CN113932808A - Algorithm suitable for fusion correction of vision and gyroscope of vision navigation floor sweeping robot - Google Patents
Algorithm suitable for fusion correction of vision and gyroscope of vision navigation floor sweeping robot Download PDFInfo
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- CN113932808A CN113932808A CN202111287227.5A CN202111287227A CN113932808A CN 113932808 A CN113932808 A CN 113932808A CN 202111287227 A CN202111287227 A CN 202111287227A CN 113932808 A CN113932808 A CN 113932808A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 78
- 230000004927 fusion Effects 0.000 title claims abstract description 33
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 238000004140 cleaning Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 9
- 239000000284 extract Substances 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012535 impurity Substances 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an algorithm suitable for vision navigation sweeping robot vision and gyroscope fusion correction, which comprises the following steps: step 1: starting the sweeping robot to carry out sweeping work; step 2: initializing a vision camera of the sweeping robot, determining the pose direction of the sweeping machine, taking the gyroscope as an initialization direction according to the direction, and carrying out bow sweeping by the sweeping robot according to the direction; and step 3: sending a straight line extraction request, and executing the step 4; and 4, step 4: waiting for the camera, extracting and executing, calculating an angle, executing the step 6 if the angle is extracted or the number of times of extracting straight lines exceeds twice, otherwise executing the step 5; and 5: randomly walking forward for 20cm, and executing the step 3; step 6: and if the angle is extracted, performing data fusion with the gyroscope, and then executing the step 7, otherwise, directly entering the step 7.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to an algorithm suitable for fusion correction of vision and gyroscope of a vision navigation sweeping robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
With the continuous development and progress of science and technology, more and more families begin to use the sweeping robot, the accumulated error of the gyroscope is increased along with the continuation and repeated collision of the sweeping time in the working process of the sweeping robot, if the gyroscope cannot be corrected in time, the sweeping machine deviates from the original direction more and more, the sweeping efficiency and the coverage rate are reduced, and therefore an algorithm suitable for the fusion correction of the vision and the gyroscope of the vision navigation sweeping robot is provided for solving the problems.
Disclosure of Invention
The invention aims to provide an algorithm suitable for fusion correction of vision and gyroscope of a vision navigation sweeping robot, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an algorithm suitable for fusion correction of vision and gyroscope of a vision navigation sweeping robot comprises the following steps:
step 1: starting the sweeping robot to carry out sweeping work;
step 2: initializing a vision camera of the sweeping robot, determining the pose direction of the sweeping machine, taking the gyroscope as an initialization direction according to the direction, and carrying out bow sweeping by the sweeping robot according to the direction;
and step 3: sending a straight line extraction request, and executing the step 4;
and 4, step 4: waiting for the camera, extracting and executing, calculating an angle, executing the step 6 if the angle is extracted or the number of times of extracting straight lines exceeds twice, otherwise executing the step 5;
and 5: randomly walking forward for 20cm, and executing the step 3;
step 6: if the angle is extracted, performing data fusion with the gyroscope, then executing the step 7, otherwise, directly entering the step 7;
and 7: continuing to clean, if the output of the gyroscope needs to be corrected or the cleaning time reaches the specified time, executing the step 8, otherwise, directly executing the step 7;
and 8: the machine stops, sends correction information to the camera and executes the step 9;
and step 9: and waiting for the camera to output the angle. And if the angle is acquired, executing the step 7 after the angle is corrected with the gyroscope, otherwise, directly executing the step 7.
Preferably, the first data fusion algorithm of the camera and the gyroscope in the step 6 includes the following steps:
step 1: the sweeping robot starts overall sweeping work;
step 2: sending a straight line extraction request, and executing the step 3;
and step 3: waiting for the camera, extracting and executing, calculating an angle, judging whether the number of times of extracting the straight line or angle result exceeds two times, executing the step 7 if the number of times of extracting the straight line or angle result exceeds two times, and executing the step 4 if the number of times of extracting the straight line or angle result exceeds two times; if the angle is extracted, executing step 5;
and 4, step 4: randomly walking forward for 20cm, and executing the step 2;
and 5: calculating the angle extracted by the camera, if the calculated angle times is more than two times, executing the step 7, otherwise, executing the step 4; if the angle is calculated, executing the step 6;
step 6: performing data fusion on the angle gyroscope extracted by the camera, and then executing the step 7;
and 7: the cleaning work is continued.
