HEAD TRACKING CONTROL METHOD FOR ROBOT

PURPOSE: A method for controlling a head tracking of a robot is provided to track a target by processing a digital signal of an image of the target being inputted through a camera mounted on a head and controlling a neck in real time. CONSTITUTION: An action selection is executed continuously by ref...

Full description

Saved in:
Bibliographic Details
Main Authors LIM, JONG RAK, WANG, HUI IL, KIM, NAM UNG
Format Patent
LanguageEnglish
Korean
Published 25.06.2003
Edition7
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
PHYSICS
Online AccessGet full text

Cover

More Information
Summary:PURPOSE: A method for controlling a head tracking of a robot is provided to track a target by processing a digital signal of an image of the target being inputted through a camera mounted on a head and controlling a neck in real time. CONSTITUTION: An action selection is executed continuously by referring to a sensor and an internal state(SP1). The selected action is executed, and the current mode is changed into a target tracking mode when a target tracking flag is set by a user(SP2,SP3). An image captured from a camera is processed, and a position of the target is recognized(SP4). The current neck joint angle is calculated according as the target is moved(SP5). If a neck joint angle exists within a movable range of the neck joint, a body is rotated, the current neck is moved as a predetermined angle, and the target is tracked(SP6). 본 발명은 로봇의 헤드 트랙킹 제어방법에 관한 것으로, 헤드에 장착된 카메라를 통해 입력되는 목표물의 화상을 디지탈 신호처리하여 실시간으로 목관절을 제어함으로써 목표물을 추종하도록 한 것이다. 이를 위하여 본 발명은 센서와 내부상태를 참조하여 행동선택을 지속적으로 수행하는 제1 과정과; 상기 선택된 행동을 수행하면서, 사용자에 의해, 목표물 추종 플래그가 셋팅되면 목표물 추종모드로 전환하는 제2 과정과; 카메라로부터 캡쳐된 화상을 화상처리하여 목표물의 위치를 파악하는 제3 과정과; 목표물의 이동에 따라,현재 목관절 각도를 산출하는 제4 과정과; 목관절의 가동범위 이내에 상기 목관절 각도가 존재하는지의 유무에 따라 몸체를 회전시킨후, 시킨후, 목관절을 소정 각도만큼 움직여 목표물을 추종하는 제5 과정으로 수행한다.
Bibliography:Application Number: KR20010080829