CN114705195B - Method and device for positioning track robot - Google Patents
Method and device for positioning track robot Download PDFInfo
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- CN114705195B CN114705195B CN202210533391.8A CN202210533391A CN114705195B CN 114705195 B CN114705195 B CN 114705195B CN 202210533391 A CN202210533391 A CN 202210533391A CN 114705195 B CN114705195 B CN 114705195B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The invention discloses a positioning method and a device of a track robot, wherein the positioning method comprises the following steps: acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along a track direction according to a preset rule; and determining the real-time position information of the track robot according to the first positioning information and the second positioning information. The positioning method and the positioning device of the track robot can solve the problem of positioning deviation of the track robot under the conditions of tire slip, clamping stagnation and the like, and meanwhile, a positioning calibration point is not required to be specially set to calibrate the positioning information of the track robot.
Description
Technical Field
The invention belongs to the field of positioning of a rail robot, and particularly relates to a positioning method and a positioning device of the rail robot.
Background
A track robot is a robot that relies on a track to travel. The robot working content is to collect or operate the characteristic information of the equipment and the device, and the position of the equipment and the device is fixed, so the robot sets the working content according to the position of a collected and operated object. The robot must therefore know its position precisely during operation.
The positioning mode of the track robot commonly used at present is one or more auxiliary corrections in auxiliary positioning such as two-dimensional codes, bar codes, magnetic induction and radio frequency cards on the basis of a motor encoder. The robot records the rotation angle of a motor according to a servo motor encoder and then calculates the current position by combining the wheel diameter of a positioning wheel, the calculation method usually has measurement errors, and the robot generates deviation according to the calculated robot pose of the encoder when the positioning wheel slips or is blocked in the track traveling process except the accumulated errors of the encoder; the measurement error is very large and the positioning accuracy is poor.
In order to further improve the measurement accuracy in the prior art, auxiliary positioning marks are arranged at key points of the track while the position of the track robot is calculated by adopting a motor and positioning wheels, and the robot reads mark information when running through the auxiliary positioning marks and corrects the deviation of the position calculated by an encoder according to the mark information. In the positioning method, if the robot cannot determine the position of the robot after being started at any position of the track, the robot can determine the position of the robot only after moving through an auxiliary positioning mark. I.e. the precise positioning of the orbital robot cannot be obtained in real time.
Disclosure of Invention
Aiming at the problems, the technical scheme adopted by the invention is as follows: a positioning method of a track robot, the positioning method comprising the steps of:
acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along a track direction according to a preset rule;
and determining the real-time position information of the track robot according to the first positioning information and the second positioning information.
Optionally, the color information is luminance value information of n color channels of the color block, where n is a positive integer, and when n is greater than 1, the n color channels are respectively a first color channel to an nth color channel from a low position to a high position.
Optionally, the preset rule is:
the brightness value of the color channel is gradually increased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is reset to enter a new cycle.
Optionally, the preset rule is:
the brightness value of each color channel is gradually decreased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is decreased by a preset color change step length m, after the cycle is completed by the brightness value, the brightness value of the color channel at the higher position is decreased by the preset color change step length m, and the color channel at the lower position is set high to enter a new cycle.
Optionally, the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein, E j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1,. 1), which is the luminance value of each color channel of the color block at the start position;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two luminance values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between two steps of brightness values, the brightness values of all the lower color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
Optionally, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the step specifically includes:
calculating the real-time location information according to the following formula:
wherein if E in the first positioning information j Between two brightness values, then (E) j -S j )×R j Rounding-up, where rounding-up refers to taking the upper of the two luminance valuesA step of brightness value; s E The distance between the real-time position and the initial position of the track robot is obtained; k is a radical of j Changing the step number for the brightness value of each color channel; r j Is the scale factor of each color channel; d is the length of each color block along the track direction.
Optionally, the method for calculating the scale factor includes:
acquiring detection color information of any two color blocks, recording the detection color information as first color block detection color information and second color block detection color information, and acquiring actual color information of the two color blocks, recording the actual color information as first color block actual color information and second color block actual color information;
calculating the difference value of the brightness values of the same color channel in the first color block detection color information and the second color block detection color information, and the difference value of the brightness values of the same color channel in the first color block actual color information and the second color block actual color information;
and determining the scale factor of each color channel according to the difference value of the detected color information and the difference value of the actual color information.
