CN105739493A - Calculation method for obstacle distance of robot - Google Patents
Calculation method for obstacle distance of robot Download PDFInfo
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- CN105739493A CN105739493A CN201410751731.XA CN201410751731A CN105739493A CN 105739493 A CN105739493 A CN 105739493A CN 201410751731 A CN201410751731 A CN 201410751731A CN 105739493 A CN105739493 A CN 105739493A
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Abstract
Disclosed in the invention is a calculation method for an obstacle distance of a robot. The method comprises: pictures shot by a left camera and a right camera of a robot are matched. On the basis of a matching algorithm of the pictures shot by the left camera and the right camera, a distance of a robot obstacle is calculated rapidly, so that the robot can carry out the follow-up obstacle avoidance algorithm.
Description
Technical field
The present invention relates to a kind of distance calculating method, particularly a kind of robot barrier distance calculating method.
Background technology
Robot inevitably to run into barrier in traveling process, how to dodge the important branch that barrier is robotics, dodges barrier firstly the need of calculating the size of barrier, locus and the distance of robot, orientation etc..Wherein, robot, when carrying out hindering the size of thing, locus, orientation, first to judge the distance hindering thing with self, because if hindering thing distant from self, just need not calculate the obstruction size of thing, locus, orientation.If robot self is relatively near in barrier, then must calculate the obstruction size of thing, locus, orientation, clearly calculate the course of robot avoiding obstacles.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of robot barrier distance calculating method, and this electric machine people's distance of obstacle computational methods can quickly calculate the distance hindering thing from robot.
In order to realize foregoing invention purpose, robot barrier distance calculating method of the present invention, comprise: step 1: open left photographic head, demarcate left photographic head；Step 2: open right photographic head, demarcates right photographic head；Step 3: demarcate left and right photographic head；Step 4: left photographic head shooting photo；Step 5: right photographic head shooting photo；Step 6: the photo of the photo shoot left photographic head and the shooting of right photographic head carries out matching algorithm；Step 7: judge whether have barrier in the photo captured by left photographic head and right photographic head；Step 8: if there being barrier, rebound step 4, then move on without barrier；Step 9: the match point calculated according to step 7 and the location parameter of robot calculate the point that barrier is nearest；Step 10: calculate the containment relationship of closest approach and robot revolute radius；Step 11: judge whether robot revolute radius contains barrier closest approach, if robot revolute radius contains barrier closest approach, then a step is stepped back by robot, if robot revolute radius does not contain barrier closest approach, moves in robot.Step 12: rebound step 4, continues cycling through.
By the matching algorithm of the picture captured by left photographic head and right photographic head, quickly calculate the distance of robot barrier thing, be that robot can carry out ensuing obstacle avoidance algorithm.
Detailed description of the invention
Robot barrier distance calculating method of the present invention, comprises: step 1: open left photographic head, demarcates left photographic head；Step 2: open right photographic head, demarcates right photographic head；Step 3: demarcate left and right photographic head；Step 4: left photographic head shooting photo；Step 5: right photographic head shooting photo；Step 6: the photo of the photo shoot left photographic head and the shooting of right photographic head carries out matching algorithm；Step 7: judge whether have barrier in the photo captured by left photographic head and right photographic head；Step 8: if there being barrier, rebound step 4, then move on without barrier；Step 9: the match point calculated according to step 7 and the location parameter of robot calculate the point that barrier is nearest；Step 10: calculate the containment relationship of closest approach and robot revolute radius；Step 11: judge whether robot revolute radius contains barrier closest approach, if robot revolute radius contains barrier closest approach, then a step is stepped back by robot, if robot revolute radius does not contain barrier closest approach, moves in robot.Step 12: rebound step 4, continues cycling through.By the matching algorithm of the picture captured by left photographic head and right photographic head, quickly calculate the distance of robot barrier thing, be that robot can carry out ensuing obstacle avoidance algorithm.
Claims (1)
1. robot barrier distance calculating method, comprises step 1: open left photographic head, demarcates left photographic head；Step 2: open right photographic head, demarcates right photographic head；Step 3: demarcate left and right photographic head；Step 4: left photographic head shooting photo；Step 5: right photographic head shooting photo；Step 6: the photo of the photo shoot left photographic head and the shooting of right photographic head carries out matching algorithm；Step 7: judge whether have barrier in the photo captured by left photographic head and right photographic head；Step 8: if there being barrier, rebound step 4, then move on without barrier；Step 9: the match point calculated according to step 7 and the location parameter of robot calculate the point that barrier is nearest；Step 10: calculate the containment relationship of closest approach and robot revolute radius；Step 11: judge whether robot revolute radius contains barrier closest approach, if robot revolute radius contains barrier closest approach, then a step is stepped back by robot, if robot revolute radius does not contain barrier closest approach, moves in robot；Step 12: rebound step 4, continues cycling through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410751731.XA CN105739493A (en) | 2014-12-10 | 2014-12-10 | Calculation method for obstacle distance of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410751731.XA CN105739493A (en) | 2014-12-10 | 2014-12-10 | Calculation method for obstacle distance of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105739493A true CN105739493A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410751731.XA Pending CN105739493A (en) | 2014-12-10 | 2014-12-10 | Calculation method for obstacle distance of robot |
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| CN (1) | CN105739493A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110325089A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
-
2014
- 2014-12-10 CN CN201410751731.XA patent/CN105739493A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110325089A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
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Legal Events
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160706 |