Robot space attitude resolving method based on structured light array remote identification

A space posture and robot technology, applied in the field of structured light array, can solve the problems of increasing the cost and energy consumption of wall-climbing robots, and achieve the effect of good algorithm stability

Active Publication Date: 2021-12-24
ZHEJIANG LAB
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Problems solved by technology

[0005] However, when calibrating the wall-climbing robot, many types of calibration methods may be used, such as a variety of different spot colors or spot shapes, so it is necessary to set different LED lights or LED lights of different shapes, which improves the wall-climbing robot. The cost and energy consumption of the robot, and too many spots for calibration will also increase the computing power of spot recognition

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  • Robot space attitude resolving method based on structured light array remote identification
  • Robot space attitude resolving method based on structured light array remote identification
  • Robot space attitude resolving method based on structured light array remote identification

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Embodiment Construction

[0040] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0041] The solution method of robot space attitude based on structured light array remote recognition, hardware design, including:

[0042]1. Scenario introduction: This method is demonstrated by taking a three-wheeled magnetic adsorption wall-climbing robot as an example. Such as figure 1 As shown, the wall-climbing robot is placed on the surface of the steel oil tank, and the pan-tilt camera is randomly placed next to the oil tank, and the robot can move on the surface of the oil tank.

[0043] 2. Structured light array selection and geometric parameter design: Fix four LED lights on the highest plane of the robot surface and number them: A and B are red lig...

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Abstract

The invention discloses a robot space attitude resolving method based on structured light array remote recognition, which comprises the following steps: S1, recognizing structured light spots, and acquiring different light spots on a robot; S2, analyzing light spots, and calibrating the posture of the robot according to geometrical characteristics formed by different light spots; S3, repositioning the mass center of the light spots; S4, measuring and calculating the relative attitude; and S5, resolving a space attitude. According to the method, the structured light array on the surface of the robot is remotely recognized through a pan-tilt camera, under the condition that the internal reference of the camera is fixed, the space attitude of the robot is calculated according to the geometrical parameters of the structured light and the external reference of the pan-tilt camera, and auxiliary correction can be conducted on an IMU measurement value. The method avoids the problem that the remote imaging of the camera is blurred when the robot moves, is not interfered by the noise of the working environment, and achieves a good measurement and calculation effect.

Description

technical field [0001] The invention relates to the technical fields of computer graphics and computer image processing, in particular to a structured light array designed for a robot, and a method for performing remote attitude calculation of a robot through the structured light array. Background technique [0002] Magnetic adsorption wall-climbing robots have important applications in the detection and maintenance of steel structures, and automated operations are their future development trend. Positioning and mapping the magnetic adsorption wall-climbing robot is a prerequisite for realizing automated operations. [0003] Space attitude is an important parameter for robot positioning. Currently, it is generally obtained through IMU (Inertial Measurement Unit, Inertial Measurement Unit) calculation. However, magnetic adsorption wall-climbing robots usually have adsorption structures such as magnetic wheels and magnetic arrays, which cause severe distortion of the surround...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165G01C21/183
Inventor 宋伟许世飞朱世强郑涛廖建峰
Owner ZHEJIANG LAB
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