CN109458977A - Robot orientation method, system and computer readable storage medium - Google Patents
Robot orientation method, system and computer readable storage medium Download PDFInfo
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- CN109458977A CN109458977A CN201811225777.2A CN201811225777A CN109458977A CN 109458977 A CN109458977 A CN 109458977A CN 201811225777 A CN201811225777 A CN 201811225777A CN 109458977 A CN109458977 A CN 109458977A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses robot orientation method, system and computer readable storage medium, robot orientation method comprises the steps of: that initialization, sampled point increase certainly, obtain yaw speed, prior estimate, judge whether to vision correction, Posterior estimator and output directional result；Robot orientation system is made of yaw speed detection unit, ground image acquisition unit and data processing unit, and wherein yaw speed detection unit is optional；Computer-readable recording medium storage has oriented program, for realizing orientation method.Compared to prior art, the present invention has the advantages that at low cost, precision is high, anti-interference is good, detection is fast, privacy invasion degree is low.
Description
Technical field
The present invention relates to robot fields, more particularly to robot orientation method, system and computer-readable storage medium
Matter.
Background technique
Real-time and accurate robot angle detecting has great significance to the positioning of robot with control.Such as it is navigating
In mark calculates, the minor deviations of angle detecting may result in the sharp fall of positioning accuracy.Therefore, the orientation of robot
An always very challenging problem.It is prior that traditional orientation method has the following characteristics that 1, magnetic-type compass needs
Correction, and be not used to full of electromagnetism, ferromagnetic interference environment in.So especially in the indoor environment for being full of magnetic disturbance
In, it to avoid as far as possible using magnetic-type compass.2, orientation can also be realized based on positioning system Difference Calculation, but this method mistake
In the precision for depending on positioning system.For global position system, due to can usually occur in compartment or indoor environment
The problem of multipath effect and signal stop, so the orientation method reliability is lower.In addition, the orientation method is not suitable for yet
The stronger moving object of dynamic.In conclusion research is not easy the preferable orientation method of affected by environment and dynamic property and is
System is valuable.
Summary of the invention
The technology of the present invention overcome the deficiencies in the prior art solves the orientation problem of mobile robot.
To solve the above problems, matching the present invention provides a kind of robot orientation method on robot work region ground
Be equipped with parallel auxiliary line, the orientation method the following steps are included:
S101: initialization: automatically setting 0 for sampled point serial number t, artificially sets one big for sampling interval T
In 0 real number, an integer greater than 0 artificially is set by vision correction spacing parameter N, artificially estimates course angle posteriority
EvaluationIt is set as one and is more than or equal to 0 real number less than 2 π, yaw speed detection pattern M is artificially set: if without can
To detect the sensor of yaw speed, then M=0 being enabled, if there is can detecte the sensor of yaw speed, then enabling M=1；
S102: enable t from increasing 1；
S103: it obtains yaw speed: obtaining the yaw speed measured value δ of t-th of sampled pointt, specific as follows: if M=
0, then enable δt=0, if M=1, by δtIt is set as the output valve or multiple inclined of the yaw rate sensor of t-th of sampled point
The output fusion value of boat rate sensor；
S104: the course angle priori estimates of t-th of sampled point prior estimate: are calculatedMode is as follows:
S105: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingt, enable
S106: Posterior estimator: if λt=0, then it enablesIf λt=1, then it is read from ground image acquisition unit
Ground image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltIt is adopted for t-th
The quantity of auxiliary line in the ground image of sampling point, Indicate what t-th of sampled point obtained
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of ground image,Indicate t
For the image coordinate system U axis for the ground image that a sampled point obtains to the angle of above-mentioned vertical line, μ and ν is respectively the width of ground image
Degree and height；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v)
It indicates the coordinate points under image coordinate system UV, is brought into perspective transformation functionIn, it is availableWithTransformed coordinate points, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder
Coordinate can calculate the parameter at image coordinate system UV of auxiliary line in turnIt is mapped to true coordinate systemUnder
ParameterCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein, w ∈ [0,1) be blending weight,WithFor ΘtIn element, abs () be calculate absolute value letter
Number；
S107: repeating step S102 to S106, exports the course angle posterior estimate of each sampled point, i.e. orientation result.
