CN109827575A - Robot localization method based on positioning identifier - Google Patents
Robot localization method based on positioning identifier Download PDFInfo
- Publication number
- CN109827575A CN109827575A CN201910082172.0A CN201910082172A CN109827575A CN 109827575 A CN109827575 A CN 109827575A CN 201910082172 A CN201910082172 A CN 201910082172A CN 109827575 A CN109827575 A CN 109827575A
- Authority
- CN
- China
- Prior art keywords
- identifier
- robot
- positioning
- positioning identifier
- localization method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The robot localization method based on positioning identifier that the present invention provides a kind of, the robot include infrared light compensating lamp and camera, and the camera has narrow band filter, which comprises the infrared light compensating lamp irradiates the positioning identifier；The camera acquires the image of the positioning identifier；The robot calculates the position of the robot according to described image.Robot localization can be realized in robot localization method according to the present invention based on positioning identifier, the image that robot can only obtain a positioning identifier, simplifies the program of robot localization, realizes precision navigation.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot localization method based on positioning identifier.
Background technique
The development of mobile robot be unable to do without the development of location and navigation technology.Common air navigation aid is mobile robot
Map is independently constructed according to the environment of its work, then completes move.Robotic vision location technology is to realize independently
The key technology of navigation.
Currently, frequently with the method that positioning identifier is manually arranged in the environment, using the equipment on robot body to fixed
Bit identification is identified, the location information of positioning identifier is obtained, to complete the positioning of robot.However, existing using fixed
The method of bit identification first has to the image of positioning identifier of acquisition, completes the verification to positioning identifier, then acquires again primary
Image completes the acquisition to location information, and multi collect image increases the complexity of robot operation, robot is caused to transport
Calculate the waste of resource.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of machines based on positioning identifier
Device people's localization method can simplify the acquisition and location Calculation of positioning identifier.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of robot localization method based on positioning identifier, the robot include infrared light compensating lamp and
Camera, the camera have narrow band filter, which comprises
The infrared light compensating lamp irradiates the positioning identifier；
The camera acquires the image of the positioning identifier；
The robot calculates the position of the robot according to described image.
In this case, robot localization can be realized in the image that robot can only obtain a positioning identifier, letter
The program of robot localization is changed.
Wherein, the step of robot calculates the position of the robot according to described image, specifically includes:
The robot obtains the location information of described image, and obtains the robot relative to the positioning identifier
Positional relationship, the robot position the position of the robot with the positional relationship according to the positional information.Machine as a result,
Device people may be implemented to be accurately positioned.
Wherein, the positioning identifier includes first identifier, second identifier and substrate, and the first identifier and described second are marked
Know the substrate that is set in matrix structure, the matrix structure is n × m structure, and n is more than or equal to 2, m and is greater than
Or be equal to 3, the quantity of the first identifier and second identifier and be less than or equal to n × m.In this case, due to
First identifier is different from the feature of second identifier, and matrix structure makes mark be easier to be identified, first identifier and the second mark
The combination of knowledge can achieve 3n×m, in the case where substrate size is constant, the arrangement design of mark is simplified, mark is reduced
The quantity used improves the applicability that positioning identifier is largely arranged in biggish scene.
Wherein, the first identifier is rounded, and the second identifier is in circular ring shape.As a result, first identifier and second
Tag slot shows clearly and is easier to be identified, and positioning identifier is made to be easier to produce in batches.
Wherein, the quantity of n=3, m=3, the first identifier and second identifier and be less than or equal to 9.In this feelings
Under condition, not only reduce the quantity of mark, but also positioning identifier is made to have both diversity, and reduces the complicated journey of positioning identifier batch making
Degree.
Wherein, the substrate has the first face and second face opposite with first face, the first identifier and described
Second identifier is set to first face, and second face is provided with mounting portion.Application scenarios are installed on as a result, convenient for substrate
In.
Wherein, the first identifier and the second identifier use reflecting material.In this case, light is irradiated to
First identifier and second identifier can promote reflecting effect, so as to promoted acquisition positioning identifier image picture quality.
Robot localization method based on positioning identifier provided by according to the present invention, robot can only obtain a Zhang Ding
Robot localization can be realized in the image of bit identification, simplifies the program of robot localization, realizes precision navigation.