Preferably, the algorithm for fusion correction of angles of the gyroscope and the camera in the cleaning process in the step 7 includes the following steps:
step 1: in the cleaning work of the sweeping robot, the step 2 is executed when the specified cleaning time is not reached, otherwise, the step 3 is executed;
step 2: outputting a request whether to be corrected or not by the gyroscope or the camera, executing the step 3 if the correction is needed, and otherwise executing the step 1;
and step 3: the machine stops, the gyroscope angle is sent to the camera head, and the step 4 is executed after the correction request is sent;
and 4, step 4: the camera extracts a straight line and obtains an angle, whether the angle is calculated or not is judged, if the angle is calculated, the step 5 is executed, and if the angle is not calculated, the step 1 is executed;
and 5: and (4) carrying out data fusion on the angle calculated by the camera and the gyroscope, and then executing the step 1.
Compared with the prior art, the invention has the beneficial effects that: through the algorithm of the sweeping robot vision and gyroscope fusion correction, the accumulated errors caused by the continuation of the sweeping time and multiple collisions of the sweeping robot can be corrected in time, the sweeping route deviation of the sweeping robot is avoided, and the sweeping efficiency and the coverage rate are guaranteed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of a first-time vision camera and gyroscope pose data fusion algorithm in the present invention;
FIG. 3 is a flowchart of a fusion correction algorithm for gyroscope and camera angles during a cleaning process according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: an algorithm suitable for fusion correction of vision and gyroscope of a vision navigation sweeping robot comprises the following steps:
step 1: starting the sweeping robot to carry out sweeping work;
step 2: initializing a vision camera of the sweeping robot, determining the pose direction of the sweeping machine, taking the gyroscope as an initialization direction according to the direction, and carrying out bow sweeping by the sweeping robot according to the direction;
and step 3: sending a straight line extraction request, and executing the step 4;
and 4, step 4: waiting for the camera, extracting and executing, calculating an angle, executing the step 6 if the angle is extracted or the number of times of extracting straight lines exceeds twice, otherwise executing the step 5;
and 5: randomly walking forward for 20cm, and executing the step 3;
step 6: if the angle is extracted, performing data fusion with the gyroscope, then executing the step 7, otherwise, directly entering the step 7;
and 7: continuing to clean, if the output of the gyroscope needs to be corrected or the cleaning time reaches the specified time, executing the step 8, otherwise, directly executing the step 7;
and 8: the machine stops, sends correction information to the camera and executes the step 9;
and step 9: and waiting for the camera to output the angle. And if the angle is acquired, executing the step 7 after the angle is corrected with the gyroscope, otherwise, directly executing the step 7.
As shown in fig. 2, the first data fusion algorithm of the camera and the gyroscope in the cleaning operation of the cleaning robot includes the following steps:
step 1: the sweeping robot starts overall sweeping work;
step 2: sending a straight line extraction request, and executing the step 3;
and step 3: waiting for the camera, extracting and executing, calculating an angle, judging whether the number of times of extracting the straight line or angle result exceeds two times, executing the step 7 if the number of times of extracting the straight line or angle result exceeds two times, and executing the step 4 if the number of times of extracting the straight line or angle result exceeds two times; if the angle is extracted, executing step 5;
and 4, step 4: randomly walking forward for 20cm, and executing the step 2;
and 5: calculating the angle extracted by the camera, if the calculated angle times is more than two times, executing the step 7, otherwise, executing the step 4; if the angle is calculated, executing the step 6;
step 6: performing data fusion on the angle gyroscope extracted by the camera, and then executing the step 7;
and 7: the cleaning work is continued.
As shown in fig. 3, the algorithm for fusion correction of the gyroscope and the camera angles in the cleaning process of the sweeping robot includes the following steps:
step 1: the sweeping robot continues to carry out sweeping work after executing a playing first-time data fusion algorithm, and executes the step 2 when the specified sweeping time is not reached, or executes the step 3;
step 2: outputting a request whether to be corrected or not by the gyroscope or the camera, executing the step 3 if the correction is needed, and otherwise executing the step 1;
and step 3: the machine stops, the gyroscope angle is sent to the camera head, and the step 4 is executed after the correction request is sent;
and 4, step 4: the camera extracts a straight line and obtains an angle, whether the angle is calculated or not is judged, if the angle is calculated, the step 5 is executed, and if the angle is not calculated, the step 1 is executed;
and 5: and (4) carrying out data fusion on the angle calculated by the camera and the gyroscope, and then executing the step 1.
In conclusion, when the sweeper starts, the visual navigation camera extracts feature points from the sweeping environment, performs pose fusion and determines an initialized pose direction by combining pose data transmitted by the gyroscope, transmits the initialized data to the gyroscope, and the gyroscope walks according to the initialized pose direction; during the bow-sweeping process, along with the accumulation of the accumulated position and pose errors of the gyroscope to a certain threshold value, the gyroscope requests to perform position and pose data fusion again, the visual camera extracts environment characteristic points again, fuses the position and pose data of the gyroscope, calculates the position and pose direction, compares the position and pose direction with the first position and pose direction, outputs a new position and pose direction to the gyroscope, and the gyroscope performs the cleaning according to the method again and according to the new initial walking direction.
