CN105825160A - Positioning device based on image recognition and positioning method thereof - Google Patents
Positioning device based on image recognition and positioning method thereof Download PDFInfo
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Abstract
The invention discloses a positioning device based on image recognition and a positioning method thereof. The device comprises a stereoscopic marker fixedly arranged on a charging station, an image acquisition module arranged on mobile equipment and used for acquiring the image information of the marker, an image and position corresponding module used for setting the corresponding relationship between the image information of the marker and the position information of the charging station relative to the mobile equipment, and a position judging module used for judging the position information of the charging station relative to the mobile equipment. The marker is stereoscopic, so that the image acquisition module can acquire the image information of the marker within 360 degrees, and locating is more accurate. Through the positioning method of the positioning device based on image recognition, the position of the charging station relative to the mobile equipment can be located with high accuracy from front, back, left, right and other directions.
Description
Technical field
The present invention relates to the technical field that fixing equipment is positioned by mobile device, particularly relate to a kind of positioner based on image recognition and localization method thereof.
Background technology
Intelligent grass-removing, because having the autonomous work completing to cut the grass on a lawn, need not the most directly control and operate, and power is low, noise is little, profile is exquisite attractive in appearance, the advantages such as manual operation is greatly lowered, and is widely used.Intelligent grass-removing has automatic walking function, it is possible to auto-returned charges, and carries out safety detection and battery electric quantity detection, possesses certain climbing capacity, and especially a kind of places such as family's garden, public lawn that are suitable for carry out turf-mown maintenance.
But when intelligent grass-removing auto-returned charges, need charging station is positioned, and shift to charging station and carry out automatic charging.The targeting scheme of charging station is by intelligent grass-removing at present, some location arrangements colour bar-shaped marks on charging station, analyze the colored bar shaped whether containing coupling in the image captured by the airborne photographic head of automatic mower, if having, illustrate that charging station enters within sweep of the eye, then calculate now hay mover and the relative position information of charging station, and carry out motor control and guide hay mover to enter the station；If nothing, illustrating not find charging station in visual range, hay mover continues to advance by original pattern.
There is certain defect in current solution, such as, when the photographic head sight line of automatic mobile device is vertical with tag plane, the identification to labelling is the most favourable.When the vertical line of sight line deviation tag plane is the most remote, the most weak to the identification ability of labelling.When automatic mobile device is positioned at left and right, the rear of this tag plane, it is impossible to effectively identify labelling.
Summary of the invention
Based on this, it is necessary to problem charging station more cannot being accurately positioned for above-mentioned mobile device, it is provided that a kind of positioner based on image recognition and localization method thereof.
Positioner based on image recognition of the present invention, for the location to charging station, including:
Marker, described marker is that stereo structure is fixedly installed on described charging station；
Image capture module, described image capture module is arranged on the mobile apparatus, for gathering the image information of described marker；
Image and position respective modules, described image and position respective modules are used for arranging the image information of described marker and described charging station relative to the corresponding relation between the positional information of described mobile device；
Location determination module, the image information of the described location determination module marker for described image capture module is collected, compare relative to the corresponding relation of the positional information of described mobile device with described charging station with the described marker image information of setting in the respective modules of position with described image, it is determined that go out the described charging station positional information relative to described mobile device.
Wherein in an embodiment, described image and position respective modules include distance respective modules and orientation respective modules；
Described distance respective modules is used for arranging the image information of described marker and described charging station relative to the corresponding relation between the range information of described mobile device；
Described orientation respective modules is used for arranging the image information of described marker and described charging station relative to the corresponding relation between the azimuth information of described mobile device.
Wherein in an embodiment, described location determination module includes range estimation module and direction deciding module；
The image information of the described range estimation module described marker for described image capture module is collected, and image information and the described charging station of marker described in described distance respective modules compare relative to the corresponding relation between the range information of described mobile device, it is determined that go out the described charging station range information relative to described mobile device；
The image information of the described direction deciding module described marker for described image capture module is collected, and image information and described charging station compare relative to the corresponding relation between the azimuth information of described mobile device described in described orientation respective modules, it is determined that go out the described charging station azimuth information relative to described mobile device.
Wherein in an embodiment, described marker is cylinder, arranges image recognition region and picture content areas on the outer surface of described marker；
Described image recognition region is used for identifying and define described picture content areas；
Described picture content areas includes having the image information content of corresponding relation relative to the positional information of described mobile device with described charging station.
