Navigation information acquisition method and intelligent space system with multiple mobile robots

Abstract

The invention discloses a navigation information acquisition method and an intelligent space system with multiple mobile robots. The intelligent space system comprises a distributed vision system and a Zigbee technology based wireless sensor network system. The method includes: carrying out image stitching based on a maximum gradient similar curve and an affine transformation model, and then carrying out image segmentation based on Otsu threshold segmentation and the mathematical morphology so that an environmental map is obtained. The mobile robots in navigation are positioned mainly by means of visual positioning, and Zigbee and DR (dead reckoning) combined positioning are used for making up visual blind zones in visual positioning supplementarily. The visual positioning refers to that positioning is realized by processing images including robot positions and direction signs mainly based on an HIS color model and the mathematical morphology. Combined positioning refers to that information fusion positioning of Zigbee and DR is achieved by the aid of a federal Kalman filter.

Description

Technical field [0001] The invention relates to an intelligent space construction of multiple mobile robots, in particular to the acquisition of environment maps and positioning information when multiple mobile robots navigate. Background technique [0002] With the development of science and technology and social economy, the field of robot application is changing day by day. Due to the inherent parallelism, the multi-robot system realizes parallel tasks that cannot be completed by a single robot in terms of space, time and function. In order to improve the task execution efficiency of a multi-mobile robot system, it needs to be provided with detailed navigation information. The first is the environmental information of the robot’s motion space, which mainly includes the environmental map of the feasible area and the non-feasible area; the second is the positioning information of the mobile robot, which mainly involves the pose of the mobile robot; the last is the interact...

AI Technical Summary

Problems solved by technology

However, there are cumulative errors in optical encoders and drift in inertial navigation, making it difficult to guarantee positioning accuracy

[0006] (3) The laser sensor and infrared sensor carried by the nurse robot cannot penetrate non-transparent obstacles, and can only obtain local environmental information around the robot, but cannot obtain the global information of the robot's motion space, which is not conducive to the robot's global and efficient navigation;

[0007] (4) Although the nurse robot itself carries a CCD vision sensor, which is used for service functions and environmental information acquisition, the acquired information is still local, and the amount of stereo matching calculations is very large. For services with limited hardware resources For robots, the amount of information processing is too large, and real-time performance is difficult to guarantee

The navigation information such as the environmental map required by the robot is still obtained through the sensor system carried by the robot itself, which increases the burden on the service robot and weakens the role of intelligent space

In addition, this space is mainly for single-robot systems. When there are multiple robots in the room, how to efficiently enable the multi-robot system to obtain complete navigation information and how to realize information interaction between multiple robots are not mentioned.

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