CN206074001U - A kind of robot indoor locating system based on 3D video cameras - Google Patents
A kind of robot indoor locating system based on 3D video cameras Download PDFInfo
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- CN206074001U CN206074001U CN201621069697.9U CN201621069697U CN206074001U CN 206074001 U CN206074001 U CN 206074001U CN 201621069697 U CN201621069697 U CN 201621069697U CN 206074001 U CN206074001 U CN 206074001U
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- 238000002372 labelling Methods 0.000 claims description 9
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- 239000003086 colorant Substances 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims 1
- 230000004807 localization Effects 0.000 abstract description 15
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Abstract
The utility model discloses a kind of robot indoor locating system based on 3D video cameras, three color LEDs of RGB are disposed on the ceiling, and with a certain right angle electrical of ceiling as zero, set up rectangular coordinate system, robot sweeps ceiling by 3D photographic head and obtains image information and which is analyzed and processed, and realizes Global localization and navigation.This utility model is with regard to monocular vision alignment system, domestic robot carries out the acquisition of depth information by 3D photographic head to LED, by a series of analytical calculation, Global localization and the navigation of robot are realized finally, for common monocular vision alignment system, the system footprint is 3D photographic head, photographic head parameter is not easily susceptible to affect to be conducive to help system to carry out robot localization faster on the contrary, for binocular visual positioning, reduces cost, low with respect to algorithm difficulty, without loaded down with trivial details amount of calculation, degree of accuracy is higher.
Description
Technical field
This utility model is related to a kind of robot, specifically a kind of robot indoor locating system based on 3D video cameras.
Background technology
As the research of robot is more and more deeper, it is one of current focus inquired into strengthen the intelligent of man-machine interaction.For
Man-machine interaction is realized, robot need to carry out autonomous, robot generally carries out Global localization and navigation using alignment system
So as to reach autonomous function.Realize that indoor Global localization and the mode of navigation there are many kinds, we are selected by regarding here
Feel that positioning allows robot to realize Global localization and navigation.The vision localization mode of domestic robot can be divided into monocular vision positioning
And binocular visual positioning.The vision localization mode of domestic robot can be divided into monocular vision positioning and binocular visual positioning at present.
For binocular visual positioning mode, its high cost, Stereo Matching Algorithm difficulty are larger, computationally intensive；Then for monocular vision is fixed
For position, which is affected by camera parameters, and degree of accuracy is poor, photographic head is required higher.
Utility model content
The purpose of this utility model is to provide a kind of robot indoor locating system based on 3D video cameras, with solution
The problem proposed in stating background technology.
For achieving the above object, this utility model provides following technical scheme：
A kind of robot indoor locating system based on 3D video cameras, the robot are provided with monocular vision alignment system,
Monocular vision alignment system includes labelling point module, image capture module, message processing module, wireless communication module and motion mould
Block, labelling point module, image capture module, message processing module, wireless communication module and motion module are all connected to main control
Device.
As this utility model further scheme：The robot is provided with monocular vision alignment system, monocular vision
Alignment system includes labelling point module, image capture module, message processing module, wireless communication module and motion module, labelling
Point module is the LED that three different colours of RGB are disposed on overhead room, and forms triangular shaped, used as labelling
Point；Image capture module is that ceiling image is swept by 3D photographic head by robot, carries out depth information collection to which；At information
Reason module is, with a right angle electrical of ceiling as origin, to set up the rectangular coordinate system of ceiling, obtains the seat of three LEDs
Mark parameter, generates indoor coordinate map, and robot master controller can be analyzed process according to the information for obtaining, calculate machine
The position that people is located；Wireless communication module is that user is controlled to robot by radio communication；Motion module is according to really
Set the goal position and distance and the direction of robot, and control robot carries out advancing, turn left, turn right and stopping, so as to
Realize the navigation of target location.
