CN101354441A - All-weather operating mobile robot positioning system - Google Patents
All-weather operating mobile robot positioning system Download PDFInfo
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- CN101354441A CN101354441A CNA2008100427919A CN200810042791A CN101354441A CN 101354441 A CN101354441 A CN 101354441A CN A2008100427919 A CNA2008100427919 A CN A2008100427919A CN 200810042791 A CN200810042791 A CN 200810042791A CN 101354441 A CN101354441 A CN 101354441A
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Abstract
The invention relates to a movable robot positioning system which can run in all-weather, consisting of near infrared panoramic lighting and photographing device and a plurality of reference objects which are provided with characteristic coding formats, wherein, the near infrared panoramic lighting and photographing device is arranged on the top of the robot; a plurality of reference objects which have characteristic coding formats and are distributed at two sides of the road where the robot runs; the near infrared panoramic lighting and photographing device emits the near infrared and the near infrared radiates on the reference objects; the reflecting light is reflected into the camera of the near infrared panoramic lighting and photographing device and forms the image; by recognising and extracting the characteristic coding information of different reference objects and using a triangle positioning principle, the gesture of the robot is determined and the self-positioning of the robot is completed. The near infrared lighting and photographing of the invention adopt the principle of panoramic vision and can be completed in all-directions of 360 DEG, and run indoors and outdoors in all-weather.
Description
Technical field
The present invention relates to a kind of mobile robot positioning system of round-the-clock running, be specifically related to a kind of mode, the mobile robot positioning system that can under round-the-clock situation, move by near infrared illumination and visual sensing
Background technology
Vision system all is very important sensing means in a lot of fields, such as in systems such as security protection, monitoring, Aero-Space, traffic.For a long time, along with science and technology is constantly progressive, smart machine is replacing the mankind and is finishing some danger, heavy, repetitive work, such as intellective dust collector, intelligent grass-removing, patrol robot, pilotless automobile even automatic guide vehicle (AGV) etc.But because the restriction of this type of device senses condition can't be suitable under conditions such as the environment that changes, weather, light, so the application of these equipment still is restricted at present.
On intelligent mobile robot, use at present more location technology and mainly contain ultrasonic, laser, the equidistant sensor of infrared distance measurement location, electromagnetic sensing location, satnav (GPS) etc.
These localization methods all can be subjected to the influence such as factors such as environment, weather, illumination, and usable range is restricted.It is bigger that the localization method of ultrasonic, laser, the equidistant sensor of infrared distance measurement is influenced by sensor accuracy; Magnetic stripe need be laid in the electromagnetic sensing location on the road that robot need locate, quantities is huge, and magnetic stripe demagnetizes under damp and hot weather comparatively fast; The GPS accurate positioning, but the situation of blocking can not appear.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, propose a kind of mobile robot positioning system of round-the-clock running, can under any situation of different light, weather and indoor and outdoor, accurately locate the mobile robot.
For realizing this purpose, the mobile robot positioning system of the round-the-clock running of the present invention design is made up of near infrared panorama illumination view finder unit and object of reference with feature coding form, wherein, near infrared panorama illumination view finder unit is installed in the top of robot, and several objects of reference with feature coding form are distributed in the road both sides of robot ride.Near infrared panorama illumination view finder unit emission near infrared light is radiated on the object of reference, its reflection ray retroeflection imaging in the video camera of near infrared panorama illumination view finder unit, feature coding information by identification, the different objects of reference of extraction, utilization triangle positioning principle determines that mobile robot's pose finishes that it is self-align.
Among the present invention, described near infrared panorama illumination view finder unit comprises illumination of near infrared panorama and the near infrared panorama two parts of finding a view, wherein:
Near infrared panorama illumination section is made up of three parts such as illumination panorama reverberator, the near-infrared luminous source of LED, supporting brackets, the panorama reverberator that wherein throws light on is the mirror surface of the conical surface, and the near-infrared luminous source of LED is made up of power supply, the led array that can launch near infrared light and LED control circuit.The light source that led array is launched is dispersed after panorama reverberator reflection within the gamuts of 360 degree around, irradiate light wherein must be arranged to having on the object of reference that the black and white color characteristic encodes.
The near infrared panorama find a view part utilize support be installed near infrared panorama illumination section under, be formed by fixedly connecting by supporting bracket by the panorama reverberator of finding a view, near infrared video camera.The panorama reverberator of finding a view is bi-curved mirror surface, on the camera lens of near infrared video camera optical filter is installed.Imaging in the near infrared video camera after the object of reference reflection of the light of near infrared panorama illumination section emission through having black and white color characteristic coding.
Among the present invention, described object of reference with feature coding form is cylindrical, and with the reflected light material interval is not around forming, the mode of being spaced of two kinds of materials constitutes the coded format of black and white feature by the reflected light material.
