CN112697127B - Indoor positioning system and method - Google Patents
Indoor positioning system and method Download PDFInfo
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- CN112697127B CN112697127B CN202011348525.6A CN202011348525A CN112697127B CN 112697127 B CN112697127 B CN 112697127B CN 202011348525 A CN202011348525 A CN 202011348525A CN 112697127 B CN112697127 B CN 112697127B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
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 the indoor ground or an indoor wall, the processor is in communication connection with the image acquisition device, the indoor positioning system further comprises a calibration mechanism which is fixedly arranged on the at least one movable device, the calibration mechanism comprises a plurality of calibration points which are parallel to each other and are separated 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, can calibrate the final displacement of the movable device according to the calibration mechanism, and improves the indoor positioning precision. Correspondingly, the invention also 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
Indoor positioning is to realize position positioning in an indoor environment, and mainly adopts various technologies such as wireless communication, base station positioning, inertial navigation positioning, motion capturing and the like to integrate and form a set of indoor position positioning system, 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 nurse robot, a takeaway robot, a delivery robot, etc.) will necessarily appear on the aspect of people's life to serve people's clothing and eating residence, and indoor positioning is one of the core technologies of service robots.
Because the indoor positioning system for realizing the robot in the market at present usually needs to use sensors such as a laser radar, an ultrasonic radar, a camera and the like, the cost is high, and large-scale mass production popularization cannot be realized, so that the development of the indoor positioning system with low cost is necessary.
Disclosure of Invention
Based on the problem, 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 the 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 acquiring 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) can be realized rapidly only through one image acquisition device, a laser radar sensor, an optoelectronic ranging sensor or an ultrasonic ranging 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, the indoor positioning system further comprises a charging pile fixedly installed indoors, and the charging pile is used for charging the movable 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 measurement sensor fixedly mounted on the robot, and the distance measurement sensor is in communication connection with the processor.
Further, the distance measuring sensor is a laser radar sensor, an electro-optical 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 a 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 taken 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 view of an indoor positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing an overall structure of an indoor positioning system according to an embodiment of the invention;
fig. 3 is an overall flow chart of an indoor positioning method according to an embodiment of the invention.
Reference numerals illustrate:
1. Calibrating points; 2. charging piles; 3. an image acquisition device; 4. a wall body; 5. a movable device.
Detailed Description
The present invention will be described in further detail with reference to the following examples thereof in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples 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 "fixed 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.
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. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" in this specification do not denote a particular quantity or order, but rather are used for distinguishing between similar or identical items.
As shown in fig. 1 and fig. 2, an indoor positioning system according to an embodiment of the present invention includes a processor, at least one image capturing device and at least one movable device 5, where the image capturing device is fixedly installed on an indoor floor or an indoor wall 4, the processor is communicatively connected to 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, wherein the plurality of 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 back the indoor images to the processor; the processor is used for acquiring a final displacement amount of the movable device 5 according to the indoor image and the calibration distance, and positioning the movable device 5 according to the final displacement amount.
The calibration distance between the plurality of calibration points 1 is 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 by the image acquisition device 3. The moving distance of the movable device 5 is calculated by acquiring the position distance of the movable device 5 on the indoor images before and after the movement of the movable device 5 and the scale of the images acquired by the image acquisition device 3.
And obtaining a calibration distance according to the position distance of the movable device 5 on the indoor image before and after the movement 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.
And calculating the current coordinates of the movable device 5 after the movement according to the initial coordinates of the movable device 5 before the movement and the final displacement, namely positioning the movable device 5.
In the indoor positioning system, the indoor positioning function of the movable device 5 (such as a service robot) can be quickly realized only through one image acquisition device 3, and a laser radar sensor, an optoelectronic distance measuring sensor or an ultrasonic distance measuring sensor is not required to be additionally installed, so that 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 movable 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 power to a driving mechanism of the mobile robot.