Compared with prior art, the beneficial effects of the utility model are：This utility model is to be with regard to monocular vision positioning
System, domestic robot carries out the acquisition of depth information by 3D photographic head to LED, by a series of analytical calculation, finally
Global localization and the navigation of robot are realized, for common monocular vision alignment system, the system footprint is that 3D takes the photograph
As head, photographic head parameter is not easily susceptible to affect to be conducive to help system to carry out robot localization faster on the contrary, and system can be real
When obtain the depth information of LED etc., can adapt to robot in motor process, it is so as to realize positioning, fixed relative to binocular vision
For position, reduces cost is low with respect to algorithm difficulty, and without loaded down with trivial details amount of calculation, degree of accuracy is higher.
Description of the drawings
Fig. 1 is the structural representation of monocular vision alignment system in robot indoor locating system based on 3D video cameras；
Fig. 2 is the Depth Information Acquistion figure of LED in robot indoor locating system based on 3D video cameras；
Fig. 3 is Global localization flow chart in robot indoor locating system based on 3D video cameras；
Fig. 4 is coordinate parameters figure in robot indoor locating system based on 3D video cameras；
Fig. 5 is navigator fix flow chart in robot indoor locating system based on 3D video cameras.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Fig. 1～5 are referred to, in this utility model embodiment, a kind of robot indoor locating system based on 3D video cameras,
Three color LEDs of RGB are disposed on the ceiling, and with a certain right angle electrical of ceiling as zero, set up rectangular coordinate
System, robot sweep ceiling by 3D photographic head and obtain image information and which is analyzed and processed, and realize Global localization and lead
Boat；The robot is provided with monocular vision alignment system, and monocular vision alignment system includes labelling point module, image acquisition mould
Block, message processing module, wireless communication module and motion module, labelling point module are the placement RGBs three on overhead room
The LED of individual different colours, and form triangular shaped, as mark point；Image capture module is that robot is imaged by 3D
Head pan ceiling image, carries out depth information collection to which；Message processing module is with a right angle electrical of ceiling as origin
Coordinate, sets up the rectangular coordinate system of ceiling, obtains the coordinate parameters of three LEDs, generates indoor coordinate map, robot master
Controller can be analyzed process according to the information for obtaining, and calculate the position at robot place；Wireless communication module is user
Robot is controlled by radio communication；Motion module is according to distance and the side for determining target location and robot
To control robot carries out advancing, turn left, turn right and stopping, so as to realize the navigation of target location.
System work main-process stream
2.2.2.1 Global localization flow process：
S1：Three color LEDs of RGB are disposed on the ceiling.
S2：Using a certain right angle electrical of ceiling as zero, and rectangular coordinate system is set up in ceiling, generate indoor seat
Mark map, while obtaining the coordinate parameters of LED.
S3：User controls robot by radio communication and carries out Global localization.
S4：Robot is swept to ceiling by 3D photographic head, obtains the depth information of LED, as shown in Figure 2.
S5：System is analyzed process to image information and depth information, calculates robot present co-ordinate position.
Robot is obtained to the vertical dimension of ceiling, i.e. depth distance Y by depth S ENSOR of 3D photographic head.And lead to
Cross 3D video camera 2D sensor and obtain the pixel distance Z` of LED and robot between ceiling fixed point, can be according to depth
Apart from the relation of Y and pixel distance calculate actual LED to robot ceiling pinpoint apart from Z, the relation between which is Z
=K*Z`.And the value of K then has depth distance Y and determines：
As Y=1m, K=0.4
As Y=2m, K=0.8
As Y=3m, K=1.6 ... .. are by that analogy.
The depth information of three LEDs is obtained, you can learn the pixel distance that LED is pinpointed to robot in ceiling
With actual range coefficient of relationship K, pixel distance can be obtained by 3D video camera 2D sensor, thus, can be calculated robot and be hung down
Until ceiling vertex position to LED apart from Z.
Robot vertical is calculated respectively to after ceiling vertex position to red, green, blue LED distance, with LED position
Central point is set to, vertex position to LED distance draws circle for radius, and three circle joints are robot on ceiling summit
Position, and obtain its coordinate parameters (X1, Y1).As shown in Figure 3.
