CN105783915A - Robot global space positioning method based on graphical labels and camera - Google Patents
Robot global space positioning method based on graphical labels and camera Download PDFInfo
- Publication number
- CN105783915A CN105783915A CN201610234845.6A CN201610234845A CN105783915A CN 105783915 A CN105783915 A CN 105783915A CN 201610234845 A CN201610234845 A CN 201610234845A CN 105783915 A CN105783915 A CN 105783915A
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- robot
- pattern identification
- identification thing
- camera
- space
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Classifications
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/22—Plotting boards
Abstract
The invention relates to a robot global space positioning method based on graphical labels and a camera.The method comprises the steps that the graphical labels are laid every a certain distance in the working space of a robot; a processor sets the movement path of the robot so that the robot can observe the graphical labels through the camera on the movement path; when the robot can not observe the graphical labels, the space position of the robot is calculated according to the advancing mileage of the robot; when the robot shoots the graphical labels through the camera, the angles of the robot relative to the graphical labels and the position of the robot are worked out, and the global positioning information of the robot is acquired through the space position of the graphical labels.The ground labels can be recognized through the camera, and therefore the space positions of the robot or other devices can be corrected, contact with the robot does not exist, maintaining is easy, the recognition speed is high, installation is easy, and rearrangement can be conducted many times.
Description
Technical field
The present invention relates to robotics, specifically refer to robot or the global space localization method of other similar devices graphic based mark and photographic head.
Background technology
The sterically defined scheme of current robot or other similar devices (embodiment of the present invention describes with the artificial example of machine) is broadly divided into integration space orientation and global space location two ways:
1, integration space orientation (such as light stream location, step-length positions): moved by the position of robot in the cumulative unit interval, obtain the locus of current robot.Known method has observes light stream by photographic head, and automatic guide vehicle robot is by calculating wheel traveling distance etc..This method is very easy, but As time goes on, error can build up, and causes Wrong localization.
2, global space location: by extraneous marker (such as magnetic stripe, magnetic is followed closely), by the distance of calculating robot and extraneous marker, the locus of calculating robot.This scheme does not have cumulative error, but the markers such as magnetic stripe can cause abrasion due to the superincumbent walking of robot, and magnetic nail is high in conjunction with the installation cost of RFID, it has not been convenient to rearrange.
Summary of the invention
The main purpose of the present invention is to provide the global space localization method of a kind of graphic based mark and photographic head, photographic head identification land marking can be passed through, thus correct robot or the locus of other equipment, pattern identification object amasss little, do not produce with robot contact, easily safeguard, recognition speed is fast, lay simply, can repeatedly again arrange.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention provides the space-location method of a kind of graphic based mark and photographic head, it is characterised in that include step:
In robot working space, lay a pattern identification thing every a segment distance；
Processor arranges the action path of robot, so that robot can observe described pattern identification thing by photographic head on described action path；
Robot when not observing pattern identification thing, the locus of robot according to the mileage calculation that described robot advances；
Robot, when photographing described pattern identification thing by photographic head, calculates the described robot angles and positions relative to pattern identification thing, again through the locus of this pattern identification thing, it is thus achieved that the Global localization information to described robot.
Preferably, described graphic thing is Quick Response Code or recognition marks.
Preferably, the mileage advanced according to described robot the locus being calculated described robot by integration spatial localization method.
Implementing technical scheme, have the advantages that the space-location method of graphic based provided by the invention mark and photographic head, pattern identification thing can be QR code or have other patterns identifying feature.Photographic head identification land marking can be passed through, thus correcting the locus of robot or other equipment.And method makes pattern identification thing need not produce to contact with robot, there is physical life long, it is easy to the feature of maintenance.Pattern identification thing can pass through different graphic feature, transfer data information.Pattern identification thing can be attached on ground or wall, destroys little to place, repeatable layout.
Accompanying drawing explanation
The exemplary plot of the pattern identification thing that Fig. 1 provides for the embodiment of the present invention；
The space schematic diagram of the operation of the robot that Fig. 2 provides for the embodiment of the present invention；
Robot photographic head when space motion that Fig. 3 provides for the embodiment of the present invention photographs the schematic diagram of pattern identification thing.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
A kind of global space localization method of graphic based mark and photographic head, including step:
In robot working space, lay a pattern identification thing every a segment distance；Can as the pattern of pattern identification thing as it is shown in figure 1, this Fig. 1 lists: arrow, QR code or the self-defining figure taken one's bearings.From above-mentioned pattern identification thing, we can read the content of the direction of marker, position and marker as basis on location.
Processor arranges the action path of robot, so that robot can observe described pattern identification thing by photographic head on described action path；
Robot when not observing pattern identification thing, the locus of robot according to the mileage calculation that described robot advances；When not observing marker, robot is by calculating the direction and distance rotated in two driving wheel unit interval, calculate straight ahead distance and the anglec of rotation of described robot in real time, added up respectively with the robot location in a upper moment and angle, and drew locus coordinate and the angle of robot instantly.