Optionally, the positioning method further comprises the following steps:
periodically acquiring the acceleration of the track robot;
calculating the current speed of the track robot according to the acceleration;
calculating the predicted position information of any time in the next period according to the current speed and the real-time position information of the track robot;
and controlling the speed of the track robot according to the color information of the end point positioning color block in the advancing direction of the track robot and the predicted position information.
Optionally, the color blocks are mixed color blocks based on optical three primary colors, red, green and blue of the optical three primary colors correspondingly form 3 color channels, and the variation range of the brightness value of each color channel is 0-255.
And, a positioning apparatus for a track robot, the positioning apparatus comprising:
the positioning information acquisition module is used for acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along the track direction according to a preset rule;
and the microcontroller is used for determining the real-time position information of the track robot according to the first positioning information and the second positioning information.
Optionally, the color information is luminance value information of n color channels of the color patch, where n is a positive integer, and when n is greater than 1, the n color channels are respectively a first color channel to an nth color channel from a low position to a high position.
Optionally, the preset rule is:
the brightness value of the color channel is gradually increased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is reset to enter a new cycle.
Optionally, the preset rule is:
the brightness value of the color channel is gradually decreased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is decreased by a preset color change step length m, after the cycle is completed by the brightness value, the brightness value of the color channel at the higher position is decreased by the preset color change step length m, and the color channel at the lower position is set high to enter a new cycle.
Optionally, the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein, E j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1,. 1), each color of the color patch at the start positionThe brightness value of the channel;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two luminance values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between two steps of brightness values, the brightness values of all the lower color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
Optionally, when determining the real-time position information of the track robot, the microcontroller specifically includes:
calculating the real-time location information according to the following formula:
wherein if E in the first positioning information j Between two brightness values, then (E) j -S j )×R j Rounding up, wherein rounding refers to the brightness value of the last step in the two brightness values; s E The distance between the real-time position and the initial position of the track robot is obtained; k is a radical of j Changing the step number for the brightness value of each color channel; r j Is the scale factor of each color channel; d is the length of each color block along the track direction.
Optionally, the positioning device further comprises:
the acceleration acquisition module is used for periodically acquiring the acceleration of the track robot;
the microcontroller is also used for calculating the current speed of the track robot according to the acceleration, calculating the predicted position information of any time in the next period according to the current speed and the real-time position information of the track robot, and controlling the speed of the track robot according to the color information of the terminal positioning color block in the advancing direction of the track robot and the predicted position information.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the real-time positioning of the orbit robot can be realized, and the starting of the orbit robot at any position in the travel range can be calculated and determined by acquiring two characteristic data of the first positioning information and the second positioning information. Compared with the prior art, the positioning method and the positioning device for the track robot can solve the problem of positioning deviation of the track robot under the conditions of tire slipping, clamping stagnation and the like, and meanwhile, a positioning calibration point is not required to be specially set to calibrate the positioning information of the track robot.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart showing the steps of a method for positioning a rail robot according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the steps of a method for controlling the speed of a track robot in accordance with an embodiment of the present invention;
FIG. 3 shows a design diagram of a color block in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. 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.
As shown in fig. 1, a flowchart of the steps of the positioning method for a track robot according to an embodiment of the present invention includes the following steps:
s11: acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position;
s12: and determining the real-time position information of the track robot according to the first positioning information and the second positioning information.
The first positioning information and the second positioning information are color information of trackside positioning color blocks, and the trackside positioning color blocks are arranged along the track direction according to preset rules. The initial position can be any position on the track, the arrangement of the color blocks is continuous and uninterrupted, the width of each color block along the track direction is d, and a plurality of color blocks are continuously arranged to form the color plate.
Optionally, the color information is luminance value information of n color channels of the color block, where n is a positive integer.
Before executing step S11, the method further includes step S10: acquiring a scale factor R to correct the acquired color information, and specifically comprising the following steps:
s101: acquiring detection color information of any two color blocks, recording the detection color information as first color block detection color information and second color block detection color information, and acquiring actual color information of the two color blocks, recording the actual color information as first color block actual color information and second color block actual color information;
s102: calculating the difference value of the brightness values of the same color channel in the first color block detection color information and the second color block detection color information, and the difference value of the brightness values of the same color channel in the first color block actual color information and the second color block actual color information;
s103: and determining the scale factor of each color channel according to the difference value of the detected color information and the difference value of the actual color information.
