CN108931982A - Vision navigation system and method for robot moving equipment - Google Patents
Vision navigation system and method for robot moving equipment Download PDFInfo
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- CN108931982A CN108931982A CN201811027541.8A CN201811027541A CN108931982A CN 108931982 A CN108931982 A CN 108931982A CN 201811027541 A CN201811027541 A CN 201811027541A CN 108931982 A CN108931982 A CN 108931982A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 12
- 238000003708 edge detection Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 239000000654 additive Substances 0.000 description 2
- 230000000996 additive effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses a kind of vision navigation systems and method for robot moving equipment.Two-dimension code label/one-dimension code label information labels are placed on vision guided navigation platform, color band is set between label, fixed bracket is equipped with above vision guided navigation platform, camera and light source are installed on fixed bracket, light source irradiates downward, the camera lens of camera is downward, robot moving equipment has information labels/colour band vision guided navigation platform surface image by camera acquisition in real time, control drives robot moving equipment itself to move along the planar horizontal for being parallel to vision guided navigation platform, i.e. fixed bracket and camera thereon and light source also moves and realize that real-time vision detection and navigation are moved.The present invention is used for robot moving equipment, shoots label image, combines robot information labels with colour band guide and navigates, can individually be navigated, can individually be navigated in a manner of colour band with information labels, keeps robot mobile flexibly, reduces to environmental factor dependence.
Description
Technical field
The present invention relates to a kind of Algorithms of Robots Navigation System of Visual Navigation of Mobile Robots technical field and methods, more specifically
Ground, which is said, refers to a kind of vision navigation system and method for robot moving equipment.
Background technique
Mobile robot is the important branch of robotics, and mobile robot is collection environment sensing, Dynamic Programming, behavior control
The system that the multiple functions such as system are integrated, wherein the navigation mode of mobile robot is the emphasis in robot research field.It is existing
Stage mobile robot Automatic Guided Technology mainly includes electromagnetic navigation, tape navigation, laser navigation, ultrasonic wave navigation, vision
Navigation etc..Wherein vision guided navigation is the hot spot of recent domestic mobile robot research field.Due to vision guided navigation adaptability
By force, be not easy it is affected by environment, so having very big development space and very strong development potentiality.
However, directly acquiring ambient image information currently with camera, by analyzing ambient image information, look for
Barrier out, progress path planning are very high to algorithm requirement, and there is presently no large-scale commercial applications.In existing two dimensional code
In airmanship, mobile robot can only straight line or right-angled bend operation, can not achieve the operation of continuous any angle track.Together
When existing vision navigation system it is various informative, it is difficult to realize that modularization, versatility be not strong.
Summary of the invention
The present invention provide in view of the deficiencies of the prior art a kind of vision navigation system for robot moving equipment and
Method can identify that two dimensional code/one-dimension code posture information and decoding can also identify the pose of colour band, to mobile robot
Carry out continuous navigation.
Two dimensional code/one-dimension code label not only can be with transfer data information, but also can use itself graphic characteristics, therefore adopt
Collection two dimensional code/one-dimension code label carries out image procossing and decoding is a kind of important method of Visual Navigation of Mobile Robots.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions:
One, a kind of vision navigation system for robot moving equipment:
Including camera, fixed bracket, light source, information labels and colour band, two dimensional code mark is placed on vision guided navigation platform
Color band, vision guided navigation platform top is arranged in label/one-dimension code label information labels between two-dimension code label and one-dimension code label
Equipped with fixed bracket, camera and light source are installed on fixed bracket, light source irradiates downward, and the camera lens of camera downward, fixes branch
Frame is connected on robot moving equipment.
Robot moving equipment has information labels/colour band vision guided navigation platform surface figure by camera acquisition in real time
Picture, control drive robot moving equipment itself to move along the planar horizontal for being parallel to vision guided navigation platform, i.e., fixed bracket and
Camera and light source thereon, which also moves, realizes real-time vision detection and navigation movement.