Detailed description of the invention
Fig. 1 shows the process of the robot localization method based on positioning identifier involved in embodiments of the present invention
Figure；
Fig. 2 shows the positioning marks of the robot localization method involved in embodiments of the present invention based on positioning identifier
The floor map of knowledge.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 shows the flow chart of the robot localization method according to the present invention based on positioning identifier.Robot packet
Include infrared light compensating lamp and camera.Camera has narrow band filter.Robot localization method based on positioning identifier includes:
101, infrared light compensating lamp irradiates positioning identifier.
102, the image of camera acquisition positioning identifier.
103, robot is according to the position of image computer device people.
In this case, robot localization can be realized in the image that robot can only obtain a positioning identifier, letter
The program of robot localization is changed, and precision navigation may be implemented.
In some instances, the position of robot can be coordinate of the robot indoors in scene.
In some instances, robot can move indoors.Positioning label can be installed on indoor ceiling or
Eminence.It can avoid positioning label as a result, to be blocked, the image of positioning label acquired convenient for robot.
In some instances, robot moves indoors, irradiates positioning identifier by infrared light compensating lamp.Infrared light compensating lamp is not
The light pollution to human eye visible environmental can be generated, and improves the brightness of image of positioning identifier.It can be incited somebody to action by narrow band filter
Non-effective ambient light rejection, synthesis improve image image quality.The complexity of subsequent image processing is reduced, is realized accurate
Navigation.
In the present embodiment, step 103 specifically includes: the location information of robot acquisition image.And obtain robot
Positional relationship relative to positioning identifier.Robot is according to the position of location information and positional relationship positioning robot.Machine as a result,
Device people may be implemented to be accurately positioned.
In the present embodiment, as shown in Fig. 2, positioning identifier 1 includes first identifier 10, second identifier 10 and substrate 30.
First identifier 10 and second identifier 20 are set to substrate 30 in matrix structure.Matrix structure be n × m structure, n be greater than or
Person is equal to 2, m and is more than or equal to 3.The quantity of first identifier 10 and second identifier 20 and be less than or equal to n × m.Change and
Yan Zhi, first identifier 10 and second identifier 20 incomplete can fill up entire matrix structure.In this case, on the one hand,
Since first identifier is different from the feature of second identifier, and matrix structure makes mark be easier to be identified, in conjunction with institute of the present invention
The robot localization method based on positioning identifier being related to, can promote the quality of the image of the positioning identifier of acquisition.Another party
The combination of face, first identifier and second identifier can achieve 3n×m, in the case where substrate size is constant, simplify mark
Arrangement design, reduce the quantity that uses of mark, improve the applicability for largely arranging positioning identifier in biggish scene.
In some instances, positioning identifier 1 can also include that third identifies.Third mark has and first identifier and second
Identify different features.First identifier, second identifier, third mark are arranged in arrays.In this case, first identifier,
Two marks, the combination of third mark can achieve 4n×mKind.It is understood that positioning identifier 1 can comprise more than 2 kinds
Different marks.
In the present embodiment, substrate 30 is generally rectangular.As a result, convenient for batch production and the first positioning identifier 10
With the installation of the second positioning identifier 20.
In the present embodiment, first identifier 10 is rounded.Second identifier 20 is in circular ring shape.As a result, first identifier
It distinguishes obvious with second identifier and is easier to be identified, and positioning identifier is made to be easier to produce in batches.
It is understood that in some instances, first identifier 10 can be in rectangle.Second identifier can be triangular in shape.
First identifier 10 and second identifier 20 can be in any shape with distinguishing characteristics.
In the present embodiment, n=3, m=3.In other words, first identifier 10 and second identifier 20 are arranged in 3 × 3 matrixes
Cloth.The quantity of first identifier 10 and second identifier 20 and be less than or equal to 9.In this case, both reduce mark
Quantity, and positioning identifier is made to have both diversity, reduce the complexity of positioning identifier batch making.
In the present embodiment, substrate 30 has the first face and second face opposite with the first face.First identifier 10 and
Two marks 20 are set to the first face.Second face is provided with mounting portion.It is installed in application scenarios convenient for substrate as a result,.
