CN108181610B - Indoor robot positioning method and system - Google Patents
Indoor robot positioning method and system Download PDFInfo
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- CN108181610B CN108181610B CN201711405269.8A CN201711405269A CN108181610B CN 108181610 B CN108181610 B CN 108181610B CN 201711405269 A CN201711405269 A CN 201711405269A CN 108181610 B CN108181610 B CN 108181610B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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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
Abstract
The invention discloses a method and a system for positioning an indoor robot.A laser matrix transmitter receives a laser transmitting instruction signal which is sent by the indoor robot according to a set frequency and a set sequence and contains a laser transmitter number, controls the laser transmitter corresponding to the number to transmit a laser beam to a ceiling, obtains a robot view containing a spot image formed by the laser beam on the ceiling, and realizes the positioning of the indoor robot based on the robot view. Every time the laser matrix transmitter emits a laser beam, a ceiling right above the laser matrix transmitter is photographed by using shooting equipment installed on the indoor robot, a robot view comprising all light spots formed by the emitted laser beam is obtained, the position and the direction of the indoor robot are calculated according to the position of the robot view in the ceiling, the positioning of the indoor robot is realized, the positioning process is small in image processing amount, high in real-time performance and free of interference of the surrounding environment, and the positioning of the indoor robot with low cost, high precision and high reliability can be realized.
Description
Technical Field
The invention belongs to the technical field of indoor robots, and relates to a positioning method and a positioning system for an indoor robot.
Background
In the existing indoor robot positioning technology, positioning technologies such as electromagnetic induction navigation positioning, visual navigation positioning, ultrasonic navigation positioning and the like are mainly used, wherein the electromagnetic induction navigation positioning is realized by arranging an induction coil on a planned robot walking route and installing an induction device on a robot body to perform electromagnetic induction, so that the robot can only walk according to a set route, and the moving range and the moving flexibility of the robot are limited; the visual navigation positioning has the defects of large image processing amount, poor real-time performance, large interference limit of external environment of a light receiving line part, poor positioning precision and the like; the ultrasonic navigation positioning has the defects of inaccurate positioning caused by the fact that the ultrasonic sensor cannot fully acquire surrounding environment information due to the defects of mirror reflection, limited beam angle and the like.
In addition to the disadvantages of the existing indoor robot positioning method, the existing indoor robot also has the problems of poor positioning real-time performance, poor reliability and high cost.
Disclosure of Invention
The application provides an indoor robot positioning method and system, which can realize indoor robot positioning with low cost, high precision, high real-time performance and high reliability.
In order to solve the technical problems, the application adopts the following technical scheme:
an indoor robot positioning method is provided, which comprises the following steps: receiving a laser emission instruction signal sent by an indoor robot according to a set frequency and a set sequence; wherein the laser emission signal comprises a number of the laser emitter; controlling the laser transmitters corresponding to the numbers to transmit laser beams to the ceiling based on the laser transmitting signals; acquiring a robot view including a spot image formed on the ceiling by the laser beam; and positioning the indoor robot based on the robot view.
Further, the serial number of the laser emitter is a laser triangular array serial number; the laser triangular array consists of four laser transmitters; the four laser transmitters are in a laser transmitter matrix, so that three light spots projected to the ceiling by three laser transmitters are on the same straight line and adjacent to each other, and the obtuse included angle of a triangle formed by the light spot projected to the ceiling by the remaining one laser transmitter and the light spots projected to the ceiling by the other three laser transmitters is 135 degrees; the laser emitter matrix is an N-row-M-column matrix consisting of N-M laser emitters, and the spacing between every two laser emitters is equal.
Further, the positioning of the indoor robot based on the spot image specifically includes: view light spot coordinates of the light spots in the robot view in the view coordinate system are determined; determining the projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system; and determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.
Further, determining the indoor position of the indoor robot specifically comprises: moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projection coordinate system; rotating the view coordinate system to enable other light spots except the specified light spot in the view coordinate system to coincide with corresponding projected light spots in the laser matrix projection coordinate system;
according to
Determining projection coordinates of the central point of the robot view in the laser matrix projection coordinate system; determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system; wherein the content of the first and second substances,
and
for the robot viewCoordinates of the center point of (a) in the view coordinate system;
and
coordinates of the specified light spot in the view coordinate system;
and
coordinates of the specified light spot in the projection light spot coordinate system are obtained; theta is an included angle of the robot deviating from the coordinate axis of the projection coordinate system.