The camera takes pictures to information labels and colour band under the uniform irradiation of light source, and acquisition includes information mark
The image of label and colour band relative position within the scope of field of view, and image is transmitted to image processing unit.
The information labels are that the mixing of one kind of two-dimension code label and one-dimension code label or both uses.
Site number letter of the two-dimension code label/one-dimension code label with robot moving equipment navigation under mobile
Breath.
The camera is industrial area array CCD color camera, and the light source is industrial camera annular light source.
Two, a kind of vision navigation method for robot moving equipment:
Using above-mentioned apparatus, camera take pictures acquiring image under the uniform irradiation of light source to information labels and colour band,
Image is transmitted to image processing unit, image procossing is carried out by image processing unit and obtains site number, mobile robot
Pose deviation and colour band angle value navigation information, while using navigation information realize Navigational Movements.
The pose deviation of mobile robot, calculating process specifically: first by image are obtained by the two-dimension code label
Edge contour is obtained by edge detection, Hough straight line fitting edge contour is recycled, extracts two dimensional code edge wheel profile, obtain
The diagonal line and its diagonal coordinate value for obtaining two dimensional code edge wheel profile, find out diagonal line slope and center point coordinate value, diagonal line
The angle of slope and mobile robot itself direction compares deviation as angle deviating value, center point coordinate value and mobile robot
Compare deviation as X offset coordinates and Y offset coordinates between the center calibration coordinate of itself.
Colour band angle value, calculating process are obtained by the colour band specifically: image is first obtained into side by edge detection
Edge profile recycles Hough straight line fitting edge contour, extracts colour band edge line, and obtain colour band edge line two sit up straight
Mark finally calculates the center line and tilt angle for finding out colour band, and tilt angle is as colour band angle value.
A) when vision guided navigation platform sticks two dimensional code/one-dimension code information labels and colour band, individually with information mark
Label and colour band navigation mode work；
B) when vision guided navigation platform is without sticking two dimensional code/one-dimension code information labels but sticking colour band, individually with colour band
Navigation mode works；
C) when vision guided navigation platform is without sticking colour band but sticking two dimensional code/one-dimension code information labels, individually with two dimension
The information labels navigation mode of code/one-dimension code works.
It include information labels, colour band in the image that the present invention acquires, not only available two-dimension code label, while can be with
Colour band information is obtained, for confirming relative position of the robot within the scope of field of view and image information being transmitted to image procossing
Unit.
The feature that visual identity method of the present invention obtains is not only two dimensional code, while also obtaining the information of colour band, i.e.,
Site number, X offset coordinates, Y offset coordinates, angle deviating, colour band angle value totally five parameters for navigation are obtained, simultaneously
The Navigational Movements of robot are realized with this five parameters.
The invention has the following beneficial effects:
The present invention provides dedicated vision module for Visual Navigation of Mobile Robots, can use colour band and information labels
Realize continuously navigating at any angle for mobile robot.
The present invention can be individually used for information labels navigation, can also be individually used for colour band navigation, can be also used for information mark
The hybrid navigation of label and colour band, and obtain navigation application effect outstanding.
Detailed description of the invention
Fig. 1 is the vision guided navigation module principle figure that the specific embodiment of the invention provides；
Fig. 2 is the vision guided navigation function structure chart that the specific embodiment of the invention provides.
Fig. 3 is application principle figure of the invention patent in entire plane map.
Numbering in the drawing explanation: camera 1, camera lens 2, fixed bracket 3, light source 4, two-dimension code label 5, colour band 6, one-dimension code mark
Label 7.
Specific embodiment
The invention patent is described in further details below in conjunction with attached drawing.The following examples are intended to illustrate the invention, but
It is not intended to limit the scope of the invention.