In one embodiment, the indoor positioning system further comprises a charging pile 2 fixedly mounted in the indoor, the charging pile 2 being electrically connectable with the battery module for charging the mobile 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 a monitoring camera existing in an indoor environment. Therefore, through the monitoring camera, the indoor positioning system can realize the indoor positioning function without installing an additional camera, and is convenient for popularization and application of the indoor positioning system.
In one embodiment, the indoor positioning system further comprises a distance measurement sensor fixedly mounted on the robot, the distance measurement sensor is in communication connection with the processor, and the distance measurement sensor is a laser radar sensor, an electro-optical distance measurement sensor or an ultrasonic distance measurement sensor.
The ranging sensor is fixedly arranged on one of the robots, and other robots are indirectly positioned through the robots provided with the ranging sensor. Because the ranging sensor can realize the accurate positioning of the robot, the robot provided with the ranging sensor is utilized to position other robots, an accurate indoor positioning network can be obtained, and the cost of the whole indoor positioning system is further reduced while the accuracy of the indoor positioning function is maintained.
In one embodiment, the image capturing device 3 includes a plurality of image capturing devices 3, and the plurality of image capturing devices 3 are indoor monitoring cameras, and the calibration mechanism is fixedly mounted on the plurality of movable devices 5. The calibration mechanism and the plurality of indoor monitoring cameras are matched with each other, so that the indoor positioning of the movable device 5 can be subjected to closed loop verification, the positioning precision of the indoor positioning system is detected in real time, and the positioning precision 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 image capturing device 3 such as a camera may capture images of the indoor environment at 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 times, 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 the scale between the indoor image and the indoor environment acquired by the image acquisition device 3.
And calibrating the moving distance through the calibrating 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 using the calibrating distance to obtain the final displacement of the movable device 5 and positioning the movable device 5 according to the final displacement includes:
and the first step is to combine the indoor images so that two images are combined into one image under the condition of keeping the proportional size of the images. The combined image comprises the indoor positions of the movable device 5 at two different moments in time.
And a second step of calculating the position of the movable device 5 before two different times 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 position of the movable device 5 before two different times and the scale.
And thirdly, finally, obtaining a calibration distance according to the position distance of the movable device 5 before and after moving 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. And calculating the current coordinates of the movable device 5 after the movement according to the initial coordinates of the movable device 5 before the movement and the final displacement, namely positioning the movable device 5.
In one embodiment, the specific method for obtaining the final displacement of the movable device 5 by calibrating the movement distance by the calibration distance includes:
the first step: the processor controls the movable apparatus to move in the room N times, and calculates the moving distance and the calibration distance of each time of the movable apparatus 5.
And secondly, calculating the standard deviation of the moving distance and the calibration distance.
And thirdly, calibrating the moving distance through the standard deviation, wherein the final displacement=the moving distance.
In one of the embodiments, the movable device 5 is a robot.
In one of the embodiments, 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 pre-stored with a plurality of calibration distances between the calibration points 1, the image acquisition device 3 acquires indoor images and calculates the image distances between the calibration points 1 in the indoor images, and the image proportion can be calculated through the actual distances and the image distances between the calibration points 1. For example, the actual distance is 20cm, the image distance between the plurality of calibration points 1 is 2cm, and the image proportion=the actual distance/the image distance between the plurality of calibration points 1=10.
The calibration points 1 may be two, three or four. When the number of the calibration points 1 is three, three calibration points 1 form an isosceles triangle or an isosceles right triangle, and when the number of the calibration points 1 is four, 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 the accurate positioning of one robot can be realized through the ranging sensor, the robot provided with the ranging sensor is utilized to indirectly position other robots, an accurate indoor positioning network can be obtained, and the cost of the whole indoor positioning system is further reduced while the accuracy of the indoor positioning function is maintained.
