CN113805591A - Visual system and method for synchronous positioning and mapping and mobile robot - Google Patents
Visual system and method for synchronous positioning and mapping and mobile robot Download PDFInfo
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Abstract
The invention relates to a vision system, a method and a mobile robot for synchronous positioning and mapping, wherein a camera and a reflecting device are arranged, the reflecting device is positioned above the camera, and the camera receives visual information of an external environment through the reflecting device to form an image; adjusting the inclination angle of the reflecting device to obtain images in different viewing angle ranges; the localization or modeling is based on feature information in the image. The optical axis of the camera in the optical system of the invention does not face the advancing direction of the mobile robot, but forms an obtuse angle or a right angle with the advancing direction of the machine body relative to the optical axis of the camera on the top plane of the machine body. The optical system is arranged at a position close to the structure shell in the mobile robot, does not protrude out of the top plane of the robot body, does not need to be provided with a sinking structure, and is flexible to install. By adjusting the inclination angles of the camera and the reflecting device, the optical system can obtain a larger field angle, and the field angle can be adjusted. Binocular vision is obtained by using one camera, and binocular positioning is realized.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a vision system and a method for synchronously positioning and establishing a diagram and a mobile robot.
Background
In order to better collect effective environmental characteristic data, in some applications, such as a sweeping robot, a visual system of a synchronous positioning and mapping (SLAM) of the robot collects environmental information with the height of 0.8 m to 2.5 m in a room, extracts key characteristics, and then uses the key characteristics as a characteristic marker of an indoor space, an auxiliary system searches and compares the characteristic markers to judge the specific direction of the robot in the room, and path planning navigation is completed.
In the existing sweeping robot, a vision module is a sinking structure which is lower than the top plane of a robot body and is positioned close to the geometric center of the robot body. The camera is arranged in the sinking structure and is obliquely installed, and the optical axis of the camera is aligned with the advancing direction of the robot and points to the horizontal plane, and forms an acute angle of 30-40 degrees with the top plane of the robot body. The angle of view of the camera in the vertical direction is 45-65 degrees. Because the design is built in and close to the geometric center of the machine body and is a sinking structure, the visual field range is greatly influenced by the machine body, and particularly the range below the top plane of the machine body cannot be detected.
Disclosure of Invention
Aiming at the existing limitation of the design of a vision system, the invention provides the vision system, the method and the mobile robot for synchronously positioning and establishing the drawing, the installation position and the angle of a camera can be flexibly adjusted, and a larger visual field range can be covered; the optical system can be widely applied to the mobile robot and flexibly installed and implemented.
In order to achieve the above object, the present invention provides a vision system for synchronous positioning and mapping, comprising a reflection device, a camera, a first control mechanism and a processor;
the camera receives visual information of an external environment through the reflecting device to form an image;
the processor controls the first control mechanism to adjust the angle of the reflecting device, so that the camera can acquire images in different visual angle ranges; the processor obtains images of different view angle ranges for positioning or modeling.
Further, the device also comprises a second control mechanism which can adjust the angle of the camera.
Furthermore, an included angle theta formed by the optical axis of the camera and the advancing direction of the machine body is larger than or equal to 90 degrees and smaller than or equal to 180 degrees, and the reflecting device is positioned above the camera and reflects the visual information of the external environment in the advancing direction to the camera.
Further, the first control mechanism drives the reflecting device to adjust the inclination angle at a step interval of 0.1-5 degrees.
Furthermore, the included angle between the central visual axis of the synchronous positioning and mapping visual system and the horizontal plane is 25-45 degrees, and the angle of field in the vertical direction is 40-70 degrees.
The second aspect provides a mobile robot, and the vision system for synchronous positioning and mapping is adopted.
Furthermore, the vision system for synchronous positioning and mapping is installed at the front end of the mobile robot, and the external environment is obtained through a window on the front end face of the mobile robot. Further, the external environment includes environmental information at an altitude of 0.8 to 2.5 meters.