As depicted in figs. 1 and 2, present invention specific implementation includes camera 1, fixed bracket 3, light source 4, information labels and colour band
6, the information labels of 5/ one-dimension code label 7 of two-dimension code label, two-dimension code label 5 and one-dimension code are placed on vision guided navigation platform
Color band 6 is set between label 7, fixed bracket 3 is equipped with above vision guided navigation platform, camera 1 and light are installed on fixed bracket 3
Source 4, light source 4 are fixed on fixed 3 bottom of bracket, and light source 4 irradiates downward, and downward, fixed bracket 3 is connected to the camera lens 2 of camera 1
On robot moving equipment, fixed bracket is determined according to the specific structure of the mobile robot depended on.
As shown in Fig. 2, robot moving equipment passes through the vision guided navigation that the acquisition of camera 1 has information labels/colour band 6 in real time
Platform surface image, control drive robot moving equipment itself (i.e.) along the planar water translation for being parallel to vision guided navigation platform
Dynamic, i.e., fixed bracket 3 and camera 1 thereon and light source 4 also moves and realize that real-time vision detection and navigation are moved.Camera 1 is in light
It under the uniform irradiation in source 4, takes pictures to information labels and colour band, acquisition includes information labels and colour band in field of view model
The image of interior relative position is enclosed, and image is transmitted to the image processing unit in robot moving equipment.
Site number information of the 5/ one-dimension code label 7 of two-dimension code label with robot moving equipment navigation under mobile.It stands
Point number information is the navigator fix point of mobile robot on the ground.
As shown in Fig. 2, camera 1 is industrial area array CCD color camera, 1Gbps band is provided using gigabit ethernet interface
Width can arrive 100m without relaying maximum transmission distance, cache on 128MB plate, can cache plurality of pictures, for burst transfer or
Re-transmission, the usable hard triggerings such as support auto-exposure control, customized look-up table LUT, Gamma correction of user or soft triggering
Mode is synchronous between camera or camera and external equipment to complete more.Two dimensional code, colour band image hair are acquired using camera
Give image processing unit, analysis of two-dimensional code, colour band pose and decoding two dimensional code.
As shown in Fig. 2, camera 1 is industrial area array CCD color camera, it is used for shot region uniform illumination.
In specific implementation, robot bottom is more dark, needs special nonreflective light source, and light source 4 is selected as industry
Camera annular light source.Light source 4 uses high density LED array illumination, and uniform illumination is suitable for varying environment.
General vision navigation procedure of the invention is as follows:
As shown in figure 3, being placed with two dimensional code one-dimension code additive color band 6, the label of two dimensional code one-dimension code on a plan view
5,7 uniformly at intervals, connection arrangement colour band 6, the mobile robot equipped with apparatus of the present invention between some labels 5,7 of fixed point
The transport of material can be realized with the navigation of two dimensional code additive color band.
Camera 1 take pictures acquiring image, image is transmitted under the uniform irradiation of light source 4 to information labels and colour band
To image processing unit, image procossing is carried out by image processing unit and obtains site number, the pose deviation of mobile robot
Value and colour band angle value navigation information to get to website number information, X offset coordinates, Y offset coordinates, angle deviating value and
Colour band angle value totally five for navigation parameter.
The pose deviation of mobile robot, calculating process specifically: first pass through image are obtained by two-dimension code label 5
Edge detection obtains edge contour, recycles Hough straight line fitting edge contour, extracts two dimensional code edge wheel profile, obtains two
The diagonal line and its diagonal coordinate value for tieing up code edge wheel profile, find out diagonal line slope and center point coordinate value, diagonal line slope
Compare deviation as angle deviating value, center point coordinate value and mobile robot itself with the angle direction of mobile robot itself
Center calibration coordinate between compare deviation as X offset coordinates and Y offset coordinates.
