CN216483094U - Visual positioning and navigation system of indoor mobile robot - Google Patents
Visual positioning and navigation system of indoor mobile robot Download PDFInfo
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- CN216483094U CN216483094U CN202120857726.2U CN202120857726U CN216483094U CN 216483094 U CN216483094 U CN 216483094U CN 202120857726 U CN202120857726 U CN 202120857726U CN 216483094 U CN216483094 U CN 216483094U
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Abstract
The utility model provides a visual positioning and navigation system of an indoor mobile robot, which comprises a mobile robot body, a control system, a visual navigation device and at least one navigation mark, wherein the control system and the visual navigation device are arranged on the mobile robot body; the vision navigation device comprises an infrared emission lamp, an infrared camera and a host, the control system and the infrared camera are respectively in communication connection with the host, the navigation identification reflects infrared light emitted by the infrared emission lamp, the infrared camera captures image information formed by the region where the navigation identification reflects the infrared light, the host obtains a navigation circuit according to image information operation and transmits the navigation circuit to the control system, and the control system orders about the mobile robot body to move. In the application, the visual navigation device is adopted to guide the navigation of the working path of the mobile robot body, so that the interference of ambient light is avoided, and the problem of low running stability caused by the interference of the ambient light on signal acquisition in the traditional two-dimensional code navigation technology is solved.
Description
Technical Field
The utility model relates to the field of robot positioning and navigation, in particular to a visual positioning and navigation system for an indoor mobile robot.
Background
In the research of the intelligent robot, navigation is a core technology of the intelligent robot, and is also a key technology for realizing real intellectualization and complete autonomous movement of the intelligent robot. There are many ways in which robots navigate, such as inertial navigation, visual navigation, GPS positioning navigation, and data navigation using sensors. The vision navigation is an advanced navigation scheme developed in recent years, and the vision sensor provides abundant external information for the robot, can identify the environment and the target under the condition of no contact, which is difficult to realize by other sensors. In addition, the information provided by the vision sensor is often much richer than other sensors, and the robot is more beneficial to identifying and navigating the current environment.
In the existing visual navigation technology, a camera is mostly used for directly acquiring environment image information, and the environment image information is analyzed to find out obstacles and plan paths. The other navigation mode is a two-dimensional code navigation technology, in the existing two-dimensional code navigation technology, the camera is easy to interfere with the collection of the environmental image information by the ambient light, the difficulty and the efficiency of image feature extraction are influenced, and the operation stability is not high.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a visual positioning navigation system of an indoor mobile robot, which is used for solving the problem of low running stability caused by the fact that signal acquisition is easily interfered by ambient light in the traditional two-dimensional code navigation technology.
In order to achieve the purpose, the utility model provides a visual positioning navigation system of an indoor mobile robot, which comprises a mobile robot body, a control system, a visual navigation device and at least one navigation identifier, wherein the control system and the visual navigation device are both arranged on the mobile robot body, and a space interval exists between the navigation identifier and the mobile robot body; the vision navigation device comprises an infrared emission lamp, an infrared camera and a host, the control system and the infrared camera are respectively in communication connection with the host, the navigation identification reflects infrared light emitted by the infrared emission lamp, the infrared camera receives infrared light reflected by the navigation identification, captures image information formed by the area of the infrared light reflected by the navigation identification, namely the infrared camera draws the image information according to the received infrared light, the image information is transmitted to the host by the infrared camera, the host calculates navigation circuits according to the image information, the host transmits the navigation circuits to the control system, and the control system orders the mobile robot body to move.
Further, in the visual positioning navigation system for the indoor mobile robot, a depth camera is further arranged on the mobile robot body, the depth camera is in communication connection with the host, the depth camera is used for collecting environmental information, and the environmental information comprises road condition information and obstacle information.
Furthermore, in the visual positioning navigation system of the indoor mobile robot, a GPS navigation system is further arranged on the mobile robot body, and the GPS navigation system is in communication connection with the control system and/or the host respectively.
Further, in the visual positioning navigation system for the indoor mobile robot, the operating system of the host is a UNIX-like system.
Further, in the visual positioning navigation system of the indoor mobile robot, a rotatable holder is further arranged on the mobile robot body, and the visual navigation device is fixed on the holder.
Further, in the visual positioning navigation system for the indoor mobile robot, the navigation mark is a sticker label for reflecting infrared light.
