CN111854759A - Visual indoor positioning method and system based on top indicator - Google Patents
Visual indoor positioning method and system based on top indicator Download PDFInfo
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- CN111854759A CN111854759A CN202010656869.7A CN202010656869A CN111854759A CN 111854759 A CN111854759 A CN 111854759A CN 202010656869 A CN202010656869 A CN 202010656869A CN 111854759 A CN111854759 A CN 111854759A
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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
A visual indoor positioning method and system based on a top indicator symbol comprises the following steps: providing an indicating component with a plurality of indicating symbols arranged at the top, and placing the mobile robot below the indicating component; the mobile robot obtains the indication symbol, obtains the position information and the current orientation angle information of the mobile robot according to the indication symbol, then automatically plans a path, and moves after adjusting the advancing direction; the indication symbols comprise at least a first indication mark and a second indication mark, and indication lines used for adjusting the advancing direction of the mobile robot and indication points used for adjusting the position of the intelligent mobile robot are further arranged on the first indication mark and/or the second indication mark. The mobile robot direction positioning method and the mobile robot direction positioning device are provided with the first indication mark and the second indication mark which are arranged in a matched mode, and the direction positioning of the mobile robot can be achieved by means of the arrangement of the relative directions of the two marks.
Description
Technical Field
The application relates to a visual indoor positioning method and system based on a top indicator.
Background
The method includes the steps that when a mobile robot is used for moving and routing inspection in indoor scenes such as a machine room, an office area, a storehouse and the like, the current position of the robot needs to be obtained in real time and a path is planned, the current commonly used technologies comprise methods such as laser radar, RFID, UWB, Bluetooth, image vision and the like, and various methods have advantages and disadvantages in the aspects of deployment, price and accuracy, but a certain contradiction still exists between the operation accuracy and the investment cost.
Disclosure of Invention
In order to solve the above problems, the present application discloses, in one aspect, a visual indoor positioning method based on a top indicator, including the following steps: providing an indicating component with a plurality of indicating symbols arranged at the top, and placing the mobile robot below the indicating component; the mobile robot obtains the indication symbol, obtains the position information and the current orientation angle information of the mobile robot according to the indication symbol, then automatically plans a path, and moves after adjusting the advancing direction; the indication symbols comprise at least a first indication mark and a second indication mark, the first indication mark and the second indication mark are arranged in a matched mode, so that the shapes of graphs formed by the original state, the spinning 90 degrees, the spinning 180 degrees and the spinning-90 degrees are different to represent the relative orientation of the mobile robot, and an indication line used for adjusting the advancing direction of the mobile robot and an indication point used for adjusting the position of the intelligent mobile robot are further arranged on the first indication mark and/or the second indication mark. The first indicating mark and the second indicating mark which are arranged in a matched mode are arranged, and the direction positioning of the mobile robot can be achieved by means of the arrangement of the relative directions of the two marks, in addition, the indicating line can be used as the X-axis direction of a marked coordinate system, the included angle between the orientation of the mobile robot and the X-axis direction of the marked coordinate system is calculated, so that the purpose of adjusting the direction of the mobile robot is achieved, of course, the X-axis orientation can be uniquely determined only by means of the matched arrangement of the first indicating mark and the second indicating mark, the indicating point is the accurate position of the center of the robot, the accuracy of the motion starting position of the robot is improved, and in addition, the center point of the indicating line can be taken as the indicating point.
Preferably, the first indication mark is a number, and the second indication mark is a transverse line disposed on one side of the number.
Preferably, the transverse line is used as an indicating line, and an indicating point is arranged in the middle of the transverse line.
Preferably, the indication symbol is an invisible coating, and an ultraviolet lamp for enabling the invisible coating to be displayed and a camera for acquiring the displayed image are arranged on the mobile robot.
Preferably, the indication symbol is formed by invisible paint, and an ultraviolet lamp for enabling the invisible paint to be displayed and a camera for acquiring the displayed image are arranged on the mobile robot. The invisible coating is provided as the substances of the first indicating mark and the second indicating mark, so that the indoor attractiveness is not affected while information is provided.
