CN107843258A - Indoor locating system and method - Google Patents
Indoor locating system and method Download PDFInfo
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- CN107843258A CN107843258A CN201710961571.5A CN201710961571A CN107843258A CN 107843258 A CN107843258 A CN 107843258A CN 201710961571 A CN201710961571 A CN 201710961571A CN 107843258 A CN107843258 A CN 107843258A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a kind of indoor locating system and method, the system includes positioner and mobile robot with image acquisition units and data processing unit, when being moved on the floor of mobile robot indoors, the transmitter that mobile robot is provided with forms size and/or shape different the first hot spot and the second hot spot towards indoor ceiling transmitting light beam；The contour images and the image of the first hot spot and the second hot spot of image acquisition units collection ceiling on indoor wall obliquely；Data processing unit is according to the contour images and the image of the first hot spot and the second hot spot of ceiling, determine the pose on the floor of mobile robot indoors, realize in the pose on monitoring the floor of mobile robot indoors, mitigate the influence that light path of the light beam through ceiling to image acquisition units of transmitter transmitting is blocked by objects such as the furniture of interior, electrical equipment significantly, be advantageous to improve the degree of accuracy of localization for Mobile Robot.
Description
Technical field
The present invention relates to indoor positioning technologies field, more particularly to a kind of indoor locating system of mobile robot and side
Method.
Background technology
Today's society, mobile robot by more and more widely using indoors, especially sweeping robot, mop floor machine
People, nurse robot etc., location technology is that mobile robot realizes most basic in independent navigation, and most important technology.It is fixed
Position technology includes Relative localization method and absolute fix method, and dead reckoning is a kind of classical Relative localization method, refers to and utilizes movement
The various sensors such as code-disc, gyroscope in robot obtain the multidate information of mobile robot, pass through the accumulative public affairs of recursion
Formula obtains robot relative to the estimated location of original state, and shortcoming is that accumulated error is larger；Absolute fix method refers to moving machine
Device people is by obtaining known to some extraneous positions etc. with reference to information, by calculating oneself and with reference to the mutual pass between information
System, and then calculate the position of oneself.Absolute fix technology is mainly determined using the positioning based on beacon, environmental map Model Matching
Position, vision positioning etc..
Positioning based on beacon refers to receive or observe known in surrounding environment by the sensor in mobile robot
The beacon of position, by the relative position of mobile robot and beacon is calculated, so as to realize the positioning of mobile robot.Letter
Mark can be active or passive type, and the beacon of passive type includes reflective material, special marking etc., active
Beacon include active optical beacon, the light of active optical beacon emissions can be by the optical sensing in mobile robot
Device detects, and so as to measure the parameters of the light of transmitting, such as utilizes flight time (time-of-flight) method
The distance of measurement, the orientation of relative beacon, signal intensity etc..However, in actual applications, active optical beacon passes with optics
Sight between sensor is easily blocked by objects such as the furniture of interior, electrical equipment, and optical sensor can not receive active
The light of optical beacon transmitting, so as to influence the positioning of mobile robot.
The content of the invention
The technical problems to be solved by the invention in conventional art using optical beacon come positioning mobile robot
Method, the sight between optical beacon and optical sensor are easily blocked by objects such as the furniture of interior, electrical equipment, influence moving machine
The positional accuracy of device people, there is provided a kind of indoor locating system and method.
A kind of indoor locating system, the system include：
Mobile robot, it is configured as moving on floor indoors, the mobile robot is provided with and is configured as direction
The transmitter of indoor ceiling transmitting light beam, formed on the ceiling of the light beam of the transmitter transmitting indoors size and/
Or variform first hot spot and the second hot spot；
Positioner, including：
Image acquisition units, it is configured as obliquely on indoor wall, to gather at least part of ceiling
Contour images and the image of first hot spot and the second hot spot；
With the data processing unit of described image collecting unit communication connection, at least part according to ceiling is configured as
Contour images and the image of first hot spot and the second hot spot, determine the position on the floor of the mobile robot indoors
Appearance.
In one of the embodiments, the transmitter is Infrared laser emission device, and described image collecting unit is infrared
Image acquisition units.
In one of the embodiments, the positioner also includes at least three profiles sign position, is configured as being located at
On indoor ceiling；Described image collecting unit is configured as the image of the profile sign position of collection at least three；It is described
Data processing unit is configured as the image according at least three profile sign positions, determines at least part profile of ceiling
Image.
In one of the embodiments, the profile sign position is infrared point-like LED.
In one of the embodiments, the data processing unit is configured as：
Ask for the perspective deformation correction parameter of at least part contour images of ceiling；
The image of first hot spot and the second hot spot is corrected according to the correction parameter；
According to the image of first hot spot and the second hot spot at least part contour images of ceiling pose, it is determined that
Pose on the floor of the mobile robot indoors.
In one of the embodiments, the data processing unit is configured as：
It is corresponding according to the image of the first minimum circumscribed circle and second hot spot corresponding to the image of first hot spot
The second minimum circumscribed circle, determine the center of circle of first minimum circumscribed circle and the center of circle of second minimum circumscribed circle；
According to the home position of first minimum circumscribed circle and/or the home position of second minimum circumscribed circle, really
Position on the fixed floor of the mobile robot indoors；
According to the line direction between the center of circle of first minimum circumscribed circle and the center of circle of second minimum circumscribed circle,
Determine the posture on the floor of the mobile robot indoors.
