CN117824682A - Low-cost robot ground monitoring system and method - Google Patents
Low-cost robot ground monitoring system and method Download PDFInfo
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- CN117824682A CN117824682A CN202311490223.6A CN202311490223A CN117824682A CN 117824682 A CN117824682 A CN 117824682A CN 202311490223 A CN202311490223 A CN 202311490223A CN 117824682 A CN117824682 A CN 117824682A
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- depth camera
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000010191 image analysis Methods 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a low-cost robot ground monitoring system and method, relate to robot obstacle detection field, relative to sensors such as high-end laser radar, the depth camera cost is lower, make low-cost robot also can realize ground monitoring and keep away the barrier, the depth camera can provide high-quality depth information, can detect subaerial obstacle accurately, the system can acquire the depth image in real time and carry out the obstacle discernment, make the robot can respond to the change of ground condition fast, the dependence to sensor and complex algorithm has been reduced, complexity and the cost of system have been reduced.
Description
Technical Field
The invention relates to the field of robot obstacle detection, in particular to a low-cost robot ground monitoring system and method.
Background
Uneven conditions on the ground, such as ground bumps, depressions, or slopes, are often encountered during navigation of mobile robots. These topographical features may pose a potential hazard to the movement and navigation of the robot, especially for low cost robot chassis, where only sensors such as single line lidar are typically provided, and where ground conditions are not adequately detected.
Disclosure of Invention
In order to overcome the deficiencies of the above techniques, the present invention provides a low cost robotic ground monitoring system and method that is capable of better sensing obstacles on the ground.
The technical scheme adopted for overcoming the technical problems is as follows:
a low cost robotic ground monitoring system, comprising:
the depth camera is arranged on the robot and used for acquiring depth image data;
the calibration module is used for calibrating the depth camera;
the two-dimensional code calibration module is used for calibrating the relative position of the depth camera and the robot chassis by identifying the two-dimensional code;
the depth image analysis module judges that the depth image data shot by the depth camera is ground or an obstacle;
an obstacle recognition module for recognizing an obstacle on the ground;
and the cost map generation module is used for adding the obstacle information into a cost map for robot navigation.
Further, the depth camera is mounted on the robot chassis.
Further, the depth camera is a USB camera or an RGB-D camera.
Further, the calibration module calibrates internal parameters, external parameters and distortion correction of the depth camera.
Further, the depth image analysis module judges the angle of the connecting line of the adjacent point clouds in the vertical direction in the main sentence of the depth image acquired by the depth camera, if the angle is less than or equal to 15 degrees, the ground is judged, and if the angle is more than 15 degrees, the obstacle is judged.
A low cost robotic ground monitoring method comprising:
acquiring depth image data using a depth camera;
calibrating the depth camera;
calibrating the relative position of the depth camera and the robot chassis by identifying the two-dimension code;
analyzing the depth image data acquired by the depth camera, and judging the ground or the obstacle;
adding obstacle information to the cost map;
the robot navigates according to the cost map.
Further, the depth image data acquired by the depth camera contains depth information and RGB information.
Further, calibrating internal parameters, external parameters and distortion correction of the depth camera.
Further, a two-dimensional code is placed in an operation environment of the robot to serve as a calibration object, and a depth camera is used for shooting images of the two-dimensional code, so that the relative position and the gesture of the camera and the chassis of the robot are obtained.
The beneficial effects of the invention are as follows: compared with sensors such as a high-end laser radar, the depth camera is lower in cost, so that the low-cost robot can realize ground monitoring and obstacle avoidance, the depth camera can provide high-quality depth information, can accurately detect obstacles on the ground, and can acquire depth images in real time and identify the obstacles, so that the robot can quickly respond to changes of ground conditions, dependence on the sensors and complex algorithms is reduced, and the complexity and cost of the system are reduced.
Detailed Description
The present invention will be further described below.
A low cost robotic ground monitoring system, comprising:
and the depth camera is arranged on the robot and used for acquiring depth image data.
And the calibration module is used for calibrating the depth camera. In the initial stage of the system, the depth camera is calibrated to ensure that the depth camera can accurately measure the depth information.
And the two-dimension code calibration module is used for calibrating the relative position of the depth camera and the robot chassis by identifying the two-dimension code.
And the depth image analysis module is used for judging that the depth image data shot by the depth camera is ground or an obstacle.
And the obstacle recognition module is used for recognizing the obstacle on the ground. By analyzing the depth image, the system can identify obstructions on the ground, including bumps, depressions, slopes, and the like. The position and shape of these obstacles will be recorded.
And the cost map generation module is used for adding the obstacle information into a cost map for robot navigation. The cost map will be used to avoid the obstacle, ensuring that the robot can avoid these obstacles.
The effective monitoring of the robot to the ground is achieved by introducing a depth camera. The system combines camera calibration, two-dimension code calibration and depth image analysis, so that the robot can better sense obstacles on the ground, including bulges, depressions, slopes and the like
In one embodiment of the invention, the depth camera is mounted on the robot chassis. The ground depth information is conveniently acquired.
In one embodiment of the invention, the depth camera is a USB camera or an RGB-D camera.