A third aspect provides a method for synchronously positioning and mapping, including:
arranging a camera and a reflecting device, wherein the reflecting device is positioned above the camera, and the camera receives visual information of an external environment through the reflecting device to form an image;
adjusting the installation angle of the camera and the inclination angle of the reflecting device to enable the included angle between the central visual axis of the synchronous positioning and mapping visual system and the horizontal plane to be 25-45 degrees, and the angle of field in the vertical direction to be 40-70 degrees;
adjusting the inclination angle of the reflecting device to obtain images in different viewing angle ranges;
the localization or modeling is based on feature information in the image.
Furthermore, the collected visual information of the external environment has insufficient effective characteristic information amount to realize positioning or mapping, the angle of the reflecting device is adjusted, images in different visual angle ranges are obtained, and positioning or mapping is carried out again. Furthermore, an included angle theta formed by the optical axis of the camera and the advancing direction of the machine body is adjusted, wherein theta is more than or equal to 90 degrees and less than or equal to 180 degrees.
Further, the localization or modeling is performed based on feature information in the image, including: and acquiring an image corresponding to the first inclination angle of the reflecting device and an image corresponding to the second inclination angle of the reflecting device, carrying out binocular positioning, and determining the distance between the target object and the image.
Further, taking the coordinates (X, Z) of the object P in the camera coordinate system as:
where α is the rotation angle, f is the focal length of the camera lens, d 1' (x)1’,z1') is the imaging position of the object P in the virtual image C1' after the camera is rotated; d1The distance from the object P to the optical axis of the virtual image C1' is shown as the foot point q1，t1As virtual images C1' to q1The distance of (c).
Further, D1、t1Obtained by solving the following equation:
where r is the distance from the center of rotation O to the camera.
The technical scheme of the invention has the following beneficial technical effects:
(1) the optical axis of the camera in the optical system of the invention does not face the advancing direction of the mobile robot, but forms an obtuse angle or a right angle with the advancing direction of the machine body relative to the optical axis of the camera on the top plane of the machine body. The camera collects visual information of the external environment through a reflecting device (such as a reflector and a prism) in the optical system.
(2) The optical system is arranged in the movable robot at a position close to the structural shell, does not protrude out of the top plane of the robot body, does not need to be provided with a sinking structure, and is flexible to install.
(3) By adjusting the inclination angles of the camera and the reflecting device, the optical system can observe the surrounding environment by taking an angle 25-45 degrees higher than the horizontal plane as a central angle relative to the advancing direction of the sweeping robot and a visual field angle 40-70 degrees in the vertical direction, so that visual information is collected, the visual field angle is larger, and the visual field can be adjusted.
(4) The inclination angle of the reflecting device is adjusted by the angle control mechanism according to the algorithm requirement, the adjusting interval is 0.1-5 degrees, and the invention directly adjusts the optical system, thereby enlarging the visual range, realizing the binocular visual effect of the monocular camera and observing and positioning the surrounding environment.
Drawings
FIG. 1 is a schematic view of an imaging angle and a field angle of a vision system at a first angle;
FIG. 2 is a schematic view of an imaging angle and a field angle of a second angle of the vision system;
FIG. 3 is a schematic view of a vision system with viewing angles and field angles;
FIG. 4 is a schematic of a vision system installation location;
FIG. 5 is a flow chart of the use of the vision system for simultaneous positioning and mapping;
FIG. 6 is a schematic view of binocular vision;
fig. 7 is a schematic diagram of binocular positioning settlement.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a visual system for synchronous positioning and drawing, which is combined with a drawing 1 and comprises a reflecting device, a camera, a first control mechanism, a second control mechanism and a processor.
The camera receives visual information of an external environment through the reflecting device to form an image.
And the second control mechanism can adjust the angle of the camera. The second control mechanism is used for adjusting the angle of the camera in the mounting process, so that the vertical field angle beta of the camera is 40-70 degrees.
The first control mechanism adjusts the angle of the reflecting device.
The processor adjusts the angle of the reflecting device through the first control mechanism to obtain images in different view angle ranges; the localization or modeling is based on feature information in the image.
The camera comprises a camera body, a reflecting device and a camera body, wherein an included angle theta formed by an optical axis of the camera body and the advancing direction of the camera body is larger than or equal to 90 degrees and smaller than or equal to 180 degrees, the reflecting device is positioned above the camera body and reflects visual information of an external environment in the advancing direction to the camera body.