A kind of indoor orientation method, methods described include：
When being moved on the floor of mobile robot indoors, the day for the transmitter direction interior that the mobile robot is provided with
Card launches light beam, so that it is different to form size and/or shape on the ceiling of the light beam of transmitter transmitting indoors
First hot spot and the second hot spot；
Obliquely at least part contour images of the image acquisition units collection ceiling on indoor wall and
The image of first hot spot and the second hot spot；
At least part contour images with the data processing unit that described image collecting unit communicates to connect according to ceiling
And the image of first hot spot and the second hot spot, determine the pose on the floor of the mobile robot indoors.
In one of the embodiments, the transmitter is Infrared laser emission device, and described image collecting unit is infrared
Image acquisition units.
In one of the embodiments, at least three institutes of the described image collecting unit collection on indoor ceiling
State the image of profile sign position；The data processing unit indicates the image of position according at least three profiles, determines smallpox
At least part contour images of plate.
In one of the embodiments, the profile sign position is infrared point-like LED.
In one of the embodiments, the data processing unit asks for the perspective of at least part contour images of ceiling
Deformation correction parameter；The image of first hot spot and the second hot spot is corrected according to the correction parameter；According to described
The image of first hot spot and the second hot spot determines that the mobile robot exists in the pose of at least part contour images of ceiling
Pose on indoor floor.
In one of the embodiments, the data processing unit according to corresponding to the image of first hot spot first most
Second minimum circumscribed circle corresponding to the image of small circumscribed circle and second hot spot, determine the circle of first minimum circumscribed circle
The center of circle of the heart and second minimum circumscribed circle；According to the home position of first minimum circumscribed circle and/or described second most
The home position of small circumscribed circle, determine the position on the floor of the mobile robot indoors；It is minimum outer according to described first
Connect the line direction between the round center of circle and the center of circle of second minimum circumscribed circle, determine the mobile robot indoors
Posture on floor.
A kind of in-door covering rate test system, including the system described in any of the above-described.
A kind of in-door covering rate method of testing, including the method described in any of the above-described.
A kind of indoor locating system provided in an embodiment of the present invention, including positioner and it is configured as ground indoors
The mobile robot moved on plate, the transmitter in mobile robot form size and/or shape not to ceiling transmitting light beam
Same the first hot spot and the second hot spot；The image acquisition units of positioner are located on indoor wall obliquely, for gathering
The contour images of ceiling and the image of the first hot spot and the second hot spot；The data processing unit of positioner is according to ceiling
Contour images and the image of the first hot spot and the second hot spot determine pose on the floor of mobile robot indoors, realize
In the pose on monitoring the floor of mobile robot indoors, mitigate the light beam of transmitter transmitting significantly through ceiling to image
The influence that the light path of collecting unit is blocked by the furniture of interior, the object such as electrical equipment, be advantageous to improve mobile robot indoors
The degree of accuracy positioned on floor.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other variants are obtained according to these accompanying drawings.
Fig. 1 is a kind of application scenarios schematic diagram of indoor locating system of the embodiment of the present invention；
Fig. 2 is the structured flowchart of positioner shown in Fig. 1；
Fig. 3 and Fig. 4 is two kinds of visual performance figures of the first hot spot and the second hot spot respectively；
Fig. 5 is the contour images and the first hot spot and the second light spot image for the ceiling that image acquisition units collect
Schematic diagram；
Fig. 6 is the image after having an X-rayed deformation correction in Fig. 5；
Fig. 7 is the step flow chart that data processing unit performs；
Fig. 8 is the step flow chart of an embodiment of step S3 in Fig. 7；
Fig. 9 is the explanation schematic diagram for the pose that mobile robot is determined according to the first hot spot after correction and the second hot spot；
Figure 10 is the indoor schematic top plan view in an application scenarios；
Position view of the mobile robot that Figure 11 is swept in being equipped with two neighbouring sample moment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched
State, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
As depicted in figs. 1 and 2, the embodiments of the invention provide a kind of indoor locating system, the indoor locating system to include
Mobile robot 10 and positioner 20, the positioner 20 include image acquisition units 21 and data processing unit 22.It is mobile
Robot 10 can be sweeping robot, floor-mopping robot, nurse any one in robot or gathered and sweep
Ground, dust suction, two or more any functions such as mop floor, nurse, monitoring are in the robot of one.
Mobile robot 10 is configured as moving on floor 31 indoors, in the movement that driving mobile robot 10 moves
In mechanism configuration, two driving wheels and a universal wheel in mobile robot 10 can be included, can also include carrying out
Band, Mecanum wheel etc..
