Automatic tracking method of double-foot robot

Abstract

The invention provides an automatic tracking method of a double-foot robot. The method includes: a vision sensor arranged on the double-foot robot sends navigation path image information under the feet of the robot to a processor; the processor processes the received navigation path image information, obtains a relative position relation between a current attitude of the robot and a navigation path, and sends the relation to a controller, wherein the relative position relation includes an angle deviation and a position deviation; and the controller controls the robot to adjust the walking pathto realize automatic tracking according to the received angle deviation and the position deviation. According to the method, the navigation path image information acquired by the robot is sent through the vision sensor; graying, mean filtering, the Canny edge detection algorithm and extraction of path edge coordinates are performed on the image to obtain path information, and the accuracy of thepath information is improved through interval scanning; in path recognition, a slope matching method is proposed for a cross path to select an optimal forward path; and therefore, good timeliness andanti-interference capability are achieved.

Description

technical field [0001] The invention relates to the technical field of robot visual navigation, in particular to a method for automatic tracking of a biped robot. Background technique [0002] Visual navigation of mobile robots is an important direction in the field of robotics research. Vision-based indoor navigation can be divided into three categories: map-based navigation, map-based navigation, and map-less navigation. With the promotion of service robots and their entry into the home, there are requirements on whether the robot can independently complete related service items in the indoor environment, and the core is the indoor navigation technology of the robot. Gartshore proposes a navigation algorithm using a grid-occupied map construction framework and feature position detection, that is, an RGB color image sequence is processed online through a single camera. The algorithm firstly detects the contour edge of the object through Harris edge and corner detectors in...

AI Technical Summary

Problems solved by technology

[0003] At present, the carrier of visual navigation is mainly concentrated in wheeled robots, and the position of the camera is fixed, while biped robots (such as NAO robots) are the same as humans, and move through the movement of bipeds. The control is more difficult, and the control accuracy is difficult to meet the requirements of wheeled robots.

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