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Walking control method and device of biped robot, storage medium and terminal

A biped robot and walking control technology, applied in the field of electronics, can solve the problems of affecting the recognition of black lines, reducing the accuracy of walking routes, and the inability of biped walking robots to accurately identify road signals.

Inactive Publication Date: 2020-05-01
LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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Problems solved by technology

[0004] In view of this, the present invention provides a walking control method and device, a storage medium, and a terminal for a biped robot. The main purpose is to solve the problem that a biped walking robot cannot accurately identify effective Road signals, and when walking on the road with black lines, the brightness that is easily exposed will affect the recognition of black lines, reducing the accuracy of the walking route

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  • Walking control method and device of biped robot, storage medium and terminal
  • Walking control method and device of biped robot, storage medium and terminal
  • Walking control method and device of biped robot, storage medium and terminal

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[0042] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0043] An embodiment of the present invention provides a walking control method for a biped robot, such as figure 1 As shown, the method includes:

[0044] 101. The processor receives image signals and image information respectively sent by the linear CCD image sensor and the image capturing device.

[0045]Wherein, the processor can be a single-chip microcomputer module for processing various signals received, and the STM32F407 s...

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Abstract

The invention discloses a walking control method and device of a biped robot, a storage medium and a terminal, and relates to the technical field of electronics, and mainly aims at solving the problems that in an existing dark or bright environment, when the biped walkable robot walks according to a black line road, recognition of a black line is easily influenced by exposed brightness, and the accuracy of a walking route is reduced. The method comprises the steps that a processor receives image signals and image information sent by a linear CCD image sensor and image shooting equipment respectively; exposure is determined according to the voltage value of the image signal, and a black line image is determined according to pixel information in the image information; the processor comparesthe exposure with a preset exposure, and compares the black line image with a preset black line image to obtain a first comparison result and a second comparison result; and a walking control instruction is generated according to the first comparison result and the second comparison result, and the walking control instruction is sent to a steering engine controller.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a biped robot walking control method and device, a storage medium, and a terminal. Background technique [0002] With the rapid development of the field of robotics, bipedal walking robots have gradually replaced traditional wheeled robots. The bipedal walking robot belongs to the bionic robot, which imitates the walking posture of human beings, and the bipeds occupy a smaller space, so that the robot has a superior ability to cross obstacles during the work process. [0003] At present, when biped walking robots are used in material handling and service industries, they walk according to preset routes. When biped walking robots walk autonomously on the planned path, they need to follow the identified road However, in the process, in a darker or brighter environment, the bipedal walking robot cannot accurately identify effective road signals. Line recognition reduces the ac...

Claims

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Application Information

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IPC IPC(8): H04N5/225H04N5/235H04W4/80B62D57/032B25J9/16
CPCH04W4/80B62D57/032B25J9/16B25J9/1615B25J9/1697H04N23/54H04N23/73
Inventor 李占鹏赵晓东郭颖
Owner LIAONING UNIVERSITY OF PETROLEUM AND CHEMICAL TECHNOLOGY
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