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 above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by 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 the indoor ground or an indoor wall, 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 acquiring 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;
The 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, includes:
Combining the indoor images so that two images are combined into one image under the condition of keeping the proportional size of the images, wherein the combined images comprise indoor positions of the movable device at two different moments;
Calculating the position of the movable device before the two different moments according to the indoor position of the movable device in the combined image, and calculating the moving distance of the movable device according to the position and the scale of the movable device before the two different moments;
Acquiring a calibration distance according to the position distance and the calibration proportion of the movable device in the image before and after movement, comparing the movement distance with the calibration distance, calibrating the movement distance according to the calibration distance, and acquiring the final displacement of the movable device, wherein the calibration proportion is the proportion between the image distance between two calibration points and the calibration distance;
Wherein said positioning the movable apparatus according to the final displacement amount includes:
Calculating the current coordinates of the movable device after movement according to the initial coordinates of the movable device before movement and the final displacement amount so as to position the movable device;
The step of calibrating the moving distance according to the calibrating distance to obtain the final displacement of the movable device includes:
Controlling the movable device to move indoors for N times, and calculating the moving distance and the calibration distance of each time of the movable device;
Calculating the standard deviation of the moving distance and the calibration distance;
And calibrating the moving distance through the standard deviation, and determining the calibrated moving distance, wherein the calibrated moving distance is the final displacement.
2. An indoor positioning system according to claim 1, further comprising a charging post fixedly mounted indoors for charging the movable apparatus.
3. An indoor positioning system according to claim 2, wherein the image acquisition device is a camera.
4. An indoor positioning system according to claim 3, wherein the movable device is a robot.
5. An indoor positioning system according to claim 4, further comprising a distance measurement sensor fixedly mounted to the robot, the distance measurement 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 distance measuring sensor or an ultrasonic distance measuring sensor.
7. An indoor positioning method is applied to an indoor positioning system, the indoor positioning system comprises a processor, at least one image acquisition device and at least one movable device, the image acquisition device is fixedly installed on the indoor ground or the indoor wall, the processor is in communication connection with the image acquisition device, the indoor positioning system further comprises a calibration mechanism, the calibration mechanism is fixedly installed on 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, and the image acquisition device is used for acquiring at least two indoor images and feeding back the indoor images to the processor, and the indoor positioning method is characterized by comprising 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 a calibration distance to obtain the final displacement of the movable device;
positioning the movable device according to the final displacement;
wherein the calibrating the moving distance by the calibrating distance, obtaining the final displacement of the movable device includes:
Combining the indoor images so that two images are combined into one image under the condition of keeping the proportional size of the images, wherein the combined images comprise indoor positions of the movable device at two different moments;
Calculating the position of the movable device before the two different moments according to the indoor position of the movable device in the combined image, and calculating the moving distance of the movable device according to the position and the scale of the movable device before the two different moments;
Acquiring a calibration distance according to the position distance and the calibration proportion of the movable device in the image before and after movement, comparing the movement distance with the calibration distance, calibrating the movement distance according to the calibration distance, and acquiring the final displacement of the movable device, wherein the calibration proportion is the proportion between the image distance between two calibration points and the calibration distance;
Wherein said positioning the movable apparatus according to the final displacement amount includes:
Calculating the current coordinates of the movable device after movement according to the initial coordinates of the movable device before movement and the final displacement amount so as to position the movable device;
The step of calibrating the moving distance according to the calibrating distance to obtain the final displacement of the movable device includes:
Controlling the movable device to move indoors for N times, and calculating the moving distance and the calibration distance of each time of the movable device;
Calculating the standard deviation of the moving distance and the calibration distance;
And calibrating the moving distance through the standard deviation, and determining the calibrated moving distance, wherein the calibrated moving distance is the final displacement.
8. The indoor positioning method as set forth in claim 7, wherein the movable device is a robot.
9. An indoor positioning method according to claim 8, wherein the calibration distance is calculated from a calibration mechanism fixedly mounted on at least one of the movable apparatuses.
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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