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Parameter acqusition system and method during stair climbing of four-tentacle tracked robot

A crawler robot and parameter acquisition technology, applied in the field of robot vision, can solve the problems of staircase parameter acquisition and acquisition, and achieve good adaptability

Active Publication Date: 2015-02-04
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the above-mentioned prior art and utilize the advantages of the Kinect XBOX360 somatosensory sensor, the present invention provides a system and method for acquiring stair-climbing parameters of a four-antenna crawler robot, which solves the problem of acquiring stair parameters during the stair-climbing process of a four-antenna crawler robot , can effectively calculate the depth, height and inclination of the stair step, which is used for the four-tentacled crawler robot to climb the stairs autonomously
[0005] In order to achieve the above object, the idea of ​​the present invention is: the RGB image and the depth image information of Kinect XBOX360 are fused together, and the four-tentacled crawler robot is used as the mobile platform to solve the problem of stair parameter acquisition in the climbing process of the four-tentacled crawler robot, which can effectively Calculate the depth, height and inclination of the stair treads for the four-tentacled crawler robot to climb the stairs autonomously

Method used

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  • Parameter acqusition system and method during stair climbing of four-tentacle tracked robot
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  • Parameter acqusition system and method during stair climbing of four-tentacle tracked robot

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Embodiment 1

[0030] see figure 2 , this four-antenna crawler robot stair climbing parameter acquisition system comprises a four-tentacle crawler robot (1) equipped with a control computer and a Kinect XBOX360 camera (2) of Microsoft Corporation, characterized in that: the Kinect XBOX360 camera (2) of Microsoft Corporation ) is installed on the four-antenna crawler robot (1), and connected to the control computer of the four-antenna crawler robot (1) through the USB interface to obtain the RGB color and depth images captured by the Kinect XBOX360 camera (2) on the stairs (3), and the processed information Fusion, calculate the relevant parameters of the staircase (3).

Embodiment 2

[0032] see figure 1 , figure 2 , image 3 and Figure 4 , this four-antenna crawler robot stair-climbing parameter acquisition method adopts the above-mentioned four-antenna crawler robot stair-climbing parameter acquisition system to calculate the stair parameters, and is characterized in that: its operation steps are as follows:

[0033] (2.1) Camera calibration: Use Zhang Zhengyou’s camera calibration method to obtain the parameter matrix K of the Kinect XBOX360 camera (2):

[0034] ,

[0035] Among them: f—the focal length of the camera; s—the distortion coefficient of the camera; —principal point offset;

[0036] (2.2) Image acquisition: open the Kinect XBOX360 camera (2) to obtain the RGB image and depth image data of the Kinect XBOX360;

[0037] (2.3) Create each calculation node: the image data of the Kinect XBOX360 camera (2) includes RGB image and depth image, and each calculation node calculates the information related to the stairs (3) from the above ima...

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Abstract

The invention discloses a parameter acqusition system and method during stair climbing of a four-tentacle tracked robot. The system comprises a four-tentacle tracked robot platform and a Microsoft KinectXBOX360 camera carried on the platform. The method comprises the following steps: fusing an RGB (Red, Green and Blue) image and depth image information acquired by the Microsoft KinectXBOX360 camera and calculating related parameters of a stairs so as to control the four-tentacle tracked robot to perform stair climbing action. The embodiment of the invention is mainly used for parameter calculation of the stairs, particularly controlling the postures of four tentacles during stair climbing of the four-tentacle tracked robot.

Description

technical field [0001] The invention discloses a system and method for acquiring stair-climbing parameters of a four-antenna crawler robot, and relates to the technical fields of robot vision and pattern recognition. Background technique [0002] Mobile robots have the ability to autonomously identify the parameters of stairs in indoor or artificial outdoor environments, which plays an important role in search and rescue and autonomous navigation in disasters. The adaptability of the tracked robot to the terrain makes it a particularly suitable platform for autonomous stair-climbing research. The mobile robot is equipped with a monocular camera, binocular camera, imaging radar and laser imaging equipment to obtain environmental information to enable the robot to navigate autonomously. At present, these sensing devices cannot solve the function of acquiring staircase parameters very well, and the devices are expensive. [0003] Kinect XBOX360 is a 3D somatosensory camera fr...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T7/73
Inventor 罗均刘恒利李恒宇蒲华燕谢少荣
Owner 精海智能装备有限公司
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