Method and a system for acquiring a walking posture of a robot

Abstract

The invention relates to a method and a system for acquiring the walking posture of a robot, belonging to the technical field of image processing. The method comprises the following steps: (1) collecting images of a background scene, images of marker points and image sequences of a robot walking process in the background scene, wherein the marker points are fixed on the robot for marking the walking trajectory at a fixed position; (2) taking the image of the background scene as a reference frame, segmenting a local image from the image sequence to form a foreground image sequence, wherein thelocal image comprises an image of a robot; (3) taking the image of the marker points as a template, matching each marker point from the foreground image sequence and obtaining its coordinate data; (4)Calculating the walking posture of the robot according to the coordinate data of each marking point. This method can effectively reduce the cost of the equipment needed to obtain walking posture andreduce the amount of computation of subsequent image processing, and can be widely used in the fields of robots and so on.

Description

[0001] This application is a divisional application for an invention patent with the application number CN201711394246.1 and the invention title "A Method and System for Obtaining the Walking Posture of a Target". technical field [0002] The present invention relates to the technical field of image processing, in particular to a method and system for acquiring the walking posture of a robot. Background technique [0003] Wearable exoskeleton robots are suitable for rehabilitation treatment of patients with stroke, hemiplegia, stroke, etc. In order to obtain rehabilitation treatment data, it is usually by capturing the movement posture of the rehabilitation personnel's joints to judge the limb posture of the rehabilitation personnel after the exoskeleton robot is loaded , and based on the limb posture change data in at least one walking cycle, the walking posture of the rehabilitation personnel is reconstructed. [0004] Usually, the optical tracking motion measurement metho...

AI Technical Summary

Problems solved by technology

[0006] Existing commonly used measurement systems require the use of multiple cameras, resulting in high costs and a large amount of subsequent image processing calculations. In addition, they have high requirements for the illumination and reflection of the test site, which limits its application scenarios and is not conducive to wearable Application of skeletal robot in the rehabilitation treatment of the aforementioned patients

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