CN103776455A - Infrared discrete light source tracing navigation system and control method thereof - Google Patents
Infrared discrete light source tracing navigation system and control method thereof Download PDFInfo
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- CN103776455A CN103776455A CN201310680012.9A CN201310680012A CN103776455A CN 103776455 A CN103776455 A CN 103776455A CN 201310680012 A CN201310680012 A CN 201310680012A CN 103776455 A CN103776455 A CN 103776455A
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- 230000004888 barrier function Effects 0.000 claims description 11
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- 230000003287 optical effect Effects 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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Abstract
The invention provides an infrared discrete light source tracing navigation system; an infrared laser source is taken as a guide medium, and can be arranged on the roof of a workshop, so that the inconvenience for the production workshop caused by laying a magnetic stripe can be eliminated. The invention also provides a control method of the tracing navigation system; the method comprises the steps of acquiring the image of the infrared laser source by a camera, confirming the position of a carrying platform on a discrete path according to the relative position of the infrared laser source in the image, and enabling the carrying platform to move by tracking the discrete path of the infrared laser source.
Description
Technical field
The present invention relates to robot navigation field, be specifically related to the track control method of navigational system and this navigational system that tracks of a kind of infrared discrete light source.
Background technology
The at present comparative maturity of airmanship of robot, what mostly adopt is the tracking technique that tracks, particularly magnetic stripe tracks, industrial applications at present, but magnetic stripe tracks and need in workshop, lay magnetic stripe, can cause certain inconvenience to workshop.
Summary of the invention
The object of the invention is to solve the problem that prior art exists, a kind of infrared discrete light source navigational system that tracks is provided, using infrared laser light source as boot media, infrared laser light source can be arranged on roof, workshop, eliminate and laid the inconvenience that magnetic stripe causes to workshop.The present invention also provides a kind of control method of the navigational system that tracks, utilize camera to gather image to infrared laser light source, relative position by infrared laser light source in image, thereby determine that carrying platform is in the position in discrete path, thereby the discrete loci that makes carrying platform can follow the tracks of infrared laser light source moves.
In order to reach above-mentioned technical purpose, the present invention by the following technical solutions:
A kind of infrared discrete light source navigational system that tracks, comprises multiple infrared laser light sources and carrying platform, and described carrying platform is provided with camera, controller, motor driver, motor and roller.
As such scheme preferably, the infrared laser light source that described infrared laser light source is 850nm, the optical filter on the camera lens of described camera and described infrared laser light source match.
As such scheme preferably, also comprise the radar for backing car being arranged on described carrying platform.
As such scheme preferably, described multiple infrared laser light sources are uniformly distributed and adopt parallel way to connect.
As such scheme preferably, the plane parallel at the camera lens of described camera and described infrared laser light source place.
The infrared discrete light source of the one provided by the invention navigational system that tracks has the following advantages compared to existing technology:
1, using infrared laser light source as boot media, infrared laser light source can be arranged on roof, workshop, eliminate and laid the inconvenience that magnetic stripe causes to workshop.
2, adopt the infrared laser light source of 850nm and the optical filter matching with it, can guarantee the validity of camera collection image.
3, be provided with radar for backing car, can in the process of carrying platform walking, effectively keep away barrier.
4, multiple infrared laser light sources are uniformly distributed and adopt parallel way to connect, and have guaranteed to gather the homogeneity of image, guarantee that each infrared laser light source is separate simultaneously.
5, make the camera lens of camera and the plane parallel at infrared laser light source place, can reduce camera because of visual angle not to causing the error of infrared laser light source position calculation.
The present invention also provides a kind of control method of the navigational system that tracks, and for controlling the above-mentioned infrared discrete light source navigational system that tracks, step comprises
Gather image pattern data, the image that the camera collection on carrying platform comprises infrared laser light source;
Accurately extract infrared laser light source, the image of collection is processed, make the position precision of infrared laser light source;
Determine the position of infrared laser light source, its position in whole infrared laser light source track of the location positioning according to infrared laser light source in image;
Adjust carrying platform motion path, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.
As such scheme preferably, the step of described accurate extraction infrared laser light source comprises binary image and image carried out to denoising,
Binary image, changes into black and white by the image of collection, the position of convenient identification infrared laser light source;
Image is carried out to denoising, by the image after binaryzation carry out filtering, to the edge of image carry out smoothly, deburring, make the position sharpening of infrared laser light source.
As such scheme preferably, this step of the position of described definite infrared laser light source comprise determine infrared laser light source relative position, determine the absolute position of infrared laser light source,
Determine the relative position of infrared laser light source, determine the relative position of certain infrared laser light source in the image gathering;
Determine the absolute position of infrared laser light source, according to its absolute position in whole infrared laser light source track of the Relative position determination of infrared laser light source.
As such scheme preferably, described this step of adjustment carrying platform motion path comprises keeps away barrier, in the time adjusting direction of motion and the speed of carrying platform, also to consider the obstacle information of radar for backing car collection, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, avoiding barrier simultaneously, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.
