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Automatic high-precision indoor rapid positioning method

A positioning method and high-precision technology, applied in two-dimensional position/channel control and other directions, can solve problems such as low cost and low response time

Inactive Publication Date: 2017-06-06
XIAMEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The main technical problem to be solved by the present invention is to provide a fully automatic high-precision indoor rapid positioning method with high precision, high reliability, high scalability, high coverage, Low response time, low cost, etc.

Method used

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  • Automatic high-precision indoor rapid positioning method
  • Automatic high-precision indoor rapid positioning method
  • Automatic high-precision indoor rapid positioning method

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Experimental program
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Embodiment 1

[0129] see Figure 1-Figure 4 , Automatic indoor positioning system, including: 7. Integrated optical imaging system site device; 10. Built-in central control system device. The built-in central control system device 10 is connected to multiple integrated optical imaging system site devices 7 .

[0130] The site device 7 of the integrated optical imaging system includes: 1. color camera; 2. infrared projector; 3 infrared camera; 4 pitch pan / tilt servo motor; 5. horizontal pan / tilt servo motor; A power module, a communication module, and a processing module in the system site device 7, the power module is connected to the communication module and the processing module.

[0131] The specific working steps of the site device of the integrated optical imaging system are as follows:

[0132] Automatic calibration of a single integrated optical imaging system site, including: parameter calibration of the color camera, calibration of the laser speckle collected by the infrared came...

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Abstract

The invention discloses an automatic high-precision indoor rapid positioning method. A positioning system comprises a hardware system and a software system, the hardware system comprises a color image acquisition apparatus, a laser speckle projection apparatus, a laser speckle image acquisition apparatus, a holder control apparatus, a communication apparatus, and a central control apparatus, and the software system comprises a laser speckle projection system, a color image and laser speckle image acquisition system, an image processing system, an image matching system, a mode recognition system, a holder control system, a central control system, and a path planning and control system. According to the scheme of the method, software and hardware are combined, an indoor positioning device accomplishes intelligence and systematization of the whole process of personal / household service robot characteristic information acquisition and input, indoor object image acquisition and matching recognition, indoor object positioning, path planning, and robot motion control, and methods of indoor positioning and path planning and control are more accurate and efficient.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a fully automatic high-precision indoor rapid positioning method. Background technique [0002] With the rapid development of the modern economy and the continuous improvement of people's living standards, more and more personal / household service robots have entered thousands of households to make people's home life more comfortable. According to statistics, in 2012, the global sales volume of personal / household service robots was about 3 million units, an increase of 20% compared with 2011, and the sales volume was 1.221 billion US dollars; An increase of 17.50%, sales of about 2.25 billion US dollars. Among them, the sales of housework robots (mainly including vacuum cleaners, weeding robots, swimming pool cleaning robots, window cleaning robots, etc.) were about 2.7 million units, with sales of about 799 million US dollars. The sales volume of entertainment and leisure robots (m...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0242G05D1/0246
Inventor 王太宏郭珊珊肖松华苏瑞福段峥祺
Owner XIAMEN UNIV
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