CN111504270A - Robot positioning device - Google Patents
Robot positioning device Download PDFInfo
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- CN111504270A CN111504270A CN202010545104.6A CN202010545104A CN111504270A CN 111504270 A CN111504270 A CN 111504270A CN 202010545104 A CN202010545104 A CN 202010545104A CN 111504270 A CN111504270 A CN 111504270A
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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
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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
- G01C11/04—Interpretation of pictures
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention relates to a robot positioning device.A visual angle range of a positioning camera or a combination of a plurality of positioning cameras covers a specified positioning range, and an actual position and a position in a picture shot by the positioning camera are calibrated in advance to enable the actual position and the position to have a corresponding relation; when the robot works, the calculation module analyzes the picture shot by the positioning camera, identifies the robot, calculates the position of the robot in the picture, and determines the actual position of the robot according to the corresponding relation between the actual position and the picture position. The invention can provide accurate positioning information of the robots in the whole area, has high positioning precision, can simultaneously provide accurate positioning information without mutual interference for all the robots particularly when a plurality of robots exist in one area, and is particularly suitable for being applied to mobile robots in fixed places.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot positioning device.
Background
Positioning technology is a key technology for mobile robot navigation. The robot is accurately positioned in real time through the positioning device, so that the navigation system can plan a path according to the accurate positioning of the robot and control the robot to complete work.
The current common positioning modes include fixed track positioning, electronic positioning, visual positioning based on a virtual track, a mobile robot visual positioning method based on deep learning, a multi-robot automatic positioning system of a robot restaurant and the like, and the positioning modes have the following defects:
1. and (5) positioning the fixed guide rail.
And a guide rail of a metal wire or a magnetic nail is paved on the ground, and the robot walks on the guide rail. Although the control is simple and the positioning is easy, the installation is inconvenient and the maintenance cost is high.
2. And (4) electronic positioning.
The method comprises positioning based on an inertial gyroscope, positioning based on a GPS (global positioning system), positioning based on a laser radar and hybrid positioning of various methods, wherein the positioning accuracy of the methods is not high, the methods are also easily influenced by various interferences, errors are accumulated continuously, and the method is easy to get lost in robot navigation.
3. Visual navigation based on virtual tracks.
The virtual track refers to drawing a guide line on the ground, or laying a color tape, or laying a two-dimensional code navigation tape, and various modes of hybrid navigation tapes. The methods can solve the problem of navigation lost to a certain extent, but because various virtual tracks are arranged on the ground, the method not only has certain workload, but also is easy to lose the navigation path due to the influence of dust on covering; after a period of use, the necessary wear will result in complete failure, requiring periodic replacement.
For example, in the CN102788591B line-walking navigation method of the robot based on visual information, which draws a guide line on the ground, the control effect completely depends on parameters, and the optimal parameters are often different when the states of the controlled objects are different.
For example, CN103294059A is a mobile robot positioning system based on a hybrid navigation tape and a method thereof, wherein the hybrid navigation tape is composed of a color tape and a two-dimensional code label disposed on the color tape. The patent method utilizes a two-dimensional code reader and a camera to realize the accurate positioning function of the mobile robot, and the two-dimensional code reader and the camera are respectively at least one and separately process transverse deviation correction, longitudinal deviation correction and angle deviation correction;
like CN103324194A mobile robot positioning system based on two-dimensional code navigation area, two-dimensional code navigation area comprises a plurality of two-dimensional codes that are adjacent setting in proper order, set up a large amount of two-dimensional code labels, and use two at least two-dimensional code readers to read the two-dimensional code, carry out the accurate positioning of robot, rely on the strip, make the robot walk not deviating from the navigation area about, although the walking speed has been improved, when the two-dimensional code wearing and tearing or disappearance in the strip, the robot can't calculate the distance between impaired two-dimensional code and the normal two-dimensional code, robot walking direction loses.