Further, determining the indoor direction of the indoor robot specifically comprises: rotating the view coordinate system to enable other light spots except the specified light spot in the view coordinate system to be coincided with the corresponding projected light spot in the laser matrix projection coordinate system based on
Calculating a rotation angle theta; determining a direction of the indoor robot in a room based on the rotation angle θ and the rotation direction; wherein the content of the first and second substances,
and
and, and
and
projecting the coordinates of two light spots in the robot view in the view coordinate system, wherein after the view coordinate system rotates, the straight line where the two light spots are located and the laser matrixThe coordinate axes of the coordinate system are parallel.
The indoor robot positioning system comprises an indoor robot, a laser matrix emitter and shooting equipment; the laser matrix transmitter comprises a plurality of laser transmitters and is used for transmitting laser beams to the ceiling; wherein, each laser emitter is correspondingly provided with a serial number; the indoor robot comprises a laser emission signal sending module, a shooting control module, a robot view acquisition module and a positioning module; the laser emission signal sending module is used for sending laser emission instruction signals to the laser matrix emitter according to a set frequency and a set sequence; wherein, the laser emission instruction signal comprises the serial number of the laser emitter; the laser matrix transmitter comprises a laser transmitter control module used for controlling the laser transmitters corresponding to the serial numbers to transmit laser beams to the ceiling based on the laser transmission instruction signals; the shooting equipment is arranged on the indoor robot, faces the ceiling at a shooting angle and is used for shooting the ceiling under the control of the shooting control module; the robot view acquisition module is used for acquiring a robot view containing a spot image formed on the ceiling by the laser beam; and the positioning module is used for positioning the indoor robot based on the robot view.
Furthermore, the laser matrix emitters are formed by N × M laser emitters in an N-row and M-column matrix form, and the spacing between every two laser emitters is equidistant; the serial number of the laser emitter is a laser triangular array serial number; the laser triangular array consists of four laser transmitters; the four laser transmitters are arranged in a laser transmitter matrix, the requirement that three laser transmitters are projected to three light spots of the ceiling are on the same straight line and adjacent to each other is met, and the remaining laser transmitter is projected to the light spot of the ceiling and the light spots of the ceiling are projected to form a triangular obtuse included angle of 135 degrees.
Furthermore, the positioning module specifically comprises a view light spot coordinate determining unit, a projection light spot coordinate determining unit and a positioning unit; the view light spot coordinate determination unit is used for determining view light spot coordinates of the light spots in the robot view in a view coordinate system; the projection light spot coordinate determination unit is used for determining projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system; and the positioning unit is used for determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.
Further, the positioning unit comprises a coordinate system moving subunit, a coordinate system rotating subunit and an indoor robot position determining subunit; the coordinate system moving subunit is used for moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projected coordinate system; the coordinate system rotating subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system; the indoor robot position determining subunit is used for determining the indoor robot position according to
Determining a projection coordinate of a central point of the robot view in the laser matrix projection coordinate system, and determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system; wherein the content of the first and second substances,
and
coordinates of a center point of the robot view in the view coordinate system;
and
for the specified light spotCoordinates in the view coordinate system;
and
and theta is the coordinate of the specified light spot in a projection light spot coordinate system, and theta is the included angle of the robot deviating from the coordinate axis of the projection coordinate system.
Further, the positioning unit further comprises an indoor robot direction determining subunit; the indoor robot direction determining subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system based on
Calculating a rotation angle theta and determining a direction of the indoor robot in the room based on the rotation angle theta and the rotation direction, wherein,
and
and, and
and
and coordinates of two light spots in the robot view in the view coordinate system are obtained, and after the view coordinate system rotates, a straight line where the two light spots are located is parallel to a coordinate axis of the laser matrix projection coordinate system.
