CN109613472B - Infrared top mark for indoor trackless navigation and identification method thereof - Google Patents
Infrared top mark for indoor trackless navigation and identification method thereof Download PDFInfo
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- CN109613472B CN109613472B CN201811601083.4A CN201811601083A CN109613472B CN 109613472 B CN109613472 B CN 109613472B CN 201811601083 A CN201811601083 A CN 201811601083A CN 109613472 B CN109613472 B CN 109613472B
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith 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
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Abstract
The invention is suitable for the technical field of automatic control, and provides an infrared top mark for indoor trackless navigation and an identification method thereof, wherein the method comprises the following steps: s1, searching a maximum-size marking point in a current area, and marking the maximum-size marking point as a first relative pose marking point O 1 The method comprises the steps of carrying out a first treatment on the surface of the S2, searching the minimum size mark point in the current area twice, detecting whether the two minimum size mark points are uniform mark points II, and if so, taking the two minimum size mark points as second relative pose mark points A 1 And a third relative pose mark point B 1 The method comprises the steps of carrying out a first treatment on the surface of the S3, marking the point O by the first relative pose 1 For the origin of coordinates, detect vector O 1 A 1 Whether the detection result is Y-axis, if yes, vector O is calculated 1 A 1 Whether or not it is the Y-axis, vector O 1 B 1 As X-axis, if the detection result is no, vector O is calculated 1 A 1 Whether or not it is the X-axis, vector O 1 B 1 Whether it is the Y axis; and S4, calculating coordinates of the rest mark points in the rectangular coordinate system. The area of the infrared top mark is fully utilized, and the number of ID counting mark points is increased.
Description
Technical Field
The invention belongs to the technical field of automatic control, and provides an infrared top mark for indoor trackless navigation and an identification method thereof.
Background
The navigation method of the indoor mobile robot can be divided into: rail-bound navigation and trackless navigation. The track navigation represented by the magnetic guide rail (or magnetic nails) has simple principle and easy control, but the track is fixed and the flexibility is not enough. Common trackless navigation includes inertial navigation, laser SLAM, visual SLAM, and roadmap navigation. The inertial navigation has the advantages that the accumulated error in the later period is larger, the cost of the laser SLAM equipment is higher, the anti-interference capability is weaker, the requirement of the visual SLAM on scene characteristics is higher, and the scene cannot be changed frequently (namely, the reliability is lower). The road sign navigation method can be divided into a natural road sign mode and an artificial road sign mode, wherein the natural road sign navigation is complex in calculation, low in robustness and relatively real-time. The artificial road sign is typically a visual tag, and can be divided into two modes, namely a natural light environment and an infrared light environment. The natural light environment mode is easily affected by the brightness, and the reliability is low. The visual tag under infrared light is usually an infrared light-emitting device or an infrared reflecting material, and an infrared band-pass filter is added in front of a lens for collecting images, so that the camera can capture road sign information with specific wavelength in the environment, and the interference of other indoor light can be greatly reduced in the mode, and the reliability is higher.
The infrared tag for navigation positioning contains two information mark points: relative pose mark points and ID count mark points. The relative pose mark points are used for calculating the relative pose coordinates of the robot and the tag, the ID count mark points are used for calculating the identity information of the tag (each tag has a unique ID and corresponds to a specific absolute pose coordinate), and the absolute pose coordinates of the robot can be calculated by combining the two. The similar infrared top mark positioning methods which are currently appeared are as follows: the equal-size three-point method of korean Stargazer, as shown in fig. 1, is to extract three coordinate points constituting a rectangular coordinate system in a tag as relative pose mark points, gray circles in fig. 1, all reflective discs in the tag are of the same size, and in order to determine origin, non-central symmetry needs to be satisfied, there is no reflective disc at one corner of a square tag, but the same result is one less ID count mark point, i.e., tag ID kind is directly halved.
Disclosure of Invention
The embodiment of the invention provides an infrared top mark for indoor trackless navigation, which can effectively read relative pose information in the infrared top mark and increase ID counting mark points as much as possible.
In order to achieve the above object, the present invention provides an infrared head mark for indoor trackless navigation, the infrared head mark comprising:
the bottom plate is made of non-reflective materials, marking points are arranged on the bottom plate, the marking points are made of reflective materials, and the centers of the marking points are distributed in an M-M equidistant grid;
the marking points on one corner are marking points I, the marking points on two adjacent corners of the corner are marking points II, the marking points on the other positions are marking points III, the marking points III are marking points of the three dimensions, the marking points I and the marking points II form relative pose marking points, the marking points III are ID counting marking points, and ID counting is adopted for marking.
Further, the size of the first mark point is larger than the size of the third mark point, and the size of the third mark point is larger than the size of the second mark point.