Wherein, the process of the parameter of auxiliary line includes following step in acquisition ground image involved in the step S106
It is rapid:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1In
White area is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image
F2；Finally, in F2On using Hough transform obtain auxiliary line parameter
Similarly, the present invention also provides another robot orientation methods, are configured on robot work region ground
Parallel auxiliary line, the orientation method the following steps are included:
S301: initialization: automatically setting 0 for sampled point serial number t, artificially sets one big for sampling interval T
In 0 real number, an integer greater than 0 artificially is set by vision correction spacing parameter N, artificially estimates course angle posteriority
Count sectionIt is set as a closed interval, bound is all being more than or equal to value within the scope of 0 real number less than 2 π；Artificially set
It sets yaw speed detection pattern M and M=0 is set if not can detecte the sensor of yaw speed, if there is that can examine
The sensor for surveying yaw speed, then be arranged M=1, artificially by robot maximum yaw rate δmaxIt is set as one and is greater than 0
Real number is artificially configured vision correction triggering mode, and optional triggering mode is that time trigger and event trigger；
S302: enable t from increasing 1；
S303: it obtains yaw speed: obtaining the yaw speed surveying range of t-th of sampled pointIt is specific as follows: if M
=0, then willIt is set as [- δmax,+δmax], it, will if M=1It is set as [δt-Δ,δt+ Δ], wherein δtIt is t-th
The output fusion value of the output valve of the yaw rate sensor of sampled point or multiple yaw rate sensors, Δ is yaw speed
Measurement error radius；
S304: prior estimate: the course angle prior estimate section of t-th of sampled point is calculatedMode is as follows:
S305: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingtIf
Work is then enabled in time triggering mode
If work is enabled in event triggered fashion
Wherein, wid () is computation interval Width Function；
S306: Posterior estimator: if λt=0, then it enablesIf λt=1, then it is read from ground image acquisition unit
Ground image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltIt is adopted for t-th
The quantity of auxiliary line in the ground image of sampling point, Indicate what t-th of sampled point obtained
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of ground image,Indicate t
For the image coordinate system U axis for the ground image that a sampled point obtains to the angle of above-mentioned vertical line, μ and ν is respectively the width of ground image
Degree and height；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v)
It indicates the coordinate points under image coordinate system UV, is brought into perspective transformation functionIn, it is availableWithTransformed coordinate points, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder
Coordinate can calculate the parameter at image coordinate system UV of auxiliary line in turnIt is mapped to true coordinate systemUnder
ParameterCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein,
Wherein,WithFor ΘtIn element, R be vision course measurement error radius；
S307: repeating step S302 to S306, exports the course angle Posterior estimator section of each sampled point, adopts for each
The course angle Posterior estimator section of sampling point can take any point in it as orientation result.
Wherein, the process of the parameter of auxiliary line includes following step in acquisition ground image involved in the step S306
It is rapid:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1In
White area is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image
F2；Finally, in F2On using Hough transform obtain auxiliary line parameter
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has realization
The oriented program of above-mentioned robot orientation method.
The present invention also provides a kind of robot orientation systems, comprising: yaw speed detection unit, ground image acquisition are single
Member and data processing unit, wherein yaw speed detection unit is optional；Yaw speed detection unit is by several yaw speeds
Sensor composition, for detecting robot yaw speed；Ground image acquisition unit is for acquiring ground image, camera lens direction
Ground allows the optical axis of camera lens to be not orthogonal to ground；Data processing unit is for executing robot oriented program, the orientation journey
The step of sequence realizes any one of above-mentioned robot orientation method method when processor executes.
Wherein, the yaw speed detection unit includes gyroscope and/or odometer.
Further, ground image acquisition unit described in the above robot orientation system include the use of standard lens
Video camera.
The present invention also provides a kind of mobile robots with any one of above-mentioned robot orientation system system.