Compared with the prior art, the application has the advantages and positive effects that: in the indoor robot positioning method and system provided by the application, a matrix type laser transmitter is adopted to transmit laser beams to an indoor ceiling according to a set frequency and a set number, the laser transmitter transmits the laser beams once to form light spots on the ceiling, then shooting equipment installed at the top of the indoor robot is adopted to shoot images of the ceiling, a robot view with the light spots is obtained, according to the corresponding relation between a view coordinate system of the robot view and a laser matrix projection coordinate system where the laser matrix transmitter forms the light spots on the ceiling, the corresponding coordinate of the central point of the robot view in the laser matrix projection coordinate system and the rotation angle of the view coordinate system of the robot view relative to the laser matrix projection coordinate system are calculated, and then the corresponding relation between the laser matrix projection coordinate system and the ground coordinate is combined to obtain the indoor position and direction of the indoor robot, thereby the positioning of the indoor robot is realized. Compared with the existing visual navigation positioning mode, the positioning mode has the advantages that only the image containing the light spots needs to be processed, the image processing amount is small, the real-time performance is strong, the positioning reliability is high, the interference of the surrounding environment is avoided, and the positioning reliability is high; compared with the existing ultrasonic navigation positioning, the positioning can be realized only by using the corresponding relation of a coordinate system without fully acquiring the surrounding environment information, the cost is low, the precision is high, the installation is simple and convenient, and the indoor robot positioning with low cost, high precision, high real-time performance and high reliability can be realized.
Other features and advantages of the present application will become more apparent from the detailed description of the embodiments of the present application when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a flowchart of a method of an indoor robot positioning method according to the present application;
fig. 2 is a system block diagram of an indoor robot positioning system proposed in the present application;
FIG. 3 is a diagram illustrating an exemplary establishment of a laser matrix projection coordinate system proposed in the present application;
FIG. 4 is an exemplary diagram of a corresponding relationship between a view coordinate system and a laser matrix projection coordinate system in the present application;
fig. 5 is an exemplary diagram of a corresponding relationship between a view coordinate system and a laser matrix projection coordinate system in the present application.
Detailed Description
The following describes embodiments of the present application in further detail with reference to the accompanying drawings.
The indoor robot positioning method provided by the application is based on an indoor robot positioning system shown in fig. 2, and the indoor robot positioning system comprises an indoor robot 1, a laser matrix emitter 2 and a shooting device 3; the photographing apparatus 3 is installed at the top of the indoor robot 1 with a photographing angle toward the ceiling.
The laser matrix emitter 2 comprises a plurality of laser emitters 21 which are combined and arranged in a matrix form of N rows and M columns, the distances among the laser emitters are equal and are L, the laser emitters are used for emitting laser beams to a ceiling, and each laser emitter 21 is correspondingly provided with a serial number; the projection angle of each laser emitter can be adjusted, the positions of light spots formed on the ceiling by the emitted laser beams are preset, and when all the laser emitters 21 project towards the ceiling, a light spot lattice in a matrix form with uniform distribution can be formed on the ceiling; wherein N and M are positive integers. As shown in fig. 3, a laser matrix projection coordinate system is established for projecting laser spots on the ceiling.
Before positioning, the laser matrix emitter 2 needs to be fixed at a certain indoor position, so that emitted laser beams are not blocked and can be projected to a ceiling to form effective visible light spots; each laser emitter has a corresponding number
，
,
(ii) a Before the laser emitter projects a light spot on the ceiling, a laser matrix projection coordinate system needs to be established on the ceiling, and the light spot formed by each laser emitter projecting on the ceiling is positioned on the ceilingThe laser matrix projection coordinate system has its own position information, and the correspondence between the serial number and the position information in the laser matrix projection coordinate system needs to be stored in advance. In the example of the laser matrix projection coordinate system shown in fig. 3, a coordinate system is established with the first laser emitter at the upper left corner of the laser matrix emitters as the origin of the laser matrix projection coordinate system.
Based on the above, the indoor robot positioning method provided by the present application, as shown in fig. 1, includes the following steps:
step S11: and receiving a laser emission instruction signal sent by the indoor robot according to the set frequency and the set sequence.
Taking an example that an indoor robot sends a laser emission instruction signal to a laser matrix emitter at a set frequency of 100 times/second, the laser emission signal emitted each time contains the serial number of the laser emitter; for example, the first transmitted laser emission signal includes a laser transmitter
、
、
And
the laser emission signal sent for the second time comprises a laser emitter
、
、
And
third-time transmitted laserThe transmitted signal containing a laser transmitter
、
、
And
and so on.
Step S12: and controlling the laser transmitters corresponding to the serial numbers to transmit laser beams to the ceiling based on the laser transmitting instruction signals.
