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Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)

A monocular camera, robot technology, applied in two-dimensional position/channel control, navigation, mapping and navigation, etc., can solve the problems of insufficient positioning and navigation information, limit the efficiency of group robots, and low use value, and achieve simple design. , the effect of improving efficiency and low cost

Active Publication Date: 2012-05-02
遨博(江苏)机器人有限公司
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

At present, the self-assembly and self-reconfiguration capabilities of swarm robots researched by some universities at home and abroad are still relatively limited, especially for the difficulty of robot positioning and navigation strategies in the self-assembly process. The main solutions are based on infrared sensors. , touch switches and other local limited sensing navigation and mechanical shape matching, magnets and other alignment guidance methods, the positioning and navigation information provided is insufficient, and there are few effective solutions and strategies with use value, which limits the efficiency of group robot self-assembly

Method used

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  • Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)
  • Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)
  • Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)

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Embodiment Construction

[0034] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0035] see Figure 1~2 As shown, the positioning and navigation strategy in the present invention realizes positioning and navigation between robots by observing LEDs with a CMOS monocular camera. figure 1 A basic strategy for localization and navigation between two robots is shown. The robot includes at least two sides, one of which is an active docking surface 1 and the rest is a passive docking surface 2. The active docking surface 1 and the passive docking surface A group of LEDs (including two bottom LEDs and a top LED4), two analog infrared transceiver sensors 6 and a pair of docking slots 7 are respectively arranged on the surface 2, and a pair of docking buckles are also arranged on the active docking surface 1 8 and CMOS monocular camera 3 (camera for short). Observe the color of the LED group on robot B through the CMOS monocular camera 3 on the a...

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Abstract

The invention discloses a butt joint positioning and navigation strategy for a robot based on a single camera and a light-emitting diode (LED). The strategy is realized by a complementary metal oxide semiconductor (CMOS) single camera and the LED integrating three colors, namely red, green and blue (RGB), in a group, which are arranged on the robot. The camera is fixedly arranged on an active butt joint surface of the robot and is used for observing LED imaging position and color relationship of a target robot; and each group of LED is arranged on all active butt joint surfaces and passive butt joint surfaces of the robot. A relative pose relationship between the active butt joint surface of the camera and a butt joint surface of the LED is calculated for relatively positioning through an imaging dimension relationship of the LED in the camera, and different color combinations of the LED on the current surface are distinguished through the camera so as to identify a state of the current surface for navigation. By the strategy, rich reference information can be provided through an imaging state of the LED, relative positioning, target searching and rapid navigation in the process of butting the robot are realized, and the butting efficiency of swarm robots is effectively improved.

Description

technical field [0001] The invention belongs to the field of swarm robots, and more specifically relates to a positioning and navigation strategy in the self-assembly and docking process of swarm robots. Background technique [0002] With the development of technology and the progress of society, people's functional requirements for robots are increasing. In some unstructured and complex environments, robots are often required to have good environmental adaptability and flexibility. Group robots have the characteristics of self-assembly and self-reconfiguration. Being able to meet this requirement is at the same time a key aspect of swarm robotics research. At present, the self-assembly and self-reconfiguration capabilities of swarm robots researched by some universities at home and abroad are still relatively limited, especially for the difficulty of robot positioning and navigation strategies in the self-assembly process. The main solutions are based on infrared sensors. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/00
Inventor 魏洪兴陈友东李宁郑随兵
Owner 遨博(江苏)机器人有限公司
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