Illumination of the present invention and find a view and all adopt the panoramic vision technology utilizes the direct reflection principle exactly, enlarges the visual field of vision system.In overall view visual system, video camera is not the direct viewing external environment, but over against a convex mirror (panorama view finder), the light that distant objects is sent focuses on the camera lens of video camera through after the direct reflection, thereby forms image information on the sensor of video camera.Like this, only just can observe the overall view visual system interior entire environment of 360 degree on every side, can significantly reduce the complicacy and the difficulty of system design, and reduce the cost of system with a video camera.
Because illuminator of the present invention adopts near infrared light, video camera is the video camera to the Infrared sensitivity too in vision system, has added filter plate simultaneously, filters the light of other wave band, and this has also just eliminated the interference of visible light to system.
Mobile robot positioning system of the present invention can move under the situation of round-the-clock, indoor and outdoor.
Description of drawings
Fig. 1 is that mobile robot positioning system of the present invention is formed and the operation synoptic diagram.
Among Fig. 1,1 is near infrared panorama illumination view finder unit, and 2 is robot, 3 for having the object of reference of different coding form, 4 is the robot ride road, and 5 is the near infrared light of near infrared panorama illumination section emission, and 6 are the near infrared light after the object of reference reflection through having the different coding form.
Fig. 2 is an infrared panorama illumination view finder unit structural representation of the present invention.
Among Fig. 2,7 are illumination panorama reverberator, and 8 is the upper support support, and 9 is the near-infrared LED light source, and 10 for connecting support, and 11 for finding a view the panorama reverberator, and 12 is the lower support support, and 13 is camera lens, and 14 is optical filter, and 15 is the near infrared video camera.
Fig. 3 is 5 object of reference floor map with different coding form.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further described.
The mobile robot positioning system of the round-the-clock running of the present invention design is made up of near infrared panorama illumination view finder unit and object of reference with feature coding form, as shown in Figure 1, near infrared panorama illumination view finder unit 1 is installed in the top of robot 2, so that situation around observing.Several objects of reference 3 with feature coding form are distributed in road 4 both sides of robot ride.The near infrared light 5 of near infrared panorama illumination view finder unit 1 emission is radiated on the object of reference 3, near infrared light 6 retroeflection after object of reference 3 reflection imaging in the video camera of near infrared panorama illumination view finder unit 1, by identification, extract different objects of reference 3 feature coding information, utilization triangle positioning principle, determine mobile robot's pose, it is self-align to finish robot.
Near infrared panorama of the present invention illumination view finder unit structure comprises illumination of near infrared panorama and the near infrared panorama two parts of finding a view as shown in Figure 2, wherein:
Near infrared panorama illumination section is made up of three parts such as illumination panorama reverberator 7, the near-infrared luminous source 9 of LED, upper support supports 8, the panorama reverberator 7 that wherein throws light on is the mirror surface of the conical surface, and LED is made up of power supply, the led array that can launch near infrared light and LED control circuit in near-infrared luminous source 9.The light source that led array is launched is dispersed within the gamut of 360 degree around the system after the reflection of panorama reverberator, irradiate light wherein must be arranged to the object of reference with black and white color characteristic coding.Upper support support 8 is used for illumination panorama reverberator 7 and the near-infrared luminous source 9 of LED are fixed.
The near infrared panorama find a view the part utilization connect support 10 be installed near infrared panorama illumination section under, be formed by fixedly connecting by lower support support 12 by the panorama reverberator 11 of finding a view, near infrared video camera 15.The panorama reverberator 11 of finding a view is bi-curved mirror surface, and optical filter 14 is installed on the camera lens 13 of video camera 15.Imaging in the near infrared video camera after the object of reference reflection of the light of near infrared panorama illumination section emission through having black and white color characteristic coding.
Among the present invention, described object of reference 3 with feature coding form is for cylindrical, and with the reflected light material interval is not around forming, the mode of being spaced of two kinds of materials constitutes the coded format of black and white feature by the reflected light material.
Fig. 3 has provided 5 object of reference floor map with different coding form, and wherein white portion is the fluorescent material with reflex, and black part is divided into absorption, not catoptrical material.The size of object of reference decide according to concrete usable range, distance: when scope is big, when distance is far away, object of reference will diminish in the panoramic vision part imaging of finding a view, the object of reference that this moment need the use large-size; During, close together less when scope, object of reference will become greatly in the panoramic vision part imaging of finding a view, and can use the object of reference of reduced size this moment.Therefore, the present invention does not do strict the qualification to the size of object of reference.