Preferably, the first indicator mark and the second indicator mark are different colors.
Preferably, the information extraction is carried out after the image acquired by the camera is converted into the hsv format; the indicating assembly is a ceiling. This application avoids mutual interference through setting first index mark and second index mark to different colours, improves the accuracy of discernment efficiency and discernment.
In another aspect, the present application further discloses a visual indoor positioning system based on a top indicator, comprising: the indicating assembly is used for marking a plurality of indicating symbols, and the mobile robot is arranged below the indicating assembly;
the mobile robot acquires the indication symbol, acquires the position information and the advancing direction information of the mobile robot according to the indication symbol, and then adjusts the advancing direction according to the acquired instruction and moves; the indication symbols comprise at least a first indication mark and a second indication mark, the first indication mark and the second indication mark are arranged in a matched mode, so that the shapes of graphs formed by the original state, the spinning 90 degrees, the spinning 180 degrees and the spinning-90 degrees are different to represent the included angle of the current orientation of the mobile robot relative to the X-axis direction of the mark coordinate system, and the advancing direction of the mobile robot is adjusted by calculating the included angle between the next target mark point of the mark coordinate system and the current target point and the included angle between the orientation of the mobile robot and the X-axis direction of the mark coordinate system.
Preferably, the system further comprises a path calibration system, wherein the path calibration system comprises mark points and a path for connecting the mark points; the path includes a rotation angle required for correction of the advancing direction and a required moving distance.
Preferably, the path calibration system comprises a marking coordinate system, wherein the marking coordinate system comprises marking points, relative angles of the marking points and paths for connecting the marking points; the path is a straight-line physical distance between two marked points.
Preferably, the system further comprises a path optimization system, wherein the path optimization system obtains all paths, assigns weights to physical distances between two adjacent points, calculates the weights of all paths, and takes the path with the smallest weight as the optimal path. According to the robot positioning method and device, the first indication mark and the second indication mark are arranged, so that the robot can be accurately positioned, the rotation angle and the distance needing to be moved are calculated after positioning, accounting of resource consumption (such as required time and consumed energy) is performed, calculation of total resource consumption after weighting is performed, and the optimized running path is obtained.
This application can bring following beneficial effect:
1. in addition, an indication line of the method can be used as the X-axis direction of the marked coordinate system, and an indication point is used for positioning the accurate position of the robot, so that the accuracy of the motion starting position of the robot is improved;
2. By arranging the invisible coating, the invisible coating is provided as the substances of the first indicating mark and the second indicating mark, so that the indoor attractiveness is not influenced while information is provided;
3. according to the method, the first indication mark and the second indication mark are arranged, so that the accurate orientation and positioning of the robot can be obtained, after the positioning, the angular rotation and the distance needing to be moved are calculated, the resource consumption (such as required time, consumed energy and the like) is accounted, then the total resource consumption after weighting is calculated, and then the optimized running path is obtained;
4. the method and the device map the movement of the trolley in the physical environment to the path planning problem in the marked coordinate system through the marked coordinate system, and have the advantages of low deployment cost, less dependence on hardware equipment and flexible change.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow diagram of the present application;
FIG. 2 is a schematic view of a reference symbol;
FIG. 3 is a schematic illustration of the indicator symbols in four rotational directions;
FIG. 4 is a schematic diagram of a path;
FIG. 5 is a schematic diagram of an angular path calibration system;
FIG. 6 is a schematic diagram of a path calibration system with travel distance.
Detailed Description
In order to clearly explain the technical features of the present invention, the present application will be explained in detail by the following embodiments in combination with the accompanying drawings.