That is, each time a laser emission command signal is sent, the laser matrix emitter starts the laser emitter with the corresponding number according to the sent laser emitter number to project a laser beam to the ceiling, and a light spot is formed on the ceiling.
Step S13: a view of the robot containing the laser beam forming a spot image on the ceiling is acquired.
After a laser emission instruction signal is sent once to form a light spot on the ceiling, the shooting equipment is controlled to shoot the ceiling to obtain a robot view, and the laser emission signal is sent 100 times in one second, the laser matrix transmitter projects 100 times of laser to the ceiling within one second, the light spot is formed 100 times on the ceiling, the shooting equipment obtains 100 robot views within one second, but because the indoor robot is either static or running, the position of the indoor robot is changed at any time during the motion process, the shooting range is limited, and only the image of the ceiling right above the indoor robot can be shot, so that the complete light spot can not be shot in all the robot views in 100 robot views obtained in one second, and the complete light spot can only be shot when the light spot is formed right above the indoor robot view, therefore, it is necessary to screen out the robot view with complete light spots from the 100 images as the analysis basis, i.e. screen out the robot view with four light spots.
Step S14: indoor robot positioning is achieved based on the robot view.
After the robot view with complete light spots is screened out, the number of a laser transmitter which projects laser to form the light spots in the robot view can be obtained, the coordinates of the light spots in a laser matrix projection coordinate system can be obtained according to the corresponding relation between the number and position information in the laser matrix projection coordinate system, the view coordinates of each light spot in the view coordinate system in the robot view can be obtained, the position relation between the robot view and a ceiling can be converted through means of scaling, coordinate system rotation and the like according to the corresponding relation between the view coordinate system where the robot view is located and the laser matrix projection coordinate system, and then the positioning of the indoor robot can be obtained by combining the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system.
Generally, a ceiling and a ground are in a mirror image relationship, a laser matrix projection coordinate system and a ground coordinate system are also in a mirror image relationship, a robot view containing a light spot image on the ceiling is obtained through a shooting device installed at the top of an indoor robot, a position coordinate of a center point of the robot view in the laser matrix projection coordinate system of the ceiling is deduced through a corresponding relationship between the robot view and the laser matrix projection coordinate system, the position relationship between the center point of the robot view and the ground is also known based on mirror image correspondence, the center point of the robot view is located right above the robot, and the position of the center point of the robot view can directly reflect the indoor position of the indoor robot.
For example, four light spots are connected to form an obtuse triangle according to the example, after scaling and coordinate system rotation are performed, the positions of the light spots in the robot view and the positions of the light spots in the laser matrix projection coordinate system coincide, and in the process, the rotation angle for realizing coordinate system coincidence can be known to represent the motion direction of the indoor robot; the center point of the robot view is the shooting center point of the shooting equipment, and the corresponding position of the robot view center point in the laser matrix projection coordinate system is found, so that the position of the indoor robot in the laser matrix projection coordinate system can be determined, and the indoor position of the robot is also determined. Of course, the present application is not limited to controlling four laser projectors to project laser light to the ceiling in the above exemplary manner each time, and any manner of projecting a specific combination of laser light at a set frequency and in a set sequence is within the scope of the present application.
In a preferred implementation of the present application, the laser emission signal sent by the indoor robot to the laser matrix emitter according to the set frequency and the set sequence includes the number of four laser emitters, and each four laser emitters project light spots formed on the ceiling to form a triangle; wherein three laser emitter project three facula of ceiling just adjacent on same straight line, and the obtuse angle contained angle abd that the facula that the other three laser emitter projected the ceiling formed is 135, constitutes two limits of maximum contained angle, and a limit length of side is 135
L, and the other side has a side length of 2L, as shown by spots a, b, c, d in fig. 3. The asymmetrically distributed light spot form is beneficial to determining the light spots projected by the laser emitted by the laser emitters with corresponding numbers according to the position of the obtuse angle.
Every time the indoor robot sends laser emission command signal to laser matrix transmitter, laser matrix transmitter starts four laser transmitter that the serial number that contains laser transmitter corresponds and throws the laser beam to the ceiling, form the triangle-shaped that comprises four facula at the ceiling, control shooting equipment simultaneously and carry out once shooting to the ceiling, guarantee to launch laser and shoot synchronous, shooting equipment's shooting visual field should include the region of two triangle-shaped sizes at least, so that when four facula that constitute triangle-shaped are in shooting the visual field, also when indoor robot is directly over, can be complete shoot four facula of triangle-shaped.
