Ceiling-based indoor moving robot vision positioning method

A mobile robot and visual positioning technology, which is applied in the direction of instruments, image data processing, measuring devices, etc., to achieve the effects of not being easily blocked, increasing accuracy, and simplifying the process of determining control points

Inactive Publication Date: 2017-01-18
杭州国辰牵星科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method requires the robot to be able to recognize the landmarks at all times, so the number of landmarks must be large enough

Method used

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  • Ceiling-based indoor moving robot vision positioning method
  • Ceiling-based indoor moving robot vision positioning method
  • Ceiling-based indoor moving robot vision positioning method

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Embodiment 1

[0028] Such as Figure 1 to Figure 3 As shown, the indoor mobile robot adopted in the indoor mobile robot visual positioning method based on the ceiling in this embodiment includes a robot motion module, a camera, an image processing unit and an inertial navigation system; Image processing unit, the image processing unit analyzes the ceiling photos for visual positioning, the robot's motion module is responsible for the robot's own motion and camera position adjustment, and the inertial navigation system dynamically measures the robot's motion increment. The visual positioning method of this embodiment is used in a room with a ceiling or a similar ceiling structure, and the ceiling structure or similar ceiling structure needs to be divided into a plurality of square grids with the same shape in advance.

[0029] In this embodiment, the specific implementation steps of the ceiling-based indoor mobile robot visual positioning method are as follows:

[0030] (1) Use the checkerb...

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Abstract

The present invention discloses a ceiling-based indoor moving robot vision positioning method, wherein ceiling photographs are captured from the front surface at a set frequency, the characteristic lines and the characteristic points in the two ceiling photographs are continuously compared, and the compared results are converted into the movement rotation angle and the movement displacement increment of a moving robot in a world coordinate system so as to achieve the self-positioning of the moving robot. According to the present invention, the ceiling is adopted as the reference target, and compared with other objects, the ceiling is not easily blocked and the elements in the photograph are monotonous, such that the image processing unit conveniently extracts the outline and analyzes the photograph; and the photographs are captured by making the optical axis of the camera be perpendicular to the ceiling, such that the translation and rotation change between the previous frame image and the next frame image is directly reflected in the two-dimensional photograph so as to simplify the calculation on the image analysis.

Description

technical field [0001] The invention relates to the technical field of autonomous positioning of a mobile body, in particular to a ceiling-based visual positioning method for an indoor mobile robot. Background technique [0002] As the basis of mobile robot navigation, indoor positioning is one of the hot issues in the field of robotics. Currently, there are two commonly used indoor mobile robot positioning methods: active positioning and passive positioning. Active positioning mainly includes RFID, WIFI, infrared and ultrasound. These methods usually place multiple emission sources at fixed positions indoors, and then the mobile robot judges its current position by receiving signals from different positions. However, the active positioning method has poor scalability and high environmental requirements. Passive positioning is mainly to set artificial markers and realize autonomous positioning by identifying markers. However, this method requires the robot to be able to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G06T7/00
CPCG01C21/16G01C21/206
Inventor 王志李月华陈丹鹏于亦奇裴翔王国成
Owner 杭州国辰牵星科技有限公司
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