In one embodiment of the invention, the calibration module calibrates internal parameters, external parameters, and distortion correction of the depth camera.
Once the camera is connected to the robot chassis and calibration is completed, the system starts to acquire depth image data, in one embodiment of the invention, the depth image analysis module judges the angle of the connecting line of the adjacent point clouds in the vertical direction in the main sentence of the depth image acquired by the depth camera, if the angle is less than or equal to 15 degrees, the system judges the system as the ground, and if the angle is greater than 15 degrees, the system judges the system as the obstacle.
A low cost robotic ground monitoring method comprising:
depth image data is acquired using a depth camera.
And calibrating the depth camera.
And calibrating the relative positions of the depth camera and the robot chassis by identifying the two-dimension code.
And analyzing the depth image data acquired by the depth camera, and judging the ground or the obstacle.
Obstacle information is added to the cost map.
The robot navigates according to the cost map.
The invention provides a low-cost ground monitoring system, which enables a low-cost robot to have high-quality monitoring capability on the ground by introducing a depth camera. Traditionally, high cost sensors such as lidar have been used, while the present invention accomplishes similar functions by using a relatively inexpensive depth camera.
Depth camera calibration and two-dimensional code calibration: according to the invention, the depth camera is introduced into the robot chassis, and accurate measurement of depth information and accurate calculation of the relative position of the camera and the chassis are realized through calibration of the depth camera and two-dimensional code calibration. These calibration steps enable the system to better perceive obstacles on the ground.
Depth image analysis: by analyzing the depth image, the system can determine the angle of the adjacent point cloud connection in the vertical direction to determine the ground and the obstacle. The depth image analysis method provides the robot with efficient ground monitoring and obstacle detection capabilities.
The invention can identify obstacles on the ground, including projections, depressions, slopes, etc., and then add the obstacle information to the cost map of the robot. The cost map can be used for avoiding barriers, so that the robot can avoid the barriers, and the navigation safety is improved.
In one embodiment of the invention, the depth image data acquired by the depth camera contains depth information and RGB information.
In one embodiment of the invention, the depth camera's internal, external, and distortion corrections are calibrated.
In one embodiment of the invention, a two-dimensional code is placed in an operation environment of a robot as a calibration object, a depth camera is used for shooting an image of the two-dimensional code, the relative position and the posture of the camera and a robot chassis are obtained, and the depth information can be mapped to a robot chassis coordinate system.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A low cost robotic ground monitoring system, comprising:
the depth camera is arranged on the robot and used for acquiring depth image data;
the calibration module is used for calibrating the depth camera;
the two-dimensional code calibration module is used for calibrating the relative position of the depth camera and the robot chassis by identifying the two-dimensional code;
the depth image analysis module judges that the depth image data shot by the depth camera is ground or an obstacle;
an obstacle recognition module for recognizing an obstacle on the ground;
and the cost map generation module is used for adding the obstacle information into a cost map for robot navigation.
2. The low cost robotic ground monitoring system of claim 1, wherein: the depth camera is mounted on the robot chassis.
3. The low cost robotic ground monitoring system of claim 1, wherein: the depth camera is a USB camera or an RGB-D camera.
4. The low cost robotic ground monitoring system of claim 1, wherein: the calibration module calibrates internal parameters, external parameters and distortion correction of the depth camera.
5. The low cost robotic ground monitoring system of claim 1, wherein: the depth image analysis module judges the angle of the connecting line of the adjacent point clouds in the vertical direction in the main sentence of the depth image acquired by the depth camera, if the angle is smaller than or equal to 15 degrees, the ground is judged, and if the angle is larger than 15 degrees, the obstacle is judged.
6. A method for low cost robotic ground monitoring comprising:
acquiring depth image data using a depth camera;
calibrating the depth camera;
calibrating the relative position of the depth camera and the robot chassis by identifying the two-dimension code;
analyzing the depth image data acquired by the depth camera, and judging the ground or the obstacle;
adding obstacle information to the cost map;
the robot navigates according to the cost map.
7. The low cost robotic ground monitoring method of claim 1, wherein: the depth image data acquired by the depth camera contains depth information and RGB information.
8. The low cost robotic ground monitoring method of claim 1, wherein: calibrating internal parameters, external parameters and distortion correction of the depth camera.
9. The low cost robotic ground monitoring method of claim 1, wherein: and placing a two-dimensional code in the operation environment of the robot as a calibration object, and shooting an image of the two-dimensional code by using a depth camera to obtain the relative position and the gesture of the camera and the robot chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311490223.6A CN117824682A (en) | 2023-11-10 | 2023-11-10 | Low-cost robot ground monitoring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311490223.6A CN117824682A (en) | 2023-11-10 | 2023-11-10 | Low-cost robot ground monitoring system and method |
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| Publication Number | Publication Date |
|---|---|
| CN117824682A true CN117824682A (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311490223.6A Pending CN117824682A (en) | 2023-11-10 | 2023-11-10 | Low-cost robot ground monitoring system and method |
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| Country | Link |
|---|---|
| CN (1) | CN117824682A (en) |
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2023
- 2023-11-10 CN CN202311490223.6A patent/CN117824682A/en active Pending
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