Video monitoring system covering environment and method for positioning robot

Abstract

The invention discloses a video monitoring system covering an environment and a method for positioning robots by the same. The video monitoring system comprises a plurality of video monitoring devices; each video monitoring device covers a local environment; and the local environments covered by the adjacent video monitoring devices are partially overlapped. The method for positioning the robots by the video monitoring system comprises the following steps of: shooting a color digital image of a monitored region regularly; converting an RGB24 (Red Green Blue 24) image into an HSV (Hue, Saturation, Value) image; determining a threshold set of colors of markers at the centers of the tops of the robots in an HSV mode; converting the color image into black-and-white image; obtaining a white pixel aggregated region of all the robots in a monitoring range; and determining positions of the robots and sending the positions to the robots. The video monitoring system covering the environment and the method for positioning the robots by the same have the beneficial effects that the video monitoring system not only can be organically combined with the robots, but also can simplify combined positioning devices carried by the robots; and the positioning method not only has no accumulative error, but also can meet the real-time positioning requirement.

Description

technical field [0001] The invention relates to a video monitoring system and a method for locating a robot, in particular to a video monitoring system covering an environment and a method for locating a robot using the video monitoring system covering an environment, belonging to the technical field of robots. Background technique [0002] Explanation of terms: [0003] 1. Mobile robot and its environment [0004] Generally speaking, a mobile robot system consists of three parts: mechanical part, sensing part and control part; or consists of mechanical system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system It consists of six subsystems. Among them, the mechanical system is a collection of many mechanical links connected by joints, forming an open-loop kinematics chain; the drive system is a device that makes various mechanical parts move; the perception system consists of the robot's internal sen...

AI Technical Summary

Problems solved by technology

[0018] 1. In the indoor environment, due to poor coverage of satellite navigation signals (such as GPS, Beidou, etc.), the positioning of indoor mobile robots cannot use satellite navigation;

[0019] 2. Due to the influence of multipath effect, the wireless signal positioning method is not suitable for indoor mobile robots;

[0021] Fourth, the indoor environment has a relatively complex electromagnetic field, so the application of inertial navigation equipment containing magnetic components in the indoor environment is limited

[0025] The disadvantages of local positioning are: 1. The initial pose information of the robot needs to be known; 2. The positioning error accumulates with time (inertial navigation method) or distance (odometer method), which is not suitable for long time (inertial navigation method) or long distance ( Odometer method) precise positioning

[0030] The disadvantages of global positioning are: 1. Perception information about the external environment is required; 2. The positioning interval is long; 3. The positioning data is discontinuous and the jump is large; 4. The indoor environment is complex, and the positioning sensor is easily blocked

[0146] (1) There is no communication between the robot positioning process and the environment: Generally speaking, the global positioning process that needs to be completed by the environment features is completed independently by the robot, and the environment does not provide any effective information to the robot to assist in the positioning work; as another extreme, in a certain In some solutions, the global positioning of one or several robots is completely relied on video surveillance equipment, and then the positioning data of each robot is sent to the robot; it is not applicable or difficult to apply to multi-robot applications; the positioning method based on vision has a large amount of data processing , it is difficult to meet the real-time positioning requirements;

[0147] (2) Combined positioning equipment carried by the robot itself: In the existing combined positioning scheme, the robot needs to carry a complete combined positioning device, which is complicated, heavy, and consumes a lot of power;

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