The invention discloses a walking control method and device of a biped robot, a storage medium and a terminal, and relates to the technical field of electronics, and mainly aims at solving the problems that in an existing dark or bright environment, when the biped walkable robot walks according to a black line road, recognition of a black line is easily influenced by exposed brightness, and the accuracy of a walking route is reduced. The method comprises the steps that a processor receives image signals and image information sent by a linear CCD image sensor and image shooting equipment respectively; exposure is determined according to the voltage value of the image signal, and a black line image is determined according to pixel information in the image information; the processor comparesthe exposure with a preset exposure, and compares the black line image with a preset black line image to obtain a first comparison result and a second comparison result; and a walking control instruction is generated according to the first comparison result and the second comparison result, and the walking control instruction is sent to a steering engine controller.
本发明公开了一种双足机器人的行走控制方法及装置、存储介质、终端,涉及电子技术领域,主要目的在于解决现有较暗或较亮的环境中,双足可行走机器人在按照黑线道路行走时,容易被曝光的亮度影响对黑线的识别,降低了行走路线的准确性的问题。包括:处理器接收线性CCD图像传感器以及拍摄图像设备分别发送的图像信号以及图像信息;根据所述图像信号的电压值确定曝光量、以及根据所述图像信息中的像素信息确定黑线图像;处理器将所述曝光量与预设曝光量进行对比,并将所述黑线图像与预设黑线图像进行对比,分别得到第一对比结果与第二对比结果;根据所述第一对比结果与所述第二对比结果生成行走控制指令,并向舵机控制器发送所述行走控制指令。
Walking control method and device of biped robot, storage medium and terminal
双足机器人的行走控制方法及装置、存储介质、终端
2020-05-01
Patent
Electronic Resource
Chinese
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