CN115454060A - Robot multi-vision module autonomous navigation system based on ROS - Google Patents
Robot multi-vision module autonomous navigation system based on ROS Download PDFInfo
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- CN115454060A CN115454060A CN202211044648.XA CN202211044648A CN115454060A CN 115454060 A CN115454060 A CN 115454060A CN 202211044648 A CN202211044648 A CN 202211044648A CN 115454060 A CN115454060 A CN 115454060A
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- 230000004888 barrier function Effects 0.000 claims description 8
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- 230000000007 visual effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a robot multi-vision module autonomous navigation system based on ROS, which comprises a control module, a navigation system module, an echo ranging module, an infrared ranging module, a multi-vision information acquisition module, an ROS module and a cloud service module, wherein the multi-vision information acquisition module comprises the infrared ranging module and the echo ranging module, more than one infrared ranging device of the infrared ranging module is provided, and more than one echo ranging device of the echo ranging module is provided. The invention has the advantages that: the measuring precision is high, and a multi-view vision module is adopted.
Description
Technical Field
The invention relates to the technical field of ROS robots, in particular to a robot multi-view vision module autonomous navigation system based on ROS.
Background
The ROS is a robot software platform that can provide operating system-like functionality for heterogeneous computer clusters, and provides standard operating system services such as hardware abstraction, underlying device control, common function implementation, interprocess messaging and packet management. The ROS is based on a graph-like architecture, so that processes of different nodes can accept, release and aggregate various information. Under the support of ROS, if the robot adopts a multi-view vision mode, the navigation mode of autonomous navigation of the robot can be improved.
Disclosure of Invention
In order to solve the various problems, the invention provides the ROS-based robot multi-view module autonomous navigation system which is high in measurement accuracy and adopts a multi-view vision module.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: many meshes of robot vision module is navigation independently based on ROS, including control module, navigation system module, echo ranging module, infrared ranging module, many meshes of vision information acquisition module, ROS module, high in the clouds service module.
Preferably, the multi-view visual information acquisition module comprises an infrared ranging module and an echo ranging module, the infrared ranging module comprises more than one infrared ranging device, and the echo ranging module comprises more than one echo ranging device.
Preferably, an infrared light emitting tube of an infrared emitting circuit of the infrared ranging module emits infrared light, and after the infrared light is reflected by the obstacle, a photosensitive receiving tube of an infrared receiving circuit receives reflected light of an object in front, so that whether the obstacle exists in front or not is judged according to the reflected light. The distance of the object can be judged according to the intensity of the reflected light, and because the light intensity received by the receiving tube changes along with the distance change of the reflecting object, the reflected light intensity is determined when the distance is close, and the reflected light intensity is determined when the distance is far.
Preferably, the echo ranging device built in the echo ranging module measures the distance according to the reflection principle of sound,
the calculation formula is as follows: s =1/2vt
Preferably, the ROS module is responsible for receiving and processing information transmitted by the navigation system module and processing internal data, the cloud service module is responsible for collecting big data related to the classified robot, and the ROS module can continuously provide and provide data in real time when performing data processing.
Preferably, when the client checks the running condition of the robot and wants to control, the client is used for providing a cloud server to access the navigation system through the network equipment, and an instant and effective instruction is given.
Preferably, the echo ranging module and the infrared ranging module can work independently or cooperatively.
Compared with the prior art, the invention has the advantages that: the multi-vision information acquisition module adopts two distance measurement modes of infrared distance measurement and echo distance measurement, can work independently and work in a matching mode, effectively improves the accuracy of robot distance measurement, can give instructions more quickly and accurately in the action process of the robot, is used for planning a route, avoiding risks and the like, adopts a multi-vision mode, and effectively improves the navigation mode of autonomous navigation of the robot.
Drawings
Fig. 1 is a schematic structure diagram of an autonomous navigation system of a robot multi-vision module based on ROS.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
Example 1
Many meshes of robot vision module is navigation independently based on ROS, including control module, navigation system module, echo ranging module, infrared ranging module, many meshes of vision information acquisition module, ROS module, high in the clouds service module.
The multi-view visual information acquisition module comprises an infrared ranging module and an echo ranging module, more than one infrared ranging device of the infrared ranging module is provided, and more than one echo ranging device of the echo ranging module is provided.
The infrared light emitting tube of the infrared emitting circuit of the infrared distance measuring module emits infrared light, after the infrared light is reflected by the barrier, the light-sensitive receiving tube of the infrared receiving circuit receives the reflected light of the front object, and whether the barrier exists in the front or not is judged according to the reflected light. The distance of the object can be judged according to the intensity of the reflected light, because the light intensity received by the receiving tube changes along with the distance change of the reflecting object, the reflected light intensity is determined when the distance is close, and the reflected light intensity is determined when the distance is far.
The echo ranging device arranged in the echo ranging module measures the distance according to the reflection principle of sound, and the calculation formula is as follows: s =1/2vt
The ROS module is responsible for receiving and processing information transmitted by the navigation system module and carrying out internal data processing, the cloud service module is responsible for collecting big data related to the classified robot, and the ROS module can continuously provide and provide data in real time when carrying out data processing.