Wherein in an embodiment, described picture content areas includes different characters or different color scheme, carries out corresponding with described charging station relative to the positional information of described mobile device.
A kind of localization method based on image recognition positioner, comprises the steps:
Marker image information on preset charged station and described charging station are relative to the corresponding relation between the positional information of mobile device；
The image information of described mobile device capture setting marker on charging station；
The marker image information described mobile device collected, compares with described default corresponding relation, it is determined that go out the described charging station positional information relative to described mobile device.
Wherein in an embodiment, described default corresponding relation, including default described marker image information and described charging station relative to the corresponding relation between the range information of described mobile device, and preset described marker image information and described charging station relative to the corresponding relation between the azimuth information of described mobile device.
Wherein in an embodiment, described the marker image information collected and described default corresponding relation are compared time, compare relative to the corresponding relation between the range information of described mobile device including by the marker collected image information and described marker image information and described charging station, it is determined that go out the described charging station range information relative to described mobile device；
And the marker image information collected and described marker image information and described charging station are compared relative to the corresponding relation between the azimuth information of described mobile device, it is determined that go out the described charging station azimuth information relative to described mobile device.
Wherein in an embodiment, described marker is cylinder, arranges image recognition region and picture content areas on the outer surface of described marker；
Described image recognition region is used for identifying and define described picture content areas；
Described picture content areas includes having the image information content of corresponding relation relative to the positional information of described mobile device with described charging station.
Wherein in an embodiment, described picture content areas includes different characters or different color scheme, carries out corresponding with described charging station relative to the positional information of described mobile device.
Above-mentioned positioner based on image recognition, by image capture module capture setting marker image information on charging station, and pass through position judging module, compare with being set in advance in the image position relationship with the marker image information in the respective modules of position and charging station relative movement equipment, thus determine the positional information of charging station relative movement equipment.Marker in the present invention is stereo structure so that image capture module with the image information of 360 degree of comprehensive collection markers, thus can position more accurately.Present invention localization method based on image recognition positioner, can multi-faceted from front, rear, left and right etc., highly accurately the position of charging station relative movement equipment is positioned.
Accompanying drawing explanation
Fig. 1 is the theory diagram of positioner based on image recognition；
Fig. 2-1 is the structural representation of present invention marker based on image recognition positioner one embodiment；
Fig. 2-2 is the structural representation of the present invention another embodiment of marker based on image recognition positioner；
When Fig. 3-1 is positioned at marker dead ahead shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-2 is positioned at marker left front shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-3 is positioned at marker front-left shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-4 is positioned at marker left back shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-5 is positioned at marker dead astern shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-6 is positioned at marker right back shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-7 is positioned at marker front-right shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
When Fig. 3-8 is positioned at marker right front shown in Fig. 2-1 for mobile device, the image schematic diagram that image acquisition device arrives；
Fig. 4 is the flow chart of localization method based on an image recognition positioner wherein embodiment；
Fig. 5 is the flow chart of the most another embodiment of localization method based on image recognition positioner；
Fig. 6 is the flow chart of the most another embodiment of localization method based on image recognition positioner.
Detailed description of the invention
By further illustrating the technological means and the effect of acquirement that the present invention taked, below in conjunction with the accompanying drawings and preferred embodiment, to technical scheme, clear and complete description is carried out.
As it is shown in figure 1, the positioner based on image recognition 100 of the present invention, for the location to charging station, including: marker 110, image capture module 120, image and position respective modules 130, location determination module 140.Wherein, marker 110 is fixedly installed on charging station for stereo structure.Image capture module 120 arranges on the mobile apparatus, for gathering the image information of marker 110.Image and position respective modules 130 are used for arranging the image information of marker 110 and charging station relative to the corresponding relation between the positional information of mobile device.The image information of the location determination module 140 marker 110 for image capture module 120 is collected, compare relative to the corresponding relation of the positional information of mobile device with charging station with marker 110 image information of setting in position respective modules 130 with image, it is determined that go out the charging station positional information relative to mobile device.
In this embodiment, the position that marker 110 is arranged on charging station must is fulfilled for, image capture module 120 can 360 degree of omnibearing image informations collecting marker 110, and marker 110 is in much the same height with image capture module 120 as far as possible, to guarantee the accuracy of marker 110 information that image capture module 120 collects, in practice marker 110 is fixedly installed on above the charging column of charging station.Image capture module 120 arranges on the mobile apparatus, can be realized by camera head 121, such as photographic head.
