Device and method for detecting position and angle of wheeled motion robot in real time

Abstract

The invention relates to a device and a method for detecting position and angle of a wheeled motion robot in real time. A camera is fixed on a ceiling, overlooks the ground and is connected with an image acquisition card through a video signal line, an output end of the image acquisition card is connected with an upper computer, and the upper computer controls a left motor and a right motor of the wheeled motion robot to rotate. The method includes firstly marking directions on the surface of the wheeled motion robot to be detected with colors, acquiring images in real time through the camera, performing color processing or gray level processing by threshold value, and acquiring position information and angle information of the wheeled motion robot in images by identifying marks. The device is simple in structure and easy to arrange, can work well in place with non-uniform light intensity and has higher adaptability and robustness. Conventional methods for judging position and angle of the robot by the aid of sensors are saved, system structure is simplified and system stability is improved.

Description

technical field [0001] The invention relates to a device and method for detecting the position and angle of a wheeled mobile robot, in particular to a real-time detection device for the position and angle of a wheeled mobile robot based on a camera. Background technique [0002] The real-time detection of the position and angle of existing wheeled mobile robots is mostly done by hardware sensors, such as installing a servo motor and an encoder on the motor shaft to detect the rotation angle of the wheel shaft, and multiplying the angle by the wheel diameter to obtain the rotation distance. , the total travel distance of each wheel is obtained, and compared with the initial coordinates, the position coordinates of the robot are obtained. Similarly, in the process of acquiring angle information, an electronic compass or GPS navigation component needs to be installed inside the robot. Although these methods can obtain the information we want, there are major shortcomings. [...

AI Technical Summary

Problems solved by technology

Although these methods can obtain the information we want, there are major shortcomings

[0003] This method needs to accurately know the geometric parameters of the robot (such as wheel diameter and wheelbase) in the application, and when measuring the angle, sometimes the measurement result is not very accurate due to the interference of the signal shielding and the accuracy of the components. very stable

However, the biggest disadvantage of this method is that it increases the complexity of the entire system, reduces the stability of the system, and increases the cost.

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