System and method for correcting robot speedometer based on visual sense

A calibration method and calibration system technology, applied in the direction of instruments, measuring devices, etc., can solve the problems of high cost, complex solution, inappropriate application of robot system, etc., and achieve the effect of low cost, simple solution, and small amount of calculation.

Active Publication Date: 2015-08-26
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

Although this method effectively eliminates the cumulative error, the method...

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  • System and method for correcting robot speedometer based on visual sense
  • System and method for correcting robot speedometer based on visual sense
  • System and method for correcting robot speedometer based on visual sense

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] Such as figure 1 Shown, a kind of robot odometer correction system based on vision, comprises mobile robot platform 1, has industrial computer 2, odometer 3, visual detection device 4 on this platform, odometer 3 and visual detection device 4 communicate with The industrial computer 2 is connected. In this embodiment, the mobile platform 1 is wheeled, so it has driving wheels 5, and marking lines 6 are arranged on the walking path of the working environment.

[0044] The mobile robot platform 1 is the embodiment carrier of the application of the invention, which is characterized in that the platform is equipped with equipment for the operation of the robot system, and the platform can realize autonomous movement.

[0045] The industrial computer 2 is connected with the odometer 3 and the visual detection device 4, and performs data interaction t...

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Abstract

The invention discloses a system and a method for correcting a robot speedometer based on visual sense. The system comprises a mobile robot platform, an industrial personal computer, a travel mileage calculating device and a visual sense detection device, wherein the visual sense detection device is arranged at the front end of the mobile robot, preset mark line information on the ground is collected, collected mark line images are transmitted to the industrial personal computer, the industrial personal computer is used for determining the course angle information of a mobile robot relative to a mark line according to the mark line images, the industrial personal computer is connected to the travel mileage calculating device, the travel mileage calculating device is used for receiving signals of a velocity sensor, the track is calculated, and the industrial personal computer is used for correcting the travel mileage calculating device according to the calculated track and the course angle information of the mobile robot relative to the mark line. Through the combination of an absolute positioning manner of visual sense positioning and a relative positioning manner of speedometer track plotting, the common problem of accumulated error in the speedometer track plotting process is effectively solved.

Description

technical field [0001] The invention relates to a vision-based robot odometer correction system and method. Background technique [0002] In the field of mobile robots, positioning and navigation are the core links for robots to realize autonomous movement. Navigation refers to the technology that the robot automatically plans the path and realizes the movement according to the pre-planned path or according to the input conditions. Positioning refers to the technology that the robot determines the position information and heading information of the robot body in the global environment in real time by fusing and processing the environmental information obtained by the sensor. Positioning is the prerequisite for robot navigation, so using an efficient and accurate positioning solution is the key to achieving reliable operation of the robot. Mobile robots generally use the odometer to calculate the wheel speed information according to the kinematic model to obtain position in...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 刘加科孔令文田晓璐付崇光韩磊孙凯秦振华
Owner STATE GRID INTELLIGENCE TECH CO LTD
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