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System for grabbing object based on NAO robot

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

Inactive Publication Date: 2017-09-12
WUHAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] An embodiment of the present invention provides a system for grasping objects based on a NAO robot, which is used to solve the technical problems of low positioning accuracy and poor real-time performance in the system for grasping objects in the prior art

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  • System for grabbing object based on NAO robot
  • System for grabbing object based on NAO robot
  • System for grabbing object based on NAO robot

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Experimental program
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Embodiment 1

[0056] This embodiment provides a system for grasping objects based on NAO robots, the system comprising:

[0057] The first obtaining module 101 is configured to use a preset search path to find and identify a target object based on a color segmentation method, and obtain an image containing the target object and the pixel coordinates of a first center point of the target object;

[0058] The second obtaining module 102 is used to 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;

[0059] A third obtaining module 103, configured to 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 ro...

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Abstract

The invention discloses a system for grabbing an object based on an NAO robot. The system comprises a first acquisition module, a second acquisition module, a third acquisition module, a first obtaining module, a fourth acquisition module, a fifth acquisition module and a second obtaining module. The first acquisition module is used for acquiring first center point pixel coordinates. The second acquisition module is used for acquiring the first function relation between the head height change value of the NAO robot and the pitch angle. The third acquisition module is used for acquiring the second function relation between the distance between the target object and the NAO robot and the pitch angle. The first obtaining module is used for obtaining second center point pixel coordinates of an image. The fourth acquisition module is used for acquiring the horizontal deflection angle and the vertical deflection angle of the target object relative to the NAO robot. The fifth acquisition module is used for acquiring the distance between the target object and the NAO robot. The second obtaining module is used for obtaining the walking path of the NAO robot. The technical problem that a system for grabbing an object in the prior art is not high in locating precision and poor in real-time performance is solved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a system 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 system of grabbing objects by using NAO robots, 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 system is not accurate in positioning the object, and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J11/00G06K9/00
CPCB25J9/1697B25J11/00G06V20/10
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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