A method of grabbing objects based on nao robot

A technology for robots and objects, which is applied in the field of intelligent robots and can solve problems such as low precision and poor real-time performance.

Inactive Publication Date: 2019-03-26
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0007] The embodiment of the present invention provides a method for grabbing objects based on NAO robots, which is used to solve the technical problems of low precision and poor real-time performance in the prior art using monocular vision positioning methods

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  • A method of grabbing objects based on nao robot
  • A method of grabbing objects based on nao robot
  • A method of grabbing objects based on nao robot

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Embodiment 1

[0055] This embodiment provides a method for grabbing an object based on a NAO robot, the method comprising:

[0056] Step S101: using a preset search path to find and identify a target object based on color segmentation, and obtain an image containing the target object and the pixel coordinates of the first center point of the target object;

[0057] Step S102: Obtain the first functional relationship between the change value of the head height of the NAO robot and the pitch angle Among them, Δh is the change value of the head height of the NAO robot, β is the pitch angle of the head of the NAO robot, is a fixed value;

[0058] Step S103: Obtain a second functional relationship between the distance from the target object to the NAO robot and the pitch angle according to the first functional relationship Among them, s is the distance from the target object to the NAO robot, α is the angle between the central axis of the NAO robot’s vision and the horizontal line, which ...

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Abstract

The invention discloses a method for grabbing an object based on a NAO robot. The method comprises the steps that the target object is found by the adoption of a preset searching path based on a color segmentation method and identified, and an image and the first center point pixel coordinates of the target object are obtained; a first function relation of the head height change value and the pitching angle of the NAO robot is obtained; a second function relation of the distance between the target object and the NAO robot and the pitching angle is obtained, the second center pixel point coordinates of the image are obtained, the horizontal deflection angle and the vertical deflection angle of the target object relative to the NAO robot are obtained, and the distance between the target object and the NAO robot is obtained; and the walking route of the NAO robot is obtained, the target object is grabbed by the NAO robot based on the walking route, and the technological problems that a monocular vision positioning method is adopted in the prior art, the precision is low and the real-time performance is poor are solved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method for grabbing objects based on NAO robots. Background technique [0002] With the development of artificial intelligence technology, NAO robots are widely used in daily life and production because they are highly integrated with automation, machinery, sensing, computer, artificial intelligence and other multidisciplinary knowledge and research results. [0003] In the prior art, in the method of using the NAO robot to grab objects, it is usually necessary to locate the position of the object relative to the robot, and a monocular vision positioning method is generally used. [0004] When the inventor of the present application realized the technical solution of the present invention, he found that at least the following problems existed in the prior art: [0005] The existing monocular vision positioning method is not accurate in positioning the object, and th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 邹谜伍世虔王欣张俊勇陈鹏徐正勤余杭韩浩
Owner WUHAN UNIV OF SCI & TECH
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