4. A visual navigation method of a mobile robot based on deep learning.
For example, in the CN109341689A depth learning-based visual navigation method for a mobile robot, the robot randomly explores and shoots images in an unknown environment, a marking tool marks the acquired RGB images, and a target detection model is used to train the marked images, so as to obtain a target detection model meeting requirements. This method has two main problems: firstly, when the similarity of target points is high, the robot cannot distinguish which target point is reached; second, when there is a blockage around the target point, the image of the target point cannot be acquired. The method is too ideal, and the practicability and effectiveness need to be improved.
5. A multi-robot automatic positioning system for a robot restaurant.
The CN101661098B robot restaurant multi-robot automatic positioning system comprises a robot restaurant central server module, a plurality of service robot positioning system modules and a wireless communication module. The robot restaurant central server module is responsible for globally locating all service robots in the robot restaurant. The robot restaurant central server module comprises a panoramic vision positioning module, a central server positioning information integration processing module and a human-computer interaction module, wherein the panoramic vision positioning module comprises a panoramic camera and a grid coordinate system, the panoramic camera is arranged in the center of the roof of the robot restaurant and connected with the central server positioning information integration processing module, and the grid coordinate system is fixedly arranged on the floor of the robot restaurant and is opposite to the panoramic camera. The panoramic camera shoots objects in the whole restaurant, the shot panoramic images are processed in real time, all the service robots and obstacles are identified, the specific positions of the objects are determined, and global visual information is generated. By judging which carpet is close to the object, the coordinate values of the object in the grid coordinate system can be known, and the position of the object in the robot restaurant can be determined. The object position is determined by the carpet grid, which is obviously very low in accuracy and cannot be located if there is no carpet grid on the floor. In addition, the patent mentions that the robot is positioned by placing the radio frequency electronic tag under the carpet, as described in item 2 of positioning technology, electronic positioning, it is obvious that the precision cannot meet most occasions with high positioning precision requirements.
In addition to the above problems, when there are moving objects around the robot, such as people and vehicles, there is a greater influence on the positioning like lidar, and it is more difficult to identify the current position of the robot; when multiple robots are present in an area, the positioning signals interfere with each other, and there is a greater challenge to accurately perform the task.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the robot positioning device has the characteristics of high positioning accuracy, stable performance, small maintenance workload, low cost and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a robot positioning device comprises a robot, one or more positioning cameras and a computing module; the computing module is built in the robot or is separately arranged outside the robot; the robot, the positioning camera and the computing module are in communication connection; the positioning cameras are arranged in the environment around the motion of the robot, and the view angle range of one positioning camera or a combination of a plurality of positioning cameras covers the appointed positioning range; the robot positioning device calibrates the actual position and the position in the picture shot by the positioning camera within the positioning range of the positioning camera, so that the actual position and the position in the picture shot by the positioning camera have a corresponding relation; when the robot works, the positioning camera shoots a picture of a designated positioning range, the calculation module analyzes the picture, identifies the robot and calculates the position of the robot in the picture, determines the actual position of the robot according to the corresponding relation between the actual position and the picture position, and transmits the actual position or a subsequent action instruction of the robot calculated according to the actual position to the robot.
Further, the calculation module calculates a subsequent action instruction of the robot according to the actual position and transmits the subsequent action instruction to the robot, and the calculation module plans a walking path of the robot according to the actual position, the target position, the map and the obstacle of the robot and transmits the walking path or the execution steps of the walking path to the robot.
Preferably, the location camera is installed in the robot motion environment, and location camera mounted position has certain vertical distance with the robot motion plane, and location camera visual angle plane is parallel with the robot motion plane, can guarantee like this that the robot of shooting in the camera surveillance area is in the image and the image does not have the distortion.
Further, if the robot or the moving part of the robot moves on a horizontal plane, the installation position of the positioning camera keeps a certain vertical distance with the horizontal plane, and the visual angle plane of the positioning camera is parallel to the horizontal plane; if the robot or the moving part of the robot moves in a vertical direction, the installation position of the positioning camera is kept at a vertical distance from this vertical direction plane, and the viewing angle plane of the positioning camera is parallel to this vertical direction plane.
Preferably, the view angle range of the one or more positioning camera combinations covers the designated positioning range of the robot, and the positioning camera is installed in the center of the positioning range of the positioning camera or the center of the designated positioning range of the robot with the highest positioning accuracy requirement.
