CN112697127A - Indoor positioning system and method - Google Patents
Indoor positioning system and method Download PDFInfo
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- CN112697127A CN112697127A CN202011348525.6A CN202011348525A CN112697127A CN 112697127 A CN112697127 A CN 112697127A CN 202011348525 A CN202011348525 A CN 202011348525A CN 112697127 A CN112697127 A CN 112697127A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
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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
- 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
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention provides an indoor positioning system, which comprises a processor, at least one image acquisition device and at least one movable device, wherein the image acquisition device is fixedly arranged on an indoor ground or an indoor wall, the processor is in communication connection with the image acquisition device, the indoor positioning system also comprises a calibration mechanism, the calibration mechanism is fixedly arranged on the at least one movable device, the calibration mechanism comprises a plurality of calibration points, the plurality of calibration points are parallel to each other and are separated from each other by a certain calibration distance, the image acquisition device is used for acquiring at least two indoor images and feeding the indoor images back to the processor, and the processor is used for acquiring the final displacement of the movable device according to the indoor images and the calibration distance and positioning the movable device according to the final displacement. The invention has simple cost, and can calibrate the final displacement of the movable device according to the calibration mechanism, thereby improving the precision of indoor positioning. Correspondingly, the invention further provides an indoor positioning method.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an indoor positioning system and method.
Background
The indoor positioning means that position positioning is realized in an indoor environment, and a set of indoor position positioning system is formed by mainly integrating various technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capture and the like, so that position monitoring of personnel, objects and the like in an indoor space is realized. In the future, with the continuous development of scientific technology, service robots (such as a nanny robot, a take-out robot, a delivery robot, etc.) inevitably appear in the aspects of people's life to serve the people's clothes and eating houses, and indoor positioning is one of the core technologies of the service robots.
Because sensors such as laser radar, ultrasonic radar and cameras are often needed to realize the indoor positioning system of the robot in the market at present, the cost is high, and large-scale mass production and popularization cannot be realized, a low-cost indoor positioning system is necessary to be researched and developed.
Disclosure of Invention
Based on the above, in order to solve the problem of high cost of the existing robot indoor positioning system, the invention provides an indoor positioning system and method, and the specific technical scheme is as follows:
an indoor positioning system comprises a processor, at least one image acquisition device and at least one movable device, wherein the image acquisition device is fixedly arranged on indoor ground or an indoor wall, the processor is in communication connection with the image acquisition device, and the indoor positioning system further comprises a calibration mechanism;
the calibration mechanism is fixedly arranged on at least one movable device and comprises a plurality of calibration points which are parallel to each other and are separated from each other by a certain calibration distance;
the image acquisition device is used for acquiring at least two indoor images and feeding the indoor images back to the processor;
the processor is used for obtaining the final displacement of the movable device according to the indoor image and the calibration distance and positioning the movable device according to the final displacement.
In the indoor positioning system, the indoor positioning function of the movable device (such as a service robot and the like) can be quickly realized only by one image acquisition device, a laser radar sensor, a photoelectric distance measuring sensor or an ultrasonic distance measuring sensor is not required to be additionally installed, the cost is simple, the final displacement of the movable device can be calibrated according to the calibration mechanism, and the indoor positioning precision is improved.
Further, indoor positioning system still includes the indoor electric pile that fills of fixed mounting, it is used for filling with to fill electric pile the mobile device.
Further, the image acquisition device is a camera.
Further, the movable device is a robot.
Further, the indoor positioning system further comprises a distance measuring sensor fixedly installed on the robot, and the distance measuring sensor is in communication connection with the processor.
Further, the distance measuring sensor is a laser radar sensor, a photoelectric distance measuring sensor or an ultrasonic distance measuring sensor.
Correspondingly, the invention also provides an indoor positioning method, which comprises the following steps:
acquiring at least two indoor images;
calculating a moving distance of the movable device according to the indoor image;
calibrating the moving distance through the calibration distance to obtain the final displacement of the movable device;
and positioning the movable device according to the final displacement.
Further, the movable device is a robot.
Further, the calibration distance is calculated from a calibration mechanism fixedly mounted on at least one of the movable devices.
Accordingly, the present invention also provides a computer-readable storage medium storing a computer program which, when executed, implements the indoor positioning method as described above.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic diagram of an overall structure of an indoor positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an overall structure of an indoor positioning system according to an embodiment of the present invention;
fig. 3 is a schematic overall flow chart of an indoor positioning method according to an embodiment of the present invention.
Description of reference numerals:
1. calibrating points; 2. charging piles; 3. an image acquisition device; 4. a wall body; 5. a mobile device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.
