中文摘要：

针对RoboCup四腿机器人足球比赛中如何测定目标物体距离的问题，本文提出了一种基于三角模型的距离测定方法，与基于区域色块的距离测定算法相比，该方法不再依赖于图像色块信息，实现了在色块信息不可用情况下对目标物体距离的准确测定。在三角模型的基础上，通过加速传感器滤波，对机器人建模，结合机器人的位姿变化，利用坐标变换测定机器人和任意目标点之间的距离。实验结果证明了该方法的有效性和准确性。

英文摘要：

to the necessity of distance measurement in four-legged league of RaboCup, this paper presents a method of distance measurement for Sony four- legged robot based on triangle model, which is more flexibility comparing with conventional distance measurement model based on color region. Through accelerometer filtering and analyzing robot＇ s leg model and head model, according to triangle model and considering the change of the body pose, the distance between robot and target point is calculated exactly by coordinate transform. The experimental result shows the validity.