When n is greater than 1, a plurality of color channels are included, and the n color channels are respectively a first color channel to an nth color channel from low to high. And the luminance values of the color channels are gradually increased or decreased in steps of a predetermined color change step m.
Preferably, m is a positive integer greater than 1 to realize the positioning of the transition point between the two adjacent luminance values in each color channel of the color block.
When the brightness value is increased, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is reset to enter a new cycle; when the brightness value is decreased, the brightness value of the lower color channel is decreased by a predetermined color change step length m, after the brightness value is completed in the cycle, the brightness value of the higher color channel is decreased by the predetermined color change step length m, and the lower color channel is set high to enter a new cycle.
Wherein the first positioning information is defined as (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein E is j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1.., 1) is the luminance value of each color channel of the color patch at the start position.
If n is greater than 1, when step S12 is executed, the method specifically includes the following steps:
s121: judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two luminance values, where 1<j is less than or equal to n, and j is a positive integer;
s122: if the luminance values are between the two steps, the luminance values of all the low-order color channels of the color channel between the two steps of luminance values in the first positioning information are zeroed, and then the step S123 is executed; if E j None of the luminance values is between the two steps, step S123 is directly performed.
S123: calculating the real-time location information according to the following formula:
wherein if E in the first positioning information j Between two brightness values, then (E) j -S j )×R j Rounding up, wherein rounding refers to the brightness value of the last step in the two brightness values; s. the E The distance between the real-time position and the initial position of the track robot is obtained; k is a radical of j Changing the step number for the brightness value of each color channel; r j Is the scale factor of each color channel; d is the length of each color patch in the track direction.
The first embodiment is as follows:
when n is 1, a color channel is included, i.e. a gradation of a single color between color patches.
In the present embodiment, step S12 calculates the real-time position of the orbital robot by the following formula:
in the formula, E is the brightness value of the color block where the track robot is located, and S is the brightness value of the color block at the starting position; r is a scale factor of the color channel; d is the length of each color block along the track direction.
In this embodiment, the formula for calculating the scale factor is:
in the formula, C 1a 、C 2a Respectively the actual luminance value of the first color block and the actual luminance value of the second color block, C 1b 、C 2b Detecting luminance values for the first color block and the second color block, respectivelyThe value is obtained.
The second embodiment is as follows:
taking n =3 as an example, as shown in fig. 3, the color block is a design schematic diagram of a color block based on three primary colors, where red, green, and blue of the three primary colors correspondingly form 3 color channels, and a third color channel is defined as an R color channel, a second color channel is defined as a G color channel, and a first color channel is defined as a B color channel. The brightness value variation range of each color channel is 0-255, and the step length m =3, that is, k is 86 (in 256 brightness values of 0-255, the step length is increased or decreased by 3, there are 86 total variation steps, and the calculation formula of k is
Symbol'
"means rounding up).
At this time, if the brightness value of the R color channel in the first positioning information is between two brightness values, the brightness values of the G color channel and the B color channel are both between full 255 and new cycle 0, and if the track robot is located between color patch (0,255,255) and color patch (3,0,0), based on S121 to S123, S is calculated according to the following formula E ：
Wherein (E) R -S R )×R R Rounding up, where rounding refers to taking the previous luminance value of the two luminance values.
If the brightness value of the R color channel in the first positioning information is not between two brightness values and the brightness value of the G color channel is between two brightness values, the brightness value of the B color channel is between the full 255 and the new cycle 0, if the track robot is between the color blocks (0, 255) and (0,3,0), then based on S121 to S123, then S is calculated according to the following formula E ：
Wherein (E) G -S G )×R G Rounding up, where rounding refers to taking the previous luminance value of the two luminance values.
If the brightness values of the R color channel and the G color channel in the first positioning information are not between the two brightness values, calculating the real-time position information according to the following formula:
in the formula, R R 、R G 、R B Scale factors, S, for the three RGB color channels, respectively R 、S G 、S B Brightness values of the three RGB color channels in the start position, E R 、E G 、E B The brightness values of the three color channels RGB in the real-time position, respectively.
