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Visual ranging method

A visual distance measurement and distance technology, applied in the field of robotics, can solve problems such as the inability to accurately control the distance, the lack of simple and reliable distance measurement methods, etc.

Pending Publication Date: 2020-10-16
CHANGZHOU YINGNENG ELECTRICAL
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Problems solved by technology

Due to the deformation of the LOGO on the work clothes, the size of the LOGO is generally small, and the LOGO size is not measured in combination with the characteristics of the camera. In this way, the distance between each other cannot be accurately controlled during the following process.
[0011] To sum up, this field lacks a simple and reliable ranging method for measuring the precise distance between a robot or a manipulator and a target, so as to control the robot to locate itself at any time when performing tasks, and to know how to walk stably and reliably. Go to the target point to complete the task

Method used

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Embodiment Construction

[0034] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

[0035] The two-dimensional code can quickly identify the two-dimensional code in the picture and calculate the coordinates of the center point of the two-dimensional code by using the detection graphics of the three corners of the two-dimensional code. Does the robot need to adjust its posture? Therefore, in this embodiment, the two-dimensional code pattern is preferably used as a navigation mark.

[0036] 1. A visual ranging method, such as Picture 1-1 , including a mobile robot with a camera, and includes the following steps:

[0037] (1) The camera feature database created by the robot is shown in the following table.

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Abstract

The invention relates to a visual ranging method, which comprises a mobile robot with a camera, and comprises the following steps that: 1, the robot creates a camera feature database; 2, when the robot works, a navigation mark with a known size is shot through a camera in a fixed-focus or zoom mode; 3, the robot identifies a navigation mark from the picture, and measures the size of the navigationmark in the picture; and 4, according to the known size of the navigation mark and the size of the navigation mark in the picture, the robot calculates the distance between the robot and the navigation mark through a corresponding relation table of different distances between the robot and the navigation mark and the size of the navigation mark in the picture in a fixed-focus or zoom mode. According to the invention, the distance between the robot or a manipulator and the target object can be precisely measured, and the robot can be controlled to locate its own position at any time when executing a task through a simple and reliable ranging method, and can stably and reliably walk to a target point to complete the task.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a visual ranging method. Background technique [0002] Positioning technology is a key technology of mobile robots. The robot needs real-time positioning in the process of performing tasks to meet the requirements of robot control. The common GPS positioning error is relatively large, and the positioning error is generally at least 1 meter away. In many occasions that require precise positioning, such as when the robot is in industrial logistics transportation, inspection, or when the robot grabs an object with an uncertain distance from itself, This error obviously cannot meet the requirements. Therefore, it is of great significance to provide positioning data for the action of the robot or the manipulator by measuring the distance between the robot and the navigation mark, or between the manipulator and the target. At present, common ranging methods include: ultrasonic rangin...

Claims

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Application Information

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IPC IPC(8): G01C3/00G01C21/20G01S11/12G06K7/10G06K7/14
CPCG01C3/00G01C21/20G01S11/12G06K7/10722G06K7/1417G06K7/1443
Inventor 庄孟文
Owner CHANGZHOU YINGNENG ELECTRICAL
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