When the client checks the running condition of the robot and wants to control, the client is used for providing a cloud server to access the navigation system through the network equipment, and an instant and effective instruction is given.
And adopting a working mode that the echo ranging module works independently.
Example 2
Many meshes of robot vision module is navigation independently based on ROS, including control module, navigation system module, echo ranging module, infrared ranging module, many meshes of vision information acquisition module, ROS module, high in the clouds service module.
The multi-view visual information acquisition module comprises an infrared ranging module and an echo ranging module, more than one infrared ranging device of the infrared ranging module is provided, and more than one echo ranging device of the echo ranging module is provided.
The infrared light emitting tube of the infrared emitting circuit of the infrared distance measuring module emits infrared light, after the infrared light is reflected by the barrier, the light-sensitive receiving tube of the infrared receiving circuit receives the reflected light of the front object, and whether the barrier exists in the front or not is judged according to the reflected light. The distance of the object can be judged according to the intensity of the reflected light, because the light intensity received by the receiving tube changes along with the distance change of the reflecting object, the reflected light intensity is determined when the distance is close, and the reflected light intensity is determined when the distance is far.
The built-in echo ranging device of the echo ranging module measures the distance according to the reflection principle of sound, and the calculation formula is as follows: s =1/2vt
The ROS module is responsible for receiving and processing information transmitted by the navigation system module and carrying out internal data processing, the cloud service module is responsible for collecting big data related to the classified robot, and the ROS module can continuously provide and provide data in real time when carrying out data processing.
When the client checks the running condition of the robot and wants to control, the client is used for providing a cloud server to access the navigation system through the network equipment, and an instant and effective instruction is given.
And adopting a working mode that the infrared ranging module works independently.
Example 3
Many meshes of robot vision module is navigation independently based on ROS, including control module, navigation system module, echo ranging module, infrared ranging module, many meshes of vision information acquisition module, ROS module, high in the clouds service module.
Many meshes visual information collection module includes infrared ranging module and echo ranging module, the infrared ranging device of infrared ranging module is more than one, the echo ranging device of echo ranging module is more than one.
The infrared light emitting tube of the infrared emitting circuit of the infrared distance measuring module emits infrared light, after the infrared light is reflected by the barrier, the light-sensitive receiving tube of the infrared receiving circuit receives the reflected light of the front object, and whether the barrier exists in the front or not is judged according to the reflected light. The distance of the object can be judged according to the intensity of the reflected light, because the light intensity received by the receiving tube changes along with the distance change of the reflecting object, the reflected light intensity is determined when the distance is close, and the reflected light intensity is determined when the distance is far.
The built-in echo ranging device of the echo ranging module measures the distance according to the reflection principle of sound, and the calculation formula is as follows: s =1/2vt
The ROS module is responsible for receiving and processing information transmitted by the navigation system module and carrying out internal data processing, the cloud service module is responsible for collecting big data related to the classified robot, and the ROS module can continuously provide and provide data in real time when carrying out data processing.
When the client checks the running condition of the robot and wants to control, the client is used for providing a cloud server to access the navigation system through the network equipment, and an instant and effective instruction is given.
And adopting a working mode that the echo ranging module and the infrared ranging module work in a matching way.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. Many meshes of robot vision module is navigation independently based on ROS, including control module, navigation system module, echo ranging module, infrared ranging module, many meshes of vision information acquisition module, ROS module, high in the clouds service module.
2. The ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: many meshes visual information collection module includes infrared ranging module and echo ranging module, the infrared ranging device of infrared ranging module is more than one, the echo ranging device of echo ranging module is more than one.
3. The ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: the infrared light emitting tube of the infrared emitting circuit of the infrared distance measuring module emits infrared light, after the infrared light is reflected by the barrier, the light-sensitive receiving tube of the infrared receiving circuit receives the reflected light of the front object, and whether the barrier exists in the front or not is judged according to the reflected light. The distance of the object can be judged according to the intensity of the reflected light, and because the light intensity received by the receiving tube changes along with the distance change of the reflecting object, the reflected light intensity is determined when the distance is close, and the reflected light intensity is determined when the distance is far.
4. The ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: the echo ranging device arranged in the echo ranging module measures the distance according to the reflection principle of sound, and the calculation formula is as follows:
s＝1/2vt
5. the ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: the ROS module is responsible for receiving and processing information transmitted by the navigation system module and carrying out internal data processing, the cloud service module is responsible for collecting big data related to the classified robot, and the ROS module can continuously provide and provide data in real time when carrying out data processing.
6. The ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: when the client checks the running condition of the robot and wants to control, the client is used for providing a cloud server to access the navigation system through the network equipment, and an instant and effective instruction is given.
7. The ROS-based robotic multi-ocular vision module autonomous navigation system of claim 1, wherein: the echo ranging module and the infrared ranging module can work independently or cooperatively.
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| CN202211044648.XA CN115454060A (en) | 2022-08-30 | 2022-08-30 | Robot multi-vision module autonomous navigation system based on ROS |
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| CN202211044648.XA CN115454060A (en) | 2022-08-30 | 2022-08-30 | Robot multi-vision module autonomous navigation system based on ROS |
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