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Robot space attitude calculation method based on structured light array remote recognition

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: 2022-03-25
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 calculation method based on structured light array remote recognition
  • Robot space attitude calculation method based on structured light array remote recognition
  • Robot space attitude calculation method based on structured light array remote recognition

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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 calculation method based on structured light array remote recognition, including the following steps: S1, structured light spot recognition, obtaining different light spots on the robot; S2, light spot analysis, calibration according to the geometric characteristics formed by different light spots Robot attitude; S3, spot centroid repositioning; S4, relative attitude measurement; S5, spatial attitude calculation; this method remotely recognizes the structured light array on the surface of the robot through the pan-tilt camera, and when the internal parameters of the camera are fixed, according to the structured light geometry Parameters, gimbal and camera extrinsic parameters are used to calculate the robot's spatial attitude, which can be used for auxiliary correction of IMU measurement values. This method avoids the problem of blurred remote imaging of the camera when the robot is moving, and is not disturbed by the noise of the working environment, achieving good calculation results.

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...

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Application Information

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Patent Type & Authority Patents(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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