Similarly, the pose deviation calculating process of mobile robot is obtained by one-dimension code label 7 specifically: first by image
Edge contour is obtained by edge detection, Hough straight line fitting edge contour is recycled, extracts one-dimension code edge wheel profile, obtain
The diagonal line and its diagonal coordinate value for obtaining one-dimension code edge wheel profile, find out diagonal line slope and center point coordinate value, diagonal line
The angle of slope and mobile robot itself direction compares deviation as angle deviating value, center point coordinate value and mobile robot
Compare deviation as X offset coordinates and Y offset coordinates between the center calibration coordinate of itself.
Colour band angle value, calculating process are obtained by colour band 4 specifically: image is first obtained into edge wheel by edge detection
Exterior feature recycles Hough straight line fitting edge contour, extracts colour band edge line, obtains the both ends coordinate of colour band edge line,
The center line and tilt angle for finding out colour band are finally calculated, tilt angle is as colour band angle value.
Then Navigational Movements are realized using five parameters of navigation information:
A single) when the application environment of vision guided navigation platform sticks two dimensional code/one-dimension code information labels and colour band
It is solely worked in a manner of information labels and colour band navigation, improves the usable condition of the vision guided navigation module, improve moving machine
The navigational environment adaptability of device people；
Colour band angle value, pose deviation and the moving machine obtained particular by the image with color band and information labels
The center calibration coordinate of device people itself, angle direction are combined processing:
Control mobile robot first is mobile, adjusts pose deviation, so that the posture of mobile robot itself and current
Center calibration coordinate, angle direction and the corresponding center point coordinate of information labels of the identical i.e. mobile robot itself of information labels
Value, diagonal line slope coincide；
Then mobile robot head is made to be directed parallel to colour band direction mobile robot angle direction and colour band angle
Value coincide and demarcates coordinate on colour band center line along the center that colored band centerline direction moves advance mobile robot itself,
Until being moved at next information labels the image collected completely comprising next information labels；
Above-mentioned steps are repeated to realize from the mobile navigation between information labels.
In this case, information labels can be arranged arbitrarily, and color band is arranged between neighbor information label and connects.
B) when the application environment of vision guided navigation platform is without sticking two dimensional code/one-dimension code information labels but sticking colour band,
It is individually worked in a manner of colour band navigation, improves the usable condition of the vision guided navigation module, improve the navigation ring of mobile robot
Border adaptability；
The center of the colour band angle value and mobile robot itself that obtain particular by the image with color band, which is demarcated, to be sat
Mark and angle are towards processing is combined, so that mobile robot head is directed parallel to colour band direction mobile robot angle court
It coincide to colour band angle value, and exists along the center calibration coordinate that colored band centerline direction moves advance mobile robot itself
On colour band center line.
C) when the application environment of vision guided navigation platform is without sticking colour band but sticking two dimensional code/one-dimension code information labels,
It is individually worked in a manner of the navigation of two dimensional code/one-dimension code information labels, improves the usable condition of the vision guided navigation module, improve
The navigational environment adaptability of mobile robot.
It is inclined particular by the pose deviation for the mobile robot that the image with information labels obtains, including XY coordinate
Difference and angu-lar deviation arrive down so that mobile robot moves fixed range along the corresponding direction of current information label
At one information labels mobile robot angle towards, the center point coordinate and diagonal line slope of centralized positioning coordinate and information labels
It coincide.In specific implementation, information labels array spacings are uniformly distributed, and fixed range is spaced between information labels.
It, can be with by above-mentioned implementation as it can be seen that the general vision navigation device that designs of the present invention is for robot moving equipment
Image collecting function is provided for it, image in 2 D code can be shot, colour band image can also be shot, allows robot will be two-dimentional
Code label information is combined with colour band guide and is navigated, and can also individually be navigated in a manner of two dimensional code, can also be individually with color
Band mode is navigated, and is kept robot mobile flexibly, is reduced to environmental factor dependence.