Mobile robot 10 is provided with transmitter 11, and transmitter 11 is configured as launching light beam towards indoor ceiling 32,
And form the first hot spot A1 and the second hot spot A2 on the ceiling 32 of the light beam that transmitter 11 is launched indoors.Mobile robot
10 can be provided with two transmitters 11, and the first hot spot is formed on the ceiling 32 of the light beam that a transmitter 11 is launched indoors
A1, the second hot spot A2 is formed on the light beam ceiling 32 indoors of another transmitter 11 transmitting.Mobile robot 10 also may be used
So that provided with single transmitter 11, the first hot spot A1 is formed on the ceiling 32 that the light beam that single transmitter 11 is launched can be indoors
With the second hot spot A2.It should be noted that, the first hot spot A1 and the second hot spot A2 can show in eye-observation visually
For the independence shown in Fig. 3 and two hot spots at interval, the first hot spot A1 and the second hot spot A2 can also be shown as shown in Fig. 4
Connection be in an overall hot spot, the first hot spot A1 and the second hot spot A2 are two spaced main groups of the overall hot spot
Into part.
Because the first hot spot A1 and the second hot spot A2 are the postures in order to indicate mobile robot 10 on floor 31, so as to
The direction of mobile robot 10 is embodied, therefore, the first hot spot A1 and the second hot spot A2 are that two size and/or shapes are different
Hot spot, for example, the first hot spot A1 and the second hot spot A2 are that two sizes are identical but variform hot spot, and for example, the first hot spot
A1 and the second hot spot A2 is the identical but of different sizes hot spot of two shapes, and and for example, the first hot spot A1 and the second hot spot A2 are two
The different hot spot of individual shapes and sizes.
Image acquisition units 21 communicate to connect with data processing unit 22, in actual applications, the He of image acquisition units 21
Data processing unit 22 can be integrated in together composition positioner 20, based on this, image acquisition units 21 and data processing
It can be realized and communicated to connect by conducting wire between unit 22；Image acquisition units 21 and data processing unit 22 can also be
Scattering device formed positioner 20, based on this, between image acquisition units 21 and data processing unit 22 can be based on bluetooth,
The technologies such as wifi, zigbee realize communication connection.
Image acquisition units 21 are configured as obliquely on indoor wall 33, to gather ceiling 32 at least
The image of partial contour image and the first hot spot A1 image and the second hot spot A2.Image acquisition units 21 are located at room obliquely
It is to cause to block to reduce the daylighting circuit to image acquisition units 21 such as the furniture of interior, electrical equipment on interior wall 33, together
When also for increase field range gather the larger range of contour images of ceiling 32.In actual applications, choosing is passed through
Select the image acquisition units 21 with corresponding visual angle and coordinate the angle adjustment of image acquisition units 21 obliquely, rectangular day
Card 32 can be entirely located in image acquisition units 21 within sweep of the eye, i.e., image acquisition units 21 can collect rectangular
Ceiling 32 whole contour images.
In embodiments of the present invention, image is gathered to image acquisition units 21 in order to reduce the ambient lights such as daylight, light
Interference, image acquisition units 21 be preferably infrared image acquisition unit, for example, infrared camera；Based on this, transmitter 11 is
Infrared laser emission device.In order to indicate at least part profile of ceiling 32, positioner 20 also includes at least three profiles
Position 23 is indicated, profile sign position 23 is configured as on indoor ceiling 32.In general, indoor ceiling 32 is in figure
Rectangle shown in 1, the number of profile sign position 23 can be four, and four profile sign positions 23 are separately mounted to rectangle smallpox
Four edges of plate 32.When image acquisition units 21 are infrared cameras, in order to preferably be collected by infrared camera
Image, profile sign position 23 is preferably infrared point-like LED, and certainly, profile sign position 23 can also be relatively strong red for that can launch
The thing block of outside line.
Data processing unit 22 indicates the image of position 23 according at least three profiles, determines at least part wheel of ceiling 32
Wide image.It should be noted that region of the area maps that mobile robot 10 can reach on floor 31 on ceiling 32
It is contained on ceiling 32 and the region to be formed is enclosed by line between adjacent profile sign position 23 so that mobile robot 10 exists
When being moved on indoor floor 31, image acquisition units 21 can collect the day of the light beam of the transmitting of transmitter 11 indoors all the time
The the first hot spot A1 formed on card 32 image and the second hot spot A2 image.
In an alternative embodiment, image acquisition units 21 can also be the common camera of collection visible ray, transmitter
11 can be the visible light laser emitter device of other frequencies.Profile sign position 23 can be special pattern, image acquisition units 21
After the image for collecting special pattern, special pattern is identified using image recognition technology by data processing unit 22, from
And determine at least part contour images of ceiling 32.
Data processing unit 22 is configured as according at least part contour images of ceiling 32 and the first hot spot A1
The image of image and the second hot spot A2, determine the pose on the floor 31 of mobile robot 10 indoors.In an alternative embodiment
In, data processing unit 22 includes some electronic units and calculating unit that printed circuit board (PCB) and the printed circuit board (PCB) carry
(for example, computer storage and computer disposal chip etc.).
For example, the influence due to having an X-rayed deformation, image acquisition units 21 collect image as shown in Figure 5, in square
The ceiling 32 of shape forms an irregular quadrangular configuration in the images, accordingly, the first hot spot A1 and the second hot spot
A2 can also occur to have an X-rayed deformation in the images, therefore, in order to improve the accurate of pose of the mobile robot 10 on floor 31
Degree, data processing unit 22 can be carried out first to the first hot spot A1 image and the second hot spot A2 image for occurring to have an X-rayed deformation
Correction, refering to the image after corrected shown in Fig. 6, further according to the image and the second hot spot A2 of the first hot spot A1 after correction
Image determine pose of the mobile robot 10 on floor 31.Specifically, data processing unit 22 is configured as performing such as
Step S1, step S2 and step S3 shown in Fig. 7.