As it is shown in figure 1, wherein in an embodiment, image and position respective modules 130 include orientation respective modules 132 and distance respective modules 131.Distance respective modules 131 is used for arranging the image information of marker 110 and charging station relative to the corresponding relation between the range information of mobile device.Orientation respective modules 132 is used for arranging the image information of marker 110 and charging station relative to the corresponding relation between the azimuth information of mobile device.
In this embodiment, collect, according to different angles, the image information that marker 110 is different, be these different image informations and distance and the azimuth information of charging station relative movement equipment are determined, thus realize mobile device and charging station is accurately positioned.Specifically, as a example by marker 110 in Fig. 2-1, if Fig. 3-1 is to shown in 3-8, for the image information schematic diagram of marker 110 in Fig. 2-1 that mobile device epigraph acquisition module 120 collects, by difference never orientation sample to marker 110 image in comprise the proportionate relationship of blueness, yellow, carry out corresponding with the azimuth information of charging station relative movement equipment.By relative charging station different distance station acquisition to marker 110 image in blue, the size of yellow area, carry out corresponding with the range information of charging station relative movement equipment.For the person of ordinary skill of the art, available prior art, by experiment, obtain the corresponding relation of the azimuth information of blue in image, yellow proportionate relationship and charging station relative movement equipment.In like manner, by experiment, the size of shades of colour pattern and the corresponding relation of relative distance can be obtained.
As it is shown in figure 1, wherein in an embodiment, location determination module 140 includes range estimation module 141 and direction deciding module 142.The image information of the range estimation module 141 marker 110 for image capture module 120 is collected, and in distance respective modules 131, image information and the charging station of marker 110 compare relative to the corresponding relation between the range information of mobile device, it is determined that go out the charging station range information relative to mobile device.The image information of the direction deciding module 142 marker 110 for image capture module 120 is collected, and image information and charging station compare relative to the corresponding relation between the azimuth information of mobile device in orientation respective modules 132, it is determined that go out the charging station azimuth information relative to mobile device.
In this embodiment, if Fig. 3-1 is to shown in 3-8, respectively image capture module 120 is when the dead ahead of charging station, left front, front-left, left back, dead astern, right back, front-right, right front, the image information of the marker 110 collected.These image informations are analyzed, obtain color-ratio relation, and compare with the orientation corresponding relation of the charging station relative movement equipment in location determination module 140, it is possible to orient the relative direction of automatic mobile device and charging station., these image informations are analyzed meanwhile, obtain color mode size, and compare with the distance correspondence of the charging station relative movement equipment in location determination module 140, it is possible to orient the range information of charging station relative movement equipment.
As shown in Fig. 2-1,2-2, wherein in an embodiment, marker 110 is cylinder, arranges image recognition region 111 and picture content areas 112 on the outer surface of marker 110.Image recognition region 111 is used for identifying and defining picture content areas 112, only when image capture module collects image recognition region 111, just further the content of the picture content areas 112 gathered can be acquired and be analyzed.Picture content areas 112 includes having the image information content of corresponding relation relative to the positional information of mobile device with charging station.Picture content areas 112 includes different characters or different color scheme, carries out corresponding with charging station relative to the positional information of mobile device.
As shown in Fig. 2-1, in this embodiment, marker 110 is cylinder, and cylindrical upper and lower two parts red area is image recognition region 111, blue region and yellow area are arranged around cylinder, and along cylinder axis butt to respectively accounting for the cylinder half around surface.Preferably, when marker 110 is arranged on charging station, the image of marker in Fig. 3-1 110 is set to the dead ahead of relative movement equipment.It is pointed out that position and the color design in marker 110 epigraph identification region 111 are limited to the situation shown in Fig. 2-1, various selection can be carried out in the case of satisfied identification function.
As shown in Fig. 2-2, in this embodiment, marker 110 is cylinder, and cylindrical upper and lower two parts are image recognition region 111, can coat shades of colour or distinguished symbol etc., for identifying the content information of picture content areas 112.The content of picture content areas 112 is character " L " and " R ".It is pointed out that position and the content information of marker 110 epigraph content area 112 are limited to the situation shown in Fig. 2-1, Fig. 2-2, can meet can distinguish charging station relative movement equipment diverse location under conditions of, make various selectivity design.