In some instances, mounting portion can be the patch that can be used for pasting with viscosity.
In the present embodiment, first identifier 10 and second identifier 20 use reflecting material.Preferably, using high converse
Penetrate material.In this case, light is irradiated to first identifier and second identifier, can promote reflecting effect, so as to be promoted
The picture quality of the positioning identifier image of acquisition.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (7)
1. a kind of robot localization method based on positioning identifier, which is characterized in that the robot include infrared light compensating lamp and
Camera, the camera have narrow band filter, which comprises
The infrared light compensating lamp irradiates the positioning identifier；
The camera acquires the image of the positioning identifier；
The robot calculates the position of the robot according to described image.
2. the robot localization method based on positioning identifier as described in claim 1, which is characterized in that the robot according to
Described image calculates the step of position of the robot, specifically includes:
The robot obtains the location information of described image, and obtains position of the robot relative to the positioning identifier
Relationship, the robot position the position of the robot with the positional relationship according to the positional information.
3. the robot localization method based on positioning identifier as described in claim 1, which is characterized in that the positioning identifier packet
Include first identifier, second identifier and substrate, the first identifier and the second identifier are set to institute in matrix structure
State substrate, the matrix structure is n × m structure, and n is more than or equal to 2, m and is more than or equal to 3, the first identifier and the
Two mark quantity and be less than or equal to n × m.
4. the robot localization method based on positioning identifier as claimed in claim 3, which is characterized in that the first identifier is in
Circle, the second identifier are in circular ring shape.
5. the robot localization method based on positioning identifier as claimed in claim 3, which is characterized in that n=3, m=3, it is described
The quantity of first identifier and second identifier and be less than or equal to 9.
6. the robot localization method based on positioning identifier as claimed in claim 3, which is characterized in that the substrate has the
On one side and second face opposite with first face, the first identifier and the second identifier are set to first face, institute
It states the second face and is provided with mounting portion.
7. the robot localization method based on positioning identifier as claimed in claim 3, which is characterized in that the first identifier and
The second identifier uses reflecting material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082172.0A CN109827575A (en) | 2019-01-28 | 2019-01-28 | Robot localization method based on positioning identifier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082172.0A CN109827575A (en) | 2019-01-28 | 2019-01-28 | Robot localization method based on positioning identifier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109827575A true CN109827575A (en) | 2019-05-31 |
Family
ID=66862637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910082172.0A Withdrawn CN109827575A (en) | 2019-01-28 | 2019-01-28 | Robot localization method based on positioning identifier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109827575A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110414511A (en) * | 2019-07-30 | 2019-11-05 | 深圳市普渡科技有限公司 | Cooperate sign and system |
| WO2020244480A1 (en) * | 2019-06-05 | 2020-12-10 | 北京外号信息技术有限公司 | Relative positioning device, and corresponding relative positioning method |
| CN112363499A (en) * | 2020-10-26 | 2021-02-12 | 珠海市一微半导体有限公司 | Robot control system for carrying out visual positioning navigation based on ceiling |
| CN112468736A (en) * | 2020-10-26 | 2021-03-09 | 珠海市一微半导体有限公司 | Ceiling vision robot capable of intelligently supplementing light and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773862A (en) * | 2012-07-31 | 2012-11-14 | 山东大学 | Quick and accurate locating system used for indoor mobile robot and working method thereof |
| CN105486311A (en) * | 2015-12-24 | 2016-04-13 | 青岛海通机器人系统有限公司 | Indoor robot positioning navigation method and device |
| CN105865438A (en) * | 2015-01-22 | 2016-08-17 | 青岛通产软件科技有限公司 | Autonomous precise positioning system based on machine vision for indoor mobile robots |