As shown in fig. 1 and 2, an indoor positioning system in an embodiment of the present invention includes a processor, at least one image capturing device and at least one movable device 5, wherein the image capturing device is fixedly installed on an indoor floor or an indoor wall 4, the processor is in communication connection with the image capturing device, and the indoor positioning system further includes a calibration mechanism.
The calibration mechanism is fixedly arranged on at least one movable device 5 and comprises a plurality of calibration points 1, and the calibration points 1 are parallel to each other and are separated from each other by a certain calibration distance; the image acquisition device 3 is used for acquiring at least two indoor images and feeding the indoor images back to the processor; the processor is configured to obtain a final displacement of the movable device 5 according to the indoor image and the calibration distance, and position the movable device 5 according to the final displacement.
The calibration distances between the plurality of calibration points 1 are fixed, the image acquisition device 3 acquires the indoor image, and calculates the image distance between two adjacent calibration points 1 in the indoor image according to the indoor image, wherein the ratio between the image distance between the two calibration points 1 and the calibration distance is the calibration ratio. The processor acquires movement information of the movement of the movable device 5 by acquiring at least two indoor images through the image acquisition device 3. And acquiring the position distance of the movable device 5 on the indoor image before and after the movement of the movable device 5 and the scale of the image acquired by the image acquisition device 3 through two indoor images, and calculating the movement distance of the movable device 5.
And acquiring a calibration distance according to the position distance of the movable device 5 on the indoor image before and after movement and the calibration proportion, comparing the movement distance with the calibration distance, and calibrating the movement distance according to the calibration distance to acquire the final displacement of the movable device 5.
The current coordinates of the movable device 5 after the movement are calculated according to the initial coordinates of the movable device 5 before the movement and the final displacement amount, that is, the movable device 5 can be positioned.
In the indoor positioning system, the indoor positioning function of the movable device 5 (such as a service robot and the like) can be quickly realized only by one image acquisition device 3, a laser radar sensor, a photoelectric distance measuring sensor or an ultrasonic distance measuring sensor is not required to be additionally installed, the cost is simple, the moving distance of the movable device 5 can be limited according to the calibration mechanism, the final displacement of the movable device 5 is calibrated, and the indoor positioning precision is improved.
In one embodiment, the movable device 5 is located indoors, and may be various types of mobile robots applied to indoor environments, such as a nurse robot, a meal delivery robot, and the like. The mobile robot includes a battery module for providing a power supply to a drive mechanism of the mobile robot.
In one embodiment, the indoor positioning system further comprises a charging post 2 fixedly installed indoors, wherein the charging post 2 can be electrically connected with the battery module for charging the movable device 5 (i.e. the battery module in the mobile robot).
In one embodiment, the image acquisition device is a camera. Further, the camera may be an existing surveillance camera of an indoor environment. So, through the surveillance camera head, indoor positioning system need not to install extra camera, can be with its indoor locate function, for indoor positioning system's popularization and application provides convenience.
In one embodiment, the indoor positioning system further comprises a distance measuring sensor fixedly installed on the robot, the distance measuring sensor is in communication connection with the processor, and the distance measuring sensor is a laser radar sensor, a photoelectric distance measuring sensor or an ultrasonic distance measuring sensor.
The distance measuring sensor is fixedly arranged on one of the robots, and the other robots are indirectly positioned through the robot provided with the distance measuring sensor. Because through distance measuring sensor can realize the accurate location of robot, utilizes this to install distance measuring sensor's robot is fixed a position all the other robots, can acquire an accurate indoor positioning network, when keeping indoor locate function precision, further reduces whole indoor positioning system's cost.
In one embodiment, the image capturing device 3 includes a plurality of image capturing devices 3, each of the plurality of image capturing devices 3 is an indoor monitoring camera, and the calibration mechanism is fixedly mounted on the plurality of movable devices 5. The calibration mechanism and the indoor monitoring cameras are matched with each other, closed-loop verification can be carried out on indoor positioning of the movable device 5, positioning accuracy of the indoor positioning system is detected in real time, and positioning accuracy of the indoor positioning system is further improved.
In one embodiment, the indoor monitoring camera is a wide-angle camera, and the observation angle is 104 degrees.
In one embodiment, as shown in fig. 3, an indoor positioning method includes the following steps:
at least two indoor images are acquired. Here, the indoor environment may be image-captured by the image capturing device 3 such as a camera at certain time intervals to acquire two indoor images.
The moving distance of the movable device 5 is calculated from the indoor image. The two indoor images include position information of the movable device 5 at different time points in front and at different time points, and the processor can conveniently acquire the moving distance of the movable device 5 through the position information. The moving distance is calculated according to a scale between the indoor image acquired by the image acquisition device 3 and the indoor environment.
