtained, included angle information is obtained through a normal vector of the plane equation and a normal vector of a yoz plane of a Kinect coordinate system, and finally the opening degree information of a door is obtained. The non-contact measurement operation is adopted, the operation mode is simple, the calculation result is precise, and the high study significance is achieved in the robot door opening technology.

Description

technical field [0001] The present invention designs a method for judging door opening, and in particular relates to a method for judging door opening based on depth images and azimuth angles. Background technique [0002] Robots are more and more widely used in people's lives, making them a helper in human work and life. Helping people complete various tasks is the ultimate goal of researching robotics. There are many hotspots and difficulties in robot research, and these hotspots and difficulties are usually combined with specific application requirements in practice. The research on the door-opening technology of the mobile manipulator platform is to consider that as the function of the robot becomes more and more powerful, its range of activities becomes wider and wider accordingly, and the robot is getting deeper and deeper into the working and living environment of human beings. The door-opening technology The research will be able to further expand the working space ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/26
Inventor 吴怀宇吴若鸿钟锐陈洋
Owner WUHAN UNIV OF SCI & TECH
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