Robot indoor positioning and navigation method based on single vision

An indoor positioning and navigation method technology, applied in two-dimensional position/channel control, navigation, surveying and mapping and navigation, etc., can solve the problems of very high environmental requirements, reduced environmental adaptability, and high cost of robots, so as to ensure The effect of accuracy

Active Publication Date: 2016-02-03
塔米智能科技(北京)有限公司
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Problems solved by technology

[0002] The functions of robot positioning, navigation and path planning are very important in the field of robotics. At present, most navigation technologies are carried out through professional auxiliary equi

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  • Robot indoor positioning and navigation method based on single vision
  • Robot indoor positioning and navigation method based on single vision
  • Robot indoor positioning and navigation method based on single vision

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[0026] The technical scheme of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0027] A method for indoor positioning and navigation of a robot based on monovision, in which the robot is equipped with a monocular camera, an electronic compass and a sonar sensor, and three identifiable marking points are set on the indoor roof, such as figure 1 As shown, in order to facilitate the realization and installation of robot positioning, navigation and path planning functions, the functions of robot positioning, navigation and path planning are realized through the monocular camera and three identifiable marking points (or labels) on the roof.

[0028] Among them, when using for the first time, you need to create an indoor map of the...

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Abstract

The invention discloses a robot indoor positioning and navigation method based on single vision. The robot indoor positioning and navigation method specifically comprises the following steps of S1, for first-time use, creating an indoor map of a room by the following specific steps of (A), setting three identifiable marking points at the indoor roof, enabling a robot to use an indoor charging point as an original point to create an indoor coordinate system, calibrating the information of coordinates and directions of the three marking points, and calibrating the direction of an electronic compass; (B) establishing a right-angle coordinate system of a camera; (C) controlling the robot to move in the room, detecting the edge of the room via a sonar sensor, and generating the indoor map of the room; S2: for indoor positioning, when the robot is set at any point of the room, enabling a single-eye camera to measure the three marking points, and combining with the right-angle coordinate system of the camera and the indoor coordinate system to calculate the data of positions and directions of the robot; for autonomous navigation: setting a target point of the robot as M2, and enabling the robot to perform the autonomous navigation via the indoor positioning and target point positioning.

Description

technical field [0001] The invention relates to a method for indoor positioning and navigation of a robot based on single vision. Background technique [0002] The functions of robot positioning, navigation and path planning are very important in the field of robotics. At present, most navigation technologies are carried out through professional auxiliary equipment. Some of these equipment are expensive, and some have very high environmental requirements. The threshold of this field has been raised, the cost of robots has remained high, and the adaptability of the environment has been reduced. Contents of the invention [0003] In view of the above problems, the present invention provides a single-vision-based indoor positioning and navigation method for robots. The robot can complete functions such as path planning, positioning and navigation indoors, with low cost, convenient control, and better adaptability to the environment. [0004] In order to achieve the above-men...

Claims

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Application Information

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IPC IPC(8): G01C21/00G05D1/02
CPCG01C21/00G05D1/02
Inventor 朱悦郭锐隋晓鹏杨桂平
Owner 塔米智能科技(北京)有限公司
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