Compared with the prior art, the utility model has the following beneficial effects: through set up the navigation sign in the activity space of mobile robot body, utilize infrared camera to gather the image information that constitutes when navigation sign reflects infrared light to planning or revising mobile robot's navigation route, avoided the interference of ambient light, thereby solved the problem that signal acquisition easily receives the operating stability height that leads to of the interference of ambient light among the traditional two-dimensional code navigation technology.
Drawings
FIG. 1 is a schematic structural diagram of a visual positioning navigation system of an indoor mobile robot according to the present invention;
FIG. 2 is a communication connection diagram of the visual positioning navigation system of the indoor mobile robot in the utility model.
Detailed Description
The indoor mobile robot visual positioning navigation system of the present invention will be described in more detail with reference to the schematic drawings, in which preferred embodiments of the present invention are shown, it being understood that those skilled in the art can modify the present invention described herein while still achieving the advantageous effects of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the utility model.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the utility model, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
The utility model is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1, the present invention provides a visual positioning navigation system for an indoor mobile robot, which includes a mobile robot body 101, a control system (not shown), a visual navigation device, and at least one navigation mark 301, where the control system and the visual navigation device are both disposed on the mobile robot body 101, and a spatial distance exists between the navigation mark 301 and the mobile robot body 101, that is, a plurality of navigation marks 301 are disposed on a top surface of a working space of the mobile robot body 101 at regular intervals.
The visual navigation device comprises an infrared emission lamp 201, an infrared camera 202 and a host 203, the control system and the infrared camera 202 are respectively in communication connection with the host 203, the host 203 comprises an image processing unit, the navigation identifier 301 reflects infrared light emitted by the infrared emission lamp 201, the infrared camera 202 receives the infrared light reflected by the navigation identifier 301, the infrared camera 202 captures image information formed by an area reflecting the infrared light on the navigation identifier 301, namely, the infrared camera 202 draws the image information according to the received infrared light, the infrared camera 202 transmits the image information to the host 203, the host 203 calculates a navigation circuit according to the image information, and the host 203 transmits the navigation circuit to the control system, the control system drives the mobile robot body 101 to move.
Further, in this embodiment, the content-M near-infrared digital image collector adopted by the infrared camera 202 can be used for framing, storing and recording the infrared light emitted by the infrared emission lamp 201. The device is used for collecting image information of the reflective navigation mark 301, sending the collected image information to the host 203, analyzing the depth information of the image information and the coordinate position of the target object in the image, and performing coordinate alignment to analyze and obtain a required navigation line.
Further, in this embodiment, the mobile robot body 101 is further provided with a depth camera 501, a lens of the depth camera 501 faces the right front of the moving direction of the mobile robot body 101, the depth camera 501 is in communication connection with the host 203, and the depth camera 501 is used for collecting environment information, where the environment information includes road condition information and obstacle information. When meeting an obstacle, the depth camera 501 is used for shooting, and the picture is transmitted to the host 203 for image processing, so that the control system is used for guiding the mobile robot body 101 to perform corresponding obstacle avoidance behaviors. The collection of various information is beneficial to the planning of the navigation path, and the stable operation of the mobile robot is ensured.
Preferably, the Intel Real Sense D435 depth camera used by the depth camera 501 supports outputting a depth picture with 1280 × 720 resolution, can reach 90fps in the aspect of more common video transmission, and can be well compatible with Linux and ROS development environments.
Further, in this embodiment, a rotatable pan/tilt head 401 is further disposed on the mobile robot body 101, and the visual navigation device is fixed on the pan/tilt head 401. The pan/tilt head 401 is used to enlarge the signal collection range of the infrared camera 202, so that it can capture any position on the top surface of the working space of the mobile robot body 101, which is beneficial to the stable operation of the system. As other embodiments, the host 203 may be directly disposed on the mobile robot body 101, or the cradle head 401 may be omitted, and the infrared emission lamp 201, the infrared camera 202, and the host 203 are all directly disposed on the mobile robot body 101.
Further, in this embodiment, the navigation identifier 301 is a sticker label for reflecting infrared light, so that image information collected by the infrared camera 202 is not affected by ambient light, and navigation under the condition of insufficient illumination is realized.