In order to achieve the above object, the present invention provides a method for identifying an infrared landmark for indoor trackless navigation, the method comprising the steps of:
s1, searching a maximum-size marking point in a current area, and marking the maximum-size marking point as a first relative pose marking point O 1 ；
S2, searching the minimum size mark point in the current area twice, detecting whether the two minimum size mark points are uniform mark points II, and if so, taking the two minimum size mark points as second relative pose mark points A 1 And a third relative pose mark point B 1 ；
S3, marking the point O by the first relative pose 1 For the origin of coordinates, detect vector O 1 A 1 Whether the detection result is Y-axis, if yes, vector O is calculated 1 A 1 Whether or not it is the Y-axis, vector O 1 B 1 As X-axis, if the detection result is no, vector O is calculated 1 A 1 Whether or not it is the X-axis, vector O 1 B 1 Whether it is the Y axis;
and S4, calculating coordinates of the remaining mark points in the rectangular coordinate system, wherein the remaining mark points are ID counting mark points.
Further, before step S1, the method further includes:
s5, extracting the mark points of each area, detecting whether the number of the mark points in the area is in a set number section, and if so, executing the step S1.
Further, the method for judging whether the minimum size mark point is the mark point II is as follows:
s31, detecting whether the distance between the minimum size mark point and the maximum size mark point is in a distance setting section, if so, executing a step S32, and if not, judging that the current minimum size mark point is not the mark point II;
s32, detecting whether the size ratio between the maximum size mark point and the minimum size mark point is in a size ratio setting section, if so, marking the minimum size mark point as a mark point II, and if not, marking the current minimum size mark point as a mark point II.
Further, vector O 1 A 1 The detection method for whether the Y axis is the Y axis specifically comprises the following steps:
vector O 1 A 1 Rotated 90 degrees clockwise or rotated 270 degrees counterclockwise, the detection vector O 1 A 1 Whether or not to match vector O 1 B 1 Coincidence, if coincidence, vector O 1 A 1 For Y-axis, otherwise vector O 1 A 1 Whether or not it is the X axis.
The infrared top mark for indoor trackless navigation provided by the invention has the following beneficial technical effects:
1. because the relative pose mark points have non-central symmetry, the position information of the tag can be effectively read and used for accurately calculating the pose of the robot, and the position information cannot be interfered by the ID count mark points;
2. the infrared top mark area is fully utilized, the number of ID counting mark points is increased as much as possible, namely, the number of encodable labels is increased, and each time one ID mark point is increased, the number of encodable ID is doubled.
Drawings
FIG. 1 is a schematic structural diagram of an equal-size three-point infrared top mark according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an infrared sensor scanning process provided in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a three-point positioning infrared top mark with unequal dimensions according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for identifying a three-point positioning infrared top mark with unequal dimensions according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The infrared top labels are attached to the ceiling according to a certain distance, the distance between the infrared top labels is far greater than the distance between the identification points in the infrared top labels, the infrared sensor (provided with an infrared light source) is vertically upwards fixed on the top of the mobile robot, and at least one infrared top label exists in the visual field of the sensor, as shown in fig. 2;
the invention adopts the infrared top mark with non-equal size, the size of the mark point with the origin is the largest, the sizes of the two adjacent opposite pose mark points are the smallest, the size of the ID counting mark point is between the largest size and the lowest size, and the non-central symmetry is formed based on the non-equal size, and the defect at the corners is not needed, so the number of the ID counting mark points is increased.
Fig. 3 is a schematic structural diagram of a three-point positioning infrared top mark with unequal dimensions according to an embodiment of the present invention, and for convenience of explanation, only the first-mentioned part of the embodiment of the present invention is shown.
The infrared superscript includes:
the bottom plate is made of non-reflective materials, marking points are arranged on the bottom plate, the marking points are made of reflective materials, and the centers of the marking points are distributed in an M-M equidistant grid;
the marking points on one corner are marking points I, the marking points on two adjacent corners of the corner are marking points II, the marking points on the other positions are marking points III, the marking points III are marking points of the three dimensions, the marking points I and the marking points II form relative pose marking points, the marking points III are ID counting marking points, and ID counting is adopted for marking.
For easy recognition, the size of the first mark point is the maximum size or the minimum size, the size of the first mark point is larger than the size of the third mark point, and the size of the third mark point is larger than the size of the second mark point.
Fig. 4 is a flowchart of a method for identifying a non-equal-size three-point positioning infrared top mark, which is provided by the embodiment of the invention, and includes the following steps:
s1, extracting mark points of each area, detecting whether the number of the mark points in the area is in a set number interval, and if so, executing a step S2;
in the embodiment of the present invention, the number interval is expressed as (4, M 2 ) Taking 3*3 as an example, if the number of the mark points is smaller than 4 or larger than 9, the area reading is considered to be failed, and 4*4 as an example, if the number of the mark points is smaller than 4 or larger than 16, the area reading is considered to be failed.
In the embodiment of the invention, the image is partitioned by clustering, and the mark points in the same group (area) need to be satisfied that the distance between every two mark points is smaller than the distance threshold.