Further, the identifying the robot and calculating the position of the robot in the picture is that the calculating module analyzes the key features of the robot in the picture and calculates the position of the key features of the robot in the picture. The key feature is a specific mark of the robot and is a key feature of at least one of a contour, a landmark structure and a recognition pattern of the robot.
The identification pattern comprises at least one of a two-dimensional code pattern, a circular pattern, a polygonal pattern and a color block pattern, the robot is identified, the position of the robot in the picture is calculated, the robot is identified by identifying key features of the identification pattern on the robot, and the position of the key features of the identification pattern in the picture is calculated. And preferably, two-dimension codes are adopted, and because the coordinates of the central point of each two-dimension code can be conveniently calculated by utilizing the detection graphs of the three vertex angles of the two-dimension codes, when the identification patterns on the robot are easily shot by the positioning camera, the robot positions can be quickly and accurately identified by adopting the two-dimension codes as the identification patterns.
Further, the positioning camera has an optical zoom function, and can take a high-resolution image even if the camera is remotely shot, so that more accurate positioning information can be provided.
Furthermore, the robot identification and calculation method comprises the steps of identifying the robot and calculating the position of the robot in a picture, and analyzing and confirming the identity of the robot by a calculation module according to the historical positions and walking tracks of all the robots.
Further, the robot positioning device further comprises a robot key feature database; the robot identification and calculation method comprises the steps that the robot is identified, the position of the robot in a picture is calculated, and the identity of the robot is analyzed and confirmed by a calculation module according to key feature information of the robot in a key feature database of the robot.
Furthermore, the calculation module analyzes the picture, further identifies the obstacle, and transmits the projection size and the accurate position of the obstacle to the robot. The navigation system can plan the walking route of the robot according to the projection size and the position of the obstacle.
Furthermore, the obstacle identification is performed by analyzing and judging according to at least one of a historical picture of the position of the obstacle, a characteristic database of the obstacle, and a moving track of the obstacle.
The key problem of autonomous walking of the robot lies in reliable and accurate positioning, and in terms of technical direction, the application of visual positioning to a robot navigation system is a well-known development trend, but the problem lies in that in stations, squares and restaurants, which have large pedestrian traffic, for the robot, the surrounding environment is actually in a dynamic state, the self-positioning is realized by relying on visual recognition of a changing environment, which is basically unrealistic, and the electronic navigation of a GPS (global positioning system) and the like, even errors of several meters cannot be applied to the robot operation places with high positioning precision. In a single environment, such as in a factory automation, it is difficult to provide sufficient visual information to support the robot's own positioning. The invention is out of the individual limitation of the robot, is inspired by the positioning information provided by the GPS satellite for the moving object, and performs the function similar to the GPS by the positioning camera in the area, so that the traffic condition in one area can be clearly identified, the robot and the position thereof can be identified, the robot is informed, the accurate positioning information of the robot is provided, the navigation information can plan the path according to the positioning information and the purpose thereof, and the execution data is continuously updated in the path execution. In consideration of the difficulty of visually recognizing the shape structure of the robot, partial robots even possibly cannot be recognized or cannot be recognized quickly in shape outline, the two-dimensional code is preferably arranged on the robot, and the robot is recognized by the positioning camera through recognizing the two-dimensional code.
The invention has the advantages of solving the defects in the background technology, providing accurate positioning information for one or more robots in the whole area, having high positioning precision, stable performance, less maintenance workload and low cost, and greatly accelerating the popularization of the robots. The robot is particularly suitable for being applied to mobile robots in fixed places, such as factory automation, restaurants, shopping malls, airports, stations and the like, and can also be applied to squares, key traffic lanes and the like.
Drawings
Fig. 1 is a block diagram of an embodiment of the present invention.
Fig. 2 is a block diagram of another embodiment of the present invention.
FIG. 3 is a schematic view of a single robot positioning under a single positioning camera of the present invention; FIG. 3-1 is a top view of a single positioning camera; fig. 3-2 is a schematic view of the positioning position of a single robot.