Then, in step S14, the indoor robot is positioned based on the robot view, specifically: view light spot coordinates of a light spot in a robot view in a view coordinate system are determined; determining projection light spot coordinates of light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system; and determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates. Specifically, the indoor position of the indoor robot is determined according to the position of the center point of the robot view in the laser matrix projection coordinate system, and the movement direction of the robot is determined according to the included angle relationship between the view coordinate system and the laser matrix projection coordinate system.
In specific implementation, after a robot view with complete light spots is obtained, the numbers of the four corresponding laser transmitters in the robot view can be obtained, and the projection light spot coordinates of the light spots in a laser matrix projection coordinate system can be determined; view spot coordinates of the light spot in the view coordinate system can also be known from the robot view.
The corresponding relation, namely the proportional relation, is preset between the view coordinate system and the laser matrix projection coordinate system, and the two coordinate systems can be identical according to the proportional scaling.
The coordinates of the center point of the robot view can be determined according to the light spot images in the robot view; the center point of the robot view can represent the shooting center point of the shooting equipment, that is, the positioning of the indoor robot, after the view coordinate of the center point of the robot view is determined, the view coordinate system and the laser matrix projection coordinate system are in the same proportion through scaling, and if the view coordinate system and the laser matrix projection coordinate system are in the same proportion, as shown in fig. 4, the coordinates of the four light spots a, b, c and d and the robot view center point m in the view coordinate system are respectively
、
、
、
、
Are known (i.e. the respective light spots in the robot view are co-ordinated in the view coordinate system according to the pixel position).
The robot view of the complete light spot image is determined, namely the number of the laser emitter forming the light spot in the robot view can be determined, and the position of the light spot projected on the ceiling by the laser emitter in a laser matrix projection coordinate system can be determined according to the number of the laser emitter, namely the projection light spot coordinate can be determined; setting projection light spot coordinates of four light spots a, b, c and d in a laser matrix projection coordinate system and projection coordinates corresponding to a robot view central point in the laser matrix projection coordinate system as
、
、
、
、
The projected light spot coordinates of the four light spots can be obtained through the position relation between the serial number of the laser transmitter and the laser matrix projected coordinate system; and the projection coordinate of the central point m of the robot view corresponding to the projection coordinate system of the laser matrix is unknown and is the target coordinate. Here, the light spots in the view coordinate system are denoted by ".", and the light spots in the laser matrix projection coordinate system are denoted by ". dot".
As shown in fig. 5, the view coordinate system is moved so that a designated spot (spot a in the illustration) in the robot view coincides with the projected spot corresponding to the designated spot in the laser matrix projection coordinate system.
Generally, the indoor robot is not limited to position positioning, but also includes movement direction positioning, i.e. deflection angle positioning, because when the direction of the robot moving forward is not always consistent with the direction of the projection coordinate system, so that the robot view photographed by the photographing apparatus has a certain included angle with the laser matrix projection coordinate system, such as an included angle θ shown in fig. 5, which also reflects the included angle relationship between the X-axis or Y-axis of the view coordinate system and the X-axis or Y-axis of the laser matrix projection coordinate system (in the illustration, the included angle is an included angle with the Y-axis of the laser matrix projection coordinate system), therefore, to make the light spots in the two coordinate systems coincide, the view coordinate system is rotated, so that the other light spots (b, c, d) except the designated light spot in the view coordinate system coincide with the corresponding projection light spot in the laser matrix projection coordinate system, i.e. θ, which represents the deflection direction of the indoor robot, it may be provided that theta greater than zero corresponds to a counterclockwise rotation, theta less than zero corresponds to a clockwise rotation, and by rotation, may be based on
Determining center point view coordinates of a robot view
Corresponding projection coordinates in a laser matrix projection coordinate system
(ii) a And then the indoor position of the indoor robot can be determined based on the projection coordinate corresponding to the central point of the robot view and the corresponding relation between the laser matrix projection coordinate system and the ground coordinate system.