Compared with existing technology, the invention has the following advantages that 1) being oriented independent of magnetic field, therefore do not need
Prior calibration, and can be used for full of electromagnetism, ferromagnetic interference environment in；2) it is oriented independent of positioning system, because
This can be applied to compartment or indoor environment, and have preferable dynamic characteristic；3) ground image is only acquired, because
This privacy invasion degree is lower.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
Fig. 1 is orientation method flow chart of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
The present invention is described in detail for example.
The invention discloses robot orientation method, system and computer readable storage medium, which includes:
Before the present invention is implemented, need to configure the ground of robot work region parallel auxiliary line, the face of auxiliary line
Color as far as possible should be complementary in coloration with ground color, such as ground is white, and auxiliary line is then black；The width of auxiliary line is suitable
In, guarantee that ground image acquisition unit can clearly capture auxiliary line；The interval of auxiliary line can it is equal can not also
Deng；Auxiliary line is referred to as auxiliary line angle relative to the angle that rotates counterclockwise of zero degree reference line, and zero degree reference line can be with
Any selection, generally can choose geographical east orientation reference axis is zero degree reference line.
As shown in Figure 1, a kind of robot orientation method disclosed by the invention, comprising the following steps:
S101: initialization: automatically setting 0 for sampled point serial number t, artificially sets one big for sampling interval T
In 0 real number, an integer greater than 0 artificially is set by vision correction spacing parameter N, artificially estimates course angle posteriority
EvaluationIt is set as one and is more than or equal to 0 real number less than 2 π, yaw speed detection pattern M is artificially set: if without can
To detect the sensor of yaw speed, then M=0 being enabled, if there is can detecte the sensor of yaw speed, then enabling M=1；
S102: enable t from increasing 1；
S103: it obtains yaw speed: obtaining the yaw speed measured value δ of t-th of sampled pointt, specific as follows: if M=
0, then enable δt=0, if M=1, by δtIt is set as the output valve or multiple inclined of the yaw rate sensor of t-th of sampled point
The output fusion value of boat rate sensor；
S104: the course angle priori estimates of t-th of sampled point prior estimate: are calculatedMode is as follows:
S105: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingt, enable
S106: Posterior estimator: if λt=0, then it enablesIf λt=1, then it is read from ground image acquisition unit
Ground image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltIt is adopted for t-th
The quantity of auxiliary line in the ground image of sampling point, Indicate what t-th of sampled point obtained
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of ground image,Indicate t
For the image coordinate system U axis for the ground image that a sampled point obtains to the angle of above-mentioned vertical line, μ and ν is respectively the width of ground image
Degree and height；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v)
It indicates the coordinate points under image coordinate system UV, is brought into perspective transformation functionIn, it is availableWithTransformed coordinate points, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder
Coordinate can calculate the parameter at image coordinate system UV of auxiliary line in turnIt is mapped to true coordinate systemUnder
ParameterCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein, w ∈ [0,1) be blending weight,WithFor ΘtIn element, abs () be calculate absolute value letter
Number；
S107: repeating step S102 to S106, exports the course angle posterior estimate of each sampled point, i.e. orientation result.