In a first embodiment, as shown in fig. 1, this is done as follows:
s101, positioning of the mobile robot: entering a designated position through the indication symbol, adjusting the orientation of the mobile robot according to the indication line, and performing accurate positioning by using a designated point;
s102, obtaining a moving path: obtaining the overall layout through a path calibration system, then optimizing an optimal path through a path optimization system, and assigning values to each steering angle and each moving distance according to set weights in the process of optimizing the optimal path to obtain the path with the lowest weight, namely the optimal path;
and S103, the mobile robot moves according to the optimal path, and in the moving process, the position and the angle are respectively corrected through each encountered indicator symbol.
In the second embodiment, as shown in fig. 2, the indication symbol includes a first indication mark, i.e. 3, a second indication mark, a horizontal line provided below 3; as shown in fig. 3, the mobile robot is oriented to mark the coordinate system at an angle of-90 degrees, 0 degrees, 180 degrees, and 90 degrees respectively, the second indication mark is also an indication line, the indication line is used as a mark line for alignment, and the indication line is matched with the number above the indication line, namely the first indication mark, to realize the precise control of the rotation angle; and an indication point is arranged in the middle of the indication line and used as a robot positioning place. When the mobile robot is used, the middle point of the adjusting indicating line is superposed with the central point of the visual field of the camera, so that the mobile robot can be adjusted to an accurate position. The first indication mark and the second indication mark are marked with different colors, so that the RGB image can be converted into the hsv format to extract different colors, and mutual interference is avoided.
As shown in FIG. 4, in order to use a scene, the indication mark is arranged above each number, and the indication mark is arranged above 1212And 13 above is arranged13And the like. Fig. 5 is a diagram of relative angle relationship between two adjacent points, and fig. 6 is a diagram of distance relationship, which can be arranged in a system, and is shown separately for clarity.
If the shortest path from 2 to 9 is found, and the shortest path from 2 to 9 is found, the paths 2-3-6-9 and 2-5-6-9 can be obtained, the distances of the two paths are the same, the time weight is calculated according to the distances, and the influence of the rotation angle is ignored. If the query condition is further added, such as passing 5, then paths 2-5-6-9 can be determined to be unique paths.
In order to control the mobile robot to drive from 2 to 9, the angle relation between the mark points can be inquired through an inquiry statement, the obtained angle relation is 90-0-90, and if the current angle of the mobile robot relative to 2 is 0 degree, the mobile robot can do the following actions;
the mobile robot rotation angle formula:
the rotation angle is the angle of the head of the robot relative to the X axis of the marking coordinate system-the angle of the target point relative to the current point (the angle difference is greater than 0, clockwise rotation; <0, anticlockwise rotation);
2-5: 0-90 to-90, that is, the mobile robot rotates 90 degrees counterclockwise and then advances;
5-6: if the relative angle between the mobile robot and the 5 is 90 degrees after the mobile robot reaches 5, 90-0 is 90 degrees, the mobile robot rotates clockwise by 90 degrees and then moves forward;
6-9: if the relative angle between the mobile robot and the mobile robot 6 is 0 degrees after the mobile robot reaches 6, the relative angle is 0-90 to-90, the mobile robot rotates 90 degrees anticlockwise and then moves forwards;
9: the mobile robot determines that the current position is 9, terminates the action, and starts to execute the other additional action.