In this embodiment, two pure white blocks (255 ) and pure black blocks (0,0,0) are selected as the first block and the second block for calculating the scale factor. A color sensor correction area can be reserved at one end of the color plate, namely the color sensor correction area is composed of the first color block and the second color block, and other color blocks are regularly arranged, and the lengths of the two color blocks can be longer than those of the other color blocks, so that correction can be conveniently carried out when the system is installed for the first time. Calculating a scale factor R R 、R G 、R B The formula of (1) is:
in the formula, C Rw 、C Rb The actual brightness value of the pure white color block and the detected brightness value of the pure black color block in the R color channel, C Gw 、C Gb The actual brightness value of the pure white color block and the detection brightness value of the pure black color block in the G color channel, C Bw 、C Bb Are respectively pure whiteThe block actual luminance value and the detected luminance value of a pure black block in the B color channel.
Furthermore, if the arrangement length of a plurality of color blocks formed by three colors is not enough, parallel gradient color plates can be installed to meet the requirement, and the gradient color rule can adopt that the lower color of the higher gradient color plate is further after the higher color channel of the lower gradient color plate is full of 256.
In some other embodiments, the RGB three colors in the second embodiment may not be mixed, that is, each color block is formed by three parallel single-color channels of red, green and blue.
Preferably, as shown in the flowchart of the steps of the method for controlling the speed of the track robot in fig. 2, the robot positioning method further includes controlling the speed of the track robot, and specifically includes the following steps:
s21: periodically acquiring the acceleration of the track robot;
generally, the acceleration of the track robot is obtained through the acceleration sensor, and the acceleration sensor is installed to ensure that the positive direction of the sensor is always parallel to the track, namely, the sensor is installed at a fixed distance from the track and the whole motion process is consistent with the tangential direction of the track.
S22: calculating the current speed of the track robot according to the acceleration;
speed at initial start-up of robotV 0 =0, accelerationa 0 And = 0. Setting the read cycle interrupt clock with timing period T1, every time the interrupt comes to T1, the current velocity calculation formula is:
in the formula (I), the compound is shown in the specification,iindicating the number of interrupts for period T1.
S23: according to the current speedV i And real-time position information S of the track robot E Calculating the predicted position information of any time in the next period;
in the above steps, if the clock T1 is an incremental clock starting from 0, the maximum count value is CountMax, and the count value at any time of T1 is CountT1, the predicted position information of the track robot at any time in the next cycle can be predicted, and the calculation formula is:
s24: and controlling the speed of the track robot according to the color information of the end point positioning color block in the advancing direction of the track robot and the predicted position information.
According to the steps S21 to S24, the speed control of the robot is realized through the positioning of the robot on the track, when the robot approaches the end point of the track in the advancing process or approaches the initial point of the track in the retreating process, the speed is decreased according to the distance, and unnecessary loss caused by too high moving speed and short braking time for rushing out of the track is avoided.
In addition, the invention also provides a positioning device of the track robot, which comprises a positioning information acquisition module and a microcontroller. The positioning information acquisition module is used for acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position; the microcontroller is used for determining the real-time position information of the track robot according to the first positioning information and the second positioning information.
The first positioning information and the second positioning information are color information of trackside positioning color blocks, and the trackside positioning color blocks are arranged along the track direction according to a preset rule. And the starting position can be any position on the track, and the arrangement among the color blocks is continuous and uninterrupted.
In this embodiment, the positioning information obtaining module may be a single primary color sensor, the single primary color sensor is a color sensor provided with a single primary color filter, the single primary color sensor may convert intensity of monochromatic light into frequency output, the stronger the light, the larger the output frequency, the output frequency range from 2Hz to 500kHz, thereby detecting a brightness value of a color, by selecting the number of the color sensors and corresponding detection colors, thereby detecting brightness values of respective colors, and the width range of the single primary color sensor is smaller than d.
And when n is greater than 1, the n color channels are respectively a first color channel to an nth color channel from low to high.
The preset rule is as follows: the brightness value of the color channel is gradually increased or decreased by a preset color change step length m, and m is a positive integer greater than 1; when increasing, when n is larger than 1, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is cleared and enters a new cycle. When decreasing, when n is larger than 1, the brightness value of the color channel at the lower position decreases by a predetermined color change step length m, after the brightness value full cycle is finished, the brightness value of the color channel at the higher position decreases by the predetermined color change step length m, and the color channel at the lower position is set high to enter a new cycle.