Preferably, the process of the parameter of auxiliary line includes following step in acquisition ground image involved in the step S106
It is rapid:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1In
White area is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image
F2；Finally, in F2On using Hough transform obtain auxiliary line parameter
Similarly, the invention also discloses another robot orientation methods, are configured on robot work region ground
Parallel auxiliary line, the orientation method the following steps are included:
S301: initialization: automatically setting 0 for sampled point serial number t, artificially sets one big for sampling interval T
In 0 real number, an integer greater than 0 artificially is set by vision correction spacing parameter N, artificially estimates course angle posteriority
Count sectionIt is set as a closed interval, bound is all being more than or equal to value within the scope of 0 real number less than 2 π；Artificially set
It sets yaw speed detection pattern M and M=0 is set if not can detecte the sensor of yaw speed, if there is that can examine
The sensor for surveying yaw speed, then be arranged M=1, artificially by robot maximum yaw rate δmaxIt is set as one and is greater than 0
Real number is artificially configured vision correction triggering mode, and optional triggering mode is that time trigger and event trigger；
S302: enable t from increasing 1；
S303: it obtains yaw speed: obtaining the yaw speed surveying range of t-th of sampled pointIt is specific as follows: if M
=0, then willIt is set as [- δmax,+δmax], it, will if M=1It is set as [δt-Δ,δt+ Δ], wherein δtIt is t-th
The output fusion value of the output valve of the yaw rate sensor of sampled point or multiple yaw rate sensors, Δ is yaw speed
Measurement error radius；
S304: prior estimate: the course angle prior estimate section of t-th of sampled point is calculatedMode is as follows:
S305: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingtIf
Work is then enabled in time triggering mode
If work is enabled in event triggered fashion
Wherein, wid () is computation interval Width Function；
S306: Posterior estimator: if λt=0, then it enablesIf λt=1, then it is read from ground image acquisition unit
Ground image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltIt is adopted for t-th
The quantity of auxiliary line in the ground image of sampling point, Indicate what t-th of sampled point obtained
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of ground image,Indicate t
For the image coordinate system U axis for the ground image that a sampled point obtains to the angle of above-mentioned vertical line, μ and ν is respectively the width of ground image
Degree and height；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v)
It indicates the coordinate points under image coordinate system UV, is brought into perspective transformation functionIn, it is availableWithTransformed coordinate points, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder
Coordinate can calculate the parameter at image coordinate system UV of auxiliary line in turnIt is mapped to true coordinate systemUnder
ParameterCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein,
Wherein,WithFor ΘtIn element, R be vision course measurement error radius；
S307: repeating step S302 to S306, exports the course angle Posterior estimator section of each sampled point, adopts for each
The course angle Posterior estimator section of sampling point can take any point in it as orientation result.
Preferably, the process of the parameter of auxiliary line includes following step in acquisition ground image involved in the step S306
It is rapid:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1In
White area is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image
F2；Finally, in F2On using Hough transform obtain auxiliary line parameter
Above-mentioned robot orientation method disclosed by the invention is to run robot on the data processing unit of mobile robot
The mode of oriented program is implemented, and the present invention gives a kind of computer readable storage medium thus, described computer-readable to deposit
Storage media is stored with the robot oriented program for realizing above-mentioned robot orientation method.
The present invention gives for realizing the system of above-mentioned robot orientation method, comprising: yaw speed detection unit,
Ground image acquisition unit and data processing unit, wherein yaw speed detection unit is optional；Yaw speed detection unit
It is made of several yaw rate sensors, for detecting robot yaw speed；Ground image acquisition unit is for acquiring ground
Image, camera lens allow the optical axis of camera lens to be not orthogonal to ground towards ground；Data processing unit is for executing robot orientation
Program, the robot oriented program realize the step of any one of above-mentioned robot orientation method method when processor executes
Suddenly.
Preferably, the yaw speed detection unit includes gyroscope and/or odometer.
It is further preferred that ground image acquisition unit described in the above robot orientation system include the use of standard mirror
The video camera of head.
In practical applications, also to increase power supply module, power management module, input/output module, display for the system
The auxiliary accessories such as module, communication module, memory module.
Yaw speed is defined as derivative of the course angle relative to the time.
The installation requirement of yaw speed detection unit are as follows: guarantee that yaw rate sensor obtains pure inclined of mobile robot
Speed of a ship or plane rate；The installation requirement of ground image acquisition unit are as follows: camera lens does not require to need to guarantee to adopt perpendicular to ground towards ground
The ground image of collection includes at least one auxiliary line.
The present invention gives a kind of mobile robot with any one of above-mentioned robot orientation system system.
The output that multiple yaw rate sensors are directed in the step S103/S303 of above-mentioned robot orientation method is melted
Conjunction value.In implementation process, the output mean value of multiple yaw rate sensors can be sought as output fusion value, and assign
δt。
It is directed to perspective transformation function in the step S106/S306 of above-mentioned robot orientation method, is needed in this hair
It is obtained before bright implementation.Method particularly includes: after ground image acquisition unit installs, a ground image is captured first,
Then four points are selected in the images, and provide its coordinate under true coordinate system.This four points can connect as one
A quadrangle.According to this corresponding relationship of four points under image coordinate system and true coordinate system, perspective transform letter can be found out
Number.This method belongs to well-known technique.