As shown in Figure 4, for present invention localization method based on image recognition positioner flow chart, this localization method comprises the steps:
Marker image information on S210 preset charged station and charging station are relative to the corresponding relation between the positional information of mobile device.
As it is shown in figure 5, this step also includes: S211 presets marker image information and charging station relative to the corresponding relation between the range information of mobile device.S212 presets marker image information and charging station relative to the corresponding relation between the azimuth information of mobile device.Specifically, in conjunction with Fig. 2-1 and Fig. 3-1 to 3-8, for the marker 110 shown in Fig. 2-1, by difference never orientation sample to marker 110 image in comprise the proportionate relationship of blueness, yellow, carry out corresponding with the azimuth information of charging station relative movement equipment.By relative charging station different distance station acquisition to marker 110 image in blue, the size of yellow area, carry out corresponding with the range information of charging station relative movement equipment.
The image information of S220 mobile device capture setting marker on charging station.
The marker image information that mobile device is collected by S230, compares with default corresponding relation, it is determined that go out the charging station positional information relative to mobile device.
As shown in Figure 6, this step also includes: the marker image information collected and marker image information and charging station are compared by S231 relative to the corresponding relation between the range information of mobile device, it is determined that go out the charging station range information relative to mobile device.The marker image information collected and marker image information and charging station are compared by S232 relative to the corresponding relation between the azimuth information of mobile device, it is determined that go out the charging station azimuth information relative to mobile device.
In this embodiment, if Fig. 3-1 is to shown in 3-8, it is respectively when the dead ahead of charging station, left front, front-left, left back, dead astern, right back, front-right, right front, the image information of the marker collected.These image informations are analyzed, obtain color-ratio relation, and compare with the orientation corresponding relation of the charging station relative movement equipment in location determination module, it is possible to orient the relative direction of automatic mobile device and charging station., these image informations are analyzed meanwhile, obtain color mode size, and compare with the distance correspondence of the charging station relative movement equipment in location determination module, it is possible to orient the range information of charging station relative movement equipment.
As shown in Fig. 2-1,2-2, wherein in an embodiment, marker 110 is cylinder, arranges image recognition region 111 and picture content areas 112 on the outer surface of marker 110.Image recognition region 111 is used for identifying and defining picture content areas 112, only when image capture module 120 collects image recognition region 111, just further the content of the picture content areas 112 gathered can be acquired and be analyzed.Picture content areas 112 includes having the image information content of corresponding relation relative to the positional information of mobile device with charging station.Picture content areas 112 includes different characters or different color scheme, carries out corresponding with charging station relative to the positional information of mobile device.
As shown in Fig. 2-1, in this embodiment, marker 110 is cylinder, and cylindrical upper and lower two parts red area is image recognition region 111, blue region and yellow area are arranged around cylinder, and along cylinder axis butt to respectively accounting for the cylinder half around surface.Preferably, when marker 110 is arranged on charging station, the image of marker in Fig. 3-1 110 is set to the dead ahead of relative movement equipment.It is pointed out that position and the color design in marker 110 epigraph identification region 111 are limited to the situation shown in Fig. 2-1, various selection can be carried out in the case of satisfied identification function.
As shown in Fig. 2-2, in this embodiment, marker 110 is cylinder, and cylindrical upper and lower two parts are image recognition region 111, can coat shades of colour or distinguished symbol etc., for identifying the content information of picture content areas 112.The content of picture content areas 112 is character " L " and " R ".It is pointed out that position and the content information of marker 110 epigraph content area 112 are limited to the situation shown in Fig. 2-1, Fig. 2-2, can meet can distinguish charging station relative movement equipment diverse location under conditions of, make various selectivity design.
Above-mentioned positioner based on image recognition 100, by image capture module 120 capture setting marker 110 image information on charging station, and pass through position judging module, compare with being set in advance in the image position relationship with marker 110 image information in position respective modules 130 and charging station relative movement equipment, thus determine the positional information of charging station relative movement equipment.Marker 110 in the present invention is stereo structure so that image capture module 120 with the image information of 360 degree of comprehensive collection markers 110, thus can position more accurately.Present invention localization method based on image recognition positioner, can multi-faceted from front, rear, left and right etc., highly accurately the position of charging station relative movement equipment is positioned.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a positioner based on image recognition, for the location to charging station, it is characterised in that including:
Marker, described marker is stereo structure, and is fixedly installed on described charging station；
Image capture module, described image capture module is arranged on the mobile apparatus, for gathering the image information of described marker；
Image and position respective modules, described image and position respective modules are used for arranging the image information of described marker and described charging station relative to the corresponding relation between the positional information of described mobile device；
Location determination module, the image information of the described location determination module marker for described image capture module is collected, compare relative to the corresponding relation of the positional information of described mobile device with described charging station with the described marker image information of setting in the respective modules of position with described image, it is determined that go out the described charging station positional information relative to described mobile device.