Robot, when photographing described pattern identification thing by photographic head, calculates the described robot angles and positions relative to pattern identification thing, again through the locus of this pattern identification thing, it is thus achieved that the Global localization information to described robot.
Fig. 2 (must not have the color outside black in figure, so please by other the expression such as the Lycoperdon polymorphum Vitt in figure, blueness, redness, such as dotted line, solid line etc.) illustrate the space that a robot runs, circle represents robot, and dotted line represents the moving line of robot.On the ground in this space, lay pattern identification thing in advance.
The moving line being set robot by processor arrives G point from A.Robot walks along moving line, and whenever a marker enters the visual field (towards ground) of photographic head, robot passes through photographic head identification marking thing, calculates the position relative to marker, carries out a global space location, corrects the position of oneself
In the above-described embodiments, more specifically, the mileage advanced according to described robot the locus being calculated described robot by integration spatial localization method.
Fig. 3 (figure must not have the color outside black, thus please by other the expression such as the Lycoperdon polymorphum Vitt in figure, blueness, redness, such as dotted line, solid line etc.) illustrate the pattern identification thing that photographic head is observed, with qr (Quick Response Code) code for example.By calculating the angle (solid arrow) of marker and the robot central point relative position (dotted arrow) to marker, it is possible to calculate the locus of robot instantly.
Movement locus to complete required for Tu3Zhong robot below, explains the flow process of the method that the present embodiment provides:
One robot initial position is A point, and the locus of the pattern identification thing calculating oneself according to A point.
Step 1: center system receives certain task, plans that the path of passing through of a Robot (A, B, C, D, E, F, G) arrives G point
Step 2: processor path of passing through is sent to this robot
Step 3: robot, from A point, advances to B point.
Step 4: robot is away from after A point, and photographic head no longer can photograph the pattern identification thing at A point place, the mileage advanced according to described robot calculates the locus of described robot by integration spatial localization method；
Step 5: robot is when B point, and the pattern identification thing at B point enters camera view.Photographic head identification, according to the image (such as Fig. 3) photographed, calculates the robot central point distance to pattern identification thing.
Step 6: according to this pattern identification thing global position in space, the processor of robot calculates the locus of oneself.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (3)
1. the global space localization method of a graphic based mark and photographic head, it is characterised in that include step:
In robot working space, lay a pattern identification thing every a segment distance；
The action path of robot is set by processor, so that robot can observe described pattern identification thing by photographic head on described action path；
Robot when not observing pattern identification thing, the locus of robot according to the mileage calculation that described robot advances；
Robot, when photographing described pattern identification thing by photographic head, calculates the described robot angles and positions relative to pattern identification thing, again through the locus of this pattern identification thing, it is thus achieved that the Global localization information to described robot.
2. method as claimed in claim 1, it is characterised in that described graphic thing is Quick Response Code or recognition marks.
3. method as claimed in claim 1 or 2, it is characterised in that the mileage advanced according to described robot the locus being calculated described robot by integration spatial localization method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610234845.6A CN105783915A (en) | 2016-04-15 | 2016-04-15 | Robot global space positioning method based on graphical labels and camera |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610234845.6A CN105783915A (en) | 2016-04-15 | 2016-04-15 | Robot global space positioning method based on graphical labels and camera |
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| CN105783915A true CN105783915A (en) | 2016-07-20 |
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| CN201610234845.6A Pending CN105783915A (en) | 2016-04-15 | 2016-04-15 | Robot global space positioning method based on graphical labels and camera |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106991909A (en) * | 2017-05-25 | 2017-07-28 | 锥能机器人（上海）有限公司 | One kind is used for sterically defined land marking |
| CN107300391A (en) * | 2017-06-26 | 2017-10-27 | 国家电网公司 | A kind of automatic correction device of robot used for intelligent substation patrol elements of a fix and bearing calibration |