FIG. 4 is a schematic view of the positioning of multiple robots under the combination of multiple cameras according to the present invention; FIG. 4-1 is a top view of a plurality of positioning cameras; fig. 4-2 is a schematic view of the positioning positions of a plurality of robots.
In fig. 1 to 4:
v1, V2, V3: positioning a camera;
r1, R2, R3, R4: a robot;
r L1, R L2, R L3 and R L23 specify the positioning range, wherein R L23 is the set of R L2 and R L3;
v L1, V L2, V L3, V L23 visual range of the positioning camera, wherein V L23 is a set of V L2, V L3;
(l 1, w1), (l 2, w 2), (l 3, w 3), (l 4, w 4): coordinates of the current position of the robot in the picture.
Detailed Description
The invention will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
A robot positioning device as shown in fig. 1 comprises a robot and a positioning camera. Wherein the robot is internally provided with a computing module; the positioning cameras are arranged in the environment around the motion of the robot, and the visual angle range of one positioning camera or the combination of a plurality of positioning cameras can cover the appointed positioning range; the robot and the positioning camera are in communication connection; the positioning camera transmits the picture data shot by the positioning camera to a built-in computing module of the robot body through a network, and the computing module computes the positions of all robots in the picture and sends the motion positions of the body to the corresponding robots.
Example 2
As shown in fig. 2, a robot positioning device includes a robot, an internal computing module, a positioning camera, and an external computing module (network computing module) of the robot. The robot, the positioning camera and the network computing module are in communication connection; the positioning cameras are arranged in the environment around the motion of the robot, and the visual angle range of one positioning camera or the combination of a plurality of positioning cameras can cover the appointed positioning range; the positioning camera transmits the picture data shot by the positioning camera to the external computing module, the external computing module analyzes the picture, computes the positions of all robots in the picture, and then sends the positions to the corresponding robots.
As shown in fig. 3-1, a schematic side view of a robot positioning device, a positioning camera V1 is installed in an environment around the motion of a robot R1, a viewing angle range V L1 of the positioning camera V1, a designated positioning range R L1, and a designated positioning range R L1 smaller than V L1, so that distortion is likely to occur at corners when the positioning camera takes pictures, and therefore the positioning range R L1 is smaller than the viewing angle range V L1. preferably, the positioning camera V1 is installed at a position which has a certain vertical distance from the motion plane of the robot and the viewing angle plane is parallel to the motion plane of the robot, and the taken pictures are as shown in fig. 3-2, so that the pictures taken in the positioning area of the camera are guaranteed to have no distortion.
As shown in fig. 3-2, a schematic top view of a robot positioning device, assuming that the actual size of a positioning range R L1 is 960cm × 540cm, the positioning range picture pixel size taken by the robot is 1920 × 1080, in this example, the actual position and the picture position are calibrated, for example, a circular calibration bar is arranged at the measured actual position, and then the picture pixel position of the calibration bar is seen in the picture, so that the deviation between the actual position and the position in the picture can be known, the calibration ensures that the positioning error is within an allowable range, if the positioning range is too large due to too low resolution of the positioning camera or too high mounting position of the positioning camera, the resolution of the camera or the mounting position of the positioning camera needs to be adjusted to make the positioning error within the allowable range, in this example, the plane coordinates are 0.5cm (960/1920 =0.5cm/1 pixel, 540/1080=0.5cm/1 pixel), so that the pixel coordinates (l 1, w 4) are converted into the actual coordinates (8290.5 cm, 0.5 cm) of the robot, the key features (R5, w 5, w 5, 5.
As shown in FIG. 4-1, a schematic side view of a plurality of positioning devices, positioning cameras V2 and V3 are installed in the environment around the motion of robots R2, R3 and R4, a view angle range V L2 of a positioning camera V2 and a designated positioning range R L2, a view angle range V L3 of the positioning camera V3 and a designated positioning range R L3, and a set of positioning ranges R L2 and R L3 form a whole positioning area positioning range R L23. preferably, two positioning cameras are both installed at positions which have a certain vertical distance with the motion plane of the robot and the view angle plane is parallel with the motion plane of the robot, and the taken pictures are shown in FIG. 4-2, so that the images in the positioning ranges of the positioning cameras are ensured to be free of distortion.