Above embodiments are provided just for the sake of the description purpose of the present invention, and are not intended to limit the scope of the invention.This
The range of invention is defined by the following claims.It does not depart from spirit and principles of the present invention and the various equivalent replacements made and repairs
Change, should all cover within the scope of the present invention.
Claims (10)
1. a kind of robot orientation method, which is characterized in that be configured with parallel auxiliary line, institute on robot work region ground
State orientation method the following steps are included:
S101: initialization: automatically setting 0 for sampled point serial number t, artificially sets one for sampling interval T and is greater than 0
Real number artificially sets an integer greater than 0 for vision correction spacing parameter N, artificially by course angle posterior estimate
It is set as one and is more than or equal to 0 real number less than 2 π, yaw speed detection pattern M is artificially set: if not can detecte
The sensor of yaw speed, then enable M=0, if there is can detecte the sensor of yaw speed, then enables M=1；
S102: enable t from increasing 1；
S103: it obtains yaw speed: obtaining the yaw speed measured value δ of t-th of sampled pointt, specific as follows: if M=0, to enable
δt=0, if M=1, by δtIt is set as the output valve or multiple yaw speeds of the yaw rate sensor of t-th of sampled point
The output fusion value of sensor；
S104: the course angle priori estimates of t-th of sampled point prior estimate: are calculatedMode is as follows:
S105: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingt, enable
S106: Posterior estimator: if λt=0, then it enablesIf λt=1, then ground is read from ground image acquisition unit
Image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltFor t-th of sampled point
Ground image in auxiliary line quantity, Indicate the ground that t-th of sampled point obtains
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of image,It indicates to adopt for t-th
The image coordinate system U axis for the ground image that sampling point obtains arrives the angle of above-mentioned vertical line, μ and ν be respectively ground image width and
Highly；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v) is indicated
Coordinate points under image coordinate system UV, are brought into perspective transformation functionIn, it is availableWithBecome
Coordinate points after changing, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder seat
Mark, in turn, can calculate the parameter at image coordinate system UV of auxiliary lineIt is mapped to true coordinate systemUnder ginseng
NumberCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein, w ∈ [0,1) be blending weight,WithFor ΘtIn element, abs () be calculate ABS function；
S107: repeating step S102 to S106, exports the course angle posterior estimate of each sampled point, i.e. orientation result.
2. a kind of robot orientation method according to claim 1, wherein acquisition ground involved in the step S106
In image the parameter of auxiliary line process the following steps are included:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1Middle white
Region is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image F2；Most
Afterwards, in F2On using Hough transform obtain auxiliary line parameter
3. a kind of robot orientation method, which is characterized in that be configured with parallel auxiliary line, institute on robot work region ground
State orientation method the following steps are included:
S301: initialization: automatically setting 0 for sampled point serial number t, artificially sets one for sampling interval T and is greater than 0
Real number artificially sets an integer greater than 0 for vision correction spacing parameter N, artificially by course angle Posterior estimator area
BetweenIt is set as a closed interval, bound is all being more than or equal to value within the scope of 0 real number less than 2 π；Artificially setting is inclined
M=0 is arranged if not can detecte the sensor of yaw speed in speed of a ship or plane rate detection pattern M, if there is can detecte partially
M=1 is then arranged in the sensor of speed of a ship or plane rate, artificially by robot maximum yaw rate δmaxIt is set as a real number greater than 0,
Artificially vision correction triggering mode is configured, optional triggering mode is that time trigger and event trigger；
S302: enable t from increasing 1；
S303: it obtains yaw speed: obtaining the yaw speed surveying range of t-th of sampled pointIt is specific as follows: if M=0,
Then willIt is set as [- δmax,+δmax], it, will if M=1It is set as [δt-Δ,δt+ Δ], wherein δtIt is sampled for t-th