| CN107449427A (en) * | 2017-07-27 | 2017-12-08 | 京东方科技集团股份有限公司 | A kind of method and apparatus for generating navigation map |
| WO2018049710A1 (en) * | 2016-09-14 | 2018-03-22 | 哈工大机器人集团上海有限公司 | Road sign for determining position of robot, device, and method for distinguishing labels |
| CN108427418A (en) * | 2018-04-17 | 2018-08-21 | 国网江苏省电力有限公司苏州供电分公司 | The travel track control method and system of autonomous classification and correction |
| CN108759853A (en) * | 2018-06-15 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of robot localization method, system, equipment and computer readable storage medium |
| CN109357676A (en) * | 2018-10-19 | 2019-02-19 | 北京三快在线科技有限公司 | The localization method and device and mobile device of a kind of mobile device |
| CN109379038A (en) * | 2018-05-28 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | Cleaning systems and clean method |
| CN109459035A (en) * | 2018-12-25 | 2019-03-12 | 西安光之影科技发展有限公司 | Navigation system and method |
| CN109571408A (en) * | 2018-12-26 | 2019-04-05 | 北京极智嘉科技有限公司 | The angle calibration system method and storage medium of a kind of robot, stock container |
| CN110322508A (en) * | 2019-06-19 | 2019-10-11 | 四川阿泰因机器人智能装备有限公司 | A kind of assisted location method based on computer vision |
| CN110470295A (en) * | 2018-05-09 | 2019-11-19 | 北京智慧图科技有限责任公司 | A kind of indoor walking navigation and method based on AR positioning |
| WO2020094146A1 (en) * | 2018-11-09 | 2020-05-14 | 苏州瑞得恩光能科技有限公司 | Control method for cleaning system |
| CN111591343A (en) * | 2020-04-10 | 2020-08-28 | 广州创显科教股份有限公司 | Based on quick blending device of goods for management of intelligence commodity circulation garden |
| CN116994352A (en) * | 2023-08-02 | 2023-11-03 | 河北科华防静电地板制造有限公司 | Computer lab regularly patrol and examine monitoring system based on intelligence antistatic floor |
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| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018049710A1 (en) * | 2016-09-14 | 2018-03-22 | 哈工大机器人集团上海有限公司 | Road sign for determining position of robot, device, and method for distinguishing labels |
| CN106991909A (en) * | 2017-05-25 | 2017-07-28 | 锥能机器人（上海）有限公司 | One kind is used for sterically defined land marking |
| CN107300391A (en) * | 2017-06-26 | 2017-10-27 | 国家电网公司 | A kind of automatic correction device of robot used for intelligent substation patrol elements of a fix and bearing calibration |
| CN107449427A (en) * | 2017-07-27 | 2017-12-08 | 京东方科技集团股份有限公司 | A kind of method and apparatus for generating navigation map |
| CN108427418A (en) * | 2018-04-17 | 2018-08-21 | 国网江苏省电力有限公司苏州供电分公司 | The travel track control method and system of autonomous classification and correction |
| CN108427418B (en) * | 2018-04-17 | 2021-03-12 | 国网江苏省电力有限公司苏州供电分公司 | Autonomous recognition and deviation correction travel track control method and system |
| CN110470295A (en) * | 2018-05-09 | 2019-11-19 | 北京智慧图科技有限责任公司 | A kind of indoor walking navigation and method based on AR positioning |
| CN110470295B (en) * | 2018-05-09 | 2022-09-30 | 北京智慧图科技有限责任公司 | Indoor walking navigation system and method based on AR positioning |
| US11940811B2 (en) | 2018-05-28 | 2024-03-26 | Suzhou Radiant Photovoltaic Technology Co., Ltd. | Cleaning system and cleaning method |
| CN109379038A (en) * | 2018-05-28 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | Cleaning systems and clean method |
| CN108759853A (en) * | 2018-06-15 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of robot localization method, system, equipment and computer readable storage medium |
| CN109357676A (en) * | 2018-10-19 | 2019-02-19 | 北京三快在线科技有限公司 | The localization method and device and mobile device of a kind of mobile device |
| WO2020094146A1 (en) * | 2018-11-09 | 2020-05-14 | 苏州瑞得恩光能科技有限公司 | Control method for cleaning system |
| US11726497B2 (en) | 2018-11-09 | 2023-08-15 | Suzhou Radiant Photovoltaic Technology Co., Ltd. | Control method for cleaning system |
| CN109459035A (en) * | 2018-12-25 | 2019-03-12 | 西安光之影科技发展有限公司 | Navigation system and method |
| CN109571408A (en) * | 2018-12-26 | 2019-04-05 | 北京极智嘉科技有限公司 | The angle calibration system method and storage medium of a kind of robot, stock container |
| CN110322508A (en) * | 2019-06-19 | 2019-10-11 | 四川阿泰因机器人智能装备有限公司 | A kind of assisted location method based on computer vision |
| CN110322508B (en) * | 2019-06-19 | 2023-05-05 | 四川阿泰因机器人智能装备有限公司 | Auxiliary positioning method based on computer vision |
| CN111591343A (en) * | 2020-04-10 | 2020-08-28 | 广州创显科教股份有限公司 | Based on quick blending device of goods for management of intelligence commodity circulation garden |
| CN116994352A (en) * | 2023-08-02 | 2023-11-03 | 河北科华防静电地板制造有限公司 | Computer lab regularly patrol and examine monitoring system based on intelligence antistatic floor |
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Effective date of registration: 20171212 Address after: 200062 Shanghai city Putuo District Yunling West Road 600 Lane No. 6 room 503 Applicant after: Cone energy robot (Shanghai) Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant before: SHENZHEN MALU INNOVATION TECHNOLOGY CO., LTD. |
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