The working principle is as follows: when the sweeping robot starts to start, the visual navigation camera is initialized, characteristic points are extracted from a sweeping environment, the pose direction of the sweeping machine is determined, initialization data are transmitted to the gyroscope, the gyroscope is also used as the initialization direction according to the direction, the robot performs sweeping according to the direction, in the sweeping process of the sweeping bow, the accumulated error of the pose of the gyroscope is increased along with the lengthening of walking time and the increase of collision times, the sweeping machine is obviously deviated from the original initialization direction, when the accumulated error of the gyroscope reaches a certain threshold value or the time reaches the set duration, when the sweeping machine triggers the detection of the front-stop distance in the sweeping process, the gyroscope sends out an initialization request, the visual camera extracts the environmental characteristic points again and initializes the pose, the pose direction of the sweeping machine is determined again, and is compared with the first initialization direction and the current direction of the gyroscope, outputting a new pose direction to the gyroscope, re-initializing the pose according to the new initialization walking direction by the gyroscope again if the error is smaller than a certain range, walking according to the new initialization direction, re-initializing if the error is larger, and performing the steps until the whole bow sweeping is finished, so that the sweeper is ensured to carry out the bow sweeping according to the first initialization direction all the time, the deviation of the sweeping route of the sweeping robot is avoided, and the sweeping efficiency and the coverage rate are ensured.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. An algorithm suitable for fusion correction of vision and gyroscope of a vision navigation sweeping robot is characterized by comprising the following steps:
step 1: starting the sweeping robot to carry out sweeping work;
step 2: initializing a vision camera of the sweeping robot, determining the pose direction of the sweeping machine, taking the gyroscope as an initialization direction according to the direction, and carrying out bow sweeping by the sweeping robot according to the direction;
and step 3: sending a straight line extraction request, and executing the step 4;
and 4, step 4: waiting for the camera, extracting and executing, calculating an angle, executing the step 6 if the angle is extracted or the number of times of extracting straight lines exceeds twice, otherwise executing the step 5;
and 5: randomly walking forward for 20cm, and executing the step 3;
step 6: if the angle is extracted, performing data fusion with the gyroscope, then executing the step 7, otherwise, directly entering the step 7;
and 7: continuing to clean, if the output of the gyroscope needs to be corrected or the cleaning time reaches the specified time, executing the step 8, otherwise, directly executing the step 7;
and 8: the machine stops, sends correction information to the camera and executes the step 9;
and step 9: and waiting for the camera to output the angle. And if the angle is acquired, executing the step 7 after the angle is corrected with the gyroscope, otherwise, directly executing the step 7.
2. The algorithm suitable for vision navigation sweeping robot vision and gyroscope fusion correction according to claim 1, characterized in that: the first data fusion algorithm of the camera and the gyroscope in the step 6 comprises the following steps:
step 1: the sweeping robot starts overall sweeping work;
step 2: sending a straight line extraction request, and executing the step 3;
and step 3: waiting for the camera, extracting and executing, calculating an angle, judging whether the number of times of extracting the straight line or angle result exceeds two times, executing the step 7 if the number of times of extracting the straight line or angle result exceeds two times, and executing the step 4 if the number of times of extracting the straight line or angle result exceeds two times; if the angle is extracted, executing step 5;
and 4, step 4: randomly walking forward for 20cm, and executing the step 2;
and 5: calculating the angle extracted by the camera, if the calculated angle times is more than two times, executing the step 7, otherwise, executing the step 4; if the angle is calculated, executing the step 6;
step 6: performing data fusion on the angle gyroscope extracted by the camera, and then executing the step 7;
and 7: the cleaning work is continued.
3. The algorithm suitable for vision navigation sweeping robot vision and gyroscope fusion correction according to claim 1, characterized in that: the gyroscope and camera angle fusion correction algorithm in the cleaning process in the step 7 comprises the following steps:
step 1: in the cleaning work of the sweeping robot, the step 2 is executed when the specified cleaning time is not reached, otherwise, the step 3 is executed;
step 2: outputting a request whether to be corrected or not by the gyroscope or the camera, executing the step 3 if the correction is needed, and otherwise executing the step 1;
and step 3: the machine stops, the gyroscope angle is sent to the camera head, and the step 4 is executed after the correction request is sent;
and 4, step 4: the camera extracts a straight line and obtains an angle, whether the angle is calculated or not is judged, if the angle is calculated, the step 5 is executed, and if the angle is not calculated, the step 1 is executed;
and 5: and (4) carrying out data fusion on the angle calculated by the camera and the gyroscope, and then executing the step 1.
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