Step S1 includes：Ask for the perspective deformation correction parameter of at least part contour images of ceiling 32.
In an alternative embodiment, two-dimensional coordinate system can be pre-established, by taking Fig. 5 and Fig. 6 as an example, is first obtained in Fig. 5 not
The coordinate of four points of rectangle, can be calculated by two groups of coordinate points in the coordinate and Fig. 6 of four points of regular quadrilateral
Depending on the transformation matrix of conversion, that is, correct parameter.It is for instance possible to use the warpPerspective functions in OpenCV are realized.
Step S2 includes：The first hot spot A1 and the second hot spot A2 image are corrected according to correction parameter.
In embodiments of the present invention, ask for after correcting parameter, inverse transformation is carried out come to the first hot spot A1 according to correction parameter
Image and the second hot spot A2 image be corrected.
Step S3 includes：According to the first hot spot A1 and the second hot spot A2 image ceiling 32 at least part profile diagram
The pose of picture, determine the pose on the floor 31 of mobile robot 10 indoors.
In embodiments of the present invention, the step S3 that data processing unit 22 is configured as performing can include：As shown in Figure 8
Step S31, step S32 and step S33, illustrated as follows by taking Fig. 9 as an example.
Step S31 includes：The first minimum circumscribed circle C1 and the second hot spot A2 according to corresponding to the first hot spot A1 image
Image corresponding to the second minimum circumscribed circle C2, determine the first minimum circumscribed circle C1 center of circle C11 and the second minimum circumscribed circle C2
Center of circle C21.
It is for instance possible to use the minEnclosingCircle functions in OpenCV try to achieve the of the first hot spot A1 image
Second minimum circumscribed circle C2 of one minimum circumscribed circle C1 and the second hot spot A2 image.
Step S32 includes：According to the first minimum circumscribed circle C1 center of circle C11 positions and/or the second minimum circumscribed circle C2
Center of circle C21 positions, determine the position on the floor 31 of mobile robot 10 indoors.
For example, can be using floor of the first minimum circumscribed circle C1 center of circle C11 positions as mobile robot 10 indoors
Position on 31；For another example, can be using ground of the second minimum circumscribed circle C2 center of circle C21 positions as mobile robot 10 indoors
Position on plate 31；And for example, can be by the first minimum circumscribed circle C1 center of circle C11 positions and the second minimum circumscribed circle C2 center of circle
Position between C21 positions is as the position on the floor 31 indoors of mobile robot 10.
Step S33 includes：According to the first minimum circumscribed circle C1 center of circle C11 and the second minimum circumscribed circle C2 center of circle C21
Between line direction, determine the posture on the floor 31 of mobile robot 10 indoors.
For example, when the first hot spot A1 and the second hot spot A2 correspond to the fore-and-aft direction of mobile robot 10 respectively, i.e., first
Hot spot A1 is close to the front of mobile robot 10, and the second hot spot A2 is close to the rear of mobile robot 10, then with center of circle C21 to circle
Heart C11 line direction is as the posture on the floor 31 indoors of mobile robot 10；For another example, as the second hot spot A2 and first
When hot spot A1 corresponds to the fore-and-aft direction of mobile robot 10 respectively, i.e. the second hot spot A2 is close to the front of mobile robot 10, and
One hot spot A1 is used as mobile robot 10 close to the rear of mobile robot 10, then the line direction using center of circle C11 to center of circle C21
The posture on floor 31 indoors；And for example, when the first hot spot A1 and the second hot spot A2 correspond to a left side for mobile robot 10 respectively
During right direction, then using perpendicular to ground of the direction in center of circle C21 to center of circle C11 line direction as mobile robot 10 indoors
Posture on plate 31.
In an alternative embodiment, positioner 20 can also include wireless communication unit, and the wireless communication unit can be with
It is configured as the posture information on mobile robot 10 that data processing unit 22 determines floor 31 indoors being sent to shifting
Mobile robot 10 so that mobile robot 10 applies to the posture information of itself in independent navigation.
A kind of indoor locating system provided in an embodiment of the present invention, including it is configured as the shifting moved on floor indoors
Mobile robot 10 and positioner 20, the transmitter 11 in mobile robot 10 launch light beam to ceiling 32 and form size
And/or variform first hot spot A1 and the second hot spot A2；The image acquisition units 21 of positioner 20 are located at room obliquely
On interior wall 33, for gathering the contour images and the first hot spot A1 and the second hot spot A2 image of ceiling 32；Positioning
The data processing unit 22 of device 20 is according to the contour images and the first hot spot A1 and the second hot spot A2 image of ceiling 32
The pose on the floor 31 of mobile robot 10 indoors is determined, is realized on the floor 31 of mobile robot 10 indoors is monitored
Pose when, significantly mitigate transmitter 11 launch light path of the light beam through ceiling 32 to image acquisition units 21 by interior family
The influence that the objects such as tool, electrical equipment block, be advantageous to improve the degree of accuracy positioned on the floor 31 of mobile robot 10 indoors.