The first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein E is j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1,. 1, 1) is a luminance value of each color channel of the color patch at the start position.
Preferably, before the device operates, the device further includes a color correction module for correcting color detection information in the device, and therefore, the device further includes a color correction module for obtaining the scale factor, specifically, the corresponding step flow in the embodiment of the positioning method is described above, and details are not described herein.
When the microcontroller determines the real-time position information of the track robot, the specific steps are as described in steps S121 to S123 of the positioning method according to the embodiment of the present invention.
Preferably, the positioning device of the embodiment of the present invention further includes an acceleration obtaining module, where the acceleration obtaining module is configured to periodically obtain the acceleration of the track robot; the microcontroller is also used for calculating the current speed of the track robot according to the acceleration, calculating the predicted position information of any time in the next period according to the current speed and the real-time position information of the track robot, and controlling the speed of the track robot according to the color information of the terminal positioning color block in the advancing direction of the track robot and the predicted position information. The specific control method is the positioning method according to the above embodiment of the present invention, and is not described herein again.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (10)
1. A method for positioning a track robot, comprising the steps of:
acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along a track direction according to a preset rule;
determining real-time position information of the track robot according to the first positioning information and the second positioning information;
the color information is brightness value information of n color channels of the color blocks, wherein n is a positive integer, and when n is larger than 1, the n color channels are respectively a first color channel to an nth color channel from low to high;
the preset rule is as follows:
the brightness value of the color channel is gradually increased by a preset color change step length m, and m is a positive integer greater than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is reset to enter a new cycle;
the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1) Wherein E is j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1,. 1), which is the luminance value of each color channel of the color block at the start position;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two luminance values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between the two steps, the brightness values of all the lower-order color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
2. A method for positioning a track robot, comprising the steps of:
acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along a track direction according to a preset rule;
determining real-time position information of the track robot according to the first positioning information and the second positioning information;
the color information is brightness value information of n color channels of the color blocks, wherein n is a positive integer, and when n is larger than 1, the n color channels are respectively a first color channel to an nth color channel from low position to high position;
the preset rule is as follows:
the brightness value of each color channel is gradually decreased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is decreased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is decreased by the preset color change step length m, and the color channel at the lower position is set high to enter a new cycle;
the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1) Wherein E is j (j = n, n-1, 1.., 1) is a brightness value, S, of each color channel of the patch at the real-time position of the track robot j (j = n, n-1,. 1), which is the luminance value of each color channel of the color block at the start position;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two brightness values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between the two steps, the brightness values of all the lower-order color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
3. The positioning method of a tracked robot as claimed in claim 1 or 2, wherein in said step of determining real-time positional information of said tracked robot based on said first positioning information and said second positioning information, specifically:
calculating the real-time location information according to the following formula:
wherein if E in the first positioning information j Between two brightness values, then (E) j -S j )×R j Rounding up, wherein rounding refers to the brightness value of the last step in the two brightness values; s E The distance between the real-time position and the initial position of the track robot is obtained; k is a radical of j Changing the step number for the brightness value of each color channel; r j Is the scale factor of each color channel; d is the length of each color block along the track direction.
4. The method for positioning a railway robot as claimed in claim 3, wherein the method for calculating the scale factor comprises:
acquiring detection color information of any two color blocks, recording the detection color information as first color block detection color information and second color block detection color information, and acquiring actual color information of the two color blocks, recording the actual color information as first color block actual color information and second color block actual color information;
calculating the difference value of the brightness values of the same color channel in the first color block detection color information and the second color block detection color information, and the difference value of the brightness values of the same color channel in the first color block actual color information and the second color block actual color information;
and determining the scale factor of each color channel according to the difference value of the detected color information and the difference value of the actual color information.
5. The positioning method of a track robot according to claim 1 or 2, characterized by further comprising the steps of:
periodically acquiring the acceleration of the track robot;
calculating the current speed of the track robot according to the acceleration;
calculating the predicted position information of any time in the next period according to the current speed and the real-time position information of the track robot;
and controlling the speed of the track robot according to the color information of the end point positioning color block in the advancing direction of the track robot and the predicted position information.