Then in rotating the view coordinate system so that the other spots in the view coordinate system except the specified spot coincide with the corresponding projected spots in the laser matrix projection coordinate system, the method is based on
The rotation angle theta can be calculated, and the indoor direction of the indoor robot is determined based on the rotation angle theta and the rotation direction;
wherein the content of the first and second substances,
and
and, and
and
coordinates of two light spots b and d in the robot view in a view coordinate system are shown, and after the view coordinate system rotates, straight lines where the two light spots b and d are located are in parallel relation with an X coordinate axis of a laser matrix projection coordinate system.
Based on the above, the position and the movement deflection direction of the indoor robot can be obtained according to the corresponding relation between the laser matrix projection coordinate system and the ground coordinate system, and the indoor robot moves forward according to the angle at the next moment.
In the embodiment of the present application, the laser triangular array formed by four laser transmitters is used to project light spots to the ceiling to realize the calculation of the position and the direction of the robot, in practical applications, the laser transmitters with other numbers and/or arrangement modes are used to combine to project light spots to the ceiling, and the positioning of the position and the direction of the indoor robot can also be realized based on different algorithms, which is not limited in the present application.
Based on the indoor robot positioning method, the application also provides an indoor robot positioning system as shown in fig. 2, which comprises an indoor robot 1, a laser matrix emitter 2 and a shooting device 3; the laser matrix emitter 2 comprises a plurality of laser emitters 21 for emitting laser to the ceiling, wherein each laser emitter is provided with a number correspondingly; the indoor robot 1 comprises a laser emission instruction signal sending module 11, a shooting control module 12, a robot view acquisition module 13 and a positioning module 14; the laser emission instruction signal sending module 11 is configured to send a laser emission instruction signal to the laser matrix emitter 2 according to a set frequency and a set sequence, where the laser emission instruction signal includes a serial number of the laser emitter; the laser matrix transmitter 2 further comprises a laser transmitter control module 22, configured to control the laser transmitter corresponding to the serial number to transmit laser to the ceiling based on the laser transmission signal; the shooting device 3 is arranged at the top of the indoor robot, faces the ceiling at a shooting angle and is used for shooting the ceiling under the control of the shooting control module 12; the robot view acquisition module 13 is used for acquiring a robot view including a spot image formed on the ceiling by the laser beam; the positioning module 14 is used to position the indoor robot based on the robot view.
Specifically, the laser matrix emitter 2 is in a matrix form of N rows and M columns formed by N × M laser emitters 21, and the intervals between each two laser emitters are equidistant; the laser matrix emitter 2 controls the laser emitters with corresponding numbers to project laser to the ceiling according to the numbers contained in the laser emission instruction signals, wherein the numbers are laser triangle array numbers, the laser triangle array is composed of four laser emitters, the four laser emitters are in the laser emitter matrix, and the three light spots projected to the ceiling by the three laser emitters are on the same straight line and adjacent, and the obtuse included angle of the triangle formed by the light spots projected to the ceiling by the remaining one laser emitter and the light spots projected to the ceiling by the other three laser emitters is 135 degrees.
The positioning module 14 specifically includes a view spot coordinate determination unit 141, a projection spot coordinate determination unit 142, and a positioning unit 143; the view light spot coordinate determination unit 141 is used for determining the view light spot coordinates of the light spot in the robot view in the view coordinate system; the projection light spot coordinate determination unit 142 is configured to determine projection light spot coordinates of light spots projected by the laser transmitters corresponding to the serial numbers in the laser matrix projection coordinate system; the positioning unit 143 is configured to determine the position and direction of the indoor robot indoors according to the view spot coordinates and the projection spot coordinates.
Specifically, the positioning unit 143 includes a coordinate system moving subunit 1431, a coordinate system rotating subunit 1432, and an indoor robot position determining subunit 1433; the coordinate system moving subunit 1431 is used to move the view coordinate system so that the view is viewedThe appointed light spot in the graph coordinate system is superposed with the projection light spot corresponding to the appointed light spot in the laser matrix projection coordinate system; the coordinate system rotation subunit 1432 is configured to rotate the view coordinate system, so that the other light spots in the view coordinate system except the designated light spot coincide with the projection light spot corresponding to the laser matrix projection coordinate system; the indoor robot position determining subunit 1433 is configured to determine a position based on
And determining the projection coordinate of the central point of the robot view in a laser matrix projection coordinate system, and determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system.