The embodiment of the present invention additionally provides a kind of indoor orientation method, and the introduction to this method as follows refers to such as Fig. 1-8
In detailed description to above-mentioned indoor locating system, the indoor orientation method includes：
When being moved on the floor 31 of mobile robot 10 indoors, transmitter 11 that mobile robot 10 is provided with is towards interior
Ceiling 32 launch light beam, so as to form size and/or shape on the light beam ceiling 32 indoors that transmitter 11 is launched
Different the first hot spot A1 and the second hot spot A2.
The image acquisition units 21 on indoor wall 33 gather at least part profile diagram of ceiling 32 obliquely
Picture and the first hot spot A1 and the second hot spot A2 image.
At least part profile diagram with the data processing unit 22 that image acquisition units 21 communicate to connect according to ceiling 32
Picture and the first hot spot A1 and the second hot spot A2 image, determine the pose on the floor 31 of mobile robot 10 indoors.
Moved on the floor 31 that mobile robot 10 can be indoors, in the travel mechanism that driving mobile robot 10 moves
In configuration, two driving wheels and a universal wheel in mobile robot 10 can be included, crawler belt, wheat can also be included
Ke Namu wheels etc..
Mobile robot 10 can be provided with two transmitters 11, the ceiling of the light beam that a transmitter 11 is launched indoors
The first hot spot A1 is formed on 32, the second hot spot A2 is formed on the ceiling 32 of the light beam that another transmitter 11 is launched indoors.
Mobile robot 10 can also be provided with single transmitter 11, the ceiling 32 that the light beam that single transmitter 11 is launched can be indoors
Upper formation the first hot spot A1 and the second hot spot A2.It should be noted that, the first hot spot A1 and. in eye-observation visually
Two hot spot A2 can show as two hot spots at the independence shown in Fig. 3 and interval, and the first hot spot A1 and the second hot spot A2 also may be used
It is in an overall hot spot to show as the connection shown in Fig. 4, the first hot spot A1 and the second hot spot A2 are the two of the overall hot spot
Individual spaced chief component.
Because the first hot spot A1 and the second hot spot A2 are the postures in order to indicate mobile robot 10 on floor 31, so as to
The direction of mobile robot 10 is embodied, therefore, the first hot spot A1 and the second hot spot A2 are that two size and/or shapes are different
Hot spot, for example, the first hot spot A1 and the second hot spot A2 are that two sizes are identical but variform hot spot, and for example, the first hot spot
A1 and the second hot spot A2 is the identical but of different sizes hot spot of two shapes, and and for example, the first hot spot A1 and the second hot spot A2 are two
The different hot spot of individual shapes and sizes.
Image acquisition units 21 communicate to connect with data processing unit 22, in actual applications, the He of image acquisition units 21
Data processing unit 22 can be integrated in together composition positioner 20, based on this, image acquisition units 21 and data processing
It can be realized and communicated to connect by conducting wire between unit 22；Image acquisition units 21 and data processing unit 22 can also be
Scattering device formed positioner 20, based on this, between image acquisition units 21 and data processing unit 22 can be based on bluetooth,
The technologies such as wifi, zigbee realize communication connection.
Image acquisition units 21 are located on indoor wall 33 obliquely, to gather at least part profile of ceiling 32
The image of image and the first hot spot A1 image and the second hot spot A2.Image acquisition units 21 are obliquely located at indoor wall
It is to cause to block to reduce the daylighting circuit to image acquisition units 21 such as the furniture of interior, electrical equipment on 33, while is also to be
Increase field range gathers the larger range of contour images of ceiling 32.In actual applications, there is phase by selection
Answer the image acquisition units 21 at visual angle and coordinate the angle adjustment of image acquisition units 21 obliquely, the rectangular energy of ceiling 32
Enough it is entirely located in image acquisition units 21 within sweep of the eye, i.e., image acquisition units 21 can collect rectangular ceiling
32 whole contour images.
In embodiments of the present invention, image is gathered to image acquisition units 21 in order to reduce the ambient lights such as daylight, light
Interference, image acquisition units 21 be preferably infrared image acquisition unit, for example, infrared camera；Based on this, transmitter 11 is
Infrared laser emission device.In order to indicate at least part profile of ceiling 32, positioner 20 also includes at least three profiles
Position 23 is indicated, profile sign position 23 is on indoor ceiling 32.In general, indoor ceiling 32 is in shown in Fig. 1
Rectangle, the number of profile sign position 23 can be four, and four profiles sign positions 23 are separately mounted to rectangle ceiling 32
Four edges.When image acquisition units 21 are infrared cameras, in order to preferably collect image by infrared camera, wheel
Exterior feature sign position 23 is preferably infrared point-like LED, and certainly, profile sign position 23 can also be the thing that can launch stronger infrared ray
Block.
Data processing unit 22 indicates the image of position 23 according at least three profiles, determines at least part wheel of ceiling 32
Wide image.It should be noted that region of the area maps that mobile robot 10 can reach on floor 31 on ceiling 32
It is contained on ceiling 32 and the region to be formed is enclosed by line between adjacent profile sign position 23 so that mobile robot 10 exists
When being moved on indoor floor 31, image acquisition units 21 can collect the day of the light beam of the transmitting of transmitter 11 indoors all the time
The the first hot spot A1 formed on card 32 image and the second hot spot A2 image.
