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A detection and positioning method of laser cross at any angle

A technology of arbitrary angle and positioning method, applied in the field of visual positioning, it can solve the problems of high requirements on the environment and configuration, not adapting to the straight line bending of the camera, etc., and achieve the effect of fast real-time calculation speed, accurate detection and positioning, and small environmental impact.

Active Publication Date: 2018-04-20
中科爱芯微环境信息科技(深圳)有限公司
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Problems solved by technology

[0007] In order to solve the technical problem of high requirements on the environment and configuration existing in the positioning method based on the laser cross in the prior art, and not being suitable for the straight line bending caused by the distortion of the camera, the present invention provides a method for detecting and positioning the laser cross at any angle, which includes the following steps:

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  • A detection and positioning method of laser cross at any angle
  • A detection and positioning method of laser cross at any angle
  • A detection and positioning method of laser cross at any angle

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Embodiment Construction

[0044] Taking the positioning provided for indoor sweeping robots as an example, the working principle and process of a method for detecting and positioning a laser cross at any angle according to the present invention are described below: the laser transmitter is fixedly installed on the indoor wall, and the laser transmitter is directed toward the indoor roof. The blank space emits an infrared laser cross with a wavelength of 850nm, forming four laser cross lines with a length of about 50-100cm on the roof ceiling. One of the four laser cross lines is longer, and the other three are shorter. The longer laser line is the main one. direction.

[0045] A wide-angle CCD camera with a vertically upward shooting angle is installed on the robot, and a filter is installed in the lens (the wavelength range of light that is allowed to pass through is 800nm-1100nm), so as to allow infrared light to pass through and visible light to cut off. The robot uses the camera to shoot the origin...

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Abstract

The present invention discloses a detecting and positioning method for a laser cross at any angle. The detecting and positioning method comprises the following steps of: (1) conducting noise reduction and binary processing on an original image comprising the laser cross to acquire a binary image; (2) aimed at the binary image, extracting all binary sub-image blocks possibly comprising the laser cross; (3) judging whether each binary sub-image block comprises the laser cross or not in sequence, and when the binary sub-image block comprising the laser cross is determined, stopping subsequent judgment; and (4) determining the position and the angle of the laser cross in the original image according to the binary sub-image block comprising the laser cross. The detecting and positioning method has the advantages of low influence of camera distortion, wide application range and high efficiency. The detecting and positioning method does not depend on straight line detection, and can realize detection and positioning of the laser cross at any rotating angle.

Description

technical field [0001] The invention relates to the field of visual positioning, in particular to a fast visual detection and positioning method of a laser cross at any angle. Background technique [0002] At present, using laser crosshairs for positioning is a method widely used in industry, and is widely used in drilling, cutting, shoemaking, clothing, woodworking machinery and other industries. In recent years, with the in-depth development of machine vision technology, it has become an important research and development direction of automatic laser positioning to use image processing methods to extract the cross center point of the laser cross to achieve the acquisition of positioning points. [0003] However, the current common visual automatic laser positioning methods often have strict requirements on the environment and configuration. For example, the Chinese invention patent "Range measuring laser point positioning method based on remote ranging system realized by l...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06T7/136
CPCG06T7/0004G06T2207/10052G06T2207/30108
Inventor 夏鹏陈红印张蕾谭新凤王江斌缪金梁
Owner 中科爱芯微环境信息科技(深圳)有限公司
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