Robot motion mode estimation method and device
A robot movement and robot technology, applied in the field of bionic robots, can solve the problems of high communication cost, low efficiency, and complexity, and achieve the effect of simple communication
Pending Publication Date: 2022-07-29
NORTHWESTERN POLYTECHNICAL UNIV
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In the prior art, there is an autonomous underwater vehicle pose estimation method based on light source beacons, which can estimate the relative position and orientation of its own underwater vehicle. However, this method can only pass The way of underwater communication is obtained, and underwater communication has the disadvantages of high communication cost, low efficiency and complexity
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[0056] The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.
[0057] The bionic object of the pectoral fin flapping underwater bionic robot of the present invention is a manta ray. Observing the swimming of the manta ray, it can be seen that the manta ray generates propulsion and lift through the beating of the pectoral fins on both sides of the surrounding fluid. The pectoral fins generate wave transfer from the head to the tail, which in turn generates thrust opposite to the wave transfer and lift opposite to the swing direction of the pectoral fins. In the process of active propulsion of manta rays, the motion trajectory of the pectoral fin tips is approximately a sine function, the amplitudes of the fin tips up and down are basically equal, and the left and right pectoral fins swing symmetrically at the same time; they usuall...
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The invention discloses a robot motion mode estimation method and device, and belongs to the technical field of bionic robots. Firstly, four-point light source beacons are arranged on the underwater bionic robot, and the positions of a longitudinal axis and pectoral fins of a robot body are calibrated; secondly, a moving image of the underwater bionic robot is collected through an image collection unit and then preprocessed, and clear light source target features are obtained; detecting a target position parameter of the target light source on the image to obtain an image coordinate of the target light source; finally, the included angles between pectoral fin rays on the left side and the right side of the underwater bionic robot and the longitudinal axis of the body are calculated and compared, and the motion mode estimation result of the underwater bionic robot is obtained. The underwater vision and light source beacon method is adopted to obtain the motion mode of the underwater biomimetic robot in front, communication between the underwater biomimetic robots is simplified, meanwhile, motion feedback information is provided for the rear robot, and a foundation is laid for follow-up underwater biomimetic robot cluster formation research.
Description
technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a method and device for estimating a motion pattern of a robot. Background technique [0002] With the development of society, human's demand for resources has increased significantly. As an important tool for underwater resource development, underwater vehicles can replace humans to perform complex tasks, such as environmental monitoring, target detection, and military strikes. In recent years, underwater vehicles have been vigorously developed, and they often use propellers, pump-jet propulsion, etc. as the main propulsion methods. However, such propulsion vehicles have disadvantages such as high noise, poor maneuverability, and poor concealment during navigation. , based on this underwater bionic underwater robot has been developed. Under the natural evolution of hundreds of millions of years, fish have already possessed superb swimming skills. Their high ef...
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IPC IPC(8): G06T7/73G06T7/246G06T7/207G06T7/13B63C11/52
CPCG06T7/73G06T7/207G06T7/246G06T7/13B63C11/52G06T2207/10016G06T2207/10024G06T2207/20032G06T2207/20028Y02A90/30
Inventor 张立川赵荞荞潘光刘禄柏书昌朱梓霄
Owner NORTHWESTERN POLYTECHNICAL UNIV