Further, the first control mechanism drives the reflecting device to adjust the inclination angle at a step interval of 0.1-5 degrees.
The camera is not oriented to the forward direction, but obtains environmental information of the forward direction through a reflecting device.
α: the central visual angle of the visual system is in the same direction with the advancing direction of the machine body, points above the horizontal plane and forms an included angle of 25-45 degrees with the horizontal plane.
Beta: the vertical field angle of the camera is 40-70 degrees.
γ: the included angle between the optical axis of the camera and the advancing direction of the machine body.
θ: the light reflecting device forms an included angle with the horizontal plane along the advancing direction of the machine body.
In one embodiment, as shown in fig. 1, the camera is mounted vertically, γ is at right angle, and the optical axis of the camera is perpendicular to the horizontal plane with respect to the forward direction of the body (or the top plane of the body).
The camera can be installed vertically or obliquely. In another embodiment, as shown in fig. 2, the optical axis of the camera is directed opposite to the direction of advance of the body, and the optical axis of the camera forms an obtuse angle of less than 180 ° with the horizontal plane (or the plane of the roof) with respect to the direction of advance of the body. The environmental information of the advancing direction can be obtained by adjusting the reflection angle of the reflection device. Therefore, the installation angle of the camera can be adjusted according to actual installation requirements. In the obtuse angle range, the camera can be installed at any inclination angle. Meanwhile, the angle of the light reflecting device is adjusted correspondingly, and the angle theta is increased.
In summary, the camera and the light reflection device can be installed and adjusted according to the included angle between the optical axis of the camera and the advancing direction of the body, which is between 90 ° (including 90 °) and 180 ° (including 180 °), so as to obtain the same visual effect as the prior art, and the inclination angle of the reflection device can be adjusted to obtain a larger range of external environment visual information.
When the external information collected by the vision system is processed by the algorithm, the effective characteristic information amount is not enough to make a positioning or mapping decision by the robot system, for example, the collected pictures are all white walls, an angle control mechanism of a reflecting device, such as a motor and the like, can be started, and the alpha angle is increased or decreased at a step interval of 0.1-5 degrees, so that the environment characteristic information is collected by covering a larger vision range, and the system can make the positioning or mapping decision more effectively.
Further, binocular positioning can also be realized through images at different angles.
Further, an event-driven camera (also called a dynamic image sensor) is adopted in one embodiment to directly acquire environment characteristic values for synchronous positioning, mapping and obstacle avoidance of the mobile robot. And controlling and adjusting the viewing angle of the vision module based on the environmental characteristics acquired from the event driven camera.
In another aspect, a mobile robot is provided, and the vision system for synchronous positioning and mapping is adopted. As shown in fig. 3-4, the vision system for synchronous positioning and mapping is installed at the front end of the mobile robot, and the external environment is obtained through a window on the front end surface of the mobile robot. Alpha is a central visual angle, and the included angle between the alpha and the horizontal plane is 25-45 degrees, and the alpha can be adjusted by the processor through the control mechanism according to the algorithm requirement in the range. Beta is the angle of view of 40-70 degrees in the vertical direction. Further, the external environment includes environmental information at an altitude of 0.8 to 2.5 meters. For example, an image of the wall with a height of 0.8-2.5 m is acquired, and environmental characteristic information is acquired.
When the mobile robot system is started, the vision system is started and initialized, and the reflecting device control mechanism adjusts the reflecting device to a preset angle, so that the system visual angle is a certain value within the range of 25-45 degrees. And then, the vision system collects data in the moving process of the robot, and the SLAM algorithm is used for positioning, drawing and obstacle avoidance decision after the data is processed by the vision algorithm. When the external information collected by the vision system is processed by an algorithm, the effective characteristic information is not enough to enable the robot system to make a decision for positioning, drawing or obstacle avoidance (for example, the collected picture is a white wall), the robot system stops moving, an angle control mechanism of a reflecting device, such as a motor and the like, is started, and an alpha angle adjusts the angle of the reflecting device at a step interval of 0.1-5 degrees, so that the central visual angle alpha of the vision system swings up and down in a range of 25-45 degrees, the vision information is collected, a binocular vision effect is formed, and the positioning of the mobile robot is completed. At the same time, the vision system can cover a larger surrounding environment because of the up and down movement of the central viewing angle.