In an alternative embodiment, image acquisition units 21 can also be the common camera of collection visible ray, transmitter
11 can be the visible light laser emitter device of other frequencies.Profile sign position 23 can be special pattern, image acquisition units 21
After the image for collecting special pattern, special pattern is identified using image recognition technology by data processing unit 22, from
And determine at least part contour images of ceiling 32.
Data processing unit 22 is according at least part contour images of ceiling 32 and the first hot spot A1 image and
Two hot spot A2 image, determine the pose on the floor 31 of mobile robot 10 indoors.In an alternative embodiment, at data
Managing unit 22 includes some electronic units and calculating unit of printed circuit board (PCB) and printed circuit board (PCB) carrying (for example, calculating
Machine memory and computer disposal chip etc.).
For example, the influence due to having an X-rayed deformation, image acquisition units 21 collect image as shown in Figure 5, in square
The ceiling 32 of shape forms an irregular quadrangular configuration in the images, accordingly, the first hot spot A1 and the second hot spot
A2 can also occur to have an X-rayed deformation in the images, therefore, in order to improve the accurate of pose of the mobile robot 10 on floor 31
Degree, data processing unit 22 can be carried out first to the first hot spot A1 image and the second hot spot A2 image for occurring to have an X-rayed deformation
Correction, refering to the image after corrected shown in Fig. 6, further according to the image and the second hot spot A2 of the first hot spot A1 after correction
Image determine pose of the mobile robot 10 on floor 31.Specifically, data processing unit 22 perform it is as shown in Figure 7
Step S1, step S2 and step S3.
Step S1 includes：Ask for the perspective deformation correction parameter of at least part contour images of ceiling 32.
In an alternative embodiment, two-dimensional coordinate system can be pre-established, by taking Fig. 5 and Fig. 6 as an example, is first obtained in Fig. 5 not
The coordinate of four points of rectangle, can be calculated by two groups of coordinate points in the coordinate and Fig. 6 of four points of regular quadrilateral
Depending on the transformation matrix of conversion, that is, correct parameter.It is for instance possible to use the warpPerspective functions in OpenCV are realized.
Step S2 includes：The first hot spot A1 and the second hot spot A2 image are corrected according to correction parameter.
In embodiments of the present invention, ask for after correcting parameter, inverse transformation is carried out come to the first hot spot A1 according to correction parameter
Image and the second hot spot A2 image be corrected.
Step S3 includes：According to the first hot spot A1 and the second hot spot A2 image ceiling 32 at least part profile diagram
The pose of picture, determine the pose on the floor 31 of mobile robot 10 indoors.
In embodiments of the present invention, the step S3 that data processing unit 22 performs can include：Step as shown in Figure 8
S31, step S32 and step S33, are illustrated by taking Fig. 9 as an example as follows.
Step S31 includes：The first minimum circumscribed circle C1 and the second hot spot A2 according to corresponding to the first hot spot A1 image
Image corresponding to the second minimum circumscribed circle C2, determine the first minimum circumscribed circle C1 center of circle C11 and the second minimum circumscribed circle C2
Center of circle C21.
It is for instance possible to use the minEnclosingCircle functions in OpenCV try to achieve the of the first hot spot A1 image
Second minimum circumscribed circle C2 of one minimum circumscribed circle C1 and the second hot spot A2 image.
Step S32 includes：According to the first minimum circumscribed circle C1 center of circle C11 positions and/or the second minimum circumscribed circle C2
Center of circle C21 positions, determine the position on the floor 31 of mobile robot 10 indoors.
For example, can be using floor of the first minimum circumscribed circle C1 center of circle C11 positions as mobile robot 10 indoors
Position on 31；For another example, can be using ground of the second minimum circumscribed circle C2 center of circle C21 positions as mobile robot 10 indoors
Position on plate 31；And for example, can be by the first minimum circumscribed circle C1 center of circle C11 positions and the second minimum circumscribed circle C2 center of circle
Position between C21 positions is as the position on the floor 31 indoors of mobile robot 10.
Step S33 includes：According to the first minimum circumscribed circle C1 center of circle C11 and the second minimum circumscribed circle C2 center of circle C21
Between line direction, determine the posture on the floor 31 of mobile robot 10 indoors.
For example, when the first hot spot A1 and the second hot spot A2 correspond to the fore-and-aft direction of mobile robot 10 respectively, i.e., first
Hot spot A1 is close to the front of mobile robot 10, and the second hot spot A2 is close to the rear of mobile robot 10, then with center of circle C21 to circle
Heart C11 line direction is as the posture on the floor 31 indoors of mobile robot 10；For another example, as the second hot spot A2 and first
When hot spot A1 corresponds to the fore-and-aft direction of mobile robot 10 respectively, i.e. the second hot spot A2 is close to the front of mobile robot 10, and
One hot spot A1 is used as mobile robot 10 close to the rear of mobile robot 10, then the line direction using center of circle C11 to center of circle C21
The posture on floor 31 indoors；And for example, when the first hot spot A1 and the second hot spot A2 correspond to a left side for mobile robot 10 respectively
During right direction, then using perpendicular to ground of the direction in center of circle C21 to center of circle C11 line direction as mobile robot 10 indoors
Posture on plate 31.