The present invention utilizes led array that several near-infrared luminous diodes (LED) make as lighting source, adopting the direct supply of robot is light source power supply, owing to adopted the initiatively mode of illumination, make positioning system not be subjected to the influence of weather, illumination, under round-the-clock situation, all can move.The present invention is fixed together find a view vision part of panorama with panorama near infrared illumination section, and be installed on the mobile robot, object of reference with different black and white color characteristic codings disperses fixed placement as required around environment, the distance of placing is decided according to the concrete needs that use, need its position of putting is accurately measured after placing, panorama near infrared illumination section emission near infrared light is radiated on the object of reference, its reflection ray retroeflection is to the panoramic vision part of finding a view, imaging in its video camera, owing to added optical filter in the video camera, have only the light of the white portion reflection of object of reference coding could imaging in video camera like this, therefore the imaging of video camera can identify the object of reference position with different coding form, according to the triangle positioning principle, object of reference putting position in conjunction with measuring before just can obtain the robot present position.
Claims (3)
1, a kind of mobile robot positioning system of round-the-clock running, it is characterized in that forming by near infrared panorama illumination view finder unit (1) and object of reference (3) with feature coding form, wherein, near infrared panorama illumination view finder unit (1) is installed in the top of robot (2), and several objects of reference (3) with feature coding form are distributed in road (4) both sides of robot ride; The near infrared light (5) of near infrared panorama illumination view finder unit (1) emission is radiated on the object of reference (3) with feature coding form, near infrared light (6) retroeflection after object of reference (3) reflection imaging in the video camera of near infrared panorama illumination view finder unit (1), by discerning, extract the feature coding information of different objects of reference (3), utilization triangle positioning principle is determined mobile robot's pose, and it is self-align to finish robot.
2,, it is characterized in that described near infrared panorama illumination view finder unit comprises illumination of near infrared panorama and the near infrared panorama two parts of finding a view according to the mobile robot positioning system of the round-the-clock running of claim 1; Near infrared panorama illumination section is formed by fixedly connecting by upper support support (8) by illumination panorama reverberator (7), the near-infrared luminous source of LED (9), the panorama reverberator (7) that wherein throws light on is the mirror surface of the conical surface, and the near-infrared luminous source of LED (9) is made up of power supply, the led array that can launch near infrared light and LED control circuit; The near infrared panorama find a view the part utilization connect support (10) be installed near infrared panorama illumination section under, be formed by fixedly connecting by lower support support (12) by the panorama reverberator (11) of finding a view, near infrared video camera (15), the panorama reverberator (11) of finding a view is bi-curved mirror surface, goes up at the camera lens (13) of near infrared video camera (15) optical filter (14) is installed.
3, according to the mobile robot positioning system of the round-the-clock running of claim 1, it is characterized in that described object of reference (3) with feature coding form is cylindrical, with the reflected light material interval is not around forming, the mode of being spaced of two kinds of materials constitutes the coded format of black and white feature by the reflected light material.
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| CNA2008100427919A CN101354441A (en) | 2008-09-11 | 2008-09-11 | All-weather operating mobile robot positioning system |
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| CNA2008100427919A CN101354441A (en) | 2008-09-11 | 2008-09-11 | All-weather operating mobile robot positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102186010A (en) * | 2011-04-20 | 2011-09-14 | 长春奥普光电技术股份有限公司 | Device for scanning airport pavement foreign object |
| CN102207543A (en) * | 2011-03-17 | 2011-10-05 | 昆山塔米机器人有限公司 | Positioning navigation system and method for independent mobile equipment |
| CN102722703A (en) * | 2012-06-06 | 2012-10-10 | 深圳市海亿达能源科技股份有限公司 | Integration space population distribution monitoring device and monitoring method |