Further, in this embodiment, the mobile robot body 101 adopts a wheel type robot platform, and the operating system of the host computer 203 is a UNIX-like system.
The specific operation is as follows, the navigation marks 301 are first arranged on the top surface of the working space of the mobile robot body 101 at regular intervals. Under the irradiation of an infrared light source, namely an infrared emission lamp 201, an infrared camera 202 takes a picture of the navigation mark 301 to acquire an image, the image is transmitted to the host 203, the host 203 performs image processing to obtain parameters for navigation, after the parameters are obtained, the host 203 processes the parameters and outputs a navigation line to the control system, and the control system drives the mobile robot body 101 to move along the navigation line. The depth camera 501 photographs the front of the moving direction of the mobile robot body 101 to collect images, and transmits the images to the host 203 for image processing, so that the control system is used for guiding the mobile robot body 101 to perform corresponding obstacle avoidance behaviors.
Specifically, in this embodiment, the infrared camera 202 acquires the positions of one or more navigation identifiers to determine the coordinates of the destination, plan the travel route, and then acquire the environmental information in the travel direction through the cooperative work of the depth camera 501, and plan the detailed path and obstacle avoidance mode of the mobile robot body 101.
As another embodiment, as shown in fig. 1, in this embodiment, the mobile robot body 101 is further provided with a GPS navigation system 601, and the GPS navigation system 601 is in communication connection with the control system and/or the host 203, respectively. Through the cooperative work of the GPS navigation system 601 and the visual navigation device, the navigation accuracy is increased.
In summary, in the present embodiment, the proposed visual positioning and navigation system for an indoor mobile robot only employs a visual navigation device to guide the work path navigation of the mobile robot body. Through set up the navigation sign in the activity space of mobile robot body, utilize infrared camera to gather the image information that constitutes when navigation sign reflects infrared light to planning or revising mobile robot's navigation route, avoided the interference of ambient light, thereby solved the problem that signal acquisition easily receives the operating stability height that leads to of the interference of ambient light among the traditional two-dimensional code navigation technology.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (6)
1. A visual positioning navigation system of an indoor mobile robot is characterized by comprising a mobile robot body, a control system, a visual navigation device and at least one navigation mark, wherein the control system and the visual navigation device are both arranged on the mobile robot body, and a space interval exists between the navigation mark and the mobile robot body; the vision navigation device comprises an infrared emission lamp, an infrared camera and a host, the control system and the infrared camera are respectively in communication connection with the host, the navigation identification reflects infrared light emitted by the infrared emission lamp, the infrared camera receives infrared light reflected by the navigation identification, captures image information formed by the area of the infrared light reflected by the navigation identification, namely the infrared camera draws the image information according to the received infrared light, the image information is transmitted to the host by the infrared camera, the host calculates navigation circuits according to the image information, the host transmits the navigation circuits to the control system, and the control system orders the mobile robot body to move.
2. The visual positioning and navigation system for the indoor mobile robot as claimed in claim 1, wherein the mobile robot body is further provided with a depth camera, the depth camera is in communication connection with the host, the depth camera is used for collecting environmental information, and the environmental information includes road condition information and obstacle information.
3. The visual positioning and navigation system for the indoor mobile robot according to claim 1 or 2, wherein a GPS navigation system is further disposed on the mobile robot body, and the GPS navigation system is in communication connection with the control system and/or the host, respectively.
4. The system of claim 3, wherein the operating system of the host is a UNIX-like system.
5. The visual positioning and navigation system for the indoor mobile robot according to claim 1, wherein a rotatable pan-tilt is further disposed on the mobile robot body, and the visual navigation device is fixed on the pan-tilt.
6. The system of claim 1, wherein the navigation marker is a sticker label for reflecting infrared light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120857726.2U CN216483094U (en) | 2021-04-25 | 2021-04-25 | Visual positioning and navigation system of indoor mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120857726.2U CN216483094U (en) | 2021-04-25 | 2021-04-25 | Visual positioning and navigation system of indoor mobile robot |
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| Publication Number | Publication Date |
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| CN216483094U true CN216483094U (en) | 2022-05-10 |
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| CN202120857726.2U Active CN216483094U (en) | 2021-04-25 | 2021-04-25 | Visual positioning and navigation system of indoor mobile robot |
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2021
- 2021-04-25 CN CN202120857726.2U patent/CN216483094U/en active Active
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