In an alternative embodiment, positioner 20 can also include wireless communication unit, and the wireless communication unit can be with
Posture information on the floor 31 of mobile robot 10 that data processing unit 22 determines indoors is sent to mobile robot
10 so that mobile robot 10 applies to the posture information of itself in independent navigation.
A kind of indoor orientation method provided in an embodiment of the present invention, moved up by the floor 31 of mobile robot 10 indoors
When dynamic, the transmitter 11 that mobile robot 10 is provided with launches light beam towards the ceiling 32 of interior, so that what transmitter 11 was launched
Size and/or shape different the first hot spot A1 and the second hot spot A2 are formed on the ceiling 32 of light beam indoors；Set obliquely
At least part contour images and the first hot spot A1 of ceiling 32 are gathered in the image acquisition units 21 on the wall 33 of interior
With the second hot spot A2 image；With image acquisition units 21 communicate to connect data processing unit 22 according to ceiling 32 at least
Partial contour image and the first hot spot A1 and the second hot spot A2 image, determine on the floor 31 of mobile robot 10 indoors
Pose, significantly mitigate transmitter 11 launch light path of the light beam through ceiling 32 to image acquisition units 21 by interior family
The influence that the objects such as tool, electrical equipment block, be advantageous to improve the degree of accuracy positioned on the floor 31 of mobile robot 10 indoors.
It is real one when mobile robot 10 is any one in sweeping robot, floor-mopping robot, dust-collecting robot
In the application of border, floor 31 is cleaned when being moved on the floor 31 of mobile robot 10 indoors, it is necessary to test in a timing
The coverage rate cleaned in long to floor 31, based on this, the embodiments of the invention provide a kind of in-door covering rate test system and side
Method, the in-door covering rate test system include above-mentioned indoor locating system, and the in-door covering rate method of testing includes above-mentioned interior
Localization method.
In an alternative embodiment, except including above-mentioned indoor locating system, the data in in-door covering rate test system
Processing unit 22 is additionally configured to basis and is mapped in the pixel on ceiling 32 by the real area that mobile robot 10 cleans
Set and the accounting that can be always collected by the pixel that the effective area that mobile robot 10 cleans is mapped on ceiling 32, it is determined that mobile
The in-door covering rate of robot 10.
In practical application scene, the objects such as furniture, electrical equipment are often put on indoor floor 31, with shown in Figure 10
Illustrated exemplified by indoor top view, can be regarded as and can be moved after excluding the area that the objects such as furniture, electrical equipment occupy on floor 31
The effective area that robot 10 cleans.The effective area can be obtained by way of manual measurement, and with constant parameter
In the program that form write-in is performed by data processing unit 22.
Because mobile robot 10 also has to be optimized in technical elements such as cleaning path planning, navigation and improves, generally come
Say, mobile robot 10 can not absolutely cover the effective area, therefore, the reality cleaned by mobile robot 10
Interphase product is less than the effective area.
Image acquisition units 21 gather the contour images of ceiling 32, and determined by data processing unit 22 it is described effectively
Area, so as to draw pixel set that the effective area is mapped on ceiling 32.Data processing unit 22 can utilize figure
As the pixels statisticses method in processing technology field, i.e., the cleaning area of mobile robot 10 is preserved in the form of pixel,
Pixel set corresponding to statistics cleaning area in sampling to ceiling 32 every time, and then obtain the statistics of a three-dimensional coordinate
Figure, plane where the X-axis and Y-axis of the three-dimensional coordinate is parallel with floor 31, and Z axis is cleaning frequency.It is easily understood that due to moving
Mobile robot 10 has carried out repetition cleaning more than once when being moved on floor 31 to some regions, understands to this some in sampling
The pixel in region carries out repeating statistics, and therefore, cleaning frequency can be understood as the sampling number of pixel.Data processing unit
22 Z axis are counted for the pixel of non-zero number, so as to obtain the real area mapping cleaned by mobile robot 10
Pixel set on ceiling 32, area summation corresponding to the pixel set are the reality cleaned by mobile robot 10
Area.
In an alternative embodiment, according to the first hot spot A1 and the second hot spot A2 image ceiling 32 contour images
In posture information, data processing unit 22 can determine pose of the mobile robot 10 on floor 31, and calculate movement
The coordinate position of two-end-point is swept in robot 10, as shown in figure 11, for example, in t1 sampling instants, in sweep the positions of 12 two-end-points
It is R, T to put, in t2 sampling instants, in sweep the positions of 12 two-end-points be J, K, approx can surround R, T, J, K at 4 points four
Side shape by that analogy, is swept as 12 regions cleaned are swept in the t2-t1 periods during accumulation calculating obtains in certain time length
12 region areas cleaned, the accounting of the region area and the above-mentioned effective area that can be cleaned by mobile robot 10 can recognize
To be the in-door covering rate of mobile robot 10.