| CN105987683A (en) * | 2015-04-16 | 2016-10-05 | 北京蚁视科技有限公司 | Visual positioning system and method based on high-reflective infrared identification |
| CN106092090A (en) * | 2016-08-06 | 2016-11-09 | 中科院合肥技术创新工程院 | A kind of infrared road sign for indoor mobile robot location and using method thereof |
| CN205909828U (en) * | 2016-08-06 | 2017-01-25 | 中科院合肥技术创新工程院 | A infrared road sign for indoor mobile robot location |
| CN106803261A (en) * | 2015-11-20 | 2017-06-06 | 沈阳新松机器人自动化股份有限公司 | robot relative pose estimation method |
-
2019
- 2019-01-28 CN CN201910082172.0A patent/CN109827575A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773862A (en) * | 2012-07-31 | 2012-11-14 | 山东大学 | Quick and accurate locating system used for indoor mobile robot and working method thereof |
| CN105865438A (en) * | 2015-01-22 | 2016-08-17 | 青岛通产软件科技有限公司 | Autonomous precise positioning system based on machine vision for indoor mobile robots |
| CN105987683A (en) * | 2015-04-16 | 2016-10-05 | 北京蚁视科技有限公司 | Visual positioning system and method based on high-reflective infrared identification |
| CN106803261A (en) * | 2015-11-20 | 2017-06-06 | 沈阳新松机器人自动化股份有限公司 | robot relative pose estimation method |
| CN105486311A (en) * | 2015-12-24 | 2016-04-13 | 青岛海通机器人系统有限公司 | Indoor robot positioning navigation method and device |
| CN106092090A (en) * | 2016-08-06 | 2016-11-09 | 中科院合肥技术创新工程院 | A kind of infrared road sign for indoor mobile robot location and using method thereof |
| CN205909828U (en) * | 2016-08-06 | 2017-01-25 | 中科院合肥技术创新工程院 | A infrared road sign for indoor mobile robot location |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020244480A1 (en) * | 2019-06-05 | 2020-12-10 | 北京外号信息技术有限公司 | Relative positioning device, and corresponding relative positioning method |
| CN110414511A (en) * | 2019-07-30 | 2019-11-05 | 深圳市普渡科技有限公司 | Cooperate sign and system |
| CN110414511B (en) * | 2019-07-30 | 2022-05-03 | 深圳市普渡科技有限公司 | Cooperative sign recognition method and system for robot |
| CN112363499A (en) * | 2020-10-26 | 2021-02-12 | 珠海市一微半导体有限公司 | Robot control system for carrying out visual positioning navigation based on ceiling |
| CN112468736A (en) * | 2020-10-26 | 2021-03-09 | 珠海市一微半导体有限公司 | Ceiling vision robot capable of intelligently supplementing light and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109827575A (en) | Robot localization method based on positioning identifier | |
| CN107239252A (en) | A kind of LED display connects screen method automatically | |
| CN106646566A (en) | Passenger positioning method, device and system | |
| KR20120067013A (en) | Apparatus and method for indoor localization based on camera | |
| CN109855625A (en) | Positioning identifier and navigation system | |
| CN106415308B (en) | Determine the orientation of mobile device | |
| CN207780718U (en) | Visual interactive device | |
| CN210225419U (en) | Optical communication device | |
| CN107911680A (en) | Projector equipment bearing calibration, device and projector equipment | |
| CN109844213A (en) | Method and system for automatic cutting fabric | |
| CN107636729B (en) | Lighting plan generator | |
| CN110749290A (en) | Three-dimensional projection-based characteristic information rapid positioning method | |
| US11430193B1 (en) | Resilient interdependent spatial alignment to improve and maintain spatial alignment between two coordinate systems for augmented reality and other applications | |
| CN105388707A (en) | Drawing device | |
| CN112528699B (en) | Method and system for obtaining identification information of devices or users thereof in a scene | |
| CN110545656A (en) | Method for calibrating a component mounting device | |
| CN104022823B (en) | Position service method and equipment | |
| CN110744920B (en) | Method and system for positioning printed product | |
| JP2016100379A (en) | Component mounting device, component mounting method and component mounting system | |
| JP6476031B2 (en) | Image projection apparatus, image projection method, and program | |
| US20230350620A1 (en) | Method and apparatus for extended reality head mounted display device | |
| CN107339988B (en) | Positioning processing method and device | |
| TWI812865B (en) | Device, method, storage medium and electronic apparatus for relative positioning | |
| CN112581630B (en) | User interaction method and system | |
| CN211794627U (en) | Foot-shaped scanning positioning plate and foot-shaped scanning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190531 |