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Method for calculating dot laser distance

A calculation method and laser technology, applied in the field of distance calculation, can solve the problems of real-time calculation of robot obstacle distance, reliability reduction, robot obstacle difference, and a lot of time

Inactive Publication Date: 2017-06-20
肖伟
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Even after paying a high cost, the existing robot obstacle calculation method still needs to spend a lot of time to calculate the obstacle distance, which greatly reduces the real-time performance and reliability of the robot obstacle distance calculation
If you encounter a moving obstacle, the result of robot obstacle distance calculation will be very different

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0007] The point laser distance calculation method of the present invention includes step 1: establishing a camera coordinate system; step 2: determining the rotation angle of the horizontal rotation platform; step 3: determining the rotation angle of the vertical rotation platform; step 4: determining the rotation angle of the horizontal rotation platform according to step 2 and Calculate the coordinate system of the point laser based on the rotation angle of the vertical rotation platform determined in step 3; step 5: use the image matching algorithm to find the coordinates of the laser point in the camera; step 6: use the image matching algorithm in step 5 to find the coordinates of the laser point in the camera Calculate the coordinate system of the point laser with the angle of rotation of the horizontal rotation platform determined in step 2 and the rotation angle of the vertical rotation platform determined in step 3 in step 4 to calculate the coordinates of the laser poi...

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Abstract

The invention discloses a method for calculating dot laser distance. The method comprises a step 1 of establishing a camera coordinate system; a step 2 of determining the rotation angle of a horizontal rotation platform; a step 3 of determining the rotation angle of a vertical rotation platform; a step 4 of calculating the coordinate system of a dot laser according the rotation angle of the horizontal rotation platform determined in the step 2 and the rotation angle of the vertical rotation platform determined in the step 3; a step 5 of searching the coordinate of a laser dot in a camera by using an image matching algorithm; and a step 6 of calculating the coordinate of the laser dot in a world coordinate system according to the coordinate of the laser dot in the camera searched in the step 5 by using the image matching algorithm, and the coordinate system of the dot laser calculated in the step 4 according the rotation angle of the horizontal rotation platform determined in the step 2 and the rotation angle of the vertical rotation platform determined in the step 3. The distance between a robot and an obstacle ahead can be calculated quickly in real time by a plurality times of limited linear calculation.

Description

technical field [0001] The invention relates to a distance calculation method, in particular to a point laser distance calculation method. Background technique [0002] To move in an unknown outdoor environment, a mobile robot must avoid obstacles in uncertain locations, uncertain sizes, and locations. At present, the calculation of the obstacle distance requires a lot of calculations, which makes the robot put forward high requirements on the control system, and makes the robot control system very expensive. In addition to the high requirements for the control system, the current technology for the robot to calculate the obstacle distance also has high requirements for the distance calculation sensor. The precision requirements of the sensor are very high, which further increases the cost of the robot. [0003] Even after paying a high cost, the existing robot obstacle calculation method still needs to spend a lot of time to calculate the obstacle distance, which greatly ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024
Inventor 不公告发明人
Owner 肖伟