Indoor cloud robot angle positioning method based on position and visual information optimization

Abstract

The invention discloses an indoor cloud robot angle positioning method based on position and visual information optimization. In the invention, firstly an RFID reader and writer receives signal intensity RSSI emitted by an active label, an approximate location coordinate is preliminarily calculated and positioned, and an approximate scope of a location where a mobile robot is located is determined, and then when a positioning method of image search is used, a search scope of an image database only needs to be in an error range. Therefore, the search scope of the image is reduced, a positioning speed and accuracy are increased. In the invention, cloud calculating configuration is used; data acquisition is completed by a mobile robot terminal which is a client; data calculating is completed by cloud; and a calculating speed and a storage capability of the cloud are greatly increased. The two positioning methods are combined and a cloud calculating mode is used so that time needed by the positioning is shortened and an accurate position coordinate and angle information can be acquired.

Description

technical field [0001] The invention relates to the technical field of indoor mobile robot positioning, in particular to an indoor cloud robot angle positioning method based on position and visual information optimization. Background technique [0002] With the development of society and the emergence of various new technologies, people increasingly need modern high-tech to improve their quality of life and freedom of life. Therefore, research on indoor mobile robots has gradually become a hot spot, such as service robots such as intelligent wheelchairs. Cloud robot is an emerging robot concept, which uses cloud computing, cloud storage and other Internet technologies to enable traditional robots to have powerful computing, storage and resource sharing capabilities. Cloud robotics enables robots to make full use of cloud data processing and storage mechanisms, reduces the need for additional hardware for local computing, greatly improves the speed and practicability of robo...

AI Technical Summary

Problems solved by technology

These methods can effectively calculate the distance in the positioning system. Among them, the measurement accuracy of the time of arrival, time difference of arrival, and angle of arrival is very high, but due to the complexity of the indoor environment, the positioning accuracy is greatly affected

In addition, some people use the ultra-wideband (UWB) method to achieve centimeter-level positioning accuracy, but the equipment required for ultra-wideband technology is expensive, and it cannot be widely used in ordinary civilian areas under current circumstances.

[0005] In addition, most of the current positioning methods can only determine the coordinate position of the mobile robot, and rarely obtain the angle information of the robot's orientation, and cannot further develop the robot's path planning, dynamic obstacle avoidance and other functions.

At present, most indoor mobile robot angle positioning methods mainly use the following two methods: (1) Some mobile robots can obtain accurate direction information by using electronic compass, but there are certain defects in the way of using electronic compass in indoor space: On the one hand, the angle information obtained by the electronic compass is the absolute angle of the earth as the reference system, while the angle information required in the indoor space is only the relative angle of a specific object

However, this method requires partial modification of the indoor environment, such as pasting multiple road sign pictures on the ceiling and other positions according to certain rules, which affects the indoor appearance. At the same time, this method requires high resolution of the camera used by the robot, otherwise it cannot be effectively analyzed. Information Carried by Road Sign Images

[0006] Due to the influence of cost, positioning accuracy, reliability and ease of use, indoor positioning technology has not been widely used in people's daily life, and there are still many problems to be solved in indoor positioning system

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