Vision system based on active panoramic vision sensor for robot

Abstract

The invention discloses a vision system based on an active panoramic vision sensor for a robot. The vision system comprises an omnibearing vision sensor, a key surface laser light source, and a microprocessor used for carrying out three-dimensional stereoscopic image pick-up measurement, obstacle detection, obstacle avoidance and navigation on an omnibearing image; the omnibearing vision sensor and the key surface laser light source are configured on the same axial lead; the microprocessor internally comprises a video image reading module, an omnibearing video sensor calibrating module, a Bird-View converting module, an omnibearing surface laser information reading module, an obstacle characteristic point calculating module, an obstacle space distribution estimating module between key surfaces, an obstacle contour line generating module and a storing unit; spatial data points of the key surface, scanned by laser and corresponding pixel points in the omnibearing image are subjected to data fusion, so that the spatial point has geometric information and color information at the same time; a quasi-three-dimensional omnibearing map in an unknown environment is finally established; the resource consumption of a computer can be reduced; the measurement is quickly completed; and the obstacle avoidance and the navigation of the robot are convenient.

Description

technical field [0001] The invention relates to the application of laser light source, omnidirectional vision sensor and computer vision technology in the navigation of walking robot. Background technique [0002] The autonomous mobile robot system needs to perceive the external environment and its own state through sensors, and realize the goal-oriented autonomous movement in the obstacle environment, so as to complete certain operation functions. It can recognize the working environment and work objects, can work independently according to the instructions given by people and "self" understanding of the outside world, and can use the operating mechanism and moving mechanism to complete complex operating tasks. Therefore, in order for a mobile robot to have specific intelligence, it must first have a variety of perception functions, and then perform complex logical reasoning, planning and decision-making, and act autonomously in the working environment. Mobile robots usual...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the disadvantages of the existing robot vision, such as large consumption of computer resources, poor real-time performance, limited detection range, difficulty in online real-time calibration, etc., the present invention provides a method that can reduce the consumption of computer resources, quickly complete the measurement, and has good real-time performance. , Robot Vision System Based on Active Panoramic Vision Sensor for All-round Stereo Detection

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