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Visual tracking quadruped robot and feature information extraction algorithm of tracking line thereof

A technology of quadruped robots and walking robots, which is applied in the field of robots, can solve the problems that wheeled robots cannot play a role, and achieve the effect of improving trajectory tracking effect and recognition ability

Pending Publication Date: 2021-07-20
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Application Information

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Problems solved by technology

For robot operations on complex terrain, wheeled robots often cannot play a role

Method used

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  • Visual tracking quadruped robot and feature information extraction algorithm of tracking line thereof
  • Visual tracking quadruped robot and feature information extraction algorithm of tracking line thereof
  • Visual tracking quadruped robot and feature information extraction algorithm of tracking line thereof

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Embodiment

[0026] The following is attached Figure 1-4 The present invention is described in further detail.

[0027] A vision-tracking quadruped robot, such as Figure 1-4 As shown, it includes a quadruped walking robot body with 8 degrees of freedom, a camera module, a host computer module, a lower computer module, and a steering gear. For the actuator of the leg joints of the quadruped walking robot body, the steering gear is a 60KG dual-axis digital steering gear of the RDS5160 model, which has the advantages of high control precision, good linearity, and fast response speed. The control mode controls the angle of joint movement by receiving the PWM signal sent by the main control chip and locks the angle; each leg has two degrees of freedom, namely the thigh rotation joint and the calf rotation joint, and a total of 8 servo drives are required. The camera module and the upper computer module are connected by usb, the camera module is a camera, and the camera is responsible for co...

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Abstract

The invention discloses a visual tracking quadruped robot and a feature information extraction algorithm of a tracking line of the visual tracking quadruped robot. The visual tracking quadruped robot comprises an eight-degree-of-freedom quadruped walking robot body, a camera module, an upper computer module, a lower computer module and a steering engine. The four-legged walking robot body adopts a full-elbow type four-legged robot series leg structure; the steering engine serves as an executing mechanism of leg joints of the four-footed walking robot body, the camera module is arranged at the head of the four-footed walking robot body and connected with the upper computer module through a usb, the upper computer module is used for processing video frames collected by the camera module in real time, and the upper computer module is connected with the lower computer module through a serial port. The lower computer module receives serial port communication of the upper computer module to execute gaits, the upper computer module improves the recognition capability of black tracking lines through a processing method of cutting an area of interest. According to the invention, the trajectory tracking effect of the four-footed walking robot body is improved through a bionic gait tracking strategy of the lower computer module.

Description

technical field [0001] The invention relates to the technical field of robots, more specifically, it relates to a visual tracking quadruped robot and an algorithm for extracting feature information of tracking lines. Background technique [0002] In recent years, with the rapid development of artificial intelligence, research on robots has also focused more on autonomy and intelligence. Robots in various fields have achieved rapid development. There are underwater deep-water detection robots, autonomous cruising drones in the air, and wheeled and footed inspection robots on land, which are widely used in daily life. every aspect. For human civilization whose main activities are on land, land robots have greater development needs. In the face of sports scenes, compared with wheeled robots, legged robots have stronger environmental adaptability. For robot operations on complex terrain, wheeled robots often cannot play a role. But based on the walking quadruped robot, it ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/73G06K9/46B25J9/16
CPCG06T7/246G06T7/73B25J9/1697G06T2207/30241G06V10/44
Inventor 赵若楠邵雪卷韩涛曹瑞张江民梁晓军张弛
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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