And calibrating the moving distance through the calibration distance, acquiring the final displacement of the movable device 5, and positioning the movable device 5 according to the final displacement.
In one embodiment, the specific method for calibrating the moving distance by the calibration distance, obtaining the final displacement of the movable device 5, and positioning the movable device 5 according to the final displacement comprises:
the first step is to combine the indoor images, so that the two images are combined into one image under the condition of keeping the image proportion. The combined image comprises the indoor position of the mobile device 5 at two different moments in time.
And a second step of calculating positions of the movable device 5 two different times before according to the indoor position of the movable device 5 in the combined image, and calculating the moving distance of the movable device 5 according to the positions of the movable device 5 two different times before and the scale.
And a third step of finally obtaining a calibration distance according to the position distance of the movable device 5 before and after movement in the image and the calibration proportion, comparing the movement distance with the calibration distance, and calibrating the movement distance according to the calibration distance to obtain the final displacement of the movable device 5. The current coordinates of the movable device 5 after the movement are calculated according to the initial coordinates of the movable device 5 before the movement and the final displacement amount, that is, the movable device 5 can be positioned.
In one embodiment, the specific method for obtaining the final displacement of the movable device 5 by calibrating the moving distance by the calibration distance includes:
the first step is as follows: the processor controls the movable moving means to move N times indoors, and calculates a moving distance and a calibration distance of the movable means 5 each time.
In the second step, the standard deviation of the movement distance and the calibration distance is calculated.
And thirdly, calibrating the moving distance through the standard deviation, wherein the final displacement is the moving distance.
In one embodiment, the movable device 5 is a robot.
In one embodiment, the calibration distance is calculated from a calibration mechanism fixedly mounted on at least one of the movable devices 5. The calibration mechanism comprises a plurality of calibration points 1, and the plurality of calibration points 1 can be luminous LEDs or lamp posts. The processor is prestored with a plurality of calibration distances among the calibration points 1, the image acquisition device 3 acquires an indoor image and calculates image distances among the calibration points 1 in the indoor image, and an image proportion can be calculated according to the actual distance and the image distances among the calibration points 1. For example, the actual distance is 20cm, the image distance between the calibration points 1 is 2cm, and the image scale is 10 as the actual distance/image distance between the calibration points 1.
The calibration points 1 may be two, three or four. When the number of the calibration points 1 is three, the three calibration points 1 form an isosceles triangle or an isosceles right triangle, and when the number of the calibration points 1 is four, the four calibration points 1 form a square or a rectangle.
In one embodiment, the indoor positioning method further comprises installing a ranging sensor on one of the robots. Because pass through range finding sensor can realize the accurate location of one of them robot, utilizes this robot of installing range finding sensor to carry out indirect location to other robots, can acquire an accurate indoor positioning network, when keeping indoor locate function precision, further reduces whole indoor positioning system's cost.
In one embodiment, a computer-readable storage medium stores a computer program which, when executed, implements an indoor positioning method as described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An indoor positioning system comprises a processor, at least one image acquisition device and at least one movable device, wherein the image acquisition device is fixedly arranged on indoor ground or an indoor wall body, and the processor is in communication connection with the image acquisition device;
the calibration mechanism is fixedly arranged on at least one movable device and comprises a plurality of calibration points which are parallel to each other and are separated from each other by a certain calibration distance;
the image acquisition device is used for acquiring at least two indoor images and feeding the indoor images back to the processor;
the processor is used for obtaining the final displacement of the movable device according to the indoor image and the calibration distance and positioning the movable device according to the final displacement.
2. The indoor positioning system of claim 1, further comprising a charging post fixedly installed indoors for charging the mobile device.
3. The indoor positioning system of claim 2, wherein the image capture device is a camera.
4. The indoor positioning system of claim 3, wherein the mobile device is a robot.
5. The indoor positioning system of claim 4, further comprising a distance measuring sensor fixedly mounted on the robot, the distance measuring sensor being communicatively coupled to the processor.
6. An indoor positioning system according to claim 5, wherein the distance measuring sensor is a lidar sensor, an electro-optical ranging sensor or an ultrasonic ranging sensor.
7. An indoor positioning method, characterized by comprising the steps of:
acquiring at least two indoor images;
calculating a moving distance of the movable device according to the indoor image;
calibrating the moving distance through the calibration distance to obtain the final displacement of the movable device;
and positioning the movable device according to the final displacement.
8. The indoor positioning method of claim 7, wherein the mobile device is a robot.
9. The indoor positioning method of claim 8, wherein the calibration distance is calculated based on a calibration mechanism fixedly mounted on at least one of the mobile devices.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed, implements the indoor positioning method according to any one of claims 7 to 9.
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