The invention provides a method for synchronously positioning and establishing a map, which comprises the following steps in combination with a map 5:
the camera receives visual information of an external environment through the reflecting device to form an image. The reflecting device is positioned above the camera and reflects the visual information of the external environment in the advancing direction to the camera.
The installation angle of the camera and the inclination angle of the reflecting device are adjusted, so that the included angle between the central visual axis of the vision system for synchronous positioning and drawing and the horizontal plane is 25-45 degrees, and the angle of field in the vertical direction is 40-70 degrees. Furthermore, an included angle theta formed by the optical axis of the camera and the advancing direction of the machine body is adjusted, wherein theta is more than or equal to 90 degrees and less than or equal to 180 degrees.
And adjusting the inclination angle of the reflecting device to obtain images in different viewing angle ranges.
The localization or modeling is based on feature information in the image.
Furthermore, the collected visual information of the external environment has insufficient effective characteristic information amount to realize positioning or mapping, the angle of the reflecting device is adjusted, images in different visual angle ranges are obtained, the characteristic information is extracted, and the SLAM algorithm is used for positioning, mapping or obstacle avoidance.
Further, the localization or modeling is performed based on feature information in the image, including: and acquiring an image corresponding to the first inclination angle of the reflecting device and an image corresponding to the second inclination angle of the reflecting device, carrying out binocular positioning, and determining the distance between the reflecting device and the target object.
FIG. 6 is a schematic view of binocular vision, C1’，C2' is a virtual image formed by the camera C before and after the reflector rotates, O is the rotation center of the reflector, and alpha is the rotation angle. With reference to fig. 7, where P is the object actually observed, OC 1 'OC 2' is 2 α, OP is the distance from the object P to the rotation center O of the mirror, r is the distance from the rotation center O to the camera, and r ═ C1′O＝C2' O, f is the focal length of the lens of the camera, namely C1’b1，C1′q1Is a virtual image C of the camera1' optical axis, C2′q2Is a virtual image C of the camera2Optical axis of `, d1’，d2' is the object P in the camera virtual image C1’、C2' position on imaging plane. d1’，d2' the intersection points of the optical axes of C1 ' and C2 ' and the focal plane are taken as coordinate origins, and the coordinates are d1’(x1’,y1’)，d2’(x2’,y2’)。d1From to C1Distance of optical axis of1＝|x1’|，d2From to C2Distance of optical axis of2＝|x2’|。
C1′q1＝t1，Pq1＝D1，C2′q2＝t2，Pq2＝D2Solving for t1，t2，D1，D2The P point coordinate is known.
By virtual image C1’、C2The straight line is the X axis, C1From to C2The direction of' is the positive X-axis direction, to cross C1' A Z axis is constructed perpendicular to the X axis, and the direction to the object P is positive, so that an XZ coordinate system is constructed.
T is a reference line baseline of the general formula,T＝2*r*sinα，d1' the coordinates in the XZ coordinate system are: d1(x1,z1)，d2' the coordinates in the XZ coordinate system are: d2(x2,z2) The calculation process is as follows:
(1)x1＝f*sinα-x1’*cosα
(2)z1＝f*cosα+z1’*sinα
(3)x2＝T-(f*sinα+x2’*cosα)＝2*r*sinα-f*sinα-x2’*cosα
(4)z2＝f*cosα-x2’*sinα
(5)
(6)
(7)
(8)
(9)L1＝|x1′|
(10)L2＝|x2′|
a system of equations is obtained:
the system of equations is collated to obtain:
solving for t1、t2And then solving to obtain D1、D2. The P point coordinates (X, Z) are:
X1/X＝Z1/Z＝L1/D1
the invention relates to a vision system, a method and a mobile robot for synchronous positioning and mapping, wherein a camera and a reflecting device are arranged, the reflecting device is positioned above the camera, and the camera receives visual information of an external environment through the reflecting device to form an image; adjusting the inclination angle of the reflecting device to obtain images in different viewing angle ranges; the localization or modeling is based on feature information in the image. The optical axis of the camera in the optical system of the invention does not face the advancing direction of the mobile robot, but forms an obtuse angle or a right angle with the advancing direction of the machine body relative to the optical axis of the camera on the top plane of the machine body. The optical system is arranged at a position close to the structure shell in the mobile robot, does not protrude out of the top plane of the robot body, does not need to be provided with a sinking structure, and is flexible to install. By adjusting the inclination angles of the camera and the reflecting device, the optical system can obtain a larger field angle, and the field angle can be adjusted. Binocular vision is obtained by using one camera, and binocular positioning is realized.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A visual system for synchronous positioning and mapping is characterized by comprising a reflecting device, a camera, a first control mechanism and a processor;
the camera receives visual information of an external environment through the reflecting device to form an image;
the processor controls the first control mechanism to adjust the angle of the reflecting device, so that the camera can acquire images in different visual angle ranges; the processor obtains images of different view angle ranges for positioning or modeling.