The control method of a kind of navigational system that tracks provided by the invention has the following advantages compared to existing technology:
1, utilize camera to gather image to infrared laser light source, the relative position by infrared laser light source in image, thus determine that carrying platform is in the position in discrete path, thus the discrete loci that makes carrying platform can follow the tracks of infrared laser light source moves.
2, the step of accurately extracting infrared laser light source comprises binary image and image is carried out to denoising, can more clearly extract the position of infrared laser light source.
3, this step of position of determining infrared laser light source comprise to infrared laser light source carry out mark, determine infrared laser light source relative position, determine the absolute position of infrared laser light source, can accurately determine the absolute position of infrared spotlight.
4, adjust this step of carrying platform motion path and comprise and keep away barrier, the path planning of carrying platform is obtained more reasonable, move more smooth and easy.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the track structured flowchart of embodiment of navigational system of infrared discrete light source provided by the invention.
Embodiment
Below in conjunction with accompanying drawing of the present invention, technical scheme of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the present invention the invention provides a kind of infrared discrete light source navigational system that tracks, comprise infrared laser light source and the carrying platform of multiple 850nm, described carrying platform is provided with camera, radar for backing car, controller, motor driver, motor and roller, and described camera, radar for backing car are connected successively with controller, motor driver, motor and roller; Optical filter on the camera lens of described camera and described infrared laser light source match; Described multiple infrared laser light sources are uniformly distributed and adopt parallel way to connect; The plane parallel at the camera lens of described camera and described infrared laser light source place.
The infrared discrete light source of the present invention's one provided by the invention navigational system that tracks, using infrared laser light source as boot media, infrared laser light source can be arranged on roof, workshop, eliminate and laid the inconvenience that magnetic stripe causes to workshop, utilize camera to gather image to infrared laser light source, relative position by infrared laser light source in image, thus determine that carrying platform is in the position in discrete path, thus the discrete loci that makes carrying platform can follow the tracks of infrared laser light source moves; Adopt the infrared laser light source of 850nm and the optical filter matching with it, can guarantee the validity of camera collection image; Be provided with radar for backing car, can in the process of carrying platform walking, effectively keep away barrier; Multiple infrared laser light sources are uniformly distributed and adopt parallel way to connect, and have guaranteed to gather the homogeneity of image, guarantee that each infrared laser light source is separate simultaneously; Make the camera lens of camera and the plane parallel at infrared laser light source place, can reduce camera because of visual angle not to causing the error of infrared laser light source position calculation.
The present invention the invention provides the track principle of work of navigational system of a kind of infrared discrete light source, first multiple infrared laser light sources are installed on the roof of whole workshop equably, now carrying platform setting in motion, the image of the infrared laser light source in its position range of the camera collection on carrying platform, this image is sent to and in controller, carries out analyzing and processing, controller is determined now residing position in whole workshop of carrying platform according to image, the barrier information of keeping away of combining radar for backing car collection again, and then the movement locus of definite carrying platform provide movement instruction, this movement instruction is passed to motor driver by controller, thereby motor driver is adjusted traffic direction and the speed of roller according to this order-driven motor.
The present invention also provides a kind of control method of the navigational system that tracks, and for controlling the above-mentioned infrared discrete light source navigational system that tracks, step comprises: gather image pattern data, the image that the camera collection on carrying platform comprises infrared laser light source; Accurately extract infrared laser light source, the image of collection is processed, make the position precision of infrared laser light source; Determine the position of infrared laser light source, its position in whole infrared laser light source track of the location positioning according to infrared laser light source in image; Adjust carrying platform motion path, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.
The control method of a kind of navigational system that tracks provided by the invention, utilize camera to gather image to infrared laser light source, relative position by infrared laser light source in image, thereby determine that carrying platform is in the position in discrete path, thereby the discrete loci that makes carrying platform can follow the tracks of infrared laser light source moves.
Preferably, the step of described accurate extraction infrared laser light source comprises binary image and image carried out to denoising, and binary image, changes into black and white by the image of collection, the position of convenient identification infrared laser light source; Image is carried out to denoising, by the image after binaryzation carry out filtering, to the edge of image carry out smoothly, deburring, make the position sharpening of infrared laser light source.The step of accurately extracting infrared laser light source comprises binary image and image is carried out to denoising, can more clearly extract the position of infrared laser light source.
Preferably, this step of the position of described definite infrared laser light source comprise determine infrared laser light source relative position, determine the absolute position of infrared laser light source, determine the relative position of infrared laser light source, determine the relative position of certain infrared laser light source in the image gathering; Determine the absolute position of infrared laser light source, according to its absolute position in whole infrared laser light source track of the Relative position determination of infrared laser light source.This step comprise to infrared laser light source carry out mark, determine infrared laser light source relative position, determine the absolute position of infrared laser light source, can accurately determine the absolute position of infrared spotlight.