| CN103364000A (en) * | 2012-03-26 | 2013-10-23 | 联想(北京)有限公司 | Positioning method and electronic equipment |
| CN103809184A (en) * | 2012-11-09 | 2014-05-21 | 苏州科瓴精密机械科技有限公司 | Robot positioning system and reflection device identification method thereof |
| CN103969654A (en) * | 2013-01-28 | 2014-08-06 | 苏州科瓴精密机械科技有限公司 | Mobile robot system |
| CN103970131A (en) * | 2013-01-28 | 2014-08-06 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
| CN104115611A (en) * | 2013-04-26 | 2014-10-29 | 苏州科瓴精密机械科技有限公司 | Mowing robot |
| CN105973226A (en) * | 2016-06-21 | 2016-09-28 | 昆山穿山甲机器人有限公司 | Indoor robot locating and navigating system and method |
| CN106595634A (en) * | 2016-11-30 | 2017-04-26 | 深圳市有光图像科技有限公司 | Method for recognizing mobile robot by comparing images and mobile robot |
| CN106774340A (en) * | 2017-01-19 | 2017-05-31 | 深圳前海勇艺达机器人有限公司 | A kind of robot and patrol monitoring method for night patrol monitoring |
| CN107489967A (en) * | 2017-08-17 | 2017-12-19 | 深圳宝龙达信息技术股份有限公司 | A kind of intelligent emergent illuminating lamp with indoor navigation function |
| CN108303675A (en) * | 2018-01-12 | 2018-07-20 | 武汉邮电科学研究院 | A kind of light wireless communication aided positioning system and method |
| CN110189331A (en) * | 2018-05-31 | 2019-08-30 | 上海快仓智能科技有限公司 | Build drawing method, image acquisition and processing system and localization method |
| WO2019154444A3 (en) * | 2018-05-31 | 2019-10-03 | 上海快仓智能科技有限公司 | Mapping method, image acquisition and processing system, and positioning method |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
| CN112218988A (en) * | 2018-07-31 | 2021-01-12 | 住友建机株式会社 | Excavator |
| CN112756281A (en) * | 2021-01-15 | 2021-05-07 | 镇江润茂钢球有限公司 | Steel ball surface roughness screening device and using method thereof |
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- 2008-09-11 CN CNA2008100427919A patent/CN101354441A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102207543A (en) * | 2011-03-17 | 2011-10-05 | 昆山塔米机器人有限公司 | Positioning navigation system and method for independent mobile equipment |
| CN102186010A (en) * | 2011-04-20 | 2011-09-14 | 长春奥普光电技术股份有限公司 | Device for scanning airport pavement foreign object |
| CN103364000B (en) * | 2012-03-26 | 2016-01-27 | 联想(北京)有限公司 | A kind of localization method and electronic equipment |
| CN103364000A (en) * | 2012-03-26 | 2013-10-23 | 联想(北京)有限公司 | Positioning method and electronic equipment |
| CN102722703A (en) * | 2012-06-06 | 2012-10-10 | 深圳市海亿达能源科技股份有限公司 | Integration space population distribution monitoring device and monitoring method |
| CN103809184A (en) * | 2012-11-09 | 2014-05-21 | 苏州科瓴精密机械科技有限公司 | Robot positioning system and reflection device identification method thereof |
| CN103809184B (en) * | 2012-11-09 | 2019-03-15 | 苏州科瓴精密机械科技有限公司 | A kind of recognition methods of robot positioning system and its reflection unit |
| CN103970131B (en) * | 2013-01-28 | 2017-02-08 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
| CN103969654A (en) * | 2013-01-28 | 2014-08-06 | 苏州科瓴精密机械科技有限公司 | Mobile robot system |
| CN103970131A (en) * | 2013-01-28 | 2014-08-06 | 苏州科瓴精密机械科技有限公司 | Automatic robot |
| CN104115611B (en) * | 2013-04-26 | 2017-06-16 | 苏州科瓴精密机械科技有限公司 | Grass-removing robot |
| CN104115611A (en) * | 2013-04-26 | 2014-10-29 | 苏州科瓴精密机械科技有限公司 | Mowing robot |
| CN105973226A (en) * | 2016-06-21 | 2016-09-28 | 昆山穿山甲机器人有限公司 | Indoor robot locating and navigating system and method |
| CN106595634A (en) * | 2016-11-30 | 2017-04-26 | 深圳市有光图像科技有限公司 | Method for recognizing mobile robot by comparing images and mobile robot |
| CN106774340A (en) * | 2017-01-19 | 2017-05-31 | 深圳前海勇艺达机器人有限公司 | A kind of robot and patrol monitoring method for night patrol monitoring |
| CN107489967A (en) * | 2017-08-17 | 2017-12-19 | 深圳宝龙达信息技术股份有限公司 | A kind of intelligent emergent illuminating lamp with indoor navigation function |
| CN108303675A (en) * | 2018-01-12 | 2018-07-20 | 武汉邮电科学研究院 | A kind of light wireless communication aided positioning system and method |
| CN110189331A (en) * | 2018-05-31 | 2019-08-30 | 上海快仓智能科技有限公司 | Build drawing method, image acquisition and processing system and localization method |
| WO2019154444A3 (en) * | 2018-05-31 | 2019-10-03 | 上海快仓智能科技有限公司 | Mapping method, image acquisition and processing system, and positioning method |
| CN112218988A (en) * | 2018-07-31 | 2021-01-12 | 住友建机株式会社 | Excavator |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
| CN112756281A (en) * | 2021-01-15 | 2021-05-07 | 镇江润茂钢球有限公司 | Steel ball surface roughness screening device and using method thereof |
| CN112756281B (en) * | 2021-01-15 | 2023-12-12 | 镇江润茂钢球有限公司 | Steel ball surface roughness screening device and application method thereof |
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