The positioning unit further comprises an indoor robot direction determining subunit 1434 for rotating the view coordinate system such that spots other than the specified spot in the view coordinate system coincide with corresponding projected spots in the laser matrix projection coordinate system based on
Calculating a rotation angle theta, and determining the direction of the indoor robot in the room based on the rotation angle theta and the rotation direction; wherein the content of the first and second substances,
and
and, and
and
coordinates of two light spots b and d in the robot view in a view coordinate system are shown, and after the view coordinate system rotates, straight lines where the two light spots b and d are located are in parallel relation with coordinate axes of a laser matrix projection coordinate system.
The working method of the positioning system of the indoor robot has been described in detail in the above indoor robot positioning method, and is not described herein again.
The indoor robot positioning method and system provided by the application adopt the matrix type laser transmitter to transmit laser beams to the ceiling according to the set frequency, the set sequence and the set number, each time the laser beams are transmitted, the shooting equipment arranged on the indoor robot is used to shoot the ceiling right above the indoor robot, and the robot view containing the ceiling image is obtained, wherein the robot view which comprises all light spots formed by the once transmitted laser beams can be shot by the shooting equipment inevitably exists, the coordinate system of the view where the robot view is located is superposed with the laser matrix projection coordinate system established on the ceiling through the means of scaling, translation, rotation and the like, the position and the direction of the indoor robot are calculated from the coordinate system, the indoor robot is positioned, the image processing amount is small, the real-time performance is strong, and the indoor robot is not interfered by the surrounding environment in the positioning process, the indoor robot positioning device is simple and convenient to install, and can realize indoor robot positioning with low cost, high precision and high reliability.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. An indoor robot positioning method, comprising:
receiving a laser emission instruction signal sent by an indoor robot according to a set frequency and a set sequence; wherein, the laser emission instruction signal comprises the serial number of the laser emitter;
controlling the laser transmitters corresponding to the numbers to transmit laser beams to the ceiling based on the laser transmitting instruction signals; the indoor robot sends a laser emission command signal to the laser matrix emitter once, the laser matrix emitter starts four laser emitters corresponding to the serial numbers of the laser emitters to project laser beams to a ceiling, and a triangle formed by four light spots is formed on the ceiling;
acquiring a robot view containing a spot image formed on the ceiling by the laser beam; when the shooting equipment is controlled to shoot the ceiling for one time, the synchronization of laser emission and shooting is ensured, and the shooting field of the shooting equipment at least comprises two areas with the size of a triangle, so that four light spots forming the triangle are in the shooting field;
and positioning the indoor robot based on the robot view.
2. The indoor robot positioning method according to claim 1, wherein the numbers of the laser emitters are laser triangle array numbers; the laser triangular array consists of four laser transmitters; the four laser transmitters are in a laser transmitter matrix, so that three light spots projected to the ceiling by three laser transmitters are on the same straight line and adjacent to each other, and the obtuse included angle of a triangle formed by the light spot projected to the ceiling by the remaining one laser transmitter and the light spots projected to the ceiling by the other three laser transmitters is 135 degrees; the laser emitter matrix is an N-row-M-column matrix consisting of N-M laser emitters, and the spacing between every two laser emitters is equal.
3. The indoor robot positioning method according to claim 1, wherein the indoor robot positioning based on the robot view is implemented specifically as follows:
view light spot coordinates of the light spots in the robot view in the view coordinate system are determined;
determining the projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system;
and determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.
4. The indoor robot positioning method according to claim 3, wherein determining the indoor position of the indoor robot is specifically:
moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projection coordinate system;
rotating the view coordinate system to enable other light spots except the specified light spot in the view coordinate system to coincide with corresponding projected light spots in the laser matrix projection coordinate system;
according to
Determining projection coordinates of the central point of the robot view in the laser matrix projection coordinate system;
determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system;
wherein the content of the first and second substances,
and
coordinates of a center point of the robot view in the view coordinate system;
and
coordinates of the specified light spot in the view coordinate system;
and
coordinates of the specified light spot in the projection light spot coordinate system are obtained; theta is an included angle of the robot deviating from the coordinate axis of the projection coordinate system;
and
and projecting coordinates of the center point of the robot view in the laser matrix projection coordinate system.