In a third embodiment, a visual indoor positioning system based on a top indicator symbol, comprising: the indicating assembly is used for marking a plurality of indicating symbols, and the mobile robot is arranged below the indicating assembly; the mobile robot acquires the indication symbol, acquires the position information of the mobile robot and the relative angle information of the robot orientation and the marking coordinate system according to the indication symbol, and then adjusts the advancing direction and moves according to the marking coordinate system and the path planning information; the indication symbols comprise at least a first indication mark and a second indication mark, the first indication mark and the second indication mark are arranged in a matched mode, so that the shapes of graphs formed by the original state, the spinning 90 degrees, the spinning 180 degrees and the spinning-90 degrees are different to represent the relative orientation of the mobile robot, and an indication line used for adjusting the advancing direction of the mobile robot and an indication point used for adjusting the position of the intelligent mobile robot are further arranged on the first indication mark and/or the second indication mark. The system also comprises a path optimization system, wherein the path optimization system obtains all paths, carries out weight assignment on resources consumed by angle rotation and resources consumed by moving distance, calculates the weights of all paths, and takes the path with the minimum weight as the optimal path.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A visual indoor positioning method based on a top indicator symbol is characterized in that: the method comprises the following steps:
providing an indicating component with a plurality of indicating symbols arranged at the top, and placing the mobile robot below the indicating component;
the mobile robot obtains the indication symbol, obtains the position information and the current orientation angle information of the mobile robot according to the indication symbol, then automatically plans a path, and moves after adjusting the advancing direction;
the indication symbols comprise at least a first indication mark and a second indication mark, the first indication mark and the second indication mark are arranged in a matched mode, so that the shapes of graphs formed by the original state, the spinning 90 degrees, the spinning 180 degrees and the spinning-90 degrees are different to represent the relative orientation of the mobile robot, and an indication line used for adjusting the advancing direction of the mobile robot and an indication point used for adjusting the position of the intelligent mobile robot are further arranged on the first indication mark and/or the second indication mark.
2. A visual indoor positioning method based on top indicator symbol as claimed in claim 1, wherein: the first indication mark is a number, and the second indication mark is a transverse line arranged on one side of the number.
3. A visual indoor positioning method based on top indicator symbol as claimed in claim 2, wherein: the transverse line is used as an indicating line, and an indicating point is arranged in the middle of the transverse line.
4. A visual indoor positioning method based on top indicator symbol as claimed in claim 1, wherein: the mobile robot is provided with an ultraviolet lamp for displaying the invisible coating and a camera for acquiring the displayed image.
5. A visual indoor positioning method based on top indicator symbol as claimed in claim 1, wherein: the mobile robot is provided with an ultraviolet lamp for displaying the invisible coating and a camera for acquiring the displayed image.
6. A visual indoor positioning method based on top indicator symbols according to claim 5, characterized in that: the first and second indicator marks are different colors.
7. A visual indoor positioning method based on top indicator symbols according to claim 6, characterized in that: after the image acquired by the camera is converted into an hsv format, information extraction is carried out; the indicating assembly is a ceiling.
8. A visual indoor positioning system based on top indicator symbols, characterized in that: the method comprises the following steps:
the indicating assembly is used for marking a plurality of indicating symbols, and the mobile robot is arranged below the indicating assembly;
the mobile robot acquires the indication symbol, acquires the position information and the current orientation angle information of the mobile robot according to the indication symbol, automatically plans a path, and moves after adjusting the advancing direction; the indication symbols comprise at least a first indication mark and a second indication mark, the first indication mark and the second indication mark are arranged in a matched mode, so that the shapes of graphs formed by the original state, the spinning 90 degrees, the spinning 180 degrees and the spinning-90 degrees are different to represent the relative orientation of the mobile robot, and an indication line used for adjusting the advancing direction of the mobile robot and an indication point used for adjusting the position of the intelligent mobile robot are further arranged on the first indication mark and/or the second indication mark.
9. A visual indoor positioning system based on top indicator symbols as claimed in claim 8, wherein: the system also comprises a path calibration system, wherein the path calibration system comprises mark points and a path for connecting the mark points; the path comprises a rotation angle required by correction of the advancing direction and a required moving distance; the path calibration system comprises a marking coordinate system, wherein the marking coordinate system comprises marking points, relative angles of the marking points and paths for connecting the marking points; the path is a straight-line physical distance between two marked points.
10. A visual indoor positioning system based on top indicator symbols as claimed in claim 9, wherein: the system also comprises a path optimization system, wherein the path optimization system acquires all paths, performs weight assignment on the moving distance, calculates the weights of all the paths, and takes the path with the minimum weight as the optimal path.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010656869.7A CN111854759A (en) | 2020-07-09 | 2020-07-09 | Visual indoor positioning method and system based on top indicator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010656869.7A CN111854759A (en) | 2020-07-09 | 2020-07-09 | Visual indoor positioning method and system based on top indicator |
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