In an alternative embodiment, shape on the ceiling of light beam that transmitter 11 in mobile robot 10 is launched indoors
Into single hot spot, image acquisition units 21 gather the contour images of ceiling 32 and the image of single hot spot, data processing list
Member 22 determines moving machine according to the contour images of ceiling 32 and the image of single hot spot using above-mentioned pixels statisticses method
The in-door covering rate of device people 10.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " alternative embodiment " etc. mean to combine the specific features of the embodiment or example description, structure, material or
Feature is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term
It is not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Embodiments described above, the restriction to the technical scheme protection domain is not formed.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (14)
1. a kind of indoor locating system, it is characterised in that the system includes：
Mobile robot, it is configured as moving on floor indoors, the mobile robot, which is provided with, to be configured as towards indoor
Ceiling transmitting light beam transmitter, form size and/or shape on the ceiling of the light beam of transmitter transmitting indoors
Shape different the first hot spot and the second hot spot；
Positioner, including：
Image acquisition units, it is configured as obliquely on indoor wall, to gather at least part profile of ceiling
Image and the image of first hot spot and the second hot spot；
With the data processing unit of described image collecting unit communication connection, at least part profile according to ceiling is configured as
Image and the image of first hot spot and the second hot spot, determine the pose on the floor of the mobile robot indoors.
2. system according to claim 1, it is characterised in that the transmitter is Infrared laser emission device, described image
Collecting unit is infrared image acquisition unit.
3. system according to claim 1 or 2, it is characterised in that the positioner also includes at least three delineators
Show position, be configured as on indoor ceiling；Described image collecting unit is configured as gathering at least three profiles
Indicate the image of position；The data processing unit is configured as the image according at least three profile sign positions, it is determined that day
At least part contour images of card.
4. system according to claim 3, it is characterised in that the profile sign position is infrared point-like LED.
5. system according to claim 1 or 2, it is characterised in that the data processing unit is configured as：
Ask for the perspective deformation correction parameter of at least part contour images of ceiling；
The image of first hot spot and the second hot spot is corrected according to the correction parameter；
According to the image of first hot spot and the second hot spot at least part contour images of ceiling pose, it is determined that described
Pose on the floor of mobile robot indoors.
6. system according to claim 5, it is characterised in that the data processing unit is configured as：
According to corresponding to the image of the first minimum circumscribed circle and second hot spot corresponding to the image of first hot spot
Two minimum circumscribed circles, determine the center of circle of first minimum circumscribed circle and the center of circle of second minimum circumscribed circle；
According to the home position of first minimum circumscribed circle and/or the home position of second minimum circumscribed circle, institute is determined
State the position on the floor of mobile robot indoors；
According to the line direction between the center of circle of first minimum circumscribed circle and the center of circle of second minimum circumscribed circle, it is determined that
Posture on the floor of the mobile robot indoors.
7. a kind of indoor orientation method, it is characterised in that methods described includes：
When being moved on the floor of mobile robot indoors, the ceiling for the transmitter direction interior that the mobile robot is provided with
Launch light beam, so that formation size and/or shape is different on the ceiling of the light beam of transmitter transmitting indoors first
Hot spot and the second hot spot；
At least part contour images of image acquisition units collection ceiling on indoor wall and described obliquely
The image of first hot spot and the second hot spot；
With the data processing unit of described image collecting unit communication connection according at least part contour images of ceiling and
The image of first hot spot and the second hot spot, determines the pose on the floor of the mobile robot indoors.
8. according to the method for claim 7, it is characterised in that the transmitter is Infrared laser emission device, described image
Collecting unit is infrared image acquisition unit.
9. the method according to claim 7 or 8, it is characterised in that the collection of described image collecting unit is located at indoor day
The image of at least three profile sign positions on card；The data processing unit indicates according at least three profiles
The image of position, determine at least part contour images of ceiling.
10. according to the method for claim 9, it is characterised in that the profile sign position is infrared point-like LED.
11. the method according to claim 7 or 8, it is characterised in that the data processing unit asks for ceiling at least
The perspective deformation correction parameter of partial contour image；According to the correction parameter to first hot spot and the image of the second hot spot
It is corrected；According to the image of first hot spot and the second hot spot at least part contour images of ceiling pose, really
Pose on the fixed floor of the mobile robot indoors.
12. according to the method for claim 11, it is characterised in that the data processing unit is according to first hot spot
Second minimum circumscribed circle corresponding to the image of first minimum circumscribed circle corresponding to image and second hot spot, determine described
The center of circle of one minimum circumscribed circle and the center of circle of second minimum circumscribed circle；According to the home position of first minimum circumscribed circle
And/or the home position of second minimum circumscribed circle, determine the position on the floor of the mobile robot indoors；According to
Line direction between the center of circle of first minimum circumscribed circle and the center of circle of second minimum circumscribed circle, determines the movement
Posture on the floor of robot indoors.
13. a kind of in-door covering rate test system, it is characterised in that including the system as any one of claim 1-6.
14. a kind of in-door covering rate method of testing, it is characterised in that including the side as any one of claim 7-12
Method.
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| CN112468736A (en) * | 2020-10-26 | 2021-03-09 | 珠海市一微半导体有限公司 | Ceiling vision robot capable of intelligently supplementing light and control method thereof |
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