Preferably, described this step of adjustment carrying platform motion path comprises keeps away barrier, in the time adjusting direction of motion and the speed of carrying platform, also to consider the obstacle information of radar for backing car collection, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, avoiding barrier simultaneously, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.Adjust this step of carrying platform motion path and comprise and keeps away barrier, the path planning of carrying platform is obtained more reasonable, move more smooth and easy.
The control method of a kind of navigational system that tracks provided by the invention, the controller that can be tracked in navigational system by infrared discrete light source completes, receive the image that comprises infrared laser light source positional information from camera collection by controller, after being processed, image obtains the track of infrared laser light source, according to the information of this track and radar for backing car collection, carrying platform is made to Navigation Control, cook up the operating path of carrying platform, thereby the rotating speed of control motor driver drive motor is adjusted direction of motion and the speed of roller.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (9)
1. the infrared discrete light source navigational system that tracks, is characterized in that, comprise multiple infrared laser light sources and carrying platform, described carrying platform is provided with camera, controller, motor driver, motor and roller.
2. the infrared discrete light source according to claim 1 navigational system that tracks, is characterized in that, the infrared laser light source that described infrared laser light source is 850nm, and the optical filter on the camera lens of described camera and described infrared laser light source match.
3. the infrared discrete light source according to claim 1 navigational system that tracks, is characterized in that, also comprises the radar for backing car being arranged on described carrying platform.
4. the infrared discrete light source according to claim 1 navigational system that tracks, is characterized in that, described multiple infrared laser light sources are uniformly distributed and adopt parallel way to connect.
5. the infrared discrete light source according to claim 1 navigational system that tracks, is characterized in that the plane parallel at the camera lens of described camera and described infrared laser light source place.
6. a control method for the navigational system that tracks, is characterized in that, for controlling the arbitrary infrared discrete light source of the claim 1-5 navigational system that tracks, step comprises
Gather image pattern data, the image that the camera collection on carrying platform comprises infrared laser light source;
Accurately extract infrared laser light source, the image of collection is processed, make the position precision of infrared laser light source;
Determine the position of infrared laser light source, its position in whole infrared laser light source track of the location positioning according to infrared laser light source in image;
Adjust carrying platform motion path, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.
7. the control method of the navigational system that tracks according to claim 6, is characterized in that, the step of described accurate extraction infrared laser light source comprises binary image and image is carried out to denoising,
Binary image, changes into black and white by the image of collection, the position of convenient identification infrared laser light source;
Image is carried out to denoising, by the image after binaryzation carry out filtering, to the edge of image carry out smoothly, deburring, make the position sharpening of infrared laser light source.
8. the control method of the navigational system that tracks according to claim 6, is characterized in that, this step of the position of described definite infrared laser light source comprise determine infrared laser light source relative position, determine the absolute position of infrared laser light source,
Determine the relative position of infrared laser light source, determine the relative position of certain infrared laser light source in the image gathering;
Determine the absolute position of infrared laser light source, according to its absolute position in whole infrared laser light source track of the Relative position determination of infrared laser light source.
9. the control method of the navigational system that tracks according to claim 6, it is characterized in that, described this step of adjustment carrying platform motion path comprises keeps away barrier, in the time adjusting direction of motion and the speed of carrying platform, also to consider the obstacle information of radar for backing car collection, the track connecting into according to the position of infrared laser light source judges the curvature in the current path of carrying platform, avoiding barrier simultaneously, thereby adjust direction of motion and the speed of carrying platform, make carrying platform can along the stability-of-path of infrared laser light source composition mobile.
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Cited By (7)
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| CN105034011A (en) * | 2015-08-05 | 2015-11-11 | 广东技术师范学院 | Infrared guide system and method |
| CN105823461A (en) * | 2016-04-05 | 2016-08-03 | 苏州佳像视讯科技有限公司 | Optical distance measuring camera |
| CN106502246A (en) * | 2016-10-11 | 2017-03-15 | 浙江大学 | A kind of intelligent vehicle automated induction systems based on grader |
| CN108007349A (en) * | 2017-12-21 | 2018-05-08 | 中国人民解放军总参谋部第六十研究所 | A kind of laser autonomous tracing in intelligent vehicle |
| CN108181609A (en) * | 2017-12-12 | 2018-06-19 | 深圳市易成自动驾驶技术有限公司 | Localization method, device and the computer readable storage medium of vehicle |
| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105034011A (en) * | 2015-08-05 | 2015-11-11 | 广东技术师范学院 | Infrared guide system and method |
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| CN108181609A (en) * | 2017-12-12 | 2018-06-19 | 深圳市易成自动驾驶技术有限公司 | Localization method, device and the computer readable storage medium of vehicle |
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| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN108646750B (en) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | Portable factory AGV following method based on UWB non-base station |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
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Application publication date: 20140507 |