2. The vision system for synchronized positioning and mapping of claim 1, further comprising a second control mechanism capable of adjusting an angle of said camera.
3. The visual system for synchronously positioning and mapping as claimed in claim 1 or 2, wherein an included angle θ formed by an optical axis of said camera and a forward direction of the machine body is larger than or equal to 90 ° and smaller than or equal to 180 °, and said reflection device is located above said camera and reflects visual information of an external environment in the forward direction to the camera.
4. The vision system for synchronous positioning and mapping of claim 3, wherein said first control mechanism drives said reflection device to adjust the tilt angle at stepped intervals of 0.1 ° to 5 °.
5. The vision system for synchronous positioning and mapping as claimed in claim 1 or 2, wherein the angle between the central visual axis of the vision system for synchronous positioning and mapping and the horizontal plane is 25 ° to 45 °, and the angle of view in the vertical direction is 40 ° to 70 °.
6. A mobile robot, characterized in that a vision system for simultaneous localization and mapping as claimed in any one of claims 1 to 5 is used.
7. The mobile robot of claim 6, wherein the vision system for synchronized positioning and mapping is mounted on the front end of the mobile robot, and the external environment is captured by a window on the front end of the mobile robot. Further, the external environment includes environmental information at an altitude of 0.8 to 2.5 meters.
8. A method for synchronously positioning and mapping is characterized by comprising the following steps:
arranging a camera and a reflecting device, wherein the reflecting device is positioned above the camera, and the camera receives visual information of an external environment through the reflecting device to form an image;
adjusting the installation angle of the camera and the inclination angle of the reflecting device to enable the included angle between the central visual axis of the synchronous positioning and mapping visual system and the horizontal plane to be 25-45 degrees, and the angle of field in the vertical direction to be 40-70 degrees;
adjusting the inclination angle of the reflecting device to obtain images in different viewing angle ranges;
the localization or modeling is based on feature information in the image.
9. The method of synchronized positioning and mapping of claim 8, wherein: and the collected visual information of the external environment has insufficient effective characteristic information amount to realize positioning or mapping, the angle of the reflecting device is adjusted, images in different visual angle ranges are obtained, and positioning or mapping is carried out again. Furthermore, an included angle theta formed by the optical axis of the camera and the advancing direction of the machine body is adjusted, wherein theta is more than or equal to 90 degrees and less than or equal to 180 degrees.
10. The method for synchronously positioning and mapping as claimed in claim 8, wherein the positioning or modeling based on feature information in the image comprises: and acquiring an image corresponding to the first inclination angle of the reflecting device and an image corresponding to the second inclination angle of the reflecting device, carrying out binocular positioning, and determining the distance between the target object and the image.
Further, taking the coordinates (X, Z) of the object P in the camera coordinate system as:
where α is the rotation angle, f is the focal length of the camera lens, d 1' (x)1’,z1') is the imaging position of the object P in the virtual image C1' after the camera is rotated; d1The distance from the object P to the optical axis of the virtual image C1' is shown as the foot point q1，t1As virtual images C1' to q1The distance of (c).
Further, D1、t1Obtained by solving the following equation:
where r is the distance from the center of rotation O to the camera.
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