6. The method for positioning a railway robot as claimed in claim 1 or 2, wherein the color blocks are mixed color blocks based on three primary colors, the red, green and blue of the three primary colors correspondingly form 3 color channels, and the variation range of the brightness value of each color channel is 0-255.
7. A positioning device for a track robot, comprising:
the positioning information acquisition module is used for acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along the track direction according to a preset rule;
the microcontroller is used for determining the real-time position information of the track robot according to the first positioning information and the second positioning information;
the color information is brightness value information of n color channels of the color blocks, wherein n is a positive integer, and when n is larger than 1, the n color channels are respectively a first color channel to an nth color channel from low position to high position;
the preset rule is as follows:
the brightness value of the color channel is gradually increased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is increased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is increased by the preset color change step length m, and the brightness value of the color channel at the lower position is reset to enter a new cycle;
the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein E is j (j = n, n-1.., 1) is the brightness value of each color channel of the color patch at the real-time position of the track robot, S j (j = n, n-1,. 1), which is the luminance value of each color channel of the color block at the start position;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two luminance values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between two steps of brightness values, the brightness values of all the lower color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
8. A positioning device for a track robot, comprising:
the positioning information acquisition module is used for acquiring first positioning information of a real-time position of the track robot and second positioning information of an initial position, wherein the first positioning information and the second positioning information are color information of trackside positioning color blocks, and the color blocks are arranged along the track direction according to a preset rule;
the microcontroller is used for determining the real-time position information of the track robot according to the first positioning information and the second positioning information;
the color information is brightness value information of n color channels of the color blocks, wherein n is a positive integer, and when n is larger than 1, the n color channels are respectively a first color channel to an nth color channel from low position to high position;
the preset rule is as follows:
the brightness value of the color channel is gradually decreased by a preset color change step length m, wherein m is a positive integer larger than 1;
when n is larger than 1, the brightness value of the color channel at the lower position is decreased by a preset color change step length m, after the full cycle of the brightness value is finished, the brightness value of the color channel at the higher position is decreased by the preset color change step length m, and the color channel at the lower position is set high to enter a new cycle;
the first positioning information is (E) n ,E n-1 ,...,E 1 ) The second positioning information is (S) n ,S n-1 ,...,S 1 ) Wherein E is j (j = n, n-1, 1.., 1) is a brightness value, S, of each color channel of the patch at the real-time position of the track robot j (j = n, n-1,. 1), which is the luminance value of each color channel of the color block at the start position;
when n is greater than 1, in the step of determining the real-time position information of the track robot according to the first positioning information and the second positioning information, the method comprises the following steps:
judging the brightness value E of each color channel in the first positioning information j Whether or not it lies between two brightness values, where 1<j is less than or equal to n, and j is a positive integer;
and if the brightness values are between two steps of brightness values, the brightness values of all the lower color channels of the color channels between the two steps of brightness values in the first positioning information are reset to zero.
9. The positioning apparatus for a tracked robot as claimed in claim 7 or 8, wherein said microcontroller, when determining the real-time positional information of said tracked robot, is specifically:
calculating the real-time location information according to the following formula:
wherein if E in the first positioning information j Between two brightness values, then (E) j -S j )×R j Rounding up, wherein rounding refers to the brightness value of the last step in the two brightness values; s. the E The distance between the real-time position and the initial position of the track robot is obtained; k is a radical of j Changing the step number for the brightness value of each color channel; r is j Is the scale factor of each color channel; d is the length of each color block along the track direction.
10. The positioning apparatus for a railway robot as claimed in claim 7 or 8, wherein the positioning apparatus further comprises:
the acceleration acquisition module is used for periodically acquiring the acceleration of the track robot;
the microcontroller is also used for calculating the current speed of the track robot according to the acceleration, calculating the predicted position information of any time in the next period according to the current speed and the real-time position information of the track robot, and controlling the speed of the track robot according to the color information of the terminal positioning color block in the advancing direction of the track robot and the predicted position information.
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| EP3249419A4 (en) * | 2015-01-22 | 2018-02-28 | Guangzhou Airob Robot Technology Co., Ltd. | Color block tag-based localization and mapping method and device thereof |
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