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Robot positioning method based on infrared lamp three-dimensional arrays

A robot positioning and infrared light technology, applied in positioning, instruments, radio wave measurement systems, etc., can solve the problems of deviation and low positioning accuracy, and achieve the effect of avoiding distortion and error, accurate positioning, and high positioning accuracy.

Active Publication Date: 2017-12-05
HANGZHOU HUICANG INFORMATION TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing infrared recognition requires the aid of an auxiliary device as a reference coordinate axis, and the correct sensing can only be performed when the robot is directly below the recognition device, otherwise there will be deviations
Moreover, because the infrared lamps in the prior art are all at the same level, and they often only use coordinate positioning, the position of the robot is directly determined through the image, ignoring the distortion and error caused by the imaging of the image, and the positioning accuracy is not high.

Method used

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  • Robot positioning method based on infrared lamp three-dimensional arrays
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Embodiment 1

[0108] Embodiment 1, as a specific implementation mode, will be described for step S3 to illustrate and explain the technical means of the present invention, but does not limit the scope of protection of the present invention.

[0109] In the infrared lamp array queue area determined based on sub-step S31, set any two circular contour centers as (x k ,y k ) and (x k+1 ,y k+1 ), the image pixel distance d between them k , d k It can be calculated by the following formula:

[0110]

[0111] The line connecting two points with the longest distance is used as the reference line L, which divides the infrared lamp array into two parts. The upper right part of the reference line L is used as the upper part, and the lower left part of the reference line L is used as the lower part. In the upper part, there are n circular contours except the two circular contours on the reference line L, and in the lower part, except for the two circles on the reference line L There are m circ...

Embodiment 2

[0116] Embodiment two, as another kind of implementation mode, set the image pixel coordinates of the centers of the two circular contours on the reference line L as A(x a ,y a ) and B(x b ,y b ), with n=2 in the upper half of the reference line L, take i as C or D, and the image pixel coordinates are (x C ,y C ) and (x d ,y d ) as an example. The order of the four circular contours can be obtained from the clockwise and counterclockwise relationship and the image pixel distance relationship. Get any point of C or D as point E, the principle is the same as that of Embodiment 1, and the calculation formula is:

[0117] k=(x e -x a )×(y b -y e )-(y e -y a )×(x b -x e )

[0118] k=0-p

[0119] Among them, p is an adjustment parameter, and the multi-point clockwise relationship can be obtained from the size relationship between k and 0-p. When k is greater than 0-p, the multi-point relationship is clockwise. The center A of the circular contour is the center of t...

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Abstract

The invention discloses a robot positioning method based on infrared lamp three-dimensional arrays, and the method comprises the steps: arranging a plurality of infrared lamp three-dimensional arrays with different arrangement modes in an environment; enabling infrared imaging equipment installed on a robot to capture the images of the infrared lamp three-dimensional arrays on a moving path of the robot when the robot is in moving; determining the region where the infrared lamp three-dimensional arrays are located based on the images of the infrared lamp three-dimensional arrays, and obtaining the absolute position and absolute direction angle of the robot; determining the relative position of the robot relative to a robot start point and a relative direction of the robot relative to the robot start point through a coder and an inertia sensor on the robot; and verifying the absolute position and absolute direction angle of the robot. The method provided by the invention is high in positioning precision.

Description

technical field [0001] In particular, the invention relates to a robot positioning method based on a three-dimensional array of infrared lamps. Background technique [0002] Robot navigation and positioning technology is an important research direction in the field of intelligent robots. Robot navigation refers to finding a safe path from the start position to the end position based on the shortest time or distance in an environment with obstacles. There are many ways of robot navigation, which can be divided into several ways such as visual navigation, light reflection navigation, map navigation, inertial navigation, and road sign navigation according to different influencing factors. [0003] As the basis of robot navigation, localization has always been one of the hotspots in the field of robot research. Robot positioning is the process of calculating the position of the robot in the environment, which can be divided into relative positioning method and absolute positio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16G01C21/16
Inventor 邹正刘永帅朱俊达
Owner HANGZHOU HUICANG INFORMATION TECH CO LTD
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