S2, searching a maximum-size marking point in the current area, and marking the maximum-size marking point as a first relative pose marking point O 1 ；
S3, searching the minimum size mark point in the current area twice, detecting whether the two minimum size mark points are uniform mark points II, and if so, taking the two minimum size mark points as second relative pose mark points A 1 And a third relative pose mark point B 1 Step S4 is executed, if the detection result is negative, the current positioning red mark fails to be read;
in the embodiment of the invention, the judging method for judging whether the minimum size mark point is the mark point II is as follows:
s31, detecting whether the distance between the minimum size mark point and the maximum size mark point is in a distance setting section, if so, executing a step S32, and if not, judging that the current minimum size mark point is not the mark point II;
s32, detecting whether the size ratio between the maximum size mark point and the minimum size mark point is in a size ratio setting section, if so, marking the minimum size mark point as a mark point II, and if not, marking the current minimum size mark point as a mark point II.
S4, marking the point O by the first relative pose 1 For the origin of coordinates, detect vector O 1 A 1 Whether the detection result is Y-axis, if yes, vector O is calculated 1 A 1 Whether or not it is the Y-axis, vector O 1 B 1 As X-axis, if the detection result is no, vector O is calculated 1 A 1 Whether or not it is the X-axis, vector O 1 B 1 Whether the current infrared top mark is a Y axis or not, and establishing a rectangular coordinate system of the current infrared top mark;
in an embodiment of the present invention, vector O 1 A 1 The detection method for whether the Y axis is the Y axis specifically comprises the following steps:
vector O 1 A 1 Rotated 90 degrees clockwise or rotated 270 degrees counterclockwise, the detection vector O 1 A 1 Whether or not to match vector O 1 B 1 Coincidence, if coincidence, vector O 1 A 1 For Y-axis, otherwise vector O 1 A 1 Whether or not it is the X axis.
S5, calculating coordinates of the remaining mark points in the rectangular coordinate system, wherein the remaining mark points are ID counting mark points.
The infrared top mark for indoor trackless navigation provided by the invention has the following beneficial technical effects:
1. because the relative pose mark points have non-central symmetry, the position information of the tag can be effectively read and used for accurately calculating the pose of the robot, and the position information cannot be interfered by the ID count mark points;
2. the infrared top mark area is fully utilized, the number of ID counting mark points is increased as much as possible, namely, the number of encodable labels is increased, and each time one ID mark point is increased, the number of encodable ID is doubled.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. An infrared landmark identification method for indoor trackless navigation, which is characterized in that the infrared landmark comprises:
the bottom plate is made of non-reflective materials, marking points are arranged on the bottom plate, the marking points are made of reflective materials, and the centers of the marking points are distributed in an M-M equidistant grid;
the marking points on one corner are marking points I, the marking points on two adjacent corners of the corner are marking points II, the marking points on the other positions are marking points III, the marking points III are marking points of the three dimensions, the marking points I and the marking points II form relative pose marking points, the marking points III are ID counting marking points, and ID counting is adopted for marking;
the size of the first mark point is larger than that of the third mark point, and the size of the third mark point is larger than that of the second mark point;
the infrared top mark identification method for indoor trackless navigation comprises the following steps:
s1, searching a maximum-size marking point in a current area, and marking the maximum-size marking point as a first relative pose marking point O 1 ；
S2, searching the minimum size mark point in the current area twice, detecting whether the two minimum size mark points are uniform mark points II, and if so, taking the two minimum size mark points as second relative pose mark points A 1 And a third relative pose mark point B 1 ；
S3, marking the point O by the first relative pose 1 For the origin of coordinates, detect vector O 1 A 1 Whether the detection result is Y-axis, if yes, vector O is calculated 1 A 1 Whether or not it is the Y-axis, vector O 1 B 1 As X-axis, if the detection result is no, vector O is calculated 1 A 1 Whether or not it is the X-axis, vector O 1 B 1 Whether it is the Y axis;
and S4, calculating coordinates of the remaining mark points in the rectangular coordinate system, wherein the remaining mark points are ID counting mark points.
2. The method for infrared landmark identification for indoor trackless navigation according to claim 1, further comprising, prior to step S1:
s5, extracting the mark points of each area, detecting whether the number of the mark points in the area is in a set number section, and if so, executing the step S1.
3. The infrared top mark recognition method for indoor trackless navigation according to claim 1, wherein the method for judging whether the minimum size mark point is the mark point two is as follows:
s31, detecting whether the distance between the minimum size mark point and the maximum size mark point is in a distance setting section, if so, executing a step S32, and if not, judging that the current minimum size mark point is not the mark point II;
s32, detecting whether the size ratio between the maximum size mark point and the minimum size mark point is in a size ratio setting section, if so, marking the minimum size mark point as a mark point II, and if not, marking the current minimum size mark point as a mark point II.
4. The method for infrared landmark identification for indoor trackless navigation according to claim 1, wherein the vector O 1 A 1 The detection method for whether the Y axis is the Y axis specifically comprises the following steps:
vector O 1 A 1 Rotated 90 degrees clockwise or rotated 270 degrees counterclockwise, the detection vector O 1 A 1 Whether or not to match vector O 1 B 1 Coincidence, if coincidence, vector O 1 A 1 For Y-axis, otherwise vector O 1 A 1 Whether or not it is the X axis.
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