Robot and stair climbing control method and device thereof

A control method and robot technology, applied in the field of robots, can solve problems such as ineffective control of robots climbing stairs

Active Publication Date: 2020-05-08
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot and its climbing control method and device to solve the problem of determining the rotation of the world coordinate system relative to the robot coordinate system by extracting the identification information on the stair surface in the prior art. Matrix, when there is no identification information in the scene, the robot cannot effectively control the climbing stairs

Method used

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  • Robot and stair climbing control method and device thereof
  • Robot and stair climbing control method and device thereof
  • Robot and stair climbing control method and device thereof

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Embodiment Construction

[0046] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0047] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0048] figure 1 It is a schematic diagram of the implementation flow of a robot climbing control method provided in the embodiment of the present application, which is described in detail as follows:

[0049] In step S101, obtain the gravity directi...

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Abstract

The stair climbing control method of the robot comprises the following steps: acquiring a gravity direction vector of a gravity direction in a robot camera coordinate system; obtaining a stair edge inthe scene image, and determining an edge direction vector of the stair edge in a camera coordinate system; determining position parameters of the robot relative to stairs according to the gravity direction vector and the edge direction vector; and adjusting the pose of a robot according to the position parameters, and stair climbing control is conducted on the robot. Therefore, the robot can be effectively controlled to climb stairs in a stair climbing scene without stair marks.

Description

technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot and its control method and device for climbing stairs. Background technique [0002] In order to improve the mobility of the robot, it is necessary to enable the robot to effectively adapt to the mobile requirements in different scenarios. For example, for indoor scenes, it is necessary to enhance the ability of the robot to climb stairs, that is, the ability of the robot to go up and down stairs. [0003] Due to the non-stationarity of the humanoid robot, that is, the robot with bipeds during the movement process, the posture changes greatly, and it is necessary to calculate the rotation matrix of the world coordinate system relative to the robot coordinate system in real time. The current solution is usually by extracting the stair surface The identification information above is used to determine the rotation matrix of the world coordinate system relative to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06T7/73
CPCG06T7/13G06T7/73G06T2207/10004G06T2207/10016G06T2207/30261G06T2207/30244G05D1/0246G05D1/027Y02B50/00B62D57/02G05D1/0212G05D1/0231G06T1/0014
Inventor 胡淑萍程骏张惊涛郭渺辰王东庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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