5. The indoor robot positioning method according to claim 4, wherein determining the indoor direction of the indoor robot is specifically:
rotating the view coordinate system to make other light spots except the specified light spot in the view coordinate system coincide with the corresponding projected light spot in the laser matrix projection coordinate system,
based on
Calculating a rotation angle theta;
determining a direction of the indoor robot in a room based on the rotation angle θ and the rotation direction;
wherein the content of the first and second substances,
and
and, and
and
and coordinates of two light spots in the robot view in the view coordinate system are obtained, and after the view coordinate system rotates, a straight line where the two light spots are located is parallel to a coordinate axis of the laser matrix projection coordinate system.
6. An indoor robot positioning system is characterized by comprising an indoor robot and a laser matrix emitter
And a photographing device;
the laser matrix transmitter comprises a plurality of laser transmitters and is used for transmitting laser beams to the ceiling;
wherein, each laser emitter is correspondingly provided with a serial number;
the indoor robot comprises a laser emission instruction signal sending module, a shooting control module, a robot view acquisition module and a positioning module; the laser emission instruction signal sending module is used for sending laser emission instruction signals to the laser matrix emitter according to a set frequency and a set sequence; wherein, the laser emission instruction signal comprises the serial number of the laser emitter;
the laser matrix transmitter comprises a laser transmitter control module used for controlling the laser transmitters corresponding to the serial numbers to transmit laser beams to the ceiling based on the laser transmission instruction signals; the indoor robot sends a laser emission command signal to the laser matrix emitter once, the laser matrix emitter starts four laser emitters corresponding to the serial numbers of the laser emitters to project laser beams to a ceiling, and a triangle formed by four light spots is formed on the ceiling;
the shooting equipment is arranged on the indoor robot, faces the ceiling at a shooting angle and is used for shooting the ceiling under the control of the shooting control module;
the robot view acquisition module is used for acquiring a robot view containing a spot image formed on the ceiling by the laser beam; when the shooting equipment is controlled to shoot the ceiling for one time, the synchronization of laser emission and shooting is ensured, and the shooting field of the shooting equipment at least comprises two areas with the size of a triangle, so that four light spots forming the triangle are in the shooting field;
and the positioning module is used for positioning the indoor robot based on the robot view.
7. The indoor robotic positioning system of claim 6, wherein the laser matrix emitters are in the form of an N row by M column matrix of N x M laser emitters, each laser emitter being equidistant from the other;
the serial number of the laser emitter is a laser triangular array serial number; the laser triangular array consists of four laser transmitters; the four laser transmitters are arranged in a laser transmitter matrix, the requirement that three laser transmitters are projected to three light spots of the ceiling are on the same straight line and adjacent to each other is met, and the remaining laser transmitter is projected to the light spot of the ceiling and the light spots of the ceiling are projected to form a triangular obtuse included angle of 135 degrees.
8. The indoor robot positioning system of claim 6, wherein the positioning module specifically comprises a view spot coordinate determination unit, a projection spot coordinate determination unit, and a positioning unit;
the view light spot coordinate determination unit is used for determining view light spot coordinates of the light spots in the robot view in a view coordinate system;
the projection light spot coordinate determination unit is used for determining projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system;
and the positioning unit is used for determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.
9. The indoor robot positioning system of claim 8, wherein the positioning unit comprises a coordinate system moving subunit, a coordinate system rotating subunit, and an indoor robot position determining subunit;
the coordinate system moving subunit is used for moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projected coordinate system;
the coordinate system rotating subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system;
the indoor robot position determining subunit is used for determining the indoor robot position according to
Determining a projection coordinate of a central point of the robot view in the laser matrix projection coordinate system, and determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system; wherein the content of the first and second substances,
and
coordinates of a center point of the robot view in the view coordinate system;
and
coordinates of the specified light spot in the view coordinate system;
and
coordinates of the specified light spot in the projection light spot coordinate system are obtained; theta is an included angle of the robot deviating from the coordinate axis of the projection coordinate system;
and
and projecting coordinates of the center point of the robot view in the laser matrix projection coordinate system.
10. The indoor robot positioning system of claim 9, wherein the positioning unit further comprises an indoor robot direction determining subunit;
the indoor robot direction determining subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system based on
Calculating a rotation angle theta, and determining the indoor direction of the indoor robot based on the rotation angle theta and the rotation direction;
wherein the content of the first and second substances,
and
and, and
and
and coordinates of two light spots in the robot view in the view coordinate system are obtained, and after the view coordinate system rotates, a straight line where the two light spots are located is parallel to a coordinate axis of the laser matrix projection coordinate system.
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