As shown in fig. 4-2, a schematic plan view of a plurality of robot positioning devices, assuming that the positioning range R L2 has an actual size of 960cm 540cm, the positioning range R L has a picture pixel size of 1920 cm 1080, the positioning range R L3 has an actual size of 960cm 540cm, the positioning range R L has a picture pixel size of 1920 cm 1080, the entire positioning region R L23 has an actual size of (960 + 960) cm 540 cm. in this example, the actual position and the picture position are calibrated, two positioning cameras provide positioning data to three robots, the computing module analyzes the picture (1920 pixels), extracts key features (100 pixels) of the three robots (100 pixels), calculates the positions of the key features of the three robots in the picture as (l 2, w 2), (l 3, w 3), (l 4, w 2), and the computing module converts the actual coordinates into (0.5 l 638, 0.5w 23), (0.5 l 350, 0.5l, 3 w3, 2, 3, 2, 3, five.
While particular embodiments of the present invention have been described in the foregoing specification, various modifications and alterations to the previously described embodiments will become apparent to those skilled in the art from this description without departing from the spirit and scope of the invention.
Claims (10)
1. A robot positioning device characterized in that: the robot comprises a robot, one or more positioning cameras and a computing module, wherein the computing module is built in the robot or is separately arranged outside the robot; the robot, the positioning camera and the computing module are in communication connection; the positioning cameras are arranged in the environment around the motion of the robot, and the view angle range of one positioning camera or a combination of a plurality of positioning cameras covers the appointed positioning range; within the positioning range of the positioning camera, calibrating the actual position and the position in the picture shot by the positioning camera to enable the actual position and the position to have a corresponding relation; when the robot works, the positioning camera shoots a picture of a designated positioning range, the calculation module analyzes the picture, identifies the robot and calculates the position of the robot in the picture, determines the actual position of the robot according to the corresponding relation between the actual position and the picture position, and transmits the actual position or a subsequent action instruction of the robot calculated according to the actual position to the robot.
2. A robot positioning device as defined in claim 1, wherein: the installation position of the positioning camera has a vertical distance with the moving plane of the robot, and the visual angle plane of the positioning camera is parallel to the moving plane of the robot.
3. A robot positioning device as defined in claim 1, wherein: the positioning camera is arranged in the center of the positioning range of the positioning camera or the center of the positioning range appointed by the robot with the highest positioning precision requirement.
4. A robot positioning device as defined in claim 1, wherein: the robot is identified and the position of the robot in the picture is calculated, and the position of the robot in the picture is determined by identifying the position of key features of the robot in the picture; the key feature of the robot is at least one of a contour, a landmark structure and an identification pattern of the robot.
5. A robot positioning device as defined in claim 4, wherein: the identification pattern comprises at least one of a two-dimensional code pattern, a circular pattern, a polygonal pattern and a color block pattern.
6. A robot positioning device as defined in claim 1, wherein: the positioning camera has an optical zooming function.
7. A robot positioning device as defined in claim 1, wherein: the robot identification system comprises a robot identification module, a robot walking module and a calculation module, wherein the robot identification module is used for identifying the robot and calculating the position of the robot in a picture, and the calculation module is used for analyzing and confirming the identity of the robot according to the historical positions and walking tracks of all the robots.
8. A robot positioning device as defined in claim 1, wherein: the system also comprises a robot key feature database; the robot identification and calculation method comprises the steps that the robot is identified, the position of the robot in a picture is calculated, and the identity of the robot is analyzed and confirmed by a calculation module according to key feature information of the robot in a key feature database of the robot.
9. A robot positioning device as defined in claim 1, wherein: the calculation module analyzes the picture, further identifies the obstacle, and transmits the projection size and the accurate position of the obstacle to the robot.
10. A robot positioning device as defined in claim 9, wherein: the obstacle identification is carried out according to at least one of a historical picture of the position of the obstacle, a characteristic database of the obstacle and a moving track of the obstacle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113580197A (en) * | 2021-07-30 | 2021-11-02 | 珠海一微半导体股份有限公司 | Mobile robot jamming detection method, system and chip |
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