Labyrinth feature recognition and walking method of humanoid robot

A humanoid robot and feature recognition technology, which is applied to instruments, motor vehicles, transportation and packaging, etc., can solve the problems of difficult tasks, high similarity and fork roads, and achieve low computing resource requirements and avoid computing and storage resource requirements low effect

Inactive Publication Date: 2019-07-19
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the maze scene, the characteristics of the intersection are highly similar and

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  • Labyrinth feature recognition and walking method of humanoid robot
  • Labyrinth feature recognition and walking method of humanoid robot
  • Labyrinth feature recognition and walking method of humanoid robot

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Embodiment Construction

[0037] The maze feature recognition and walking method of a humanoid robot proposed by the present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings, but the following embodiments are only illustrative, and the protection scope of the present invention is not limited by these examples. limit.

[0038] like figure 1 and figure 2 shown, where figure 2 The left figure shows the image information of the humanoid robot camera, the right figure shows the top view of the humanoid robot in different maze scenes, the circle represents the humanoid robot, and the shaded area formed by the closed polygon represents the humanoid robot’s camera in this pose. field of view.

[0039]The labyrinth in the method of the present invention comprises wall 1, road 2, intersection 3 and marker 4; Described wall 1, its corners are right angles, and wall surface color is solid color; Described intersection 2, comprises long linear ch...

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Abstract

The invention discloses a labyrinth feature recognition and walking method of a humanoid robot. The method comprises the specific steps that step 1, a camera at the head of the humanoid robot collectsan image; step 2, the humanoid robot performs image processing and image feature extraction on collected image information, wherein the processes include edge detection, circle detection, straight line detection and line splicing to identify the features of the labyrinth; step 3, the humanoid robot identifies intersection types according to the features of the labyrinth; and step 4, the humanoidrobot passes through the current intersection according to the intersection types and walking strategies. The method uses vision, sonar and information of fewer markers, obtains the relative positioninformation of the robot in the labyrinth, identifies the intersection types in the labyrinth and develops corresponding walking strategies according to different intersection types to make the humanoid robot successfully pass the intersections, realize the labyrinth navigation and realize the direction calibration when deviation occurs during the walking.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a maze feature recognition and walking method of a humanoid robot. Background technique [0002] Maze solving is an old and interesting problem. With the continuous development of robotics technology, the problem of humanoid robots walking mazes has received more and more attention because of its significance in scientific research, competition, and display. [0003] Mobile robots such as wheeled cars walking mazes, or mobile navigation in unknown indoor environments have been widely studied, and a large number of published results have been achieved. Although mobile robots generally rely on cameras, sonar, etc. to perceive the environment and then realize maze exploration, humanoid robots with humanoid appearance and movements are quite different from wheeled cars in mazes. This is because the walking of the humanoid robot relies on the legs, and the walking of the legs is more li...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCB62D57/032G05D1/0214G05D1/0221G05D1/0253G05D1/0276
Inventor 贾文川汪志威苏桂淦孙翊袁建军马书根魏力
Owner SHANGHAI UNIV
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