Claims (8)
1. a kind of vision navigation system for robot moving equipment, it is characterised in that: including camera (1), fixed bracket
(3), light source (4), information labels and colour band (6), are placed with two-dimension code label (5)/one-dimension code label on vision guided navigation platform
(7) color band (6) are arranged between information labels (5,7) in information labels, are equipped with above vision guided navigation platform fixed bracket (3),
Camera (1) and light source (4) are installed on fixed bracket (3), light source (4) irradiates downward, the camera lens (2) of camera (1) downward, Gu
Fixed rack (3) is connected on robot moving equipment.
2. a kind of vision navigation system for robot moving equipment according to claim 1, it is characterised in that: mobile
Robot device passes through the vision guided navigation platform surface image that camera (1) acquisition has information labels/colour band (6), control in real time
Robot moving equipment itself is driven to move along the planar horizontal for being parallel to vision guided navigation platform, i.e., fixed bracket (3) and thereon
Camera (1) and light source (4) also move realize real-time vision detection and navigation movement.
3. a kind of vision navigation system for robot moving equipment according to claim 1, it is characterised in that: described
Camera (1) takes pictures to information labels and colour band under the uniform irradiation of light source (4), and acquisition includes information labels and color
The image of band relative position within the scope of field of view, and image is transmitted to image processing unit.
4. a kind of vision navigation system for robot moving equipment according to claim 1, it is characterised in that: described
Information labels be one kind of two-dimension code label (5) and one-dimension code label (7) or both mixing use.
5. a kind of vision navigation system for robot moving equipment according to claim 1, it is characterised in that: described
Site number information of two-dimension code label (the 5)/one-dimension code label (7) with robot moving equipment navigation under mobile.
6. a kind of vision navigation system for robot moving equipment according to claim 1, it is characterised in that: described
Camera (1) is industrial area array CCD color camera, and the light source (4) is industrial camera annular light source.
7. a kind of vision navigation method for robot moving equipment, it is characterised in that: any described using claim 1-6
Device, camera (1) take pictures acquiring image, image are transmitted under the uniform irradiation of light source (4) to information labels and colour band
To image processing unit, image procossing is carried out by image processing unit and obtains site number, the pose deviation of mobile robot
The navigation information of value and colour band angle value, while Navigational Movements are realized using navigation information；It is obtained by the two-dimension code label (5)
Obtain the pose deviation of mobile robot, calculating process specifically: image is first obtained into edge contour, then benefit by edge detection
With Hough straight line fitting edge contour, extract two dimensional code edge wheel profile, obtain two dimensional code edge wheel profile diagonal line and
Its diagonal coordinate value finds out diagonal line slope and center point coordinate value, the angle court of diagonal line slope and mobile robot itself
To deviation is compared as angle deviating value, compare between center point coordinate value and the center calibration coordinate of mobile robot itself inclined
Difference is used as X offset coordinates and Y offset coordinates；Colour band angle value, calculating process are obtained by the colour band (4) specifically: first will
Image obtains edge contour by edge detection, recycles Hough straight line fitting edge contour, extracts colour band edge line, obtain
The both ends coordinate of colour band edge line is obtained, finally calculates the center line and tilt angle for finding out colour band, tilt angle is as colour band
Angle value.
8. a kind of vision navigation method for robot moving equipment according to claim 7, it is characterised in that:
A) when vision guided navigation platform sticks two dimensional code/one-dimension code information labels and colour band, individually with information labels and
Colour band navigation mode works；
B it) when vision guided navigation platform is without sticking two dimensional code/one-dimension code information labels but sticking colour band, is individually navigated with colour band
Mode works；
C) when vision guided navigation platform is without sticking colour band but sticking two dimensional code/one-dimension code information labels, individually with two dimensional code/mono-
The information labels navigation mode of dimension code works.
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| CN114537555A (en) * | 2022-03-14 | 2022-05-27 | 恒达富士电梯有限公司 | Elevator flexible production line in coordination based on multi-robot and multi-AGV in coordination |
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| CN114537555B (en) * | 2022-03-14 | 2023-09-01 | 恒达富士电梯有限公司 | Elevator cooperation flexible production line based on cooperation of multiple robots and multiple AGVs |
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