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Robot autonomous navigation method and system based on vision positioning algorithm

A visual positioning and autonomous navigation technology, applied in control/adjustment systems, two-dimensional position/channel control, instruments, etc., can solve problems such as inability to change the robot's walking state, poor navigation effect, and inability to autonomously avoid obstacles

Active Publication Date: 2017-02-22
SUGAN TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the application in the visual navigation of the robot, the passive working mode of the CCD camera is used for navigation, mainly through the road information captured by the CCD camera to guide the robot to walk, but using this method for navigation cannot analyze the surrounding complex situations , to provide precise navigation for the robot. For example, there are different obstacles around the robot's travel path, which will hinder the normal walking of the robot. end up with poor navigation
[0005] Therefore, the technical defect in the prior art is: the visual navigation technology of the robot in the prior art is based on the CCD camera to take the road surface image and realizes, because what adopted is the passive mode of work, can not consider the complex situation around the robot, and Cannot autonomously change the walking state of the robot in real time according to the surrounding environment, resulting in poor navigation effect

Method used

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Embodiment 1

[0071] figure 1 It shows a flow chart of a robot autonomous navigation method based on visual positioning algorithm provided by the first embodiment of the present invention; figure 1 A method for autonomous navigation of a robot based on a visual positioning algorithm provided in Embodiment 1, including:

[0072] Step S1, obtaining the map information of the area where the robot is located, the initial position information of the robot and the target position information;

[0073] Step S2, according to the map information, combined with the initial position information and the target position information, the central processing unit performs planning processing to obtain the initial global walking path of the robot, and all the initial walking paths are used as the walking path of the robot;

[0074] Step S3, during the walking process of the robot, the surrounding environmental information during the walking process of the robot, the cumulative position information of the r...

Embodiment 2

[0111] figure 2 A schematic diagram of a hardware system platform of a robot autonomous navigation method based on a visual positioning algorithm provided by the second embodiment of the present invention is shown. Such as figure 2 As shown, the whole system is mainly divided into three parts, including data acquisition device, data analysis platform and underlying control platform. The data acquisition device is composed of various sensors, including depth cameras, laser sensors, magnetometers, accelerometers, and gyroscopes. Various sensors store their data as data acquisition devices for use by processing chips. The data analysis platform is a central processing chip. The processing chip obtains the sensor information in the data acquisition device through the data bus, and then uses the navigation algorithm to calculate the best driving route of the current robot. The underlying control platform mainly includes chassis control chips, power devices, measuring component...

Embodiment 3

[0143] Figure 4 A schematic diagram of an autonomous navigation system for a robot based on a visual positioning algorithm provided by the second embodiment of the present invention is shown. Such as Figure 4 The autonomous navigation system 10 of a robot based on the visual positioning algorithm provided by the second illustrated embodiment includes:

[0144] The initialization module 101 is used to obtain the map information of the area where the robot is located, the initial position information and the target position information of the robot;

[0145] The initial global path module 102 is used for planning and processing through the central processing unit according to the map information, in combination with the initial position information and the target position information, to obtain the initial global walking path of the robot, and all the initial walking paths are used as the walking path of the robot;

[0146] The information acquisition module 103 is used to o...

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Abstract

The invention provides a robot autonomous navigation method and system based on a vision positioning algorithm. The method includes: acquiring the map information of an area where a robot is located and the initial position information and target position information of the robot, acquiring the accumulated position information of the robot during the walking of the robot, and correcting the accumulated position information of the robot to obtain the current position information of the robot; acquiring the surrounding obstacle information of the robot during the walking of the robot, performing path planning according to the surrounding obstacle information and all initial walking paths to obtain the global walking path of the robot, acquiring the surrounding obstacle information during the walking of the robot, calculating to obtain the walking direction and speed of the robot, allowing the robot to walk, and matching the current position information with the target position information to realize the autonomous navigation of the robot. The method has the advantages that the surrounding obstacle information of the robot is combined with the position information of the robot to provide a reasonable walking path for the robot, and a precise navigation effect is obtained.

Description

technical field [0001] The invention relates to the fields of computer vision and automation control, in particular to an autonomous navigation method and system for a robot based on a vision positioning algorithm. Background technique [0002] Automation control technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical care, service and family, etc. The use of automatic control can not only liberate people from heavy physical labor, some mental work, and harsh and dangerous working environments, but also expand human organ functions, greatly improve labor productivity, and enhance human ability to understand and transform the world. . Therefore, automatic control is an important condition and a significant symbol of the modernization of industry, agriculture, national defense and science and technology. [0003] Navigation means that the moving body makes a global path plan based on the known map information accor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 张一茗李经纬王皓悦杭蒙孙承根许思晨陈震
Owner SUGAN TECH BEIJING
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