Positioner based on image recognition the most according to claim 1, it is characterised in that described image and position respective modules include distance respective modules and orientation respective modules；
Described distance respective modules is used for arranging the image information of described marker and described charging station relative to the corresponding relation between the range information of described mobile device；
Described orientation respective modules is used for arranging the image information of described marker and described charging station relative to the corresponding relation between the azimuth information of described mobile device.
Positioner based on image recognition the most according to claim 2, it is characterised in that described location determination module includes range estimation module and direction deciding module；
The image information of the described range estimation module described marker for described image capture module is collected, and image information and the described charging station of marker described in described distance respective modules compare relative to the corresponding relation between the range information of described mobile device, it is determined that go out the described charging station range information relative to described mobile device；
The image information of the described direction deciding module described marker for described image capture module is collected, and image information and described charging station compare relative to the corresponding relation between the azimuth information of described mobile device described in described orientation respective modules, it is determined that go out the described charging station azimuth information relative to described mobile device.
Positioner based on image recognition the most according to claim 1, it is characterised in that described marker is cylinder, arranges image recognition region and picture content areas on the outer surface of described marker；
Described image recognition region is used for identifying and define described picture content areas；
Described picture content areas includes having the image information content of corresponding relation relative to the positional information of described mobile device with described charging station.
Positioner based on image recognition the most according to claim 4, it is characterised in that described picture content areas includes different characters or different color scheme, carries out corresponding with described charging station relative to the positional information of described mobile device.
6. a localization method based on image recognition positioner, it is characterised in that comprise the steps:
Prestore and identify object image information and described charging station on the charging station collected relative to the corresponding relation between the positional information of mobile device；
The image information of described mobile device capture setting marker on charging station；
The marker image information described mobile device collected, compares with described default corresponding relation, it is determined that go out the described charging station positional information relative to described mobile device.
Localization method based on image recognition positioner the most according to claim 6, it is characterized in that, described default corresponding relation, including default described marker image information and described charging station relative to the corresponding relation between the range information of described mobile device, and preset described marker image information and described charging station relative to the corresponding relation between the azimuth information of described mobile device.
The localization method of positioner based on image recognition the most according to claim 7, it is characterized in that, described the marker image information collected and described default corresponding relation are compared time, compare relative to the corresponding relation between the range information of described mobile device including by the marker collected image information and described marker image information and described charging station, it is determined that go out the described charging station range information relative to described mobile device；
And the marker image information collected and described marker image information and described charging station are compared relative to the corresponding relation between the azimuth information of described mobile device, it is determined that go out the described charging station azimuth information relative to described mobile device.
The localization method of positioner based on image recognition the most according to claim 6, it is characterised in that described marker is cylinder, arranges image recognition region and picture content areas on the outer surface of described marker；
Described image recognition region is used for identifying and define described picture content areas；
Described picture content areas includes having the image information content of corresponding relation relative to the positional information of described mobile device with described charging station.
The localization method of positioner based on image recognition the most according to claim 9, it is characterised in that described picture content areas includes different characters or different color scheme, carries out corresponding with described charging station relative to the positional information of described mobile device.
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| CN201510003318.XA CN105825160B (en) | 2015-01-05 | 2015-01-05 | Positioning device based on image recognition and positioning method thereof |
| PCT/CN2015/083100 WO2016000622A1 (en) | 2014-07-02 | 2015-07-01 | Automatically-walking device |
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| CN201510003318.XA CN105825160B (en) | 2015-01-05 | 2015-01-05 | Positioning device based on image recognition and positioning method thereof |
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| CN113955136B (en) * | 2021-09-02 | 2024-04-05 | 浙江图盛输变电工程有限公司温州科技分公司 | Automatic unmanned aerial vehicle target hanging point calibration transfer station that patrols and examines of electric wire netting |
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