The output valve of the yaw rate sensor of point or the output fusion value of multiple yaw rate sensors, Δ are yaw speed measurement
Error radius；
S304: prior estimate: the course angle prior estimate section of t-th of sampled point is calculatedMode is as follows:
S305: vision correction is judged whether to: the vision correction trigger flag position λ of t-th of sampled point of settingtIf work exists
Time triggering mode then enables
If work is enabled in event triggered fashion
Wherein, wid () is computation interval Width Function；
S306: Posterior estimator: if λt=0, then it enablesIf λt=1, then ground is read from ground image acquisition unit
Image, and obtain the parameter of auxiliary line in ground imageWherein i=1,2, lt, ltFor t-th of sampled point
Ground image in auxiliary line quantity, Indicate the ground that t-th of sampled point obtains
The length of perpendicular of origin i-th auxiliary line into image of the image coordinate system UV of image,It indicates to adopt for t-th
The image coordinate system U axis for the ground image that sampling point obtains arrives the angle of above-mentioned vertical line, μ and ν be respectively ground image width and
Highly；From auxiliary lineTake up an official post and takes two o'clockWithWherein (u, v) is indicated
Coordinate points under image coordinate system UV, are brought into perspective transformation functionIn, it is availableWithBecome
Coordinate points after changing, are respectively as follows:
Wherein,WithRespectivelyWithIt is mapped to true coordinate systemUnder seat
Mark, in turn, can calculate the parameter at image coordinate system UV of auxiliary lineIt is mapped to true coordinate systemUnder ginseng
NumberCalculation is as follows:
Then, it calculatesMean valueI.e.
Then, the vision course angle measuring assembly Θ of t-th of sampled point is obtainedt, calculation is as follows:
Wherein, φ is auxiliary line angle；Finally, calculating the course angle posterior estimate of t-th of sampled pointMode is as follows:
Wherein,
Wherein,WithFor ΘtIn element, R be vision course measurement error radius；
S307: repeating step S302 to S306, the course angle Posterior estimator section of each sampled point is exported, for each sampled point
Course angle Posterior estimator section can take any point in it as orientation result.
4. a kind of robot orientation method according to claim 3, wherein acquisition ground involved in the step S306
In image the parameter of auxiliary line process the following steps are included:
To colored ground image F0Using Threshold segmentation, the ground image F of binaryzation is obtained1, binary image F1Middle white
Region is original image F0In have auxiliary line color region；Then, in F1Upper progress skeletal extraction operation, obtains image F2；Most
Afterwards, in F2On using Hough transform obtain auxiliary line parameter
5. a kind of computer readable storage medium, the computer-readable recording medium storage has oriented program, which is characterized in that
The oriented program realizes the step of any one method described in claim 1-4 when processor executes.
6. a kind of robot orientation system characterized by comprising ground image acquisition unit and data processing unit；Ground
For image acquisition units for acquiring ground image, camera lens allows the optical axis of camera lens to be not orthogonal to ground towards ground；At data
Reason unit realizes claim 1-4 when processor executes for executing robot oriented program, the robot oriented program
The step of described any one method.
7. a kind of robot orientation system characterized by comprising yaw speed detection unit, ground image acquisition unit with
Data processing unit；Yaw speed detection unit is made of several yaw rate sensors, for detecting robot yaw speed；
For ground image acquisition unit for acquiring ground image, camera lens allows the optical axis of camera lens to be not orthogonal to ground towards ground；Number
Claim is realized when processor executes for executing robot oriented program, the robot oriented program according to processing unit
Described in 1-4 the step of any one method.
8. a kind of robot orientation system according to claim 7, which is characterized in that the yaw speed detection unit packet
Include gyroscope and/or odometer.
9. a kind of robot orientation system according to one of claim 6-8, which is characterized in that the ground image acquisition
Unit include the use of the video camera of standard lens.
10. a kind of mobile robot, including robot orientation system, which is characterized in that the robot orientation system is right
It is required that any one robot orientation system described in 6-9.
Priority Applications (1)
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