2.2.2.2 flow of navigation：
S1：User controls robot by radio communication and is navigated.
S2：Robot present co-ordinate position position (X1, Y1) is obtained by Global localization.
S3：Determine the coordinate bit (X2, Y2) of target location, calculate the target location relative to the distance of robot and
Direction.
Distance of the target location relative to robot
Orientation angle of the target location relative to robot
And work as dx>0, dy>Azimuth=α when 0；
Work as dx<0, dy>Azimuth=180- α when 0；
Work as dx<0, dy<Azimuth=180+ α when 0；
Work as dx>0, dy<Azimuth=360- α when 0；
S4：According to the distance and direction that calculate, control robot advances, and turns left, and turns right and stops, until reaching target
Position
It is obvious to a person skilled in the art that this utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type is by claims rather than described above is limited, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in this utility model.Any reference in claim should not be considered as restriction
Involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of description is only that those skilled in the art should for clarity
Using description as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art
Understandable other embodiment.
Claims (6)
1. a kind of robot indoor locating system based on 3D video cameras, it is characterised in that the robot is provided with monocular vision
Alignment system, monocular vision alignment system include labelling point module, image capture module, message processing module, radio communication mold
Block and motion module, labelling point module, image capture module, message processing module, wireless communication module and motion module connect
It is connected to master controller.
2. the robot indoor locating system based on 3D video cameras according to claim 1, it is characterised in that mark point mould
Block is the LED that three different colours of RGB are disposed on overhead room, and forms triangular shaped, used as mark point.
3. the robot indoor locating system based on 3D video cameras according to claim 1, it is characterised in that image acquisition
Module is that ceiling image is swept by 3D photographic head by robot, carries out depth information collection to which.
4. the robot indoor locating system based on 3D video cameras according to claim 1, it is characterised in that information processing
Module is, with a right angle electrical of ceiling as origin, to set up the rectangular coordinate system of ceiling, obtains the coordinate of three LEDs
Parameter, generates indoor coordinate map, and robot master controller is analyzed process according to the information for obtaining, calculates institute of robot
Position.
5. the robot indoor locating system based on 3D video cameras according to claim 1, it is characterised in that radio communication
Module is that user is controlled to robot by radio communication.
6. the robot indoor locating system based on 3D video cameras according to claim 1, it is characterised in that motion module
It is that, according to distance and the direction for determining target location and robot, control robot carries out advancing, turn left, turn right and stopping
Only.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109191529A (en) * | 2018-07-19 | 2019-01-11 | 武汉卫思德科技有限公司 | A kind of indoor visible light self aligning system and method based on binocular technology |
| CN110968089A (en) * | 2018-09-28 | 2020-04-07 | 财团法人工业技术研究院 | Automatic guided vehicle and control system and control method thereof |
| CN111823237A (en) * | 2020-07-29 | 2020-10-27 | 湖南大学 | Multi-robot positioning method and system based on RGB LED dynamic beacon |
| CN114115212A (en) * | 2020-08-26 | 2022-03-01 | 宁波方太厨具有限公司 | Cleaning robot positioning method and cleaning robot adopting same |
-
2016
- 2016-09-21 CN CN201621069697.9U patent/CN206074001U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109191529A (en) * | 2018-07-19 | 2019-01-11 | 武汉卫思德科技有限公司 | A kind of indoor visible light self aligning system and method based on binocular technology |
| CN110968089A (en) * | 2018-09-28 | 2020-04-07 | 财团法人工业技术研究院 | Automatic guided vehicle and control system and control method thereof |
| CN110968089B (en) * | 2018-09-28 | 2023-07-07 | 财团法人工业技术研究院 | Automatic guide vehicle and control system and control method thereof |
| CN111823237A (en) * | 2020-07-29 | 2020-10-27 | 湖南大学 | Multi-robot positioning method and system based on RGB LED dynamic beacon |
| CN114115212A (en) * | 2020-08-26 | 2022-03-01 | 宁波方太厨具有限公司 